162 lines
6.7 KiB
C
162 lines
6.7 KiB
C
/**
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********************************************************************
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* @file test_positioning.c
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* @brief
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*
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* @copyright (c) 2021 DJI. All rights reserved.
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*
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* All information contained herein is, and remains, the property of DJI.
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* The intellectual and technical concepts contained herein are proprietary
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* to DJI and may be covered by U.S. and foreign patents, patents in process,
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* and protected by trade secret or copyright law. Dissemination of this
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* information, including but not limited to data and other proprietary
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* material(s) incorporated within the information, in any form, is strictly
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* prohibited without the express written consent of DJI.
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*
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* If you receive this source code without DJI’s authorization, you may not
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* further disseminate the information, and you must immediately remove the
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* source code and notify DJI of its removal. DJI reserves the right to pursue
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* legal actions against you for any loss(es) or damage(s) caused by your
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* failure to do so.
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*
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*********************************************************************
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*/
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/* Includes ------------------------------------------------------------------*/
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#include <fc_subscription/test_fc_subscription.h>
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#include "test_positioning.h"
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#include "dji_positioning.h"
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#include "dji_logger.h"
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#include "utils/util_misc.h"
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#include "dji_platform.h"
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#include "time_sync/test_time_sync.h"
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/* Private constants ---------------------------------------------------------*/
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#define POSITIONING_TASK_FREQ (1)
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#define POSITIONING_TASK_STACK_SIZE (2048)
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#define DJI_TEST_POSITIONING_EVENT_COUNT (2)
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#define DJI_TEST_TIME_INTERVAL_AMONG_EVENTS_US (200000)
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/* Private types -------------------------------------------------------------*/
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/* Private functions declaration ---------------------------------------------*/
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static void *DjiTest_PositioningTask(void *arg);
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/* Private variables ---------------------------------------------------------*/
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static T_DjiTaskHandle s_userPositioningThread;
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static int32_t s_eventIndex = 0;
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/* Exported functions definition ---------------------------------------------*/
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T_DjiReturnCode DjiTest_PositioningStartService(void)
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{
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T_DjiReturnCode djiStat;
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T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
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djiStat = DjiPositioning_Init();
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if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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USER_LOG_ERROR("positioning module init error.");
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return djiStat;
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}
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DjiPositioning_SetTaskIndex(0);
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if (osalHandler->TaskCreate("user_positioning_task", DjiTest_PositioningTask,
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POSITIONING_TASK_STACK_SIZE, NULL, &s_userPositioningThread) !=
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DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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USER_LOG_ERROR("user positioning task create error.");
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return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
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}
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return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
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}
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/* Private functions definition-----------------------------------------------*/
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#ifndef __CC_ARM
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#pragma GCC diagnostic push
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#pragma GCC diagnostic ignored "-Wmissing-noreturn"
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#pragma GCC diagnostic ignored "-Wreturn-type"
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#endif
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static void *DjiTest_PositioningTask(void *arg)
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{
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int32_t i = 0;
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T_DjiReturnCode djiStat;
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uint64_t ppsNewestTriggerTimeUs = 0;
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T_DjiPositioningEventInfo eventInfo[DJI_TEST_POSITIONING_EVENT_COUNT] = {0};
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T_DjiPositioningPositionInfo positionInfo[DJI_TEST_POSITIONING_EVENT_COUNT] = {0};
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T_DjiTimeSyncAircraftTime aircraftTime = {0};
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T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
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uint8_t totalSatelliteNumber = 0;
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USER_UTIL_UNUSED(arg);
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while (1) {
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osalHandler->TaskSleepMs(1000 / POSITIONING_TASK_FREQ);
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djiStat = DjiTest_FcSubscriptionGetTotalSatelliteNumber(&totalSatelliteNumber);
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if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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USER_LOG_ERROR("get total satellite number error: 0x%08llX.", djiStat);
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continue;
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}
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djiStat = DjiTest_TimeSyncGetNewestPpsTriggerLocalTimeUs(&ppsNewestTriggerTimeUs);
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if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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USER_LOG_ERROR("get newest pps trigger time error: 0x%08llX.", djiStat);
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continue;
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}
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for (i = 0; i < DJI_TEST_POSITIONING_EVENT_COUNT; ++i) {
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eventInfo[i].eventSetIndex = s_eventIndex;
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eventInfo[i].targetPointIndex = i;
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djiStat = DjiTimeSync_TransferToAircraftTime(
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ppsNewestTriggerTimeUs - 1000000 - i * DJI_TEST_TIME_INTERVAL_AMONG_EVENTS_US, &aircraftTime);
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if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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USER_LOG_ERROR("transfer to aircraft time error: 0x%08llX.", djiStat);
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continue;
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}
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eventInfo[i].eventTime = aircraftTime;
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}
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djiStat = DjiPositioning_GetPositionInformationSync(DJI_TEST_POSITIONING_EVENT_COUNT, eventInfo, positionInfo);
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if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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USER_LOG_ERROR("get position information error.");
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continue;
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}
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USER_LOG_DEBUG("request position of target points success.");
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USER_LOG_DEBUG("detail position information:");
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for (i = 0; i < DJI_TEST_POSITIONING_EVENT_COUNT; ++i) {
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USER_LOG_DEBUG("position solution property: %d.", positionInfo[i].positionSolutionProperty);
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USER_LOG_DEBUG("pitchAttitudeAngle: %d\trollAttitudeAngle: %d\tyawAttitudeAngle: %d",
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positionInfo[i].uavAttitude.pitch, positionInfo[i].uavAttitude.roll,
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positionInfo[i].uavAttitude.yaw);
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USER_LOG_DEBUG("northPositionOffset: %d\tearthPositionOffset: %d\tdownPositionOffset: %d",
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positionInfo[i].offsetBetweenMainAntennaAndTargetPoint.x,
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positionInfo[i].offsetBetweenMainAntennaAndTargetPoint.y,
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positionInfo[i].offsetBetweenMainAntennaAndTargetPoint.z);
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USER_LOG_DEBUG("longitude: %.8f\tlatitude: %.8f\theight: %.8f",
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positionInfo[i].targetPointPosition.longitude,
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positionInfo[i].targetPointPosition.latitude,
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positionInfo[i].targetPointPosition.height);
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USER_LOG_DEBUG(
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"longStandardDeviation: %.8f\tlatStandardDeviation: %.8f\thgtStandardDeviation: %.8f",
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positionInfo[i].targetPointPositionStandardDeviation.longitude,
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positionInfo[i].targetPointPositionStandardDeviation.latitude,
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positionInfo[i].targetPointPositionStandardDeviation.height);
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}
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s_eventIndex++;
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}
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}
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#ifndef __CC_ARM
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#pragma GCC diagnostic pop
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#endif
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/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/
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