From 72b1b29c10a6eea6a142d2481328b75435b3ff3a Mon Sep 17 00:00:00 2001 From: xin Date: Wed, 24 Dec 2025 09:09:03 +0800 Subject: [PATCH] =?UTF-8?q?M350b=E7=89=88=E6=9C=AC?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- 99-custom-serial.rules | 4 + DeployPSDK.sh | 16 +- Project_Grixis.cpp | 2 +- Source/DataFileManager.cpp | 2 +- Source/DataFileManager.h | 4 +- .../PSDK_Qt/Config/ConfigParser_M300RTK.cpp | 182 ++++++++++- .../PSDK_Qt/Config/ConfigParser_M300RTK.h | 30 +- .../Config/SettingFiles/AppInfoConfig.ini | 8 +- .../Config/SettingFiles/HardwareSettings.ini | 2 +- .../M300/PSDK_Qt/Main/VehicleController.cpp | 282 ++++++++++-------- Source/M300/PSDK_Qt/Main/VehicleController.h | 25 +- Source/M300/PSDK_Qt/hal/hal_network.h | 2 +- Source/M300/PSDK_Qt/hal/hal_uart.c | 2 +- Source/M300/PSDK_Qt/hal/hal_uart.h | 4 +- Source/M300/PSDK_Qt/hal/hal_usb_bulk.c | 93 ++++-- Source/MainAcqThread.cpp | 22 +- Source/MainAcqThread.h | 4 +- Source/ZZ_Types.h | 79 ++++- mountdjirndis.sh | 171 +++++++++++ mountrndis.sh | 159 ++++++++++ rasp.sh | 109 +++++++ 21 files changed, 999 insertions(+), 203 deletions(-) create mode 100644 99-custom-serial.rules create mode 100644 mountdjirndis.sh create mode 100644 mountrndis.sh create mode 100644 rasp.sh diff --git a/99-custom-serial.rules b/99-custom-serial.rules new file mode 100644 index 0000000..d90b217 --- /dev/null +++ b/99-custom-serial.rules @@ -0,0 +1,4 @@ +# Rule for FT232 USB-Serial (UART) IC (ID 0403:6001) +SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", MODE:="0666", SYMLINK+="ttyAirborn" +# Rule for QinHeng Electronics HL-340 USB-Serial adapter (ID 1a86:7523) +SUBSYSTEM=="tty", ATTRS{idVendor}=="1a86", ATTRS{idProduct}=="7523", MODE:="0666", SYMLINK+="ttyWind" diff --git a/DeployPSDK.sh b/DeployPSDK.sh index 65fe512..376cf8c 100644 --- a/DeployPSDK.sh +++ b/DeployPSDK.sh @@ -1,11 +1,11 @@ -sudo apt-get install libudev-dev -sudo apt-get install libusb-1.0-0-dev -sudo apt-get install libopus-dev -sudo apt-get install ffmpeg -sudo apt install libavformat-dev -sudo apt-get install libswscale-dev -sudo apt-get install libqt5websockets5-dev -sudo apt-get install libssl-dev +sudo apt-get install libudev-dev -y +sudo apt-get install libusb-1.0-0-dev -y +sudo apt-get install libopus-dev -y +sudo apt-get install ffmpeg -y +sudo apt install libavformat-dev -y +sudo apt-get install libswscale-dev -y +sudo apt-get install libqt5websockets5-dev -y +sudo apt-get install libssl-dev -y #!/bin/bash echo 'SUBSYSTEM=="usb", ATTRS{idVendor}=="2ca3", MODE="0666"' > /etc/udev/rules.d/DJIDevice.rules diff --git a/Project_Grixis.cpp b/Project_Grixis.cpp index 6e4276f..a1b27fd 100644 --- a/Project_Grixis.cpp +++ b/Project_Grixis.cpp @@ -27,7 +27,7 @@ int main() QEventLoop qeLoop; QTimer::singleShot(15000, &qeLoop, SLOT(quit())); qeLoop.exec(); - QT_LOG::ZZ_InitLogger("/home/data/Log/"); + // QT_LOG::ZZ_InitLogger("/home/data/Log/"); CMainAcqThread MainCtrl; MainCtrl.SetupContext(); diff --git a/Source/DataFileManager.cpp b/Source/DataFileManager.cpp index 1693f54..a6c347e 100644 --- a/Source/DataFileManager.cpp +++ b/Source/DataFileManager.cpp @@ -62,7 +62,7 @@ int DataFileManager::GenerateFile() return 0; } -int DataFileManager::WriteData(M300RTKDataFrame struM300RTKDataFrame, GSDataFrame struGSDataFrame, UASDataFrame struUASDataFrame) +int DataFileManager::WriteData(M350RTKDataFrame struM300RTKDataFrame, GSDataFrame struGSDataFrame, UASDataFrame struUASDataFrame) { // QFile qfData(m_qstrFullFileName); // bool bRes = qfData.open(QFile::WriteOnly | QFile::Text | QIODevice::Append); diff --git a/Source/DataFileManager.h b/Source/DataFileManager.h index 05bc807..dd98dc3 100644 --- a/Source/DataFileManager.h +++ b/Source/DataFileManager.h @@ -2,7 +2,7 @@ #include "pch.h" #include "ZZ_Types.h" -using namespace