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；
2022-06-22 16:48:50 +08:00
commit 109e0a8f2b
89 changed files with 17079 additions and 0 deletions
--- a/sample/platform/linux/common/monitor/sys_monitor.c
+++ b/sample/platform/linux/common/monitor/sys_monitor.c
@ -0,0 +1,484 @@
+/**
+ ********************************************************************
+ * @file    sys_monitor.c
+ * @version V2.0.0
+ * @date    2019/11/10
+ * @brief
+ *
+ * @copyright (c) 2018-2019 DJI. All rights reserved.
+ *
+ * All information contained herein is, and remains, the property of DJI.
+ * The intellectual and technical concepts contained herein are proprietary
+ * to DJI and may be covered by U.S. and foreign patents, patents in process,
+ * and protected by trade secret or copyright law.  Dissemination of this
+ * information, including but not limited to data and other proprietary
+ * material(s) incorporated within the information, in any form, is strictly
+ * prohibited without the express written consent of DJI.
+ *
+ * If you receive this source code without DJI’s authorization, you may not
+ * further disseminate the information, and you must immediately remove the
+ * source code and notify DJI of its removal. DJI reserves the right to pursue
+ * legal actions against you for any loss(es) or damage(s) caused by your
+ * failure to do so.
+ *
+ *********************************************************************
+ */
+
+
+/* Includes ------------------------------------------------------------------*/
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <assert.h>
+#include "sys_monitor.h"
+#include "psdk_logger.h"
+#include "utils/util_misc.h"
+
+/* Private constants ---------------------------------------------------------*/
+#define MONITOR_VMRSS_LINE      15
+#define MONITOR_PROCESS_ITEM    14
+#define MONITOR_CMD_BUF_SIZE    512
+
+/* Private types -------------------------------------------------------------*/
+
+
+/* Private functions declaration ---------------------------------------------*/
+static const char *Monitor_GetItems(const char *buffer, int ie);
+
+/* Private variables ---------------------------------------------------------*/
+
+
+/* Exported functions definition ---------------------------------------------*/
+int Monitor_GetPhyMem(pid_t p)
+{
+    int i;
+    char file[64] = {0};
+    FILE *fd;
+    char lineBuf[256] = {0};
+    char name[32];
+    int vmrss = 0; //memory peak
+    char *ret = NULL;
+
+    sprintf(file, "/proc/%d/status", (int) p);
+    fd = fopen(file, "r");
+    if (fd == NULL) {
+        PsdkLogger_UserLogError("open file fail.");
+        return 0;
+    }
+
+    for (i = 0; i < MONITOR_VMRSS_LINE - 1; i++) {
+        ret = fgets(lineBuf, sizeof(lineBuf), fd);
+        USER_UTIL_UNUSED(ret);
+    }
+
+    ret = fgets(lineBuf, sizeof(lineBuf), fd);
+    if (ret == NULL)
+        goto out;
+
+    sscanf(lineBuf, "%31s %d", name, &vmrss);
+
+out:
+    fclose(fd);
+
+    return vmrss;
+}
+
+int Monitor_GetTotalMem(void)
+{
+    char *file = "/proc/meminfo";
+    FILE *fd;
+    char lineBuf[256] = {0};
+    char name[32];
+    int memtotal = 0;
+    char *ret = NULL;
+
+    fd = fopen(file, "r");
+    if (fd == NULL) {
+        PsdkLogger_UserLogError("open file fail.");
+        return 0;
+    }
+
+    ret = fgets(lineBuf, sizeof(lineBuf), fd);
+    if (ret == NULL)
+        goto out;
+
+    sscanf(lineBuf, "%31s %d", name, &memtotal);
+
+out:
+    fclose(fd);
+
+    return memtotal;
+}
+
+float Monitor_GetPmem(pid_t p)
+{
+    int phy = Monitor_GetPhyMem(p);
+    int total = Monitor_GetTotalMem();
+    float occupy = (float) ((phy * 1.0) / (total * 1.0));
+
+    return occupy;
+}
+
+unsigned int Monitor_GetCpuOccupyOfProcess(pid_t pid)
+{
+    char file[64] = {0};
+    T_MonitorProcessCpuOccupy t = {0};
+    FILE *fd;
+    char lineBuf[1024] = {0};
+    char *q = NULL;
+    char *ret = NULL;
+
+    sprintf(file, "/proc/%d/stat", (int) pid);
+    fd = fopen(file, "r");
+    if (fd == NULL) {
+        PsdkLogger_UserLogError("open file fail.");
+        return 0;
+    }
+
+    ret = fgets(lineBuf, sizeof(lineBuf), fd);
+    if (ret == NULL)
+        goto out;
+
+    sscanf(lineBuf, "%u", (unsigned int *) &t.pid);
+    q = (char *) Monitor_GetItems(lineBuf, MONITOR_PROCESS_ITEM);
+    if (q == NULL) {
+        PsdkLogger_UserLogError("get item fail.");
+        goto out;
+    }
+
+    sscanf(q, "%u %u %u %u", &t.utime, &t.stime, &t.cutime, &t.cstime);
+
+out:
+    fclose(fd);
+
+    return (t.utime + t.stime + t.cutime + t.cstime);
+}
+
+unsigned int Monitor_GetCpuOccupyOfThread(pid_t pid, pid_t tid)
+{
+    char file[64] = {0};
+    T_MonitorProcessCpuOccupy t = {0};
+    FILE *fd;
+    char lineBuf[1024] = {0};
+    char *q = NULL;
+    char *ret = NULL;
+
+    sprintf(file, "/proc/%d/task/%d/stat", (int) pid, (int) tid);
+    fd = fopen(file, "r");
+    if (fd == NULL) {
+        PsdkLogger_UserLogError("open file fail.");
+        return 0;
+    }
+
+    ret = fgets(lineBuf, sizeof(lineBuf), fd);
+    if (ret == NULL)
+        goto out;
+
+    sscanf(lineBuf, "%u", (unsigned int *) &t.pid);
+    q = (char *) Monitor_GetItems(lineBuf, MONITOR_PROCESS_ITEM);
+    if (q == NULL) {
+        PsdkLogger_UserLogError("get item fail.");
+        goto out;
+    }
+
+    sscanf(q, "%u %u %u %u", &t.utime, &t.stime, &t.cutime, &t.cstime);
+
+out:
+    fclose(fd);
+
+    return (t.utime + t.stime + t.cutime + t.cstime);
+}
+
+unsigned int Monitor_GetCpuTotalOccupy(void)
+{
+    FILE *fd;
+    char buff[1024] = {0};
+    T_MonitorTotalCpuOccupy t = {0};
+    char name[16];
+    char *ret = NULL;
+
+    fd = fopen("/proc/stat", "r");
+    if (fd == NULL) {
+        PsdkLogger_UserLogError("open file fail.");
+        return 0;
+    }
+
+    ret = fgets(buff, sizeof(buff), fd);
+    if (ret == NULL)
+        goto out;
+
+    sscanf(buff, "%15s %u %u %u %u", name, &t.user, &t.nice, &t.system, &t.idle);
+
+out:
+    fclose(fd);
+
+    return (t.user + t.nice + t.system + t.idle);
+}
+
+float Monitor_GetPcpuOfThread(pid_t pid, pid_t tid)
+{
+    FILE *fp;
+    char cmdStr[MONITOR_CMD_BUF_SIZE];
+    char lineBuf[256] = {0};
+    pid_t tidInCommandLine = 0;
+    float pcpuInCommandLine = 0.0f;
+    int ret;
+    char *q = NULL;
+
+    snprintf(cmdStr, MONITOR_CMD_BUF_SIZE, "ps -mp %d -o tid,pcpu", (int) pid);
+    fp = popen(cmdStr, "r");
+    if (fp == NULL) {
+        PsdkLogger_UserLogError("fp is null.");
+        return 0;
+    }
+
+    while (fgets(lineBuf, sizeof(lineBuf), fp) != NULL) {
+        q = (char *) Monitor_GetItems(lineBuf, 1);
+        if (q == NULL) {
+            PsdkLogger_UserLogError("get item fail.");
+            goto out;
+        }
+
+        sscanf(q, "%u", (unsigned int *) &tidInCommandLine);
+
+        if (tidInCommandLine == tid) {
+            q = (char *) Monitor_GetItems(lineBuf, 2);
+            if (q == NULL) {
+                PsdkLogger_UserLogError("get item fail.");
+                goto out;
+            }
+
+            ret = sscanf(q, "%f", &pcpuInCommandLine);
+            if (ret <= 0) {
+                PsdkLogger_UserLogError("get pcpu error.");
+                pcpuInCommandLine = 0;
+            }
+
+            goto out;
+        }
+    }
+
+    PsdkLogger_UserLogDebug("not found thread.");
+
+out:
+    pclose(fp);
+
+    return pcpuInCommandLine;
+}
+
+unsigned int Monitor_GetThreadCountOfProcess(pid_t pid)
+{
+    FILE *fp;
+    char cmdStr[MONITOR_CMD_BUF_SIZE];
+    unsigned int count;
+    int ret;
+
+    snprintf(cmdStr, MONITOR_CMD_BUF_SIZE, "ps -T -p %d | wc -l", (int) pid);
+    fp = popen(cmdStr, "r");
+    if (fp == NULL) {
+        PsdkLogger_UserLogError("fp is null.");
+        return 0;
+    }
+
+    ret = fscanf(fp, "%u", &count);
+    if (ret <= 0) {
+        PsdkLogger_UserLogError("get count error.");
+        count = 0;
+        goto out;
+    }
+    count--;
+
+out:
+    pclose(fp);
+
+    return count;
+}
+
+void Monitor_GetTidListOfProcess(pid_t pid, pid_t *tidList, unsigned int size)
+{
+    int i = 0;
+    FILE *fp;
+    char cmdStr[MONITOR_CMD_BUF_SIZE];
+    char lineBuf[256] = {0};
+    int ret = 0;
+
+    if (Monitor_GetThreadCountOfProcess(pid) > size) {
+        PsdkLogger_UserLogError("size is too small.");
+        return;
+    }
+
+    snprintf(cmdStr, MONITOR_CMD_BUF_SIZE, "ps -mp %d -o tid", (int) pid);
+    fp = popen(cmdStr, "r");
+    if (fp == NULL) {
+        PsdkLogger_UserLogError("fp is null.");
+        return;
+    }
+
+    while (fgets(lineBuf, sizeof(lineBuf), fp) != NULL && i <= size) {
+        ret = sscanf(lineBuf, "%u", (unsigned int *) &tidList[i]);
+        if (ret > 0)
+            i++;
+    }
+
+    pclose(fp);
+}
+
+void Monitor_GetNameOfThread(pid_t pid, pid_t tid, char *name, unsigned int size)
+{
+    char file[64] = {0};
+    FILE *fd;
+    char lineBuf[32] = {0};
+    char *ret = NULL;
+
+    memset(name, 0, size);
+
+    sprintf(file, "/proc/%d/task/%d/comm", (int) pid, (int) tid);
+    fd = fopen(file, "r");
+    if (fd == NULL) {
+        PsdkLogger_UserLogDebug("open file fail.");
+        return;
+    }
+
+    ret = fgets(lineBuf, sizeof(lineBuf), fd);
+    if (ret == NULL)
+        goto out;
+
+    if (lineBuf[strlen(lineBuf) - 1] == '\n')
+        lineBuf[strlen(lineBuf) - 1] = '\0';
+    strncpy(name, lineBuf, USER_UTIL_MIN(size - 1, sizeof(lineBuf)));
+
+out:
+    fclose(fd);
+}
+
+/**
+ * @brief
+ * @param pid
+ * @return Unit: B.
+ */
+unsigned int Monitor_GetHeapUsed(pid_t pid)
+{
+    FILE *fp;
+    char cmdStr[MONITOR_CMD_BUF_SIZE];
+    char lineBuf[256] = {0};
+    int ret = 0;
+    unsigned int heapUsed = 0;
+    char *q = NULL;
+    char *rett = NULL;
+
+    snprintf(cmdStr, MONITOR_CMD_BUF_SIZE, "cat /proc/%d/smaps | grep -A 18 heap | grep Private_Dirty", (int) pid);
+    fp = popen(cmdStr, "r");
+    if (fp == NULL) {
+        PsdkLogger_UserLogError("fp is null.");
+        return 0;
+    }
+
+    rett = fgets(lineBuf, sizeof(lineBuf), fp);
+    if (rett == NULL) {
+        goto out;
+    }
+
+    q = (char *) Monitor_GetItems(lineBuf, 2);
+    if (q == NULL) {
+        PsdkLogger_UserLogError("get item fail.");
+        goto out;
+    }
+
+    ret = sscanf(q, "%u", &heapUsed);
+    if (ret <= 0) {
+        PsdkLogger_UserLogError("can not find heapUsed.");
+        heapUsed = 0;
+        goto out;
+    }
+    heapUsed *= 1024;
+
+out:
+    pclose(fp);
+
+    return heapUsed;
+}
+
+/**
+ * @brief
+ * @param pid
+ * @return Unit: B.
+ */
+unsigned int Monitor_GetStackUsed(pid_t pid)
+{
+    FILE *fp;
+    char cmdStr[MONITOR_CMD_BUF_SIZE];
+    char lineBuf[256] = {0};
+    int ret = 0;
+    unsigned int stackUsed = 0;
+    char *q = NULL;
+    char *rett = NULL;
+
+    snprintf(cmdStr, MONITOR_CMD_BUF_SIZE, "cat /proc/%d/smaps | grep -A 18 stack | grep Private_Dirty", (int) pid);
+    fp = popen(cmdStr, "r");
+    if (fp == NULL) {
+        PsdkLogger_UserLogError("fp is null.");
+        return 0;
+    }
+
+    rett = fgets(lineBuf, sizeof(lineBuf), fp);
+    if (rett == NULL)
+        goto out;
+
+    q = (char *) Monitor_GetItems(lineBuf, 2);
+    if (q == NULL) {
+        PsdkLogger_UserLogError("get item fail.");
+        goto out;
+    }
+
+    ret = sscanf(q, "%u", &stackUsed);
+    if (ret <= 0) {
+        PsdkLogger_UserLogError("can not find stackUsed.");
+        stackUsed = 0;
+        goto out;
+    }
+    stackUsed *= 1024;
+
+out:
+    pclose(fp);
+
+    return stackUsed;
+}
+
+/* Private functions definition-----------------------------------------------*/
+static const char *Monitor_GetItems(const char *buffer, int ie)
+{
+    int i = 0;
+    int j = 0;
+    char *p = (char *) buffer;
+    int len = (int) strlen(buffer);
+    int count = 0;
+
+    if (1 == ie || ie < 1) {
+        return p;
+    }
+
+    while (1) {
+        for (i = j; i < len; i++) {
+            if (*(buffer + i) != ' ') {
+                count++;
+
+                if (count == ie)
+                    return buffer + i;
+
+                break;
+            }
+        }
+
+        for (j = i; j < len; ++j) {
+            if (*(buffer + j) == ' ')
+                break;
+        }
+
+        if (i == len || j == len)
+            break;
+    }
+
+    return NULL;
+}
+
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/
--- a/sample/platform/linux/common/monitor/sys_monitor.h
+++ b/sample/platform/linux/common/monitor/sys_monitor.h
@ -0,0 +1,78 @@
+/**
+ ********************************************************************
+ * @file    sys_monitor.h
+ * @version V2.0.0
+ * @date    2019/11/10
+ * @brief   This is the header file for "sys_monitor.c", defining the structure and
+ * (exported) function prototypes.
+ *
+ * @copyright (c) 2018-2019 DJI. All rights reserved.
+ *
+ * All information contained herein is, and remains, the property of DJI.
+ * The intellectual and technical concepts contained herein are proprietary
+ * to DJI and may be covered by U.S. and foreign patents, patents in process,
+ * and protected by trade secret or copyright law.  Dissemination of this
+ * information, including but not limited to data and other proprietary
+ * material(s) incorporated within the information, in any form, is strictly
+ * prohibited without the express written consent of DJI.
+ *
+ * If you receive this source code without DJI’s authorization, you may not
+ * further disseminate the information, and you must immediately remove the
+ * source code and notify DJI of its removal. DJI reserves the right to pursue
+ * legal actions against you for any loss(es) or damage(s) caused by your
+ * failure to do so.
+ *
+ *********************************************************************
+ */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef SYS_MONITOR_H
+#define SYS_MONITOR_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "psdk_typedef.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+
+
+/* Exported types ------------------------------------------------------------*/
+typedef struct {
+    unsigned int user;
+    unsigned int nice;
+    unsigned int system;
+    unsigned int idle;
+} T_MonitorTotalCpuOccupy;
+
+typedef struct {
+    pid_t pid;
+    unsigned int utime;
+    unsigned int stime;
+    unsigned int cutime;
+    unsigned int cstime;
+} T_MonitorProcessCpuOccupy;
+
+/* Exported functions --------------------------------------------------------*/
+int Monitor_GetPhyMem(pid_t p);
+int Monitor_GetTotalMem();
+unsigned int Monitor_GetCpuTotalOccupy();
+unsigned int Monitor_GetCpuOccupyOfProcess(pid_t pid);
+unsigned int Monitor_GetCpuOccupyOfThread(pid_t pid, pid_t tid);
+float Monitor_GetPcpuOfThread(pid_t pid, pid_t tid);
+float Monitor_GetPmem(pid_t p);
+unsigned int Monitor_GetThreadCountOfProcess(pid_t pid);
+void Monitor_GetTidListOfProcess(pid_t pid, pid_t *tidList, unsigned int size);
+void Monitor_GetNameOfThread(pid_t pid, pid_t tid, char *name, unsigned int size);
+unsigned int Monitor_GetHeapUsed(pid_t pid);
+unsigned int Monitor_GetStackUsed(pid_t pid);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif //SYS_MONITOR_H
+
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
--- a/sample/platform/linux/common/osal/osal.c
+++ b/sample/platform/linux/common/osal/osal.c
@ -0,0 +1,294 @@
+/**
+ ********************************************************************
+ * @file    psdk_osal.c
+ * @version V2.0.0
+ * @date    2019/07/01
+ * @brief
+ *
+ * @copyright (c) 2018-2019 DJI. All rights reserved.
+ *
+ * All information contained herein is, and remains, the property of DJI.
+ * The intellectual and technical concepts contained herein are proprietary
+ * to DJI and may be covered by U.S. and foreign patents, patents in process,
+ * and protected by trade secret or copyright law.  Dissemination of this
+ * information, including but not limited to data and other proprietary
+ * material(s) incorporated within the information, in any form, is strictly
+ * prohibited without the express written consent of DJI.
+ *
+ * If you receive this source code without DJI’s authorization, you may not
+ * further disseminate the information, and you must immediately remove the
+ * source code and notify DJI of its removal. DJI reserves the right to pursue
+ * legal actions against you for any loss(es) or damage(s) caused by your
+ * failure to do so.
+ *
+ *********************************************************************
+ */
+
+/* Includes ------------------------------------------------------------------*/
+#include "osal.h"
+#include "utils/util_misc.h"
+#include "psdk_logger.h"
+
+/* Private constants ---------------------------------------------------------*/
+
+/* Private types -------------------------------------------------------------*/
+
+/* Private functions declaration ---------------------------------------------*/
+
+/* Exported functions definition ---------------------------------------------*/
+
+/* Private functions definition-----------------------------------------------*/
+
+/* Private functions declaration ---------------------------------------------*/
+
+/* Exported functions definition ---------------------------------------------*/
+
+T_PsdkReturnCode
+Osal_TaskCreate(T_PsdkTaskHandle *task, void *(*taskFunc)(void *), const char *name, uint32_t stackSize, void *arg)
+{
+    int result;
+    char nameDealed[16] = {0};
+
+    USER_UTIL_UNUSED(stackSize);
+
+    *task = malloc(sizeof(pthread_t));
+    if (*task == NULL) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_MEMORY_ALLOC_FAILED;
+    }
+
+    result = pthread_create(*task, NULL, taskFunc, arg);
+    if (result != 0) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    if (name != NULL)
+        strncpy(nameDealed, name, sizeof(nameDealed) - 1);
+    result = pthread_setname_np(*(pthread_t * ) * task, nameDealed);
+    if (result != 0) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_PsdkReturnCode Osal_TaskDestroy(T_PsdkTaskHandle task)
+{
+    pthread_cancel(*(pthread_t *) task);
+    free(task);
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_PsdkReturnCode Osal_TaskSleepMs(uint32_t timeMs)
+{
+    usleep(1000 * timeMs);
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+/**
+ * @brief Declare the mutex container, initialize the mutex, and
+ * create mutex ID.
+ * @param mutex:  pointer to the created mutex ID.
+ * @return an enum that represents a status of PSDK
+ */
+T_PsdkReturnCode Osal_MutexCreate(T_PsdkMutexHandle *mutex)
+{
+    int result;
+
+    *mutex = malloc(sizeof(pthread_mutex_t));
+    if (*mutex == NULL) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_MEMORY_ALLOC_FAILED;
+    }
+
+    result = pthread_mutex_init(*mutex, NULL);
+    if (result != 0) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+/**
+ * @brief Delete the created mutex.
+ * @param mutex:  pointer to the created mutex ID.
+ * @return an enum that represents a status of PSDK
+ */
+T_PsdkReturnCode Osal_MutexDestroy(T_PsdkMutexHandle mutex)
+{
+    int result;
+
+    result = pthread_mutex_destroy(mutex);
+    if (result != 0) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+    free(mutex);
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+/**
+ * @brief Acquire and lock the mutex when peripheral access is required
+ * @param mutex:  pointer to the created mutex ID.
+ * @return an enum that represents a status of PSDK
+ */
+T_PsdkReturnCode Osal_MutexLock(T_PsdkMutexHandle mutex)
+{
+    int result = pthread_mutex_lock(mutex);
+
+    if (result != 0) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+/**
+ * @brief Unlock and release the mutex, when done with the peripheral access.
+ * @param mutex:  pointer to the created mutex ID.
+ * @return an enum that represents a status of PSDK
+ */
+T_PsdkReturnCode Osal_MutexUnlock(T_PsdkMutexHandle mutex)
+{
+    int result = pthread_mutex_unlock(mutex);
+
+    if (result != 0) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+/**
+ * @brief Declare the semaphore container, initialize the semaphore, and
+ * create semaphore ID.
+ * @param semaphore: pointer to the created semaphore ID.
+ * @param initValue: initial value of semaphore.
+ * @return an enum that represents a status of PSDK
+ */
+T_PsdkReturnCode Osal_SemaphoreCreate(T_PsdkSemHandle *semaphore, uint32_t initValue)
+{
+    int result;
+
+    *semaphore = malloc(sizeof(sem_t));
+    if (*semaphore == NULL) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_MEMORY_ALLOC_FAILED;
+    }
+
+    result = sem_init(*semaphore, 0, (unsigned int) initValue);
+    if (result != 0) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+/**
+ * @brief Delete the created semaphore.
+ * @param semaphore: pointer to the created semaphore ID.
+ * @return an enum that represents a status of PSDK
+ */
+T_PsdkReturnCode Osal_SemaphoreDestroy(T_PsdkSemHandle semaphore)
+{
+    int result;
+
+    result = sem_destroy((sem_t *) semaphore);
+    if (result != 0) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    free(semaphore);
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+/**
+ * @brief Wait the semaphore until token becomes available.
+ * @param semaphore: pointer to the created semaphore ID.
+ * @return an enum that represents a status of PSDK
+ */
+T_PsdkReturnCode Osal_SemaphoreWait(T_PsdkSemHandle semaphore)
+{
+    int result;
+
+    result = sem_wait(semaphore);
+    if (result != 0) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+/**
+ * @brief Wait the semaphore until token becomes available.
+ * @param semaphore: pointer to the created semaphore ID.
+ * @param waitTime: timeout value of waiting semaphore, unit: millisecond.
+ * @return an enum that represents a status of PSDK
+ */
+T_PsdkReturnCode Osal_SemaphoreTimedWait(T_PsdkSemHandle semaphore, uint32_t waitTime)
+{
+    int result;
+    struct timespec semaphoreWaitTime;
+    struct timeval systemTime;
+
+    gettimeofday(&systemTime, NULL);
+
+    systemTime.tv_usec += waitTime * 1000;
+    if (systemTime.tv_usec >= 1000000) {
+        systemTime.tv_sec += systemTime.tv_usec / 1000000;
+        systemTime.tv_usec %= 1000000;
+    }
+
+    semaphoreWaitTime.tv_sec = systemTime.tv_sec;
+    semaphoreWaitTime.tv_nsec = systemTime.tv_usec * 1000;
+
+    result = sem_timedwait(semaphore, &semaphoreWaitTime);
+    if (result != 0) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+/**
+ * @brief Release the semaphore token.
+ * @param semaphore: pointer to the created semaphore ID.
+ * @return an enum that represents a status of PSDK
+ */
+T_PsdkReturnCode Osal_SemaphorePost(T_PsdkSemHandle semaphore)
+{
+    int result;
+
+    result = sem_post(semaphore);
+    if (result != 0) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+/**
+ * @brief Get the system time for ms.
+ * @return an uint32 that the time of system, uint:ms
+ */
+T_PsdkReturnCode Osal_GetTimeMs(uint32_t *ms)
+{
+    struct timeval time;
+
+    gettimeofday(&time, NULL);
+    *ms = (time.tv_sec * 1000 + time.tv_usec / 1000);
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+void *Osal_Malloc(uint32_t size)
+{
+    return malloc(size);
+}
+
+void Osal_Free(void *ptr)
+{
+    free(ptr);
+}
+
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/
--- a/sample/platform/linux/common/osal/osal.h
+++ b/sample/platform/linux/common/osal/osal.h
@ -0,0 +1,77 @@
+/**
+ ********************************************************************
+ * @file    osal.h
+ * @version V2.0.0
+ * @date    2019/8/28
+ * @brief   This is the header file for "osal.c", defining the structure and
+ * (exported) function prototypes.
+ *
+ * @copyright (c) 2018-2019 DJI. All rights reserved.
+ *
+ * All information contained herein is, and remains, the property of DJI.
+ * The intellectual and technical concepts contained herein are proprietary
+ * to DJI and may be covered by U.S. and foreign patents, patents in process,
+ * and protected by trade secret or copyright law.  Dissemination of this
+ * information, including but not limited to data and other proprietary
+ * material(s) incorporated within the information, in any form, is strictly
+ * prohibited without the express written consent of DJI.
+ *
+ * If you receive this source code without DJI’s authorization, you may not
+ * further disseminate the information, and you must immediately remove the
+ * source code and notify DJI of its removal. DJI reserves the right to pursue
+ * legal actions against you for any loss(es) or damage(s) caused by your
+ * failure to do so.
+ *
+ *********************************************************************
+ */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef OSAL_H
+#define OSAL_H
+
+/* Includes ------------------------------------------------------------------*/
+#include <stdio.h>
+#include <stdlib.h>
+#include <pthread.h>
+#include <semaphore.h>
+#include <sys/time.h>
+#include <unistd.h>
+#include "psdk_typedef.h"
+
+#include "psdk_platform.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+
+/* Exported types ------------------------------------------------------------*/
+
+/* Exported functions --------------------------------------------------------*/
+T_PsdkReturnCode
+Osal_TaskCreate(T_PsdkTaskHandle *task, void *(*taskFunc)(void *), const char *name, uint32_t stackSize, void *arg);
+T_PsdkReturnCode Osal_TaskDestroy(T_PsdkTaskHandle task);
+T_PsdkReturnCode Osal_TaskSleepMs(uint32_t timeMs);
+
+T_PsdkReturnCode Osal_MutexCreate(T_PsdkMutexHandle *mutex);
+T_PsdkReturnCode Osal_MutexDestroy(T_PsdkMutexHandle mutex);
+T_PsdkReturnCode Osal_MutexLock(T_PsdkMutexHandle mutex);
+T_PsdkReturnCode Osal_MutexUnlock(T_PsdkMutexHandle mutex);
+
+T_PsdkReturnCode Osal_SemaphoreCreate(T_PsdkSemHandle *semaphore, uint32_t initValue);
+T_PsdkReturnCode Osal_SemaphoreDestroy(T_PsdkSemHandle semaphore);
+T_PsdkReturnCode Osal_SemaphoreWait(T_PsdkSemHandle semaphore);
+T_PsdkReturnCode Osal_SemaphoreTimedWait(T_PsdkSemHandle semaphore, uint32_t waitTime);
+T_PsdkReturnCode Osal_SemaphorePost(T_PsdkSemHandle semaphore);
+
+T_PsdkReturnCode Osal_GetTimeMs(uint32_t *ms);
+void *Osal_Malloc(uint32_t size);
+void Osal_Free(void *ptr);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // OSAL_H
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
--- a/sample/platform/linux/common/upgrade_platform_opt/upgrade_platform_opt_linux.c
+++ b/sample/platform/linux/common/upgrade_platform_opt/upgrade_platform_opt_linux.c
@ -0,0 +1,219 @@
+/**
+ ********************************************************************
+ * @file    upgrade_platform_opt_linux.c
+ * @version V2.0.0
+ * @date    3/25/20
+ * @brief
+ *
+ * @copyright (c) 2018-2019 DJI. All rights reserved.
+ *
+ * All information contained herein is, and remains, the property of DJI.
+ * The intellectual and technical concepts contained herein are proprietary
+ * to DJI and may be covered by U.S. and foreign patents, patents in process,
+ * and protected by trade secret or copyright law.  Dissemination of this
+ * information, including but not limited to data and other proprietary
+ * material(s) incorporated within the information, in any form, is strictly
+ * prohibited without the express written consent of DJI.
+ *
+ * If you receive this source code without DJI’s authorization, you may not
+ * further disseminate the information, and you must immediately remove the
+ * source code and notify DJI of its removal. DJI reserves the right to pursue
+ * legal actions against you for any loss(es) or damage(s) caused by your
+ * failure to do so.
+ *
+ *********************************************************************
+ */
+
+/* Includes ------------------------------------------------------------------*/
+#include "upgrade_platform_opt_linux.h"
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <psdk_logger.h>
+#include <psdk_upgrade.h>
+
+/* Private constants ---------------------------------------------------------*/
+#define PSDK_TEST_CMD_CALL_MAX_LEN              (PSDK_FILE_PATH_SIZE_MAX + 256)
+#define PSDK_REBOOT_STATE_FILE_NAME             "reboot_state"
+
+/* Private types -------------------------------------------------------------*/
+
+/* Private values -------------------------------------------------------------*/
+static FILE *s_upgradeProgramFile = NULL;
+
+/* Private functions declaration ---------------------------------------------*/
+static T_PsdkReturnCode PsdkTest_RunSystemCmd(char *systemCmdStr);
+
+/* Exported functions definition ---------------------------------------------*/
+T_PsdkReturnCode PsdkUpgradePlatformLinux_RebootSystem(void)
+{
+    // attention: you need su permission to reboot system
+    return PsdkTest_RunSystemCmd("reboot -h now");
+}
+
+T_PsdkReturnCode PsdkUpgradePlatformLinux_CleanUpgradeProgramFileStoreArea(void)
+{
+    char cmdBuffer[PSDK_TEST_CMD_CALL_MAX_LEN];
+
+    snprintf(cmdBuffer, PSDK_TEST_CMD_CALL_MAX_LEN, "rm -rf %s*", PSDK_TEST_UPGRADE_FILE_DIR);
+
+    return PsdkTest_RunSystemCmd(cmdBuffer);
+}
+
+T_PsdkReturnCode PsdkUpgradePlatformLinux_ReplaceOldProgram(void)
+{
+    char cmdBuffer[PSDK_TEST_CMD_CALL_MAX_LEN];
+
+    snprintf(cmdBuffer, PSDK_TEST_CMD_CALL_MAX_LEN, "cp -f %s*_V*.*.*.bin %s", PSDK_TEST_UPGRADE_FILE_DIR,
+             PSDK_TEST_UPGRADE_OLD_FIRMWARE_PATH);
+
+    return PsdkTest_RunSystemCmd(cmdBuffer);
+}
+
+T_PsdkReturnCode PsdkUpgradePlatformLinux_SetUpgradeRebootState(const T_PsdkUpgradeEndInfo *upgradeEndInfo)
+{
+    FILE *rebootStateFile;
+    size_t res;
+    T_PsdkReturnCode returnCode;
+
+    rebootStateFile = fopen(PSDK_REBOOT_STATE_FILE_NAME, "w+");
+    if (rebootStateFile == NULL) {
+        PsdkLogger_UserLogError("Create reboot state file error");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    res = fwrite((uint8_t *) upgradeEndInfo, 1, sizeof(T_PsdkUpgradeEndInfo), rebootStateFile);
+    if (res != sizeof(T_PsdkUpgradeEndInfo)) {
+        PsdkLogger_UserLogError("Write data len is not equal");
+        returnCode = PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+        goto out;
+    }
+    returnCode = PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+
+out:
+    fclose(rebootStateFile);
+    return returnCode;
+}
+
+T_PsdkReturnCode PsdkUpgradePlatformLinux_GetUpgradeRebootState(bool *isUpgradeReboot,
+                                                                T_PsdkUpgradeEndInfo *upgradeEndInfo)
+{
+    FILE *rebootStateFile;
+    size_t res;
+
+    rebootStateFile = fopen(PSDK_REBOOT_STATE_FILE_NAME, "r");
+    if (rebootStateFile == NULL) {
+        *isUpgradeReboot = false;
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+    }
+
+    res = fread(upgradeEndInfo, 1, sizeof(T_PsdkUpgradeEndInfo), rebootStateFile);
+    if (res != sizeof(T_PsdkUpgradeEndInfo)) {
+        PsdkLogger_UserLogError("Read data len is not equal");
+        *isUpgradeReboot = false;
+        goto out;
+    }
+    *isUpgradeReboot = true;
+
+out:
+    fclose(rebootStateFile);
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_PsdkReturnCode PsdkUpgradePlatformLinux_CleanUpgradeRebootState(void)
+{
+    return PsdkTest_RunSystemCmd("rm -f "PSDK_REBOOT_STATE_FILE_NAME);
+}
+
+T_PsdkReturnCode PsdkUpgradePlatformLinux_CreateUpgradeProgramFile(const T_PsdkUpgradeFileInfo *fileInfo)
+{
+    char filePath[PSDK_FILE_PATH_SIZE_MAX];
+
+    s_upgradeProgramFile = NULL;
+    snprintf(filePath, PSDK_FILE_PATH_SIZE_MAX, "%s%s", PSDK_TEST_UPGRADE_FILE_DIR, fileInfo->fileName);
+    s_upgradeProgramFile = fopen(filePath, "w+");
+    if (s_upgradeProgramFile == NULL) {
+        PsdkLogger_UserLogError("Upgrade program file can't create");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_PsdkReturnCode
+PsdkUpgradePlatformLinux_WriteUpgradeProgramFile(uint32_t offset, const uint8_t *data, uint16_t dataLen)
+{
+    size_t writeLen;
+
+    if (s_upgradeProgramFile == NULL) {
+        PsdkLogger_UserLogError("upgrade program file can't be NULL");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    if (fseek(s_upgradeProgramFile, offset, SEEK_SET) != 0) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+    writeLen = fwrite(data, 1, dataLen, s_upgradeProgramFile);
+    if (writeLen != dataLen) {
+        PsdkLogger_UserLogError("Write upgrade program file error, writeLen = %d, dataLen = %d", writeLen);
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_PsdkReturnCode PsdkUpgradePlatformLinux_ReadUpgradeProgramFile(uint32_t offset, uint16_t readDataLen, uint8_t *data,
+                                                                 uint16_t *realLen)
+{
+    uint32_t readRtn;
+
+    if (s_upgradeProgramFile == NULL) {
+        PsdkLogger_UserLogError("upgrade program file can't be NULL");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    if (fseek(s_upgradeProgramFile, offset, SEEK_SET) != 0) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    readRtn = fread(data, 1, readDataLen, s_upgradeProgramFile);
+    if (readRtn == 0 || readRtn > readDataLen) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+    *realLen = readRtn;
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_PsdkReturnCode PsdkUpgradePlatformLinux_CloseUpgradeProgramFile(void)
+{
+    if (s_upgradeProgramFile == NULL) {
+        PsdkLogger_UserLogError("upgrade program file can't be NULL");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    fclose(s_upgradeProgramFile);
+    s_upgradeProgramFile = NULL;
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+/* Private functions definition-----------------------------------------------*/
+static T_PsdkReturnCode PsdkTest_RunSystemCmd(char *systemCmdStr)
+{
+    int status;
+
+    status = system(systemCmdStr);
+    if (status == -1 || WIFEXITED(status) == false) {
+        PsdkLogger_UserLogError("Call %s error, status = %d", systemCmdStr, status);
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    if (WEXITSTATUS(status) == 0) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+    } else {
+        PsdkLogger_UserLogError("Exit status is = %d", WEXITSTATUS(status));
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+}
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/
--- a/sample/platform/linux/common/upgrade_platform_opt/upgrade_platform_opt_linux.h
+++ b/sample/platform/linux/common/upgrade_platform_opt/upgrade_platform_opt_linux.h
@ -0,0 +1,71 @@
+/**
+ ********************************************************************
+ * @file    upgrade_platform_opt_linux.h
+ * @version V2.0.0
+ * @date    3/25/20
+ * @brief   This is the header file for "upgrade_platform_opt_linux.c", defining the structure and
+ * (exported) function prototypes.
+ *
+ * @copyright (c) 2018-2019 DJI. All rights reserved.
+ *
+ * All information contained herein is, and remains, the property of DJI.
+ * The intellectual and technical concepts contained herein are proprietary
+ * to DJI and may be covered by U.S. and foreign patents, patents in process,
+ * and protected by trade secret or copyright law.  Dissemination of this
+ * information, including but not limited to data and other proprietary
+ * material(s) incorporated within the information, in any form, is strictly
+ * prohibited without the express written consent of DJI.
+ *
+ * If you receive this source code without DJI’s authorization, you may not
+ * further disseminate the information, and you must immediately remove the
+ * source code and notify DJI of its removal. DJI reserves the right to pursue
+ * legal actions against you for any loss(es) or damage(s) caused by your
+ * failure to do so.
+ *
+ *********************************************************************
+ */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef UPGRADE_PLATFORM_OPT_LINUX_H
+#define UPGRADE_PLATFORM_OPT_LINUX_H
+
+/* Includes ------------------------------------------------------------------*/
+
+#include <psdk_typedef.h>
+#include <psdk_upgrade.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+#define PSDK_TEST_UPGRADE_OLD_FIRMWARE_PATH     "/usr/local/bin/psdk_demo"
+#define PSDK_TEST_UPGRADE_FILE_DIR              "/upgrade/"
+
+/* Exported types ------------------------------------------------------------*/
+
+/* Exported functions --------------------------------------------------------*/
+T_PsdkReturnCode PsdkUpgradePlatformLinux_RebootSystem(void);
+
+T_PsdkReturnCode PsdkUpgradePlatformLinux_CleanUpgradeProgramFileStoreArea(void);
+T_PsdkReturnCode PsdkUpgradePlatformLinux_CreateUpgradeProgramFile(const T_PsdkUpgradeFileInfo *fileInfo);
+T_PsdkReturnCode PsdkUpgradePlatformLinux_WriteUpgradeProgramFile(uint32_t offset, const uint8_t *data,
+                                                                  uint16_t dataLen);
+T_PsdkReturnCode PsdkUpgradePlatformLinux_ReadUpgradeProgramFile(uint32_t offset, uint16_t readDataLen, uint8_t *data,
+                                                                 uint16_t *realLen);
+T_PsdkReturnCode PsdkUpgradePlatformLinux_CloseUpgradeProgramFile(void);
+
+T_PsdkReturnCode PsdkUpgradePlatformLinux_ReplaceOldProgram(void);
+
+T_PsdkReturnCode PsdkUpgradePlatformLinux_SetUpgradeRebootState(const T_PsdkUpgradeEndInfo *upgradeEndInfo);
+T_PsdkReturnCode PsdkUpgradePlatformLinux_GetUpgradeRebootState(bool *isUpgradeReboot,
+                                                                T_PsdkUpgradeEndInfo *upgradeEndInfo);
+T_PsdkReturnCode PsdkUpgradePlatformLinux_CleanUpgradeRebootState(void);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // UPGRADE_PLATFORM_OPT_LINUX_H
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
--- a/sample/platform/linux/manifold2/README.txt
+++ b/sample/platform/linux/manifold2/README.txt
@ -0,0 +1,38 @@
+Payload SDK Linux Sample.
+
+Test Environment:
+Hardware:               Manifold2-C/G
+Serial:                 USB-to-Serial Controller CP210x
+C Compiler:             GCC version 5.4.0 20160609
+CMake Version:          Cmake version 3.5.1
+IDE:                    CLion 2020.3.1
+
+Communication Serial Configuration:
+Baud Rate:              460800
+
+Network Port Configuration:
+IP Address:             Auto Config (Need root permission)
+Network Port:           Auto Config
+NetMask:                Auto Config
+Gateway:                Auto Config
+
+====== The steps to run the Payload SDK linux sample  ======
+Step 1 : modify related device information, such as device name of network or uart, uart baud rate.
+
+Step 2 : fill in your app info to file with path 'sample/platform/linux/manifold2/application/app_info.h'.
+This info can be obtained by logging in to the developer website https://developer.dji.com/payload-sdk.
+
+Step 3 : build source file, use following cmd:
+cd source_code_dir/project
+mkdir build
+cd build
+cmake ..
+make
+
+Step 4 : Manifold should connect to Skyport 2.0/XPort via usb-to-serial controller and network cable, make sure the
+serial pins are connected properly.
+
+Step 5 : use the root permission to execute this program, use following cmd:
+sudo ./psdk_demo
+
+Step 6: open DJI Pilot APP/MSDK APP to use the payload demo functions.
--- a/sample/platform/linux/manifold2/application/app_info.h
+++ b/sample/platform/linux/manifold2/application/app_info.h
@ -0,0 +1,57 @@
+/**
+ ********************************************************************
+ * @file    app_info.h
+ * @version V2.0.0
+ * @date    2019/07/01
+ * @brief   This is the header file for "app_info.c", defining the structure and
+ * (exported) function prototypes.
+ *
+ * @copyright (c) 2018-2019 DJI. All rights reserved.
+ *
+ * All information contained herein is, and remains, the property of DJI.
+ * The intellectual and technical concepts contained herein are proprietary
+ * to DJI and may be covered by U.S. and foreign patents, patents in process,
+ * and protected by trade secret or copyright law.  Dissemination of this
+ * information, including but not limited to data and other proprietary
+ * material(s) incorporated within the information, in any form, is strictly
+ * prohibited without the express written consent of DJI.
+ *
+ * If you receive this source code without DJI’s authorization, you may not
+ * further disseminate the information, and you must immediately remove the
+ * source code and notify DJI of its removal. DJI reserves the right to pursue
+ * legal actions against you for any loss(es) or damage(s) caused by your
+ * failure to do so.
+ *
+ *********************************************************************
+ */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef APP_INFO_H
+#define APP_INFO_H
+
+/* Includes ------------------------------------------------------------------*/
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+// ATTENTION: User must goto developer.dji.com to create your own payload sdk application, get payload sdk application
+// information then fill in the application information here.
+#define USER_APP_NAME               "imager"
+#define USER_APP_ID                 "90210"
+#define USER_APP_KEY                "2c309ca22fb1e67cc166ccc9dc261f4"
+#define USER_DEVELOPER_ACCOUNT      "735056338@qq.com"
+
+/* Exported types ------------------------------------------------------------*/
+
+/* Exported functions --------------------------------------------------------*/
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif //APP_INFO_H
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
--- a/sample/platform/linux/manifold2/application/main.c
+++ b/sample/platform/linux/manifold2/application/main.c
@ -0,0 +1,563 @@
+/**
+ ********************************************************************
+ * @file    main.c
+ * @version V2.0.0
+ * @date    2019/07/01
+ * @brief
+ *
+ * @copyright (c) 2018-2019 DJI. All rights reserved.
+ *
+ * All information contained herein is, and remains, the property of DJI.
+ * The intellectual and technical concepts contained herein are proprietary
+ * to DJI and may be covered by U.S. and foreign patents, patents in process,
+ * and protected by trade secret or copyright law.  Dissemination of this
+ * information, including but not limited to data and other proprietary
+ * material(s) incorporated within the information, in any form, is strictly
+ * prohibited without the express written consent of DJI.
+ *
+ * If you receive this source code without DJI’s authorization, you may not
+ * further disseminate the information, and you must immediately remove the
+ * source code and notify DJI of its removal. DJI reserves the right to pursue
+ * legal actions against you for any loss(es) or damage(s) caused by your
+ * failure to do so.
+ *
+ *********************************************************************
+ */
+
+/* Includes ------------------------------------------------------------------*/
+#include <fcntl.h>
+#include <stdio.h>
+#include <time.h>
+#include "errno.h"
+#include <signal.h>
+
+#include "psdk_logger.h"
+#include "psdk_core.h"
+#include "psdk_platform.h"
+
+#include "osal/osal.h"
+#include "utils/util_misc.h"
+#include "hal/hal_uart.h"
+#include "hal/hal_network.h"
+#include "psdk_config.h"
+#include "app_info.h"
+#include "psdk_aircraft_info.h"
+#include "camera_emu/test_payload_cam_emu.h"
+#include "data_transmission/test_data_transmission.h"
+#include "data_subscription/test_data_subscription.h"
+#include "payload_collaboration/test_payload_collaboration.h"
+#include "camera_media_emu/test_payload_cam_media.h"
+#include "widget/test_widget.h"
+#include "gimbal_emu/test_payload_gimbal_emu.h"
+#include "psdk_data_channel.h"
+#include "data_channel/test_data_channel.h"
+#include "power_management/test_power_management.h"
+#include "xport/test_xport.h"
+#include "monitor/sys_monitor.h"
+#include "psdk_product_info.h"
+#include "mop_channel/test_mop_channel.h"
+#include "upgrade/test_upgrade.h"
+#include "upgrade_platform_opt/upgrade_platform_opt_linux.h"
+#include <psdk_payload_camera.h>
+
+/* Private constants ---------------------------------------------------------*/
+#define PSDK_LOG_PATH                    "Logs/psdk_local"
+#define PSDK_LOG_INDEX_FILE_NAME         "Logs/latest"
+#define PSDK_LOG_FOLDER_NAME             "Logs"
+#define PSDK_LOG_PATH_MAX_SIZE           (128)
+#define PSDK_LOG_FOLDER_NAME_MAX_SIZE    (32)
+
+/* Private types -------------------------------------------------------------*/
+typedef struct {
+    pid_t tid;//linux进程号类型定义，实际就是int
+    char name[16];
+    float pcpu;//
+} T_ThreadAttribute;
+
+/* Private functions declaration ---------------------------------------------*/
+static T_PsdkReturnCode PsdkUser_FillInUserInfo(T_PsdkUserInfo *userInfo);//填写用户信息
+static T_PsdkReturnCode PsdkUser_Console(const uint8_t *data, uint16_t dataLen);//位于结构体中的回调函数：将日志信息打印到控制台
+static T_PsdkReturnCode PsdkUser_LocalWrite(const uint8_t *data, uint16_t dataLen);//位于结构体中的回调函数：将日志信息写入文件
+static T_PsdkReturnCode PsdkUser_FileSystemInit(const char *path);//会打开日志文件，将日志文件指针返回到s_psdkLogFile
+static void *PsdkUser_MonitorTask(void *argument);
+
+/* Exported functions definition ---------------------------------------------*/
+static FILE *s_psdkLogFile;//函数PsdkUser_FileSystemInit中打开的日志文件指针
+static FILE *s_psdkLogFileCnt;//函数PsdkUser_FileSystemInit中打开的一个文件,此文件用于记录日志文件个数
+static pthread_t s_monitorThread = 0;//用于生成线程ID
+
+/* Private functions definition-----------------------------------------------*/
+static T_PsdkReturnCode PsdkUser_FillInUserInfo(T_PsdkUserInfo *userInfo)
+{
+    //先清空结构体userInfo中的数据
+    memset(userInfo->appName, 0, sizeof(userInfo->appName));
+    memset(userInfo->appId, 0, sizeof(userInfo->appId));
+    memset(userInfo->appKey, 0, sizeof(userInfo->appKey));
+    memset(userInfo->developerAccount, 0, sizeof(userInfo->developerAccount));
+
+    //判断输入的用户信息是否合法
+    if (strlen(USER_APP_NAME) >= sizeof(userInfo->appName) ||
+        strlen(USER_APP_ID) > sizeof(userInfo->appId) ||
+        strlen(USER_APP_KEY) > sizeof(userInfo->appKey) ||
+        strlen(USER_DEVELOPER_ACCOUNT) >= sizeof(userInfo->developerAccount)) {
+        PsdkLogger_UserLogError("Length of user information string is beyond limit. Please check.");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    if (!strcmp(USER_APP_NAME, "your_app_name") ||
+        !strcmp(USER_APP_ID, "your_app_id") ||
+        !strcmp(USER_APP_KEY, "your_app_key") ||
+        !strcmp(USER_DEVELOPER_ACCOUNT, "your_developer_account")) {
+        PsdkLogger_UserLogError("Please fill in correct user information to psdk_app_info.h file.");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    //如果输入的用户信息合法，就写入到结构体userInfo中。但是用两个函数(strncpy/memcpy)的目的是啥？？？？？？？？？？？？？？？？？？？？？？？？？？？？？
+    strncpy(userInfo->appName, USER_APP_NAME, sizeof(userInfo->appName) - 1);
+    memcpy(userInfo->appId, USER_APP_ID, USER_UTIL_MIN(sizeof(userInfo->appId), strlen(USER_APP_ID)));
+    memcpy(userInfo->appKey, USER_APP_KEY, USER_UTIL_MIN(sizeof(userInfo->appKey), strlen(USER_APP_KEY)));
+    strncpy(userInfo->developerAccount, USER_DEVELOPER_ACCOUNT, sizeof(userInfo->developerAccount) - 1);
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+static T_PsdkReturnCode PsdkUser_Console(const uint8_t *data, uint16_t dataLen)
+{
+    USER_UTIL_UNUSED(dataLen);//？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？
+
+    /*
+     * Warning: printf() is a blocking interface. If print speed is too low, PSDK will be blocked and many abnormal
+     * situations  occur, such as initialization failure and payload disconnection. Users can raise corresponding
+     * console level to INFO or even higher to solve this problem.
+     */
+    printf("%s", data);
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+static T_PsdkReturnCode PsdkUser_LocalWrite(const uint8_t *data, uint16_t dataLen)
+{
+    int32_t realLen;
+
+    if (s_psdkLogFile == NULL) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    realLen = fwrite(data, 1, dataLen, s_psdkLogFile);
+    fflush(s_psdkLogFile);//清空缓冲区
+    if (realLen == dataLen) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+    } else {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+}
+
+static T_PsdkReturnCode PsdkUser_FileSystemInit(const char *path)
+{
+    T_PsdkReturnCode psdkStat = PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+    char filePath[PSDK_LOG_PATH_MAX_SIZE];
+    char folderName[PSDK_LOG_FOLDER_NAME_MAX_SIZE];
+    time_t currentTime = time(NULL);//time为内联函数
+    struct tm *localTime = localtime(&currentTime);//localtime为内联函数
+    uint16_t logFileIndex = 0;//存储日志文件个数
+    uint16_t currentLogFileIndex = 0;
+    uint8_t ret = 0;
+
+    if (localTime == NULL) {
+        printf("Get local time error.\r\n");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    //创建日志文件夹
+    if (access(PSDK_LOG_FOLDER_NAME, F_OK) != 0) {
+        printf("Log file is not existed, need create new.\r\n");
+        sprintf(folderName, "mkdir %s", PSDK_LOG_FOLDER_NAME);
+        ret = system(folderName);
+        if (ret != 0) {
+            printf("Create new log folder error, ret:%d.\r\n", ret);
+            return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+        }
+    }
+
+    //查询日志文件个数,并将结果写入到变量currentLogFileIndex中
+    s_psdkLogFileCnt = fopen(PSDK_LOG_INDEX_FILE_NAME, "rb+");
+    if (s_psdkLogFileCnt == NULL) {//如果没有就创建日志文件
+        s_psdkLogFileCnt = fopen(PSDK_LOG_INDEX_FILE_NAME, "wb+");
+        if (s_psdkLogFileCnt == NULL) {
+            return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+        }
+    } else {
+        ret = fseek(s_psdkLogFileCnt, 0, SEEK_SET);//文件指针归零
+        if (ret != 0) {
+            printf("Seek log count file error, ret: %d, errno: %d.\r\n", ret, errno);
+            return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+        }
+
+        ret = fread((uint16_t *) &logFileIndex, 1, sizeof(uint16_t), s_psdkLogFileCnt);//读取日志文件中的数据
+        if (ret != sizeof(uint16_t)) {
+            printf("Read log file index error.\r\n");
+        }
+    }
+
+    printf("Get current log index: %d\r\n", logFileIndex);
+    currentLogFileIndex = logFileIndex;
+    logFileIndex++;
+
+    ret = fseek(s_psdkLogFileCnt, 0, SEEK_SET);//文件指针再次归零
+    if (ret != 0) {
+        printf("Seek log file error, ret: %d, errno: %d.\r\n", ret, errno);
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    ret = fwrite((uint16_t *) &logFileIndex, 1, sizeof(uint16_t), s_psdkLogFileCnt);//更新日志文件个数
+    if (ret != sizeof(uint16_t)) {
+        printf("Write log file index error.\r\n");
+        fclose(s_psdkLogFileCnt);
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    fclose(s_psdkLogFileCnt);
+
+    //创建日志文件
+    sprintf(filePath, "%s_%04d_%04d%02d%02d_%02d-%02d-%02d.log", path, currentLogFileIndex,
+            localTime->tm_year + 1900, localTime->tm_mon + 1, localTime->tm_mday,
+            localTime->tm_hour, localTime->tm_min, localTime->tm_sec);
+
+    s_psdkLogFile = fopen(filePath, "wb+");
+    if (s_psdkLogFile == NULL) {
+        PsdkLogger_UserLogWarn("Open filepath time error.");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    return psdkStat;
+}
+
+static void PsdkUser_NormalExitHandler(int signalNum)
+{
+    USER_UTIL_UNUSED(signalNum);
+    exit(0);
+}
+
+#pragma GCC diagnostic push//？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？
+#pragma GCC diagnostic ignored "-Wmissing-noreturn"
+#pragma GCC diagnostic ignored "-Wreturn-type"
+
+static void *PsdkUser_MonitorTask(void *argument)
+{
+    unsigned int i = 0;
+    unsigned int threadCount = 0;//本进程线程个数
+    pid_t *tidList = NULL;//指线程id
+    T_ThreadAttribute *threadAttribute = NULL;
+
+    USER_UTIL_UNUSED(argument);//？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？
+
+    while (1) {
+        threadCount = Monitor_GetThreadCountOfProcess(getpid());
+
+        //为tidList分配内存
+        tidList = PsdkOsal_Malloc(threadCount * sizeof(pid_t));
+        if (tidList == NULL) {
+            PsdkLogger_UserLogError("malloc fail.");
+            goto delay;
+        }
+        Monitor_GetTidListOfProcess(getpid(), tidList, threadCount);
+
+        //为threadAttribute分配内存
+        threadAttribute = PsdkOsal_Malloc(threadCount * sizeof(T_ThreadAttribute));
+        if (threadAttribute == NULL) {
+            PsdkLogger_UserLogError("malloc fail.");
+            goto freeTidList;
+        }
+
+        //向threadAttribute中填写线程id号
+        for (i = 0; i < threadCount; ++i) {
+            threadAttribute[i].tid = tidList[i];
+        }
+
+        //向threadAttribute中填写pcpu和线程name
+        PsdkLogger_UserLogDebug("thread pcpu:");//?????????????????????????????????????????????????????????????????????????????????
+        PsdkLogger_UserLogDebug("tid\tname\tpcpu");
+        for (i = 0; i < threadCount; ++i) {
+            threadAttribute[i].pcpu = Monitor_GetPcpuOfThread(getpid(), tidList[i]);
+            Monitor_GetNameOfThread(getpid(), tidList[i], threadAttribute[i].name, sizeof(threadAttribute[i].name));
+            PsdkLogger_UserLogDebug("%d\t%15s\t%f %%.", threadAttribute[i].tid, threadAttribute[i].name,
+                                    threadAttribute[i].pcpu);
+        }
+
+        PsdkLogger_UserLogDebug("heap used: %d B.", Monitor_GetHeapUsed(getpid()));
+        PsdkLogger_UserLogDebug("stack used: %d B.", Monitor_GetStackUsed(getpid()));
+
+        PsdkOsal_Free(threadAttribute);
+freeTidList:
+        PsdkOsal_Free(tidList);
+
+delay:
+        sleep(10);
+    }
+}
+
+#pragma GCC diagnostic pop
+
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wmissing-noreturn"
+#pragma GCC diagnostic ignored "-Wreturn-type"
+
+int main(void)
+{
+    T_PsdkUserInfo userInfo;
+    const T_PsdkDataChannelBandwidthProportionOfHighspeedChannel bandwidthProportionOfHighspeedChannel =
+        {10, 60, 30};//dataStream，videoStream，downloadStream
+    T_PsdkLoggerConsole printConsole = {
+        .consoleLevel = PSDK_LOGGER_CONSOLE_LOG_LEVEL_INFO,
+        .func = PsdkUser_Console,
+    };
+
+    T_PsdkLoggerConsole localRecordConsole = {
+        .consoleLevel = PSDK_LOGGER_CONSOLE_LOG_LEVEL_INFO,
+        .func = PsdkUser_LocalWrite,
+    };
+
+    T_PsdkHalUartHandler halUartHandler = {
+        .UartInit = Hal_UartInit,
+        .UartReadData = Hal_UartReadData,
+        .UartWriteData = Hal_UartSendData,
+    };
+
+    T_PsdkHalNetWorkHandler halNetWorkHandler = {
+        .NetWorkConfig = HalNetWork_Config,
+    };
+
+    T_PsdkOsalHandler osalHandler = {
+        .Malloc = Osal_Malloc,
+        .Free = Osal_Free,
+        .TaskCreate = Osal_TaskCreate,
+        .TaskDestroy = Osal_TaskDestroy,
+        .TaskSleepMs = Osal_TaskSleepMs,
+        .MutexCreate = Osal_MutexCreate,
+        .MutexDestroy = Osal_MutexDestroy,
+        .MutexLock = Osal_MutexLock,
+        .MutexUnlock = Osal_MutexUnlock,
+        .SemaphoreCreate = Osal_SemaphoreCreate,
+        .SemaphoreDestroy = Osal_SemaphoreDestroy,
+        .SemaphoreWait = Osal_SemaphoreWait,
+        .SemaphorePost = Osal_SemaphorePost,
+        .SemaphoreTimedWait = Osal_SemaphoreTimedWait,
+        .GetTimeMs = Osal_GetTimeMs,
+    };
+
+    T_PsdkAircraftInfoBaseInfo aircraftBaseInfo = {0};
+
+    //https://developer.dji.com/cn/document/5c34a334-bde6-471b-88c6-f9f6f8f287a6
+    //通过注册Hal 层串口设备的函数，负载设备控制程序能够通过开发平台的串口与无人机通信，实现负载设备控制程序在不同硬件平台上的移植。
+    if (PsdkPlatform_RegHalUartHandler(&halUartHandler) != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        printf("psdk register hal uart handler error");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    //https://developer.dji.com/cn/document/5c34a334-bde6-471b-88c6-f9f6f8f287a6
+    //通过注册Hal 层网口函数，负载设备控制程序能够通过网口与无人机通信。
+    if (PsdkPlatform_RegHalNetworkHandler(&halNetWorkHandler) != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        printf("psdk register hal network handler error");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    //https://developer.dji.com/cn/document/5c34a334-bde6-471b-88c6-f9f6f8f287a6
+    //通过注册Osal 层的函数，负载设备控制程序能够访问不同操作系统的内核和资源，实现负载设备控制程序在不同操作系统上的移植。
+    if (PsdkPlatform_RegOsalHandler(&osalHandler) != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        printf("psdk register osal handler error");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    //logger打印到控制台
+    if (PsdkLogger_AddConsole(&printConsole) != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        printf("psdk add console print error");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    //logger写入到文件1：会打开日志文件，将日志文件指针返回到s_psdkLogFile
+    if (PsdkUser_FileSystemInit(PSDK_LOG_PATH) != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        printf("psdk file system init error");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+    //logger写入到文件2：注册写入函数到psdk中
+    if (PsdkLogger_AddConsole(&localRecordConsole) != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        printf("psdk add console record error");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    //填写用户信息到变量userInfo中
+    if (PsdkUser_FillInUserInfo(&userInfo) != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        printf("psdk fill in user info error");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    //初始化psdk,此函数的调用时机有要求
+    if (PsdkCore_Init(&userInfo) != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("psdk instance init error");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    //设置负载设备的别称
+    if (PsdkProductInfo_SetAlias("PSDK_APPALIAS") != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("set product alias error.");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    //获取飞机信息
+    if (PsdkAircraftInfo_GetBaseInfo(&aircraftBaseInfo) != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("get aircraft information error.");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    //通过宏来判断 是否初始化各种设备和功能；开始-----------------------------------------------------------------------------------------------------------------------------------------
+
+    PsdkLogger_UserLogInfo("通过宏来判断 是否初始化各种设备和功能；开始--------------------------------------------------------------------------------------------------------------------------");
+
+
+    //如果要申请高功率，需要在执行PsdkTest_PowerManagementInit函数前，先执行PsdkTest_RegApplyHighPowerHandler函数
+#ifdef PSDK_USING_POWER_MANAGEMENT
+    PsdkLogger_UserLogInfo("使用电源模块--------------------------------------------------------------------------------------------------------------------------");
+    if (PsdkTest_PowerManagementInit() != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("power management init error");
+    }
+#endif
+
+    //相机相关
+#ifdef PSDK_USING_CAMERA_EMU
+    PsdkLogger_UserLogInfo("使用PSDK_USING_CAMERA_EMU--------------------------------------------------------------------------------------------------------------------------");
+    if (PsdkTest_CameraInit() != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("psdk camera init error");
+    }
+#endif
+
+#ifdef PSDK_USING_CAMERA_MEDIA_EMU
+#if PSDK_ARCH_SYS_LINUX
+    PsdkLogger_UserLogInfo("使用PSDK_USING_CAMERA_MEDIA_EMU--------------------------------------------------------------------------------------------------------------------------");
+    if (PsdkTest_CameraMediaInit() != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("psdk camera media init error");
+    }
+#endif
+#endif
+
+    //数据传输：Should call this function before sending data to mobile end/onboard computer or receiving data.
+#ifdef PSDK_USING_DATA_TRANSMISSION
+    PsdkLogger_UserLogInfo("使用数据传输模块--------------------------------------------------------------------------------------------------------------------------");
+    if (PsdkTest_DataTransmissionInit() != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {//其中的用户自定义任务UserDataTransmission_Task,有点不懂机制????????????????????????????????????????????????
+        PsdkLogger_UserLogError("psdk data transmission init error");
+    }
+#endif
+
+    //数据通道，带宽设置：3类数据通道：dataStream，videoStream，downloadStream
+#ifdef PSDK_USING_DATA_CHANNEL
+    PsdkLogger_UserLogInfo("设置数据通道带宽--------------------------------------------------------------------------------------------------------------------------");
+    if (PsdkTest_DataChannelSetBandwidthProportionForHighspeedChannel(
+        bandwidthProportionOfHighspeedChannel) != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("set bandwidth distribution for high-speed channel error");
+    }
+#endif
+
+    //消息订阅
+#ifdef PSDK_USING_DATA_SUBSCRIPTION
+    PsdkLogger_UserLogInfo("使用消息订阅--------------------------------------------------------------------------------------------------------------------------");
+    if (PsdkTest_DataSubscriptionInit() != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("psdk data subscription init error");
+    }
+#endif
+
+    //负载协同
+#ifdef PSDK_USING_PAYLOAD_COLLABORATION
+    PsdkLogger_UserLogInfo("使用COLLABORATION--------------------------------------------------------------------------------------------------------------------------");
+    if (((aircraftBaseInfo.aircraftType == PSDK_AIRCRAFT_INFO_TYPE_M200_V2 ||
+          aircraftBaseInfo.aircraftType == PSDK_AIRCRAFT_INFO_TYPE_M210_V2 ||
+          aircraftBaseInfo.aircraftType == PSDK_AIRCRAFT_INFO_TYPE_M210RTK_V2) &&
+         aircraftBaseInfo.payloadMountPosition == PSDK_AIRCRAFT_INFO_PAYLOAD_MOUNT_POSITION_NO2) ||
+        aircraftBaseInfo.aircraftType == PSDK_AIRCRAFT_INFO_TYPE_M300_RTK) {
+        if (PsdkTest_PayloadCollaborationInit() != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            PsdkLogger_UserLogError("psdk payload collaboration init error");
+        }
+    }
+#endif
+
+    //使用UI
+#ifdef PSDK_USING_WIDGET
+    PsdkLogger_UserLogInfo("使用WIDGET--------------------------------------------------------------------------------------------------------------------------");
+    if (PsdkTest_WidgetInit() != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("psdk widget init error");
+    }
+#endif
+
+    //云台相关1、判断是否为天空端（SKYPORT_V2）
+#ifdef PSDK_USING_GIMBAL_EMU
+    PsdkLogger_UserLogInfo("判断是否为天空端（SKYPORT_V2）--------------------------------------------------------------------------------------------------------------------------");
+    if (aircraftBaseInfo.psdkAdapterType == PSDK_AIRCRAFT_INFO_PSDK_ADAPTER_TYPE_SKYPORT_V2) {
+        if (PsdkTest_GimbalInit() != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            PsdkLogger_UserLogError("psdk gimbal init error");
+        }
+    }
+#endif
+
+    //云台相关2、判断是否为xport
+#ifdef PSDK_USING_XPORT
+    PsdkLogger_UserLogDebug("使用xport--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------");
+    if (aircraftBaseInfo.psdkAdapterType == PSDK_AIRCRAFT_INFO_PSDK_ADAPTER_TYPE_XPORT) {
+        if (PsdkTest_XPortInit() != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            PsdkLogger_UserLogError("psdk XPort init error");
+        }
+    }
+#endif
+
+#ifdef PSDK_USING_UPGRADE
+    PsdkLogger_UserLogInfo("使用PSDK_USING_UPGRADE--------------------------------------------------------------------------------------------------------------------------");
+    T_PsdkTestUpgradePlatformOpt linuxUpgradePlatformOpt = {
+        .rebootSystem = PsdkUpgradePlatformLinux_RebootSystem,
+        .cleanUpgradeProgramFileStoreArea = PsdkUpgradePlatformLinux_CleanUpgradeProgramFileStoreArea,
+        .createUpgradeProgramFile = PsdkUpgradePlatformLinux_CreateUpgradeProgramFile,
+        .writeUpgradeProgramFile = PsdkUpgradePlatformLinux_WriteUpgradeProgramFile,
+        .readUpgradeProgramFile = PsdkUpgradePlatformLinux_ReadUpgradeProgramFile,
+        .closeUpgradeProgramFile = PsdkUpgradePlatformLinux_CloseUpgradeProgramFile,
+        .replaceOldProgram = PsdkUpgradePlatformLinux_ReplaceOldProgram,
+        .setUpgradeRebootState = PsdkUpgradePlatformLinux_SetUpgradeRebootState,
+        .getUpgradeRebootState = PsdkUpgradePlatformLinux_GetUpgradeRebootState,
+        .cleanUpgradeRebootState = PsdkUpgradePlatformLinux_CleanUpgradeRebootState,
+    };
+    if (PsdkTest_UpgradeInit(&linuxUpgradePlatformOpt) != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("psdk upgrade init error");
+    }
+#endif
+
+#ifdef PSDK_USING_MOP_CHANNEL
+    PsdkLogger_UserLogInfo("使用PSDK_USING_MOP_CHANNEL--------------------------------------------------------------------------------------------------------------------------");
+    if (PsdkTest_MopChannelInit() != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("psdk mop channel init error");
+    }
+#endif
+
+    //通过宏来判断 是否初始化各种设备和功能；结束---------------------------------------------------------------------------------------------
+    PsdkLogger_UserLogInfo("通过宏来判断 是否初始化各种设备和功能；结束--------------------------------------------------------------------------------------------------------------------------");
+
+
+    //创建并执行一个监控线程
+    if (pthread_create(&s_monitorThread, NULL, PsdkUser_MonitorTask, NULL) != 0) {
+        PsdkLogger_UserLogError("create monitor task fail.");
+    }
+
+    if (pthread_setname_np(s_monitorThread, "monitor task") != 0) {
+        PsdkLogger_UserLogError("set name for monitor task fail.");
+    }
+
+    //启动负载设备控制程序 ,如果没有这些代码 → 移动端的APP 将无法正常控制负载设备；
+    if (PsdkCore_ApplicationStart() != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("psdk application start error");
+    }
+
+    signal(SIGTERM, PsdkUser_NormalExitHandler);
+
+    PsdkLogger_UserLogInfo("进入无限循环--------------------------------------------------------------------------------------------------------------------------");
+    while (1) {
+        sleep(1);
+    }
+}
+
+#pragma GCC diagnostic pop
+
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/
--- a/sample/platform/linux/manifold2/application/psdk_config.h
+++ b/sample/platform/linux/manifold2/application/psdk_config.h
@ -0,0 +1,75 @@
+/**
+ ********************************************************************
+ * @file    psdk_config.h
+ * @version V2.0.0
+ * @date    2019/9/11
+ * @brief   This is the header file for "psdk_config.c", defining the structure and
+ * (exported) function prototypes.
+ *
+ * @copyright (c) 2018-2019 DJI. All rights reserved.
+ *
+ * All information contained herein is, and remains, the property of DJI.
+ * The intellectual and technical concepts contained herein are proprietary
+ * to DJI and may be covered by U.S. and foreign patents, patents in process,
+ * and protected by trade secret or copyright law.  Dissemination of this
+ * information, including but not limited to data and other proprietary
+ * material(s) incorporated within the information, in any form, is strictly
+ * prohibited without the express written consent of DJI.
+ *
+ * If you receive this source code without DJI’s authorization, you may not
+ * further disseminate the information, and you must immediately remove the
+ * source code and notify DJI of its removal. DJI reserves the right to pursue
+ * legal actions against you for any loss(es) or damage(s) caused by your
+ * failure to do so.
+ *
+ *********************************************************************
+ */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef PSDK_CONFIG_H
+#define PSDK_CONFIG_H
+
+/* Includes ------------------------------------------------------------------*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+#define PSDK_USING_POWER_MANAGEMENT
+
+#define PSDK_USING_CAMERA_EMU
+
+#define PSDK_USING_CAMERA_MEDIA_EMU//相机类负载设备的下载回放功能
+
+#define PSDK_USING_DATA_TRANSMISSION
+
+#define PSDK_USING_DATA_CHANNEL
+
+#define PSDK_USING_DATA_SUBSCRIPTION
+
+#define PSDK_USING_PAYLOAD_COLLABORATION//负载协同
+
+#define PSDK_USING_WIDGET
+
+#define PSDK_USING_GIMBAL_EMU
+
+#define PSDK_USING_XPORT
+
+#define PSDK_USING_UPGRADE
+
+/*!< Attention: This function needs to be used together with OSDK/MSDK mop sample.
+ * */
+//#define PSDK_USING_MOP_CHANNEL
+
+/* Exported types ------------------------------------------------------------*/
+
+/* Exported functions --------------------------------------------------------*/
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // PSDK_CONFIG_H
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
--- a/sample/platform/linux/manifold2/hal/hal_network.c
+++ b/sample/platform/linux/manifold2/hal/hal_network.c
@ -0,0 +1,90 @@
+/**
+ ********************************************************************
+ * @file    hal_network.c
+ * @version V2.0.0
+ * @date    3/27/20
+ * @brief
+ *
+ * @copyright (c) 2018-2019 DJI. All rights reserved.
+ *
+ * All information contained herein is, and remains, the property of DJI.
+ * The intellectual and technical concepts contained herein are proprietary
+ * to DJI and may be covered by U.S. and foreign patents, patents in process,
+ * and protected by trade secret or copyright law.  Dissemination of this
+ * information, including but not limited to data and other proprietary
+ * material(s) incorporated within the information, in any form, is strictly
+ * prohibited without the express written consent of DJI.
+ *
+ * If you receive this source code without DJI’s authorization, you may not
+ * further disseminate the information, and you must immediately remove the
+ * source code and notify DJI of its removal. DJI reserves the right to pursue
+ * legal actions against you for any loss(es) or damage(s) caused by your
+ * failure to do so.
+ *
+ *********************************************************************
+ */
+
+/* Includes ------------------------------------------------------------------*/
+#include "string.h"
+#include "stdlib.h"
+#include "stdio.h"
+#include "hal_network.h"
+#include "psdk_logger.h"
+
+/* Private constants ---------------------------------------------------------*/
+#define LINUX_NETWORK_DEV           "eth0"//enx00e04c360a7d
+#define LINUX_CMD_STR_MAX_SIZE      (128)
+
+/* Private types -------------------------------------------------------------*/
+
+/* Private values -------------------------------------------------------------*/
+
+/* Private functions declaration ---------------------------------------------*/
+
+/* Exported functions definition ---------------------------------------------*/
+T_PsdkReturnCode HalNetWork_Config(const char *ipAddr, const char *netMask)
+{
+    int32_t ret;
+    char cmdStr[LINUX_CMD_STR_MAX_SIZE];
+
+    if (ipAddr == NULL || netMask == NULL) {
+        PsdkLogger_UserLogError("hal network config param error");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    //Attention: need root permission to config ip addr and netmask.
+    memset(cmdStr, 0, sizeof(cmdStr));
+
+    snprintf(cmdStr, sizeof(cmdStr), "ifconfig | grep %s", LINUX_NETWORK_DEV);
+    ret = system(cmdStr);
+    if (ret != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("Can't find the network device. "
+                                "Probably the name of network device is not match or device is not properly initialized. "
+                                "Please check the name or status of network device. ");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    snprintf(cmdStr, sizeof(cmdStr), "ifconfig %s up", LINUX_NETWORK_DEV);
+    ret = system(cmdStr);
+    if (ret != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("Can't open the network. "
+                                "Probably the program not execute with root permission. "
+                                "Please use the root permission to execute the program. ");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    snprintf(cmdStr, sizeof(cmdStr), "ifconfig %s %s netmask %s", LINUX_NETWORK_DEV, ipAddr, netMask);
+    ret = system(cmdStr);
+    if (ret != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        PsdkLogger_UserLogError("Can't config the ip address of network. "
+                                "Probably the program not execute with root permission. "
+                                "Please use the root permission to execute the program. ");
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+/* Private functions definition-----------------------------------------------*/
+
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/
--- a/sample/platform/linux/manifold2/hal/hal_network.h
+++ b/sample/platform/linux/manifold2/hal/hal_network.h
@ -0,0 +1,52 @@
+/**
+ ********************************************************************
+ * @file    hal_network.h
+ * @version V2.0.0
+ * @date    3/27/20
+ * @brief   This is the header file for "hal_network.c", defining the structure and
+ * (exported) function prototypes.
+ *
+ * @copyright (c) 2018-2019 DJI. All rights reserved.
+ *
+ * All information contained herein is, and remains, the property of DJI.
+ * The intellectual and technical concepts contained herein are proprietary
+ * to DJI and may be covered by U.S. and foreign patents, patents in process,
+ * and protected by trade secret or copyright law.  Dissemination of this
+ * information, including but not limited to data and other proprietary
+ * material(s) incorporated within the information, in any form, is strictly
+ * prohibited without the express written consent of DJI.
+ *
+ * If you receive this source code without DJI’s authorization, you may not
+ * further disseminate the information, and you must immediately remove the
+ * source code and notify DJI of its removal. DJI reserves the right to pursue
+ * legal actions against you for any loss(es) or damage(s) caused by your
+ * failure to do so.
+ *
+ *********************************************************************
+ */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef HAL_NETWORK_H
+#define HAL_NETWORK_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "psdk_typedef.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+
+/* Exported types ------------------------------------------------------------*/
+
+/* Exported functions --------------------------------------------------------*/
+T_PsdkReturnCode HalNetWork_Config(const char *ipAddr, const char *netMask);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // HAL_NETWORK_H
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
--- a/sample/platform/linux/manifold2/hal/hal_uart.c
+++ b/sample/platform/linux/manifold2/hal/hal_uart.c
@ -0,0 +1,139 @@
+/**
+ ********************************************************************
+ * @file    psdk_hal.c
+ * @version V2.0.0
+ * @date    2019/07/01
+ * @brief
+ *
+ * @copyright (c) 2018-2019 DJI. All rights reserved.
+ *
+ * All information contained herein is, and remains, the property of DJI.
+ * The intellectual and technical concepts contained herein are proprietary
+ * to DJI and may be covered by U.S. and foreign patents, patents in process,
+ * and protected by trade secret or copyright law.  Dissemination of this
+ * information, including but not limited to data and other proprietary
+ * material(s) incorporated within the information, in any form, is strictly
+ * prohibited without the express written consent of DJI.
+ *
+ * If you receive this source code without DJI’s authorization, you may not
+ * further disseminate the information, and you must immediately remove the
+ * source code and notify DJI of its removal. DJI reserves the right to pursue
+ * legal actions against you for any loss(es) or damage(s) caused by your
+ * failure to do so.
+ *
+ *********************************************************************
+ */
+
+/* Includes ------------------------------------------------------------------*/
+#include "hal_uart.h"
+
+/* Private constants ---------------------------------------------------------*/
+#define LINUX_UART_DEV    "/dev/ttyUSB0"///dev/dji_serial_port
+
+/* Private types -------------------------------------------------------------*/
+static int s_psdkUartFd = -1;
+
+/* Private functions declaration ---------------------------------------------*/
+
+/* Exported functions definition ---------------------------------------------*/
+T_PsdkReturnCode Hal_UartInit(void)
+{
+    struct termios options;
+    struct flock lock;
+    T_PsdkReturnCode returnCode = PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+
+    s_psdkUartFd = open(LINUX_UART_DEV, O_RDWR | O_NOCTTY | O_NDELAY);
+    if (s_psdkUartFd == -1) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    // Forbid multiple psdk programs to access the serial port
+    lock.l_type = F_WRLCK;
+    lock.l_pid = getpid();
+    lock.l_whence = SEEK_SET;
+    lock.l_start = 0;
+    lock.l_len = 0;
+
+    if (fcntl(s_psdkUartFd, F_GETLK, &lock) < 0) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+    if (lock.l_type != F_UNLCK) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+    lock.l_type = F_WRLCK;
+    lock.l_pid = getpid();
+    lock.l_whence = SEEK_SET;
+    lock.l_start = 0;
+    lock.l_len = 0;
+    if (fcntl(s_psdkUartFd, F_SETLKW, &lock) < 0) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    if (tcgetattr(s_psdkUartFd, &options) != 0) {
+        close(s_psdkUartFd);
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    cfsetispeed(&options, B460800);
+    cfsetospeed(&options, B460800);
+
+    options.c_cflag |= CLOCAL;
+    options.c_cflag |= CREAD;
+    options.c_cflag &= ~CRTSCTS;
+    options.c_cflag &= ~CSIZE;
+    options.c_cflag |= CS8;
+    options.c_cflag &= ~PARENB;
+    options.c_iflag &= ~INPCK;
+    options.c_cflag &= ~CSTOPB;
+    options.c_oflag &= ~OPOST;
+    options.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG);
+    options.c_iflag &= ~(BRKINT | ICRNL | INPCK | ISTRIP | IXON);
+    options.c_cc[VTIME] = 0;
+    options.c_cc[VMIN] = 0;
+
+    tcflush(s_psdkUartFd, TCIFLUSH);
+
+    if (tcsetattr(s_psdkUartFd, TCSANOW, &options) != 0) {
+        close(s_psdkUartFd);
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    return returnCode;
+}
+
+T_PsdkReturnCode Hal_UartSendData(const uint8_t *pBuf, uint16_t bufLen)
+{
+    int32_t realLen;
+
+    if (s_psdkUartFd == -1) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    realLen = write(s_psdkUartFd, pBuf, bufLen);
+    if (realLen == bufLen) {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+    } else {
+        return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+}
+
+T_PsdkReturnCode Hal_UartReadData(uint8_t *pBuf, uint16_t bufLen, uint16_t *realBufLen)
+{
+    int result;
+    T_PsdkReturnCode returnCode;
+
+    result = read(s_psdkUartFd, pBuf, bufLen);
+    if (result >= 0) {
+        *realBufLen = result;
+        returnCode = PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+    } else {
+        *realBufLen = 0;
+        returnCode = PSDK_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+    return returnCode;
+}
+
+/* Private functions definition-----------------------------------------------*/
+
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/
--- a/sample/platform/linux/manifold2/hal/hal_uart.h
+++ b/sample/platform/linux/manifold2/hal/hal_uart.h
@ -0,0 +1,62 @@
+/**
+ ********************************************************************
+ * @file    hal.h
+ * @version V2.0.0
+ * @date    2019/8/28
+ * @brief   This is the header file for "hal.c", defining the structure and
+ * (exported) function prototypes.
+ *
+ * @copyright (c) 2018-2019 DJI. All rights reserved.
+ *
+ * All information contained herein is, and remains, the property of DJI.
+ * The intellectual and technical concepts contained herein are proprietary
+ * to DJI and may be covered by U.S. and foreign patents, patents in process,
+ * and protected by trade secret or copyright law.  Dissemination of this
+ * information, including but not limited to data and other proprietary
+ * material(s) incorporated within the information, in any form, is strictly
+ * prohibited without the express written consent of DJI.
+ *
+ * If you receive this source code without DJI’s authorization, you may not
+ * further disseminate the information, and you must immediately remove the
+ * source code and notify DJI of its removal. DJI reserves the right to pursue
+ * legal actions against you for any loss(es) or damage(s) caused by your
+ * failure to do so.
+ *
+ *********************************************************************
+ */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef HAL_H
+#define HAL_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "stdint.h"
+#include <stdio.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <termios.h>
+#include <unistd.h>
+#include <string.h>
+
+#include "psdk_platform.h"
+#include "psdk_typedef.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+
+/* Exported types ------------------------------------------------------------*/
+
+/* Exported functions --------------------------------------------------------*/
+T_PsdkReturnCode Hal_UartInit(void);
+T_PsdkReturnCode Hal_UartSendData(const uint8_t *pBuf, uint16_t bufLen);
+T_PsdkReturnCode Hal_UartReadData(uint8_t *pBuf, uint16_t bufLen, uint16_t *realBufLen);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // HAL_H
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
--- a/sample/platform/linux/manifold2/project/CMakeLists.txt
+++ b/sample/platform/linux/manifold2/project/CMakeLists.txt
@ -0,0 +1,91 @@
+cmake_minimum_required(VERSION 2.8)
+project(psdk_demo C)
+
+### Set toolchain flags
+set(CMAKE_C_FLAGS "-D_REENTRANT -std=gnu99")
+set(CMAKE_EXE_LINKER_FLAGS "-pthread -lpthread")
+
+set(CMAKE_C_COMPILER "gcc")
+set(CMAKE_CXX_COMPILER "g++")
+
+set(PSDK_ARCH_SYS linux)
+
+
+
+include_directories(..)
+include_directories(../../common)
+include_directories(../../../../api_sample)
+include_directories(${CMAKE_CURRENT_LIST_DIR}/../../../../../psdk_lib/api_headers)
+
+#include_directories(/home/iris-xport/projects/ellipse_n_sdk/SoftwareDevelopment/sbgECom/common/)
+#include_directories(/home/iris-xport/projects/ellipse_n_sdk/SoftwareDevelopment/sbgECom/src)
+#include_directories(/home/iris-xport/projects/ximea)
+
+include_directories(/home/rock/ffmpeg_build/include)
+#include_directories(/usr/local/include)
+#include_directories(/home/rock/ffmpeg_build)
+
+## Srcs
+file(GLOB_RECURSE APP_SRC ../../manifold2/application/*.c
+        ../../manifold2/hal/*.c)
+file(GLOB_RECURSE COMMON_SRC ../../common/*.c)
+file(GLOB_RECURSE SAMPLE_SRC ../../../../api_sample/*.c)
+
+## "uname -m" to auto distinguish Manifold2-G or Manifold2-C
+execute_process(COMMAND uname -m
+        OUTPUT_VARIABLE DEVICE_SYSTEM_ID)
+
+if (NOT PSDK_ARCH_SYS)
+    message(FATAL_ERROR
+            "to use psdk inc src cmake ,
+            you must set <PSDK_ARCH_SYS> value to indicate your system arch!
+            This value can be linux, baremetal or rtos_xxxx (xxxx is the specific name of rtos."
+            )
+endif ()
+
+string(TOUPPER ${PSDK_ARCH_SYS} PSDK_ARCH_SYS_DEF)
+add_definitions(-DPSDK_ARCH_SYS_${PSDK_ARCH_SYS_DEF}=1)
+add_definitions(-D_GNU_SOURCE)
+
+## Include directories and library
+if (DEVICE_SYSTEM_ID MATCHES x86_64)
+    link_directories(${CMAKE_CURRENT_LIST_DIR}/../../../../../psdk_lib/lib/x86_64-linux-gnu-gcc)
+    link_libraries(${CMAKE_CURRENT_LIST_DIR}/../../../../../psdk_lib/lib/x86_64-linux-gnu-gcc/libpayloadsdk.a)
+
+    link_libraries(/home/rock/ffmpeg_build/lib)
+#    link_libraries(/usr/local/lib)
+
+    #link_libraries(/home/iris-xport/projects/ellipse_n_sdk/SoftwareDevelopment/sbgECom/bin/libsbgECom.a)
+    # link_libraries(/home/iris-xport/projects/ximea/libximea.a)
+    # link_libraries(/home/iris-xport/projects/ximea/libximeaWrapper.a)
+elseif (DEVICE_SYSTEM_ID MATCHES aarch64)
+    link_directories(${CMAKE_CURRENT_LIST_DIR}/../../../../../psdk_lib/lib/aarch64-linux-gnu-gcc)
+    link_libraries(${CMAKE_CURRENT_LIST_DIR}/../../../../../psdk_lib/lib/aarch64-linux-gnu-gcc/libpayloadsdk.a)
+
+    link_directories(/home/rock/ffmpeg_build/lib)
+    #link_libraries(/home/rock/ffmpeg_build/lib)
+endif ()
+
+## Outputs
+add_executable(${CMAKE_PROJECT_NAME}
+        ${APP_SRC}
+        ${COMMON_SRC}
+        ${SAMPLE_SRC}
+        )
+
+#target_link_libraries(${CMAKE_PROJECT_NAME} m)
+
+target_link_libraries(${CMAKE_PROJECT_NAME}
+        avformat
+        avfilter
+        avcodec
+        swscale
+        avutil
+        swresample
+        avdevice
+        avutil
+        postproc
+        z
+        m
+        pthread
+        )
--- a/sample/platform/linux/manifold2/project/build.sh
+++ b/sample/platform/linux/manifold2/project/build.sh
@ -0,0 +1,37 @@
+#test -e build/ || mkdir build
+#echo "mkdir build/\n"
+
+echo "\nCompile ximea record program " 
+
+cd /home/iris-xport/projects/ximea
+
+g++ -c ximea.cpp -lstdc++ -lm3api
+ar -r libximea.a ximea.o 
+
+g++ -c ximeaWrapper.cpp -lstdc++
+ar -r libximeaWrapper.a ximea.o ximeaWrapper.o
+
+
+
+
+cd /home/iris-xport/projects/Payload_SDK_V2.2.1
+echo "\nThe current dirctory is " 
+pwd
+
+cd sample/platform/linux/manifold2/project
+
+if [ ! -e build ]; then
+    mkdir build
+    echo "\ndirctory: build do not exit! making dirctory: build\n"
+else
+    echo "\ndirctory: build exit!\n"
+fi
+
+cd build/
+
+echo "\n执行cmake命令-------------------------------------------------------------\n"
+cmake ..
+
+echo "\n执行make命令--------------------------------------------------------------\n"
+
+make
--- a/sample/platform/linux/manifold2/project/cmake-build-debug/psdk_demo.cbp
+++ b/sample/platform/linux/manifold2/project/cmake-build-debug/psdk_demo.cbp
@ -0,0 +1,292 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<CodeBlocks_project_file>
+	<FileVersion major="1" minor="6"/>
+	<Project>
+		<Option title="psdk_demo"/>
+		<Option makefile_is_custom="1"/>
+		<Option compiler="gcc"/>
+		<Option virtualFolders="CMake Files\;"/>
+		<Build>
+			<Target title="all">
+				<Option working_dir="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/manifold2/project/cmake-build-debug"/>
+				<Option type="4"/>
+				<MakeCommands>
+					<Build command="/usr/bin/make -j6 -f &quot;/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/manifold2/project/cmake-build-debug/Makefile&quot;  VERBOSE=1 all"/>
+					<CompileFile command="/usr/bin/make -j6 -f &quot;/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/manifold2/project/cmake-build-debug/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
+					<Clean command="/usr/bin/make -j6 -f &quot;/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/manifold2/project/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
+					<DistClean command="/usr/bin/make -j6 -f &quot;/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/manifold2/project/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
+				</MakeCommands>
+			</Target>
+			<Target title="rebuild_cache">
+				<Option working_dir="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/manifold2/project/cmake-build-debug"/>
+				<Option type="4"/>
+				<MakeCommands>
+					<Build command="/usr/bin/make -j6 -f &quot;/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/manifold2/project/cmake-build-debug/Makefile&quot;  VERBOSE=1 rebuild_cache"/>
+					<CompileFile command="/usr/bin/make -j6 -f &quot;/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/manifold2/project/cmake-build-debug/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
+					<Clean command="/usr/bin/make -j6 -f &quot;/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/manifold2/project/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
+					<DistClean command="/usr/bin/make -j6 -f &quot;/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/manifold2/project/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
+				</MakeCommands>
+			</Target>
+			<Target title="edit_cache">
+				<Option working_dir="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/manifold2/project/cmake-build-debug"/>
+				<Option type="4"/>
+				<MakeCommands>
+					<Build command="/usr/bin/make -j6 -f &quot;/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/manifold2/project/cmake-build-debug/Makefile&quot;  VERBOSE=1 edit_cache"/>
+					<CompileFile command="/usr/bin/make -j6 -f &quot;/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/manifold2/project/cmake-build-debug/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
+					<Clean command="/usr/bin/make -j6 -f &quot;/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/manifold2/project/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
+					<DistClean command="/usr/bin/make -j6 -f &quot;/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/manifold2/project/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
+				</MakeCommands>
+			</Target>
+			<Target title="psdk_demo">
+				<Option output="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/manifold2/project/cmake-build-debug/psdk_demo" prefix_auto="0" extension_auto="0"/>
+				<Option working_dir="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/manifold2/project/cmake-build-debug"/>
+				<Option object_output="./"/>
+				<Option type="1"/>
+				<Option compiler="gcc"/>
+				<Compiler>
+					<Add option="-DPSDK_ARCH_SYS_LINUX=1"/>
+					<Add option="-D_GNU_SOURCE"/>
+					<Add directory="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/manifold2/project/.."/>
+					<Add directory="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/manifold2/project/../../common"/>
+					<Add directory="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/manifold2/project/../../../../api_sample"/>
+					<Add directory="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/manifold2/project/../../../../../psdk_lib/api_headers"/>
+					<Add directory="/home/rock/ffmpeg_build/include"/>
+					<Add directory="/usr/lib/gcc/aarch64-linux-gnu/9/include"/>
+					<Add directory="/usr/local/include"/>
+					<Add directory="/usr/include/aarch64-linux-gnu"/>
+					<Add directory="/usr/include"/>
+				</Compiler>
+				<MakeCommands>
+					<Build command="/usr/bin/make -j6 -f &quot;/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/manifold2/project/cmake-build-debug/Makefile&quot;  VERBOSE=1 psdk_demo"/>
+					<CompileFile command="/usr/bin/make -j6 -f &quot;/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/manifold2/project/cmake-build-debug/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
+					<Clean command="/usr/bin/make -j6 -f &quot;/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/manifold2/project/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
+					<DistClean command="/usr/bin/make -j6 -f &quot;/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/manifold2/project/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
+				</MakeCommands>
+			</Target>
+			<Target title="psdk_demo/fast">
+				<Option output="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/manifold2/project/cmake-build-debug/psdk_demo" prefix_auto="0" extension_auto="0"/>
+				<Option working_dir="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/manifold2/project/cmake-build-debug"/>
+				<Option object_output="./"/>
+				<Option type="1"/>
+				<Option compiler="gcc"/>
+				<Compiler>
+					<Add option="-DPSDK_ARCH_SYS_LINUX=1"/>
+					<Add option="-D_GNU_SOURCE"/>
+					<Add directory="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/manifold2/project/.."/>
+					<Add directory="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/manifold2/project/../../common"/>
+					<Add directory="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/manifold2/project/../../../../api_sample"/>
+					<Add directory="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/manifold2/project/../../../../../psdk_lib/api_headers"/>
+					<Add directory="/home/rock/ffmpeg_build/include"/>
+					<Add directory="/usr/lib/gcc/aarch64-linux-gnu/9/include"/>
+					<Add directory="/usr/local/include"/>
+					<Add directory="/usr/include/aarch64-linux-gnu"/>
+					<Add directory="/usr/include"/>
+				</Compiler>
+				<MakeCommands>
+					<Build command="/usr/bin/make -j6 -f &quot;/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/manifold2/project/cmake-build-debug/Makefile&quot;  VERBOSE=1 psdk_demo/fast"/>
+					<CompileFile command="/usr/bin/make -j6 -f &quot;/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/manifold2/project/cmake-build-debug/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
+					<Clean command="/usr/bin/make -j6 -f &quot;/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/manifold2/project/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
+					<DistClean command="/usr/bin/make -j6 -f &quot;/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/manifold2/project/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
+				</MakeCommands>
+			</Target>
+		</Build>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/camera_emu/test_payload_cam_emu.c">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/camera_emu/test_payload_cam_emu.h">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/camera_media_emu/ffmpeg_tc.c">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/camera_media_emu/ffmpeg_tc.h">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/camera_media_emu/psdk_media_file_manage/psdk_media_file_core.c">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/camera_media_emu/psdk_media_file_manage/psdk_media_file_core.h">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/camera_media_emu/psdk_media_file_manage/psdk_media_file_jpg.c">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/camera_media_emu/psdk_media_file_manage/psdk_media_file_jpg.h">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/camera_media_emu/psdk_media_file_manage/psdk_media_file_mp4.c">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/camera_media_emu/psdk_media_file_manage/psdk_media_file_mp4.h">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/camera_media_emu/test_payload_cam_media.c">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/camera_media_emu/test_payload_cam_media.h">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/data_channel/test_data_channel.c">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/data_channel/test_data_channel.h">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/data_subscription/test_data_subscription.c">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/data_subscription/test_data_subscription.h">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/data_transmission/test_data_transmission.c">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/data_transmission/test_data_transmission.h">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/gimbal_emu/test_payload_gimbal_emu.c">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/gimbal_emu/test_payload_gimbal_emu.h">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/mop_channel/test_mop_channel.c">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/mop_channel/test_mop_channel.h">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/payload_collaboration/test_payload_collaboration.c">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/payload_collaboration/test_payload_collaboration.h">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/positioning/test_positioning.c">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/positioning/test_positioning.h">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/power_management/test_power_management.c">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/power_management/test_power_management.h">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/time_synchronization/test_time_sync.c">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/time_synchronization/test_time_sync.h">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/upgrade/test_upgrade.c">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/upgrade/test_upgrade.h">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/upgrade/test_upgrade_common_file_transfer.c">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/upgrade/test_upgrade_common_file_transfer.h">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/upgrade/test_upgrade_platform_opt.c">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/upgrade/test_upgrade_platform_opt.h">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/utils/util_buffer.c">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/utils/util_buffer.h">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/utils/util_file.c">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/utils/util_file.h">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/utils/util_math.c">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/utils/util_math.h">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/utils/util_md5.c">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/utils/util_md5.h">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/utils/util_misc.c">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/utils/util_misc.h">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/utils/util_time.c">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/utils/util_time.h">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/widget/file_binary_array_list_en.c">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/widget/file_binary_array_list_en.h">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/widget/test_widget.c">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/widget/test_widget.h">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/xport/test_xport.c">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/xport/test_xport.h">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/common/monitor/sys_monitor.c">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/common/monitor/sys_monitor.h">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/common/osal/osal.c">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/common/osal/osal.h">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/common/upgrade_platform_opt/upgrade_platform_opt_linux.c">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/common/upgrade_platform_opt/upgrade_platform_opt_linux.h">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/manifold2/application/main.c">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/manifold2/hal/hal_network.c">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/manifold2/hal/hal_network.h">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/manifold2/hal/hal_uart.c">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/manifold2/hal/hal_uart.h">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/manifold2/project/CMakeLists.txt">
+			<Option virtualFolder="CMake Files\"/>
+		</Unit>
+	</Project>
+</CodeBlocks_project_file>
--- a/sample/platform/linux/manifold2/project/hahahah/psdk_demo.cbp
+++ b/sample/platform/linux/manifold2/project/hahahah/psdk_demo.cbp
@ -0,0 +1,292 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<CodeBlocks_project_file>
+	<FileVersion major="1" minor="6"/>
+	<Project>
+		<Option title="psdk_demo"/>
+		<Option makefile_is_custom="1"/>
+		<Option compiler="gcc"/>
+		<Option virtualFolders="CMake Files\;"/>
+		<Build>
+			<Target title="all">
+				<Option working_dir="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/manifold2/project/hahahah"/>
+				<Option type="4"/>
+				<MakeCommands>
+					<Build command="/usr/bin/make -j6 -f &quot;/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/manifold2/project/hahahah/Makefile&quot;  VERBOSE=1 all"/>
+					<CompileFile command="/usr/bin/make -j6 -f &quot;/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/manifold2/project/hahahah/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
+					<Clean command="/usr/bin/make -j6 -f &quot;/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/manifold2/project/hahahah/Makefile&quot;  VERBOSE=1 clean"/>
+					<DistClean command="/usr/bin/make -j6 -f &quot;/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/manifold2/project/hahahah/Makefile&quot;  VERBOSE=1 clean"/>
+				</MakeCommands>
+			</Target>
+			<Target title="rebuild_cache">
+				<Option working_dir="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/manifold2/project/hahahah"/>
+				<Option type="4"/>
+				<MakeCommands>
+					<Build command="/usr/bin/make -j6 -f &quot;/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/manifold2/project/hahahah/Makefile&quot;  VERBOSE=1 rebuild_cache"/>
+					<CompileFile command="/usr/bin/make -j6 -f &quot;/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/manifold2/project/hahahah/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
+					<Clean command="/usr/bin/make -j6 -f &quot;/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/manifold2/project/hahahah/Makefile&quot;  VERBOSE=1 clean"/>
+					<DistClean command="/usr/bin/make -j6 -f &quot;/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/manifold2/project/hahahah/Makefile&quot;  VERBOSE=1 clean"/>
+				</MakeCommands>
+			</Target>
+			<Target title="edit_cache">
+				<Option working_dir="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/manifold2/project/hahahah"/>
+				<Option type="4"/>
+				<MakeCommands>
+					<Build command="/usr/bin/make -j6 -f &quot;/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/manifold2/project/hahahah/Makefile&quot;  VERBOSE=1 edit_cache"/>
+					<CompileFile command="/usr/bin/make -j6 -f &quot;/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/manifold2/project/hahahah/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
+					<Clean command="/usr/bin/make -j6 -f &quot;/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/manifold2/project/hahahah/Makefile&quot;  VERBOSE=1 clean"/>
+					<DistClean command="/usr/bin/make -j6 -f &quot;/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/manifold2/project/hahahah/Makefile&quot;  VERBOSE=1 clean"/>
+				</MakeCommands>
+			</Target>
+			<Target title="psdk_demo">
+				<Option output="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/manifold2/project/hahahah/psdk_demo" prefix_auto="0" extension_auto="0"/>
+				<Option working_dir="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/manifold2/project/hahahah"/>
+				<Option object_output="./"/>
+				<Option type="1"/>
+				<Option compiler="gcc"/>
+				<Compiler>
+					<Add option="-DPSDK_ARCH_SYS_LINUX=1"/>
+					<Add option="-D_GNU_SOURCE"/>
+					<Add directory="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/manifold2/project/.."/>
+					<Add directory="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/manifold2/project/../../common"/>
+					<Add directory="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/manifold2/project/../../../../api_sample"/>
+					<Add directory="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/manifold2/project/../../../../../psdk_lib/api_headers"/>
+					<Add directory="/home/rock/ffmpeg_build/include"/>
+					<Add directory="/usr/lib/gcc/aarch64-linux-gnu/9/include"/>
+					<Add directory="/usr/local/include"/>
+					<Add directory="/usr/include/aarch64-linux-gnu"/>
+					<Add directory="/usr/include"/>
+				</Compiler>
+				<MakeCommands>
+					<Build command="/usr/bin/make -j6 -f &quot;/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/manifold2/project/hahahah/Makefile&quot;  VERBOSE=1 psdk_demo"/>
+					<CompileFile command="/usr/bin/make -j6 -f &quot;/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/manifold2/project/hahahah/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
+					<Clean command="/usr/bin/make -j6 -f &quot;/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/manifold2/project/hahahah/Makefile&quot;  VERBOSE=1 clean"/>
+					<DistClean command="/usr/bin/make -j6 -f &quot;/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/manifold2/project/hahahah/Makefile&quot;  VERBOSE=1 clean"/>
+				</MakeCommands>
+			</Target>
+			<Target title="psdk_demo/fast">
+				<Option output="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/manifold2/project/hahahah/psdk_demo" prefix_auto="0" extension_auto="0"/>
+				<Option working_dir="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/manifold2/project/hahahah"/>
+				<Option object_output="./"/>
+				<Option type="1"/>
+				<Option compiler="gcc"/>
+				<Compiler>
+					<Add option="-DPSDK_ARCH_SYS_LINUX=1"/>
+					<Add option="-D_GNU_SOURCE"/>
+					<Add directory="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/manifold2/project/.."/>
+					<Add directory="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/manifold2/project/../../common"/>
+					<Add directory="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/manifold2/project/../../../../api_sample"/>
+					<Add directory="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/manifold2/project/../../../../../psdk_lib/api_headers"/>
+					<Add directory="/home/rock/ffmpeg_build/include"/>
+					<Add directory="/usr/lib/gcc/aarch64-linux-gnu/9/include"/>
+					<Add directory="/usr/local/include"/>
+					<Add directory="/usr/include/aarch64-linux-gnu"/>
+					<Add directory="/usr/include"/>
+				</Compiler>
+				<MakeCommands>
+					<Build command="/usr/bin/make -j6 -f &quot;/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/manifold2/project/hahahah/Makefile&quot;  VERBOSE=1 psdk_demo/fast"/>
+					<CompileFile command="/usr/bin/make -j6 -f &quot;/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/manifold2/project/hahahah/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
+					<Clean command="/usr/bin/make -j6 -f &quot;/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/manifold2/project/hahahah/Makefile&quot;  VERBOSE=1 clean"/>
+					<DistClean command="/usr/bin/make -j6 -f &quot;/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/manifold2/project/hahahah/Makefile&quot;  VERBOSE=1 clean"/>
+				</MakeCommands>
+			</Target>
+		</Build>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/camera_emu/test_payload_cam_emu.c">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/camera_emu/test_payload_cam_emu.h">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/camera_media_emu/ffmpeg_tc.c">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/camera_media_emu/ffmpeg_tc.h">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/camera_media_emu/psdk_media_file_manage/psdk_media_file_core.c">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/camera_media_emu/psdk_media_file_manage/psdk_media_file_core.h">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/camera_media_emu/psdk_media_file_manage/psdk_media_file_jpg.c">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/camera_media_emu/psdk_media_file_manage/psdk_media_file_jpg.h">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/camera_media_emu/psdk_media_file_manage/psdk_media_file_mp4.c">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/camera_media_emu/psdk_media_file_manage/psdk_media_file_mp4.h">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/camera_media_emu/test_payload_cam_media.c">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/camera_media_emu/test_payload_cam_media.h">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/data_channel/test_data_channel.c">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/data_channel/test_data_channel.h">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/data_subscription/test_data_subscription.c">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/data_subscription/test_data_subscription.h">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/data_transmission/test_data_transmission.c">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/data_transmission/test_data_transmission.h">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/gimbal_emu/test_payload_gimbal_emu.c">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/gimbal_emu/test_payload_gimbal_emu.h">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/mop_channel/test_mop_channel.c">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/mop_channel/test_mop_channel.h">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/payload_collaboration/test_payload_collaboration.c">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/payload_collaboration/test_payload_collaboration.h">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/positioning/test_positioning.c">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/positioning/test_positioning.h">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/power_management/test_power_management.c">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/power_management/test_power_management.h">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/time_synchronization/test_time_sync.c">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/time_synchronization/test_time_sync.h">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/upgrade/test_upgrade.c">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/upgrade/test_upgrade.h">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/upgrade/test_upgrade_common_file_transfer.c">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/upgrade/test_upgrade_common_file_transfer.h">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/upgrade/test_upgrade_platform_opt.c">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/upgrade/test_upgrade_platform_opt.h">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/utils/util_buffer.c">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/utils/util_buffer.h">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/utils/util_file.c">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/utils/util_file.h">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/utils/util_math.c">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/utils/util_math.h">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/utils/util_md5.c">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/utils/util_md5.h">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/utils/util_misc.c">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/utils/util_misc.h">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/utils/util_time.c">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/utils/util_time.h">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/widget/file_binary_array_list_en.c">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/widget/file_binary_array_list_en.h">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/widget/test_widget.c">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/widget/test_widget.h">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/xport/test_xport.c">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/api_sample/xport/test_xport.h">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/common/monitor/sys_monitor.c">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/common/monitor/sys_monitor.h">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/common/osal/osal.c">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/common/osal/osal.h">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/common/upgrade_platform_opt/upgrade_platform_opt_linux.c">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/common/upgrade_platform_opt/upgrade_platform_opt_linux.h">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/manifold2/application/main.c">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/manifold2/hal/hal_network.c">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/manifold2/hal/hal_network.h">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/manifold2/hal/hal_uart.c">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/manifold2/hal/hal_uart.h">
+			<Option target="psdk_demo"/>
+		</Unit>
+		<Unit filename="/home/rock/tc_projects/Payload_SDK_V2.2.1_300tc/sample/platform/linux/manifold2/project/CMakeLists.txt">
+			<Option virtualFolder="CMake Files\"/>
+		</Unit>
+	</Project>
+</CodeBlocks_project_file>