1、操作遥控器按钮，psdk进程通过socket发送命令给相机进程 来控制高光谱采集系统；
2、通过FFmpeg采集摄像头视频流并编码为h264，利用psdk推流到遥控器；
This commit is contained in:
tangchao0503
371
sample/api_sample/upgrade/test_upgrade.c
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371
sample/api_sample/upgrade/test_upgrade.c
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/**
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********************************************************************
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* @file test_upgrade.c
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* @version V2.0.0
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* @date 3/4/20
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* @brief
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*
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* @copyright (c) 2018-2019 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 "test_upgrade_common.h"
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#include <psdk_logger.h>
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#include <psdk_platform.h>
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#include <utils/util_misc.h>
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#include "test_upgrade_common_file_transfer.h"
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#include "test_upgrade_platform_opt.h"
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/* Private constants ---------------------------------------------------------*/
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#define UPGRADE_TASK_STACK_SIZE (2048)
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#define PSDK_TEST_UPGRADE_TASK_FREQ 50
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#define PSDK_TEST_ENTER_UPGRADE_WAIT_TIME 10 //wait 10s for enter upgrade process
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#define PSDK_TEST_UPGRADE_REBOOT_TIMEOUT 30 //reboot timeout 30s
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/* Private types -------------------------------------------------------------*/
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/* Private values -------------------------------------------------------------*/
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static T_PsdkUpgradeState s_upgradeState = {0};
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static T_PsdkMutexHandle s_upgradeStateMutex = {0};
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static T_PsdkTaskHandle s_upgradeProcessThread;
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static T_PsdkTaskHandle s_enterUpgradeModeProcessThread;
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static bool s_isNeedEnterUpgradeModeProcess = false;
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/* Private functions declaration ---------------------------------------------*/
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static T_PsdkReturnCode PsdkTest_EnterUpgradeMode(uint16_t *waitTime);
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static T_PsdkReturnCode PsdkTest_CheckFirmware(void);
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static T_PsdkReturnCode PsdkTest_StartUpgrade(void);
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static T_PsdkReturnCode PsdkTest_FinishUpgrade(void);
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static void *PsdkTest_UpgradeProcessTask(void *arg);
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static void *PsdkTest_EnterUpgradeModeProcessTask(void *arg);
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/* Exported functions definition ---------------------------------------------*/
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T_PsdkReturnCode PsdkTest_UpgradeInit(const T_PsdkTestUpgradePlatformOpt *upgradePlatformOpt)
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{
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T_PsdkReturnCode returnCode;
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bool isUpgradeReboot = false;
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T_PsdkUpgradeEndInfo upgradeEndInfo = {0};
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T_PsdkUpgradeConfig upgradeConfig = {
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.currentFirmwareVersion = {PSDK_TEST_FIRMWARE_VERSION_MAJOR, PSDK_TEST_FIRMWARE_VERSION_MINOR,
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PSDK_TEST_FIRMWARE_VERSION_MODIFY, PSDK_TEST_FIRMWARE_VERSION_DEBUG},
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#if PSDK_TEST_UPGRADE_USE_FTP_TRANSFER
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.firmwareTransferInfo = {
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.transferType = PSDK_PAYLOAD_FIRMWARE_TRANSFER_TYPE_FTP,
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.ftpTransferInfo.port = 21, // use default ftp port
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}
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#else
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.firmwareTransferInfo = {
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.transferType = PSDK_PAYLOAD_FIRMWARE_TRANSFER_TYPE_DCFTP,
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.dcftpFileTransferOpt = {
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.start = PsdkTestCommonFileTransfer_Start,
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.transfer = PsdkTestCommonFileTransfer_Transfer,
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.finish = PsdkTestCommonFileTransfer_Finish,
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}
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}
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#endif
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};
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T_PsdkUpgradeHandler s_upgradeHandler = {
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.EnterUpgradeMode = PsdkTest_EnterUpgradeMode,
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.CheckFirmware = PsdkTest_CheckFirmware,
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.StartUpgrade = PsdkTest_StartUpgrade,
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.FinishUpgrade = PsdkTest_FinishUpgrade
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};
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returnCode = PsdkTest_RegUpgradePlatformOpt(upgradePlatformOpt);
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if (returnCode != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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PsdkLogger_UserLogError("Reg upgrade platform opt error, return code = 0x%08llX", returnCode);
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return returnCode;
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}
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returnCode = PsdkOsal_MutexCreate(&s_upgradeStateMutex);
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if (returnCode != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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PsdkLogger_UserLogError("Create mutex error");
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return returnCode;
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}
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returnCode = PsdkTest_GetUpgradeRebootState(&isUpgradeReboot, &upgradeEndInfo);
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if (returnCode != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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PsdkLogger_UserLogError("Get upgrade reboot state error");