ZZ_DATA_DEF::M300RTK; +using namespace ZZ_DATA_DEF::DJI; using namespace ZZ_DATA_DEF::CO2_GAS_SENSOR; using namespace ZZ_DATA_DEF::UA_SENSOR; @@ -16,7 +16,7 @@ public: public: void GenerateFilePath(); int GenerateFile(); - int WriteData(M300RTKDataFrame struM300RTKDataFrame,GSDataFrame struGSDataFrame,UASDataFrame struUASDataFrame); + int WriteData(M350RTKDataFrame struM300RTKDataFrame,GSDataFrame struGSDataFrame,UASDataFrame struUASDataFrame); int CloseData(); private: diff --git a/Source/M300/PSDK_Qt/Config/ConfigParser_M300RTK.cpp b/Source/M300/PSDK_Qt/Config/ConfigParser_M300RTK.cpp index c9721f5..b121fc3 100644 --- a/Source/M300/PSDK_Qt/Config/ConfigParser_M300RTK.cpp +++ b/Source/M300/PSDK_Qt/Config/ConfigParser_M300RTK.cpp @@ -1,5 +1,6 @@ #include "ConfigParser_M300RTK.h" +////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////M300 ZZ_ConfigParser_M300RTK::ZZ_ConfigParser_M300RTK(QObject* parent /*= nullptr*/) { m_bInit = false; @@ -92,7 +93,7 @@ int ZZ_ConfigParser_M300RTK::Initialize(QString qstrConfigFolderPath) } ++i; } while (i < qfList.size()); - + if (j != 3) { qDebug() << "ZZ_ConfigParser_M300:Func Initialize. File count not match"; @@ -198,6 +199,183 @@ int ZZ_ConfigParser_M300RTK::LoadParams() return 1; } - + //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// } +//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + + +////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////M350RTK +ZZ_ConfigParser_M350RTK::ZZ_ConfigParser_M350RTK(QObject* parent) +{ + m_bInit = false; +} + +ZZ_ConfigParser_M350RTK::~ZZ_ConfigParser_M350RTK() +{ +} + +int ZZ_ConfigParser_M350RTK::Initialize(QString qstrConfigFolderPath) +{ + if (m_bInit) + { + return 0; + } + QDir qdConfigFiles(qstrConfigFolderPath); + if (!qdConfigFiles.exists()) + { + qDebug() << "ZZ_ConfigParser_M350RTK: Func Initialize. Dir not exists"; + return 1; + } + + qdConfigFiles.setFilter(QDir::Dirs | QDir::Files | QDir::NoDotAndDotDot); + qdConfigFiles.setSorting(QDir::DirsFirst); + + QFileInfoList qfList = qdConfigFiles.entryInfoList(); + if (qfList.size() < 1) + { + qDebug() << "ZZ_ConfigParser_M350RTK:Func Initialize. Empty folder"; + return 2; + } + + int i = 0; + int j = 0; + + do + { + QFileInfo qfInfo = qfList.at(i); + bool bisDir = qfInfo.isDir(); + if (bisDir) + { + continue; + } + else + { + if (qfInfo.fileName() == "AppInfoConfig.ini") + { + //QSettings qsTemp(qfInfo.filePath(), QSettings::Format::IniFormat); + m_pqfM350ConfigFiles[0] = new QSettings(qfInfo.filePath(), QSettings::Format::IniFormat); + qDebug() << qfInfo.filePath(); + j++; + } + if (qfInfo.fileName() == "HardwareSettings.ini") + { + //m_qfM300ConfigFiles[1].setUserIniPath(qfInfo.filePath()); + m_pqfM350ConfigFiles[1] = new QSettings(qfInfo.filePath(), QSettings::Format::IniFormat); + qDebug() << qfInfo.filePath(); + j++; + } + //qDebug() << qfInfo.filePath() << ":" << qfInfo.fileName(); + } + ++i; + } while (i < qfList.size()); + + if (j != 2) + { + qDebug() << "ZZ_ConfigParser_M350RTK:Func Initialize. File count not match"; + return 3; + } + + m_bInit = true; + return 0; +} + +int ZZ_ConfigParser_M350RTK::LoadParams() +{ + //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + QString qstrUSER_APP_NAME = m_pqfM350ConfigFiles[0]->value(QString("DJI/USER_APP_NAME"), "Error").toString(); + qDebug() << qstrUSER_APP_NAME; + if (qstrUSER_APP_NAME == "Error") + { + qDebug() << "ZZ_ConfigParser_M350RTK:Func LoadParams.USER_APP_NAME not load"; + return 1; + } + + QString qstrUSER_APP_ID = m_pqfM350ConfigFiles[0]->value(QString("DJI/USER_APP_ID"), "Error").toString(); + qDebug() << qstrUSER_APP_ID; + if (qstrUSER_APP_ID == "Error") + { + qDebug() << "ZZ_ConfigParser_M350RTK:Func LoadParams.USER_APP_ID not load"; + return 1; + } + + QString qstrUSER_APP_KEY = m_pqfM350ConfigFiles[0]->value(QString("DJI/USER_APP_KEY"), "Error").toString(); + qDebug() << qstrUSER_APP_KEY; + if (qstrUSER_APP_KEY == "Error") + { + qDebug() << "ZZ_ConfigParser_M350RTK:Func LoadParams.USER_APP_KEY not load"; + return 1; + } + + QString qstrUSER_APP_LICENSE = m_pqfM350ConfigFiles[0]->value(QString("DJI/USER_APP_LICENSE"), "Error").toString(); + qDebug() << qstrUSER_APP_LICENSE; + if (qstrUSER_APP_LICENSE == "Error") + { + qDebug() << "ZZ_ConfigParser_M350RTK:Func LoadParams.USER_APP_KEY not load"; + return 1; + } + + QString qstrUSER_DEVELOPER_ACCOUNT = m_pqfM350ConfigFiles[0]->value(QString("DJI/USER_DEVELOPER_ACCOUNT"), "Error").toString(); + qDebug() << qstrUSER_DEVELOPER_ACCOUNT; + if (qstrUSER_DEVELOPER_ACCOUNT == "Error") + { + qDebug() << "ZZ_ConfigParser_M350RTK:Func LoadParams.USER_APP_KEY not load"; + return 1; + } + + m_struAppRegInfo.qstrUserAppAcc = qstrUSER_DEVELOPER_ACCOUNT; + m_struAppRegInfo.qstrUserAppID = qstrUSER_APP_ID; + m_struAppRegInfo.qstrUserAppKey = qstrUSER_APP_KEY; + m_struAppRegInfo.qstrUserAppLic = qstrUSER_APP_LICENSE; + m_struAppRegInfo.qstrUserAppName = qstrUSER_APP_NAME; + //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + QString qstrUSER_BAUD_RATE = m_pqfM350ConfigFiles[1]->value(QString("COMPORT/USER_BAUD_RATE"), "NULL").toString(); + qDebug() << qstrUSER_BAUD_RATE; + if (qstrUSER_BAUD_RATE == "NULL") + { + qDebug() << "ZZ_ConfigParser_M350RTK:Func LoadParams.USER_BAUD_RATE not load"; + return 1; + } + + int iCONFIG_HARDWARE_CONNECTION = m_pqfM350ConfigFiles[1]->value(QString("ADV MODE/CONFIG_HARDWARE_CONNECTION"), 10000).toInt(); + qDebug() << iCONFIG_HARDWARE_CONNECTION; + if (iCONFIG_HARDWARE_CONNECTION == 10000) + { + qDebug() << "ZZ_ConfigParser_M350RTK:Func LoadParams.CONFIG_HARDWARE_CONNECTION not load"; + return 1; + } + + m_struHardwareInfo.enumHCM = HardwareConnectionMode(iCONFIG_HARDWARE_CONNECTION); + m_struHardwareInfo.qstrBaudRate = qstrUSER_BAUD_RATE; + + QString qstrWindSensorPort = m_pqfM350ConfigFiles[1]->value(QString("SENSOR/WIND"), "NULL").toString(); + qDebug() << qstrWindSensorPort; + if (qstrWindSensorPort == "NULL") + { + qDebug() << "ZZ_ConfigParser_M350RTK:Func LoadParams.qstrWindSensorPort not load"; + return 1; + } + + QString qstrGasSensorPort = m_pqfM350ConfigFiles[1]->value(QString("SENSOR/GAS"), "NULL").toString(); + qDebug() << qstrGasSensorPort; + if (qstrGasSensorPort == "NULL") + { + qDebug() << "ZZ_ConfigParser_M350RTK:Func LoadParams.qstrGasSensorPort not load"; + return 1; + } + + m_struSensorPortInfo.qstrGasSensorPort = qstrGasSensorPort; + m_struSensorPortInfo.qstrWindSensorPort = qstrWindSensorPort; + + return 0; +} + +int ZZ_ConfigParser_M350RTK::GetParams(AppRegInfo& struAppRegInfo, HardwareInfo& struHardwareInfo, SensorPort& struSensorPortInfo) +{ + Initialize("/home/DJI/Settings/"); + LoadParams(); + struAppRegInfo = m_struAppRegInfo; + struHardwareInfo = m_struHardwareInfo; + struSensorPortInfo = m_struSensorPortInfo; + return 0; +} diff --git a/Source/M300/PSDK_Qt/Config/ConfigParser_M300RTK.h b/Source/M300/PSDK_Qt/Config/ConfigParser_M300RTK.h index b70efd0..f168e00 100644 --- a/Source/M300/PSDK_Qt/Config/ConfigParser_M300RTK.h +++ b/Source/M300/PSDK_Qt/Config/ConfigParser_M300RTK.h @@ -1,10 +1,36 @@ #pragma once #include "pch.h" -#include "ZZ_Types_M300.h" -using namespace ZZ::Device::DJI::M300RTK; +#include "ZZ_Types_DJI.h" +#include "ZZ_Types.h" +using namespace ZZ::Device::DJI; +using namespace ZZ_DATA_DEF::MainConfig; + +class ZZ_ConfigParser_M350RTK :public QObject +{ + Q_OBJECT +public: + ZZ_ConfigParser_M350RTK(QObject* parent = nullptr); + virtual ~ZZ_ConfigParser_M350RTK(); + +private: + bool m_bInit; + QSettings* m_pqfM350ConfigFiles[2]; + + AppRegInfo m_struAppRegInfo; + HardwareInfo m_struHardwareInfo; + SensorPort m_struSensorPortInfo; +public: +private: + int Initialize(QString