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isUpgradeReboot = false;
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}
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returnCode = PsdkTest_CleanUpgradeRebootState();
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if (returnCode != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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PsdkLogger_UserLogError("Clean upgrade reboot state error");
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}
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PsdkOsal_MutexLock(s_upgradeStateMutex);
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if (isUpgradeReboot == true) {
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s_upgradeState.upgradeStage = PSDK_UPGRADE_STAGE_END;
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s_upgradeState.upgradeEndInfo = upgradeEndInfo;
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} else {
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s_upgradeState.upgradeStage = PSDK_UPGRADE_STAGE_IDLE;
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}
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PsdkOsal_MutexUnlock(s_upgradeStateMutex);
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returnCode = PsdkUpgrade_Init(&upgradeConfig);
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if (returnCode != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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PsdkLogger_UserLogError("PsdkUpgrade_Init error, return code = %d", returnCode);
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return returnCode;
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}
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returnCode = PsdkUpgrade_RegHandler(&s_upgradeHandler);
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if (returnCode != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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PsdkLogger_UserLogError("PsdkUpgrade_RegHandler error, return code = %d", returnCode);
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return returnCode;
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}
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returnCode = PsdkUpgrade_EnableLocalUpgrade();
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if (returnCode != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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PsdkLogger_UserLogError("PsdkUpgrade_EnableLocalUpgrade error, return code = %d", returnCode);
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return returnCode;
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}
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if (PsdkOsal_TaskCreate(&s_upgradeProcessThread, PsdkTest_UpgradeProcessTask, "upgrade_task",
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UPGRADE_TASK_STACK_SIZE, NULL) != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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PsdkLogger_UserLogError("Psdk upgrade test task create error.");
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return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
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}
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if (PsdkOsal_TaskCreate(&s_enterUpgradeModeProcessThread, PsdkTest_EnterUpgradeModeProcessTask,
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"enter_upgrade_mode_task", UPGRADE_TASK_STACK_SIZE, NULL) !=
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PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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PsdkLogger_UserLogError("Psdk upgrade test task create error.");
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return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
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}
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return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
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}
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/* Private functions definition-----------------------------------------------*/
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static T_PsdkReturnCode PsdkTest_EnterUpgradeMode(uint16_t *waitTime)
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{
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// need 10s for upgrade preprocess work.
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*waitTime = PSDK_TEST_ENTER_UPGRADE_WAIT_TIME;
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// enable is need enter upgrade mode process, the process is in PsdkTest_EnterUpgradeModeProcessTask
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s_isNeedEnterUpgradeModeProcess = true;
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return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
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}
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static T_PsdkReturnCode PsdkTest_CheckFirmware(void)
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{
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// you can do decrypt and check firmware in this stage
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return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
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}
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static T_PsdkReturnCode PsdkTest_StartUpgrade(void)
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{
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PsdkOsal_MutexLock(s_upgradeStateMutex);
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s_upgradeState.upgradeOngoingInfo.upgradeProgress = 0;
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s_upgradeState.upgradeStage = PSDK_UPGRADE_STAGE_ONGOING;
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PsdkOsal_MutexUnlock(s_upgradeStateMutex);
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return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
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}
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static T_PsdkReturnCode PsdkTest_FinishUpgrade(void)
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{
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PsdkOsal_MutexLock(s_upgradeStateMutex);
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s_upgradeState.upgradeStage = PSDK_UPGRADE_STAGE_IDLE;
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PsdkOsal_MutexUnlock(s_upgradeStateMutex);
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return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
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}
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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 *PsdkTest_EnterUpgradeModeProcessTask(void *arg)
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{
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T_PsdkReturnCode returnCode;
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USER_UTIL_UNUSED(arg);
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while (1) {
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if (s_isNeedEnterUpgradeModeProcess) {
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// prepare enter upgrade mode
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// you can do some thing before enter upgrade mode.
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// clear upgrade program file store area
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returnCode = PsdkTest_CleanUpgradeProgramFileStoreArea();
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if (returnCode != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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PsdkLogger_UserLogError("Clean upgrade file dir error, please check dir permission");
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}
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s_isNeedEnterUpgradeModeProcess = false;
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}
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PsdkOsal_TaskSleepMs(1000 / PSDK_TEST_UPGRADE_TASK_FREQ);
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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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#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 *PsdkTest_UpgradeProcessTask(void *arg)
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{
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T_PsdkUpgradeState tempUpgradeState;
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T_PsdkUpgradeEndInfo upgradeEndInfo;
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T_PsdkReturnCode returnCode;
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USER_UTIL_UNUSED(arg);
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while (1) {
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PsdkOsal_MutexLock(s_upgradeStateMutex);
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tempUpgradeState = s_upgradeState;
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PsdkOsal_MutexUnlock(s_upgradeStateMutex);
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if (tempUpgradeState.upgradeStage == PSDK_UPGRADE_STAGE_ONGOING) {
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#if PSDK_TEST_REPLACE_PROGRAM_BEFORE_REBOOT
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// Step 1 : Replace old program
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returnCode = PsdkTest_ReplaceOldProgram();
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if (returnCode != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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PsdkLogger_UserLogError("Replace firmware error, return code = 0x%08llX", returnCode);
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PsdkOsal_MutexLock(s_upgradeStateMutex);
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s_upgradeState.upgradeStage = PSDK_UPGRADE_STAGE_END;
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s_upgradeState.upgradeEndInfo.upgradeEndState = PSDK_UPGRADE_END_STATE_UNKNOWN_ERROR;
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PsdkOsal_MutexUnlock(s_upgradeStateMutex);
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continue;
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}
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PsdkOsal_TaskSleepMs(1000);
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PsdkOsal_MutexLock(s_upgradeStateMutex);
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s_upgradeState.upgradeStage = PSDK_UPGRADE_STAGE_ONGOING;
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s_upgradeState.upgradeOngoingInfo.upgradeProgress = 20;
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PsdkUpgrade_PushUpgradeState(&s_upgradeState);
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PsdkOsal_MutexUnlock(s_upgradeStateMutex);
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// Step 2 : Clean upgrade program file store area
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returnCode = PsdkTest_CleanUpgradeProgramFileStoreArea();
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if (returnCode != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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PsdkLogger_UserLogError("Clean upgrade file dir error, please check dir permission");
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PsdkOsal_MutexLock(s_upgradeStateMutex);
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s_upgradeState.upgradeStage = PSDK_UPGRADE_STAGE_END;
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s_upgradeState.upgradeEndInfo.upgradeEndState = PSDK_UPGRADE_END_STATE_UNKNOWN_ERROR;
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PsdkOsal_MutexUnlock(s_upgradeStateMutex);
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continue;
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}
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PsdkOsal_TaskSleepMs(1000);
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PsdkOsal_MutexLock(s_upgradeStateMutex);
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s_upgradeState.upgradeStage = PSDK_UPGRADE_STAGE_ONGOING;
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s_upgradeState.upgradeOngoingInfo.upgradeProgress = 30;
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PsdkUpgrade_PushUpgradeState(&s_upgradeState);
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PsdkOsal_MutexUnlock(s_upgradeStateMutex);
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#endif
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//attention emulation upgrade progress, user don't need this process
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do {
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PsdkOsal_TaskSleepMs(1000);
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PsdkOsal_MutexLock(s_upgradeStateMutex);
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s_upgradeState.upgradeStage = PSDK_UPGRADE_STAGE_ONGOING;
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s_upgradeState.upgradeOngoingInfo.upgradeProgress += 10;
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tempUpgradeState = s_upgradeState;
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PsdkUpgrade_PushUpgradeState(&s_upgradeState);
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PsdkOsal_MutexUnlock(s_upgradeStateMutex);
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} while (tempUpgradeState.upgradeOngoingInfo.upgradeProgress < 100);
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// Step 3 : Reboot device
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PsdkOsal_MutexLock(s_upgradeStateMutex);
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s_upgradeState.upgradeStage = PSDK_UPGRADE_STAGE_DEVICE_REBOOT;
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s_upgradeState.upgradeRebootInfo.rebootTimeout = PSDK_TEST_UPGRADE_REBOOT_TIMEOUT;
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PsdkUpgrade_PushUpgradeState(&s_upgradeState);
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PsdkOsal_MutexUnlock(s_upgradeStateMutex);
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PsdkOsal_TaskSleepMs(1000); // sleep 1000ms to ensure push send terminal.
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upgradeEndInfo.upgradeEndState = PSDK_UPGRADE_END_STATE_SUCCESS;
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returnCode = PsdkTest_SetUpgradeRebootState(&upgradeEndInfo);
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if (returnCode != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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PsdkLogger_UserLogError("Set Upgrade reboot state error");
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PsdkOsal_MutexLock(s_upgradeStateMutex);
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s_upgradeState.upgradeStage = PSDK_UPGRADE_STAGE_END;
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s_upgradeState.upgradeEndInfo.upgradeEndState = PSDK_UPGRADE_END_STATE_UNKNOWN_ERROR;
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PsdkOsal_MutexUnlock(s_upgradeStateMutex);
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continue;
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}
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#if PSDK_TEST_UPGRADE_NO_REBOOT_EMU
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bool isUpgradeReboot;
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returnCode = PsdkTest_GetUpgradeRebootState(&isUpgradeReboot, &upgradeEndInfo);
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if (returnCode != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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PsdkLogger_UserLogError("Get upgrade reboot state error");
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PsdkOsal_MutexLock(s_upgradeStateMutex);
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s_upgradeState.upgradeStage = PSDK_UPGRADE_STAGE_END;
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s_upgradeState.upgradeEndInfo.upgradeEndState = PSDK_UPGRADE_END_STATE_UNKNOWN_ERROR;
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PsdkOsal_MutexUnlock(s_upgradeStateMutex);
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continue;
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}
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returnCode = PsdkTest_CleanUpgradeRebootState();
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if (returnCode != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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PsdkLogger_UserLogError("Clean upgrade reboot state error");
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PsdkOsal_MutexLock(s_upgradeStateMutex);
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s_upgradeState.upgradeStage = PSDK_UPGRADE_STAGE_END;
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s_upgradeState.upgradeEndInfo.upgradeEndState = PSDK_UPGRADE_END_STATE_UNKNOWN_ERROR;
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PsdkOsal_MutexUnlock(s_upgradeStateMutex);
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continue;
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}
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PsdkOsal_MutexLock(s_upgradeStateMutex);
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if (isUpgradeReboot == true) {
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s_upgradeState.upgradeStage = PSDK_UPGRADE_STAGE_END;
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s_upgradeState.upgradeEndInfo = upgradeEndInfo;
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} else {
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s_upgradeState.upgradeStage = PSDK_UPGRADE_STAGE_IDLE;
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}
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PsdkOsal_MutexUnlock(s_upgradeStateMutex);
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continue;
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#else
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returnCode = PsdkTest_RebootSystem();
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if (returnCode != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
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PsdkLogger_UserLogError("Reboot system error");
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PsdkOsal_MutexLock(s_upgradeStateMutex);
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s_upgradeState.upgradeStage = PSDK_UPGRADE_STAGE_END;
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s_upgradeState.upgradeEndInfo.upgradeEndState = PSDK_UPGRADE_END_STATE_UNKNOWN_ERROR;
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PsdkOsal_MutexUnlock(s_upgradeStateMutex);
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continue;
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}
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while (1) {
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PsdkOsal_TaskSleepMs(500);
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}
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#endif
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} else if (s_upgradeState.upgradeStage == PSDK_UPGRADE_STAGE_END) {
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PsdkOsal_MutexLock(s_upgradeStateMutex);
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PsdkUpgrade_PushUpgradeState(&s_upgradeState);
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PsdkOsal_MutexUnlock(s_upgradeStateMutex);
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}
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PsdkOsal_TaskSleepMs(500);
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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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||||
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