qstrConfigFolderPath); + int LoadParams(); +public: + int GetParams(AppRegInfo& struAppRegInfo, HardwareInfo& struHardwareInfo, SensorPort& struSensorPortInfo); +}; + class ZZ_ConfigParser_M300RTK :public QObject { + Q_OBJECT public: ZZ_ConfigParser_M300RTK(QObject* parent = nullptr); diff --git a/Source/M300/PSDK_Qt/Config/SettingFiles/AppInfoConfig.ini b/Source/M300/PSDK_Qt/Config/SettingFiles/AppInfoConfig.ini index a3b85b7..cd22d16 100644 --- a/Source/M300/PSDK_Qt/Config/SettingFiles/AppInfoConfig.ini +++ b/Source/M300/PSDK_Qt/Config/SettingFiles/AppInfoConfig.ini @@ -1,6 +1,6 @@ [DJI] -USER_APP_NAME=Project_Grixis -USER_APP_ID=126401 -USER_APP_KEY=a313e3617b16c56a11502bd91a61d6f -USER_APP_LICENSE=BNrpsD+UJ2lj8kmVgN4GnXg+AZiQwaxSuf/WvA072DFdLy2h+NCQizf+nR+WcjEEKeTknSzPbfqlvAc/WSJwrtqV/gYXSVPtSlK0AaV61SeKBvZQpogoyaZy07fWNCZrha3OAQsHj18TtU5RjOn6gYapzGDAPQVG6Q/At/H/9GSPQr5uwxI20fVWUTOkymYLM/04CNQGsToPD+fZwixExjjjHjdD9K7R0D4EgyvbqMpMLlkspBLR/9h6/oVxefOyaHJIi+pk+IdLFFC3omnrh7U3/4b95LA3t22J1GJvqvO2cyphjrSXsaDdctvtj6EjE8WhEXQCvmYm0VIHWz/0Qw== +USER_APP_NAME=Project_Fiora +USER_APP_ID=151266 +USER_APP_KEY=d8bc685458ca5dca9280abcdc992d93 +USER_APP_LICENSE=lXcHSZDwjws7SQnm3TjUINbKIyCC7438vJqiRBBhGe/ckOg3WmhhbYJC5aS/uKSRRMnB2UrqmiE6z+Ta+fBbUOmQUObSQJFrn/VHAsgGKR9nOMdrRNDDSwBbfLcheDIbJwjVmBAgk8RPcTZPH3WNtCohlRcpxuLIrG7oUWaawbLDwwwJ11hx5RqKKHn31I/CXTrbYQbJOm2Da32l/U7/BPF22eBUIJKts7aNfBBbFESNJI3p/xosmxfALkuXYKXMGBiIHk9bu+u0dT53Ddhz++tHh/oFyNQuyhCH4EtecvZu0PR3aMsmxyXbvXhAIocB5+AKZN+kykxhF8ToQS61bQ== USER_DEVELOPER_ACCOUNT=1033584732@qq.com diff --git a/Source/M300/PSDK_Qt/Config/SettingFiles/HardwareSettings.ini b/Source/M300/PSDK_Qt/Config/SettingFiles/HardwareSettings.ini index 82b034a..f165618 100644 --- a/Source/M300/PSDK_Qt/Config/SettingFiles/HardwareSettings.ini +++ b/Source/M300/PSDK_Qt/Config/SettingFiles/HardwareSettings.ini @@ -1,4 +1,4 @@ [COMPORT] USER_BAUD_RATE=230400 [ADV MODE] -CONFIG_HARDWARE_CONNECTION=1 \ No newline at end of file +CONFIG_HARDWARE_CONNECTION=2 \ No newline at end of file diff --git a/Source/M300/PSDK_Qt/Main/VehicleController.cpp b/Source/M300/PSDK_Qt/Main/VehicleController.cpp index 337bc1c..1c183c2 100644 --- a/Source/M300/PSDK_Qt/Main/VehicleController.cpp +++ b/Source/M300/PSDK_Qt/Main/VehicleController.cpp @@ -14,8 +14,9 @@ #include "hal_network.h" #include "time.h" -#include "ZZ_Types_M300.h" +//#include "ZZ_Types_M300.h" +using namespace ZZ_DATA_DEF::DJI; #define ZZ_UNUSED(x) ((x) = (x)) #define ZZ_MIN(a, b) (((a) < (b)) ? (a) : (b)) #define ZZ_MAX(a, b) (((a) > (b)) ? (a) : (b)) @@ -49,27 +50,27 @@ T_DjiReturnCode VehicleController::DjiTest_FcSubscriptionReceiveFlightStatusCall T_DjiReturnCode VehicleController::DjiTest_FcSubscriptionReceiveHeightCallback(const uint8_t* data, uint16_t dataSize, const T_DjiDataTimestamp* timestamp) { - float fHeight = *((T_DjiFcSubscriptionAltitudeFused*)data); - //qDebug() <<"[Fused Height]:"<< fHeight; + // float fHeight = *((T_DjiFcSubscriptionAltitudeFused*)data); + // //qDebug() <<"[Fused Height]:"<< fHeight; - ///Pump need to be added - if (m_siFlagIsPumpWorking==0&& fHeight > 10) - { - //system("sudo gpio mode 7 out"); - m_siFlagIsPumpWorking = 1; - system("sudo gpio write 7 1"); - qDebug() << "[Fused Height]:" << fHeight; - } - if (m_siFlagIsPumpWorking == 1 && fHeight < 10) - { - //system("sudo gpio mode 7 out"); - m_siFlagIsPumpWorking = 0; - system("sudo gpio write 7 0"); - qDebug() << "[Fused Height]:" << fHeight; - } - - //T_DjiOsalHandler* osalHandler = DjiPlatform_GetOsalHandler(); - //osalHandler->TaskSleepMs(2000); + // ///Pump need to be added + // if (m_siFlagIsPumpWorking==0&& fHeight > 10) + //{ + // //system("sudo gpio mode 7 out"); + // m_siFlagIsPumpWorking = 1; + // system("sudo gpio write 7 1"); + // qDebug() << "[Fused Height]:" << fHeight; + // } + // if (m_siFlagIsPumpWorking == 1 && fHeight < 10) + // { + // //system("sudo gpio mode 7 out"); + // m_siFlagIsPumpWorking = 0; + // system("sudo gpio write 7 0"); + // qDebug() << "[Fused Height]:" << fHeight; + // } + // + // //T_DjiOsalHandler* osalHandler = DjiPlatform_GetOsalHandler(); + // //osalHandler->TaskSleepMs(2000); return 0; } @@ -82,37 +83,41 @@ T_DjiReturnCode VehicleController::ZZ_DjiWaypointV2EventCallback(T_DjiWaypointV2 } if (eventData.event == 0x10) { - if (eventData.data.waypointIndex==0 && m_siFlagIsStartCaptureSignalEmitted==0) - { - if (m_scCaptureMode==0) - { - m_siFlagIsStartCaptureSignalEmitted++; - spCaller->emit Signal_StartCapture(); - } - // emit Signal_StartCapture(); - - } + // if (eventData.data.waypointIndex==0 && m_siFlagIsStartCaptureSignalEmitted==0) + // { + // if (m_scCaptureMode==0) + // { + // m_siFlagIsStartCaptureSignalEmitted++; + //spCaller->emit Signal_StartCapture(); + // } + // // emit Signal_StartCapture(); + // + // } } if (eventData.event == 0x11) { qDebug() << "eventData.event" << m_siFlagIsStartCaptureSignalEmitted; - if (m_siFlagIsStartCaptureSignalEmitted > 0) + /*if (m_siFlagIsStartCaptureSignalEmitted > 0) { m_siFlagIsStartCaptureSignalEmitted = 0; spCaller->emit Signal_StopCapture(); - } + }*/ } return 0; } int VehicleController::Initialize() { + //m_clsWidget.GetSettings(m_struUIConfig); + m_clsConfigParser.GetParams(m_struAppRegInfo, m_struHardwareInfo, m_struSensorPort); + + //m_clsConfigParser.UpdateUIConfig(m_struUIConfig); return 0; } -int VehicleController::SetupEnvironment_M300RTK() +int VehicleController::SetupEnvironment() { - using namespace ZZ::Device::DJI::M300RTK; + // using namespace ZZ::Device::DJI::M300RTK; spCaller = this; @@ -121,7 +126,7 @@ int VehicleController::SetupEnvironment_M300RTK() //clsConfigParser.GetParams(m_struAppRegInfo, m_struHardwareInfo, m_struUIConfig); // //for use - m_clsConfigParser.GetParams(m_struAppRegInfo, m_struHardwareInfo, m_struUIConfig); + //m_clsConfigParser.GetParams(m_struAppRegInfo, m_struHardwareInfo, m_struUIConfig); @@ -212,8 +217,18 @@ int VehicleController::SetupEnvironment_M300RTK() qDebug() << "VehicleController: Func DjiPlatform_RegHalUartHandler. Register hal uart handler error"; throw std::runtime_error("Register hal uart handler error."); } - - if (m_struHardwareInfo.enumHCM == HardwareConnectionMode::UartAndNetwork) + // + // if (/*m_struHardwareInfo.enumHCM == HardwareConnectionMode::UartAndUSBBulk*/1) + // { + // returnCode = DjiPlatform_RegHalUsbBulkHandler(&usbBulkHandler); + // if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) + // { + // qDebug() << "VehicleController: Func DjiPlatform_RegHalUsbBulkHandler. Register hal usb bulk handler error"; + // throw std::runtime_error("Register hal usb bulk handler error."); + // } + // } + + if (/*m_struHardwareInfo.enumHCM == HardwareConnectionMode::UartAndNetwork*/ 1) { returnCode = DjiPlatform_RegHalNetworkHandler(&networkHandler); if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) @@ -222,29 +237,29 @@ int VehicleController::SetupEnvironment_M300RTK() throw std::runtime_error("Register hal network handler error"); } } - else if (m_struHardwareInfo.enumHCM == HardwareConnectionMode::UartAndUSBBulk) - { - returnCode = DjiPlatform_RegHalUsbBulkHandler(&usbBulkHandler); - if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) - { - qDebug() << "VehicleController: Func DjiPlatform_RegHalUsbBulkHandler. Register hal usb bulk handler error"; - throw std::runtime_error("Register hal usb bulk handler error."); - } - } - else if (m_struHardwareInfo.enumHCM == HardwareConnectionMode::UartOnly) - { - returnCode = DjiPlatform_RegSocketHandler(&socketHandler); - if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) - { - qDebug() << "VehicleController: Func DjiPlatform_RegSocketHandler. Register osal socket handler error"; - throw std::runtime_error("register osal socket handler error"); - } - } - else - { - qDebug() << "VehicleController: Func DjiPlatform_RegSocketHandler. Register osal socket handler error"; - throw std::runtime_error("hardware connection configuration error"); - } + //else if (m_struHardwareInfo.enumHCM == HardwareConnectionMode::UartAndUSBBulk) + //{ + // returnCode = DjiPlatform_RegHalUsbBulkHandler(&usbBulkHandler); + // if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) + // { + // qDebug() << "VehicleController: Func DjiPlatform_RegHalUsbBulkHandler. Register hal usb bulk handler error"; + // throw std::runtime_error("Register hal usb bulk handler error."); + // } + // } + //else if (m_struHardwareInfo.enumHCM == HardwareConnectionMode::UartOnly) + //{ + // returnCode = DjiPlatform_RegSocketHandler(&socketHandler); + // if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) + // { + // qDebug() << "VehicleController: Func DjiPlatform_RegSocketHandler. Register osal socket handler error"; + // throw std::runtime_error("register osal socket handler error"); + // } + //} + //else + //{ + // qDebug() << "VehicleController: Func DjiPlatform_RegSocketHandler. Register osal socket handler error"; + // throw std::runtime_error("hardware connection configuration error"); + //} returnCode = DjiPlatform_RegFileSystemHandler(&fileSystemHandler); if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) @@ -264,8 +279,9 @@ int VehicleController::SetupEnvironment_M300RTK() return 0; } -int VehicleController::StartupPSDK_M300RTK() +int VehicleController::StartupPSDK_M350RTK() { + T_DjiUserInfo userInfo; T_DjiReturnCode returnCode; T_DjiAircraftInfoBaseInfo aircraftInfoBaseInfo; @@ -308,27 +324,27 @@ int VehicleController::StartupPSDK_M300RTK() throw std::runtime_error("Start sdk application error."); } - //osalHandler->TaskSleepMs(5000); - SetupWidget();//采集逻辑切换 - //osalHandler->TaskSleepMs(5000); - SetupMessagePipe();//widget到vehicle - SetupWaypointStatusCallback(); - InitSystemParams();//订阅搜星质量和时间，设置系统时间，然后取消订阅，因为无法同时订阅5个以上 - SetupSubscriptions();//实际想要的订阅，包含太多了 + osalHandler->TaskSleepMs(5000); + SetupWidget(); + osalHandler->TaskSleepMs(5000); + SetupMessagePipe(); + //SetupWaypointStatusCallback(); + //InitSystemParams(); + SetupSubscriptions(); - qDebug()<<"M300RTK PSDK Channel Started."; + qDebug()<<"M350RTK PSDK Channel Started."; return 0; } int VehicleController::UpdateUIConfig() { - m_clsWidget.GetSettings(m_struUIConfig); - m_clsConfigParser.UpdateUIConfig(m_struUIConfig); + //m_clsWidget.GetSettings(m_struUIConfig); + //m_clsConfigParser.UpdateUIConfig(m_struUIConfig); return 0; } -int VehicleController::GetOneDataFrame(M300RTKDataFrame& M300RTKDataFrame) +int VehicleController::GetOneDataFrame(M350RTKDataFrame& M350RTKDataFrame) { T_DjiReturnCode tDjiReturnCode; T_DjiFcSubscriptionVelocity tDjiVelocity = { 0 }; @@ -372,29 +388,29 @@ int VehicleController::GetOneDataFrame(M300RTKDataFrame& M300RTKDataFrame) //return 4; } - M300RTKDataFrame.stVelocity.x = tDjiVelocity.data.x; - M300RTKDataFrame.stVelocity.y = tDjiVelocity.data.y; - M300RTKDataFrame.stVelocity.z = tDjiVelocity.data.z; + M350RTKDataFrame.stVelocity.x = tDjiVelocity.data.x; + M350RTKDataFrame.stVelocity.y = tDjiVelocity.data.y; + M350RTKDataFrame.stVelocity.z = tDjiVelocity.data.z; - M300RTKDataFrame.stQuaternion.w_q0 = tDjiQuaternion.q0; - M300RTKDataFrame.stQuaternion.x_q1 = tDjiQuaternion.q1; - M300RTKDataFrame.stQuaternion.y_q2 = tDjiQuaternion.q2; - M300RTKDataFrame.stQuaternion.z_q3 = tDjiQuaternion.q3; + M350RTKDataFrame.stQuaternion.w_q0 = tDjiQuaternion.q0; + M350RTKDataFrame.stQuaternion.x_q1 = tDjiQuaternion.q1; + M350RTKDataFrame.stQuaternion.y_q2 = tDjiQuaternion.q2; + M350RTKDataFrame.stQuaternion.z_q3 = tDjiQuaternion.q3; - M300RTKDataFrame.stGPSPosition.x = tDjiGpsPosition.x; - M300RTKDataFrame.stGPSPosition.y = tDjiGpsPosition.y; - M300RTKDataFrame.stGPSPosition.z = tDjiGpsPosition.z; + M350RTKDataFrame.stGPSPosition.x = tDjiGpsPosition.x; + M350RTKDataFrame.stGPSPosition.y = tDjiGpsPosition.y; + M350RTKDataFrame.stGPSPosition.z = tDjiGpsPosition.z; - M300RTKDataFrame.fAltitudeFused = tDjiAltFused; + M350RTKDataFrame.fAltitudeFused = tDjiAltFused; //////////////////////////////////////////////////////////////////////////Calc Euler From Quaternion 20230428 - M300RTKDataFrame.stEulerAngle.pitch = (dji_f64_t)asinf(-2 * tDjiQuaternion.q1 * tDjiQuaternion.q3 + 2 * tDjiQuaternion.q0 * tDjiQuaternion.q2) * 57.3; + M350RTKDataFrame.stEulerAngle.pitch = (dji_f64_t)asinf(-2 * tDjiQuaternion.q1 * tDjiQuaternion.q3 + 2 * tDjiQuaternion.q0 * tDjiQuaternion.q2) * 57.3; - M300RTKDataFrame.stEulerAngle.roll = (dji_f64_t)atan2f(2 * tDjiQuaternion.q2 * tDjiQuaternion.q3 + 2 * tDjiQuaternion.q0 * tDjiQuaternion.q1, + M350RTKDataFrame.stEulerAngle.roll = (dji_f64_t)atan2f(2 * tDjiQuaternion.q2 * tDjiQuaternion.q3 + 2 * tDjiQuaternion.q0 * tDjiQuaternion.q1, -2 * tDjiQuaternion.q1 * tDjiQuaternion.q1 - 2 * tDjiQuaternion.q2 * tDjiQuaternion.q2 + 1) * 57.3; - M300RTKDataFrame.stEulerAngle.yaw = (dji_f64_t)atan2f(2 * tDjiQuaternion.q1 * tDjiQuaternion.q2 + 2 * tDjiQuaternion.q0 * tDjiQuaternion.q3, + M350RTKDataFrame.stEulerAngle.yaw = (dji_f64_t)atan2f(2 * tDjiQuaternion.q1 * tDjiQuaternion.q2 + 2 * tDjiQuaternion.q0 * tDjiQuaternion.q3, -2 * tDjiQuaternion.q2 * tDjiQuaternion.q2 - 2 * tDjiQuaternion.q3 * tDjiQuaternion.q3 + 1) * 57.3; ////////////////////////////////////////////////////////////////////////// @@ -410,24 +426,24 @@ int VehicleController::SetupSubscriptions() { T_DjiReturnCode tDjiReturnCode; -// tDjiReturnCode = DjiFcSubscription_Init(); -// if (tDjiReturnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) -// { -// qDebug() << "init data subscription module error."; -// return 0; -// } -// else -// { -// qDebug() << "init data subscription module finished."; -// } + tDjiReturnCode = DjiFcSubscription_Init(); + if (tDjiReturnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) + { + qDebug() << "init data subscription module error."; + return 0; + } + else + { + qDebug() << "init data subscription module finished."; + } - tDjiReturnCode = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_HEIGHT_FUSION, DJI_DATA_SUBSCRIPTION_TOPIC_1_HZ, DjiTest_FcSubscriptionReceiveHeightCallback); - if (tDjiReturnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) - { + // tDjiReturnCode = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_HEIGHT_FUSION, DJI_DATA_SUBSCRIPTION_TOPIC_1_HZ, DjiTest_FcSubscriptionReceiveHeightCallback); + //if (tDjiReturnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) + //{ - qDebug() << "Subscribe topic DJI_FC_SUBSCRIPTION_TOPIC_HEIGHT_FUSION error."; - return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN; - } + // qDebug() << "Subscribe topic DJI_FC_SUBSCRIPTION_TOPIC_HEIGHT_FUSION error."; + // return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN; + //} tDjiReturnCode = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_VELOCITY, DJI_DATA_SUBSCRIPTION_TOPIC_5_HZ, NULL); if (tDjiReturnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) @@ -492,7 +508,7 @@ int VehicleController::SetupWaypointStatusCallback() int VehicleController::LoadUserAppInfo(T_DjiUserInfo* struDjiUserInfo) { - using namespace ZZ::Device::DJI::M300RTK; + //using namespace ZZ::Device::DJI::M300RTK; memset(struDjiUserInfo->appName, 0, sizeof(struDjiUserInfo->appName)); memset(struDjiUserInfo->appId, 0, sizeof(struDjiUserInfo->appId)); @@ -501,22 +517,38 @@ int VehicleController::LoadUserAppInfo(T_DjiUserInfo* struDjiUserInfo) memset(struDjiUserInfo->developerAccount, 0, sizeof(struDjiUserInfo->developerAccount)); memset(struDjiUserInfo->baudRate, 0, sizeof(struDjiUserInfo->baudRate)); - if (m_struAppRegInfo.qstrUserAppName.length() >= sizeof(struDjiUserInfo->appName) || - m_struAppRegInfo.qstrUserAppID.length() > sizeof(struDjiUserInfo->appId) || - m_struAppRegInfo.qstrUserAppKey.length() > sizeof(struDjiUserInfo->appKey) || - m_struAppRegInfo.qstrUserAppLic.length() > sizeof(struDjiUserInfo->appLicense) || - m_struAppRegInfo.qstrUserAppAcc.length() >= sizeof(struDjiUserInfo->developerAccount) || - m_struHardwareInfo.qstrBaudRate.length() > sizeof(struDjiUserInfo->baudRate)) - { - qDebug()<<"VehicleController:LoadUserAppInfo.Length of user information string is beyond limit,Please check"; - return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER; - } + //struDjiUserInfo->appName = "Project_Fiora"; + //struDjiUserInfo->appId = "151266"; + //struDjiUserInfo->appKey = "d8bc685458ca5dca9280abcdc992d93"; + //struDjiUserInfo->appLicense = "lXcHSZDwjws7SQnm3TjUINbKIyCC7438vJqiRBBhGe/ckOg3WmhhbYJC5aS/uKSRRMnB2UrqmiE6z+Ta+fBbUOmQUObSQJFrn/VHAsgGKR9nOMdrRNDDSwBbfLcheDIbJwjVmBAgk8RPcTZPH3WNtCohlRcpxuLIrG7oUWaawbLDwwwJ11hx5RqKKHn31I/CXTrbYQbJOm2Da32l/U7/BPF22eBUIJKts7aNfBBbFESNJI3p/xosmxfALkuXYKXMGBiIHk9bu+u0dT53Ddhz++tHh/oFyNQuyhCH4EtecvZu0PR3aMsmxyXbvXhAIocB5+AKZN+kykxhF8ToQS61bQ=="; + //struDjiUserInfo->developerAccount = "1033584732@qq.com"; + //struDjiUserInfo->baudRate = "460800"; + + //strncpy(struDjiUserInfo->appName, "Project_Fiora", sizeof(struDjiUserInfo->appName)); + //strncpy(struDjiUserInfo->appId, "151266", sizeof(struDjiUserInfo->appId)); + //strncpy(struDjiUserInfo->appKey, "d8bc685458ca5dca9280abcdc992d93", sizeof(struDjiUserInfo->appKey)); + //strncpy(struDjiUserInfo->appLicense, "lXcHSZDwjws7SQnm3TjUINbKIyCC7438vJqiRBBhGe/ckOg3WmhhbYJC5aS/uKSRRMnB2UrqmiE6z+Ta+fBbUOmQUObSQJFrn/VHAsgGKR9nOMdrRNDDSwBbfLcheDIbJwjVmBAgk8RPcTZPH3WNtCohlRcpxuLIrG7oUWaawbLDwwwJ11hx5RqKKHn31I/CXTrbYQbJOm2Da32l/U7/BPF22eBUIJKts7aNfBBbFESNJI3p/xosmxfALkuXYKXMGBiIHk9bu+u0dT53Ddhz++tHh/oFyNQuyhCH4EtecvZu0PR3aMsmxyXbvXhAIocB5+AKZN+kykxhF8ToQS61bQ==", sizeof(struDjiUserInfo->appLicense)); + //strncpy(struDjiUserInfo->developerAccount, "1033584732@qq.com", sizeof(struDjiUserInfo->developerAccount)); + //strncpy(struDjiUserInfo->baudRate, "921600", sizeof(struDjiUserInfo->baudRate)); + + + + + //if (m_struAppRegInfo.qstrUserAppName.length() >= sizeof(struDjiUserInfo->appName) || + // m_struAppRegInfo.qstrUserAppID.length() > sizeof(struDjiUserInfo->appId) || + // m_struAppRegInfo.qstrUserAppKey.length() > sizeof(struDjiUserInfo->appKey) || + // m_struAppRegInfo.qstrUserAppLic.length() > sizeof(struDjiUserInfo->appLicense) || + // m_struAppRegInfo.qstrUserAppAcc.length() >= sizeof(struDjiUserInfo->developerAccount) || + // m_struHardwareInfo.qstrBaudRate.length() > sizeof(struDjiUserInfo->baudRate)) + // { + // qDebug()<<"VehicleController:LoadUserAppInfo.Length of user information string is beyond limit,Please check"; + // return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER; + //} strncpy(struDjiUserInfo->appName, m_struAppRegInfo.qstrUserAppName.toLatin1().data(), m_struAppRegInfo.qstrUserAppName.length()); memcpy(struDjiUserInfo->appId, m_struAppRegInfo.qstrUserAppID.toLatin1().data(), ZZ_MIN(sizeof(struDjiUserInfo->appId), m_struAppRegInfo.qstrUserAppID.length())); memcpy(struDjiUserInfo->appKey, m_struAppRegInfo.qstrUserAppKey.toLatin1().data(), ZZ_MIN(sizeof(struDjiUserInfo->appKey), m_struAppRegInfo.qstrUserAppKey.length())); - memcpy(struDjiUserInfo->appLicense, m_struAppRegInfo.qstrUserAppLic.toLatin1().data(), - ZZ_MIN(sizeof(struDjiUserInfo->appLicense), m_struAppRegInfo.qstrUserAppLic.length())); + memcpy(struDjiUserInfo->appLicense, m_struAppRegInfo.qstrUserAppLic.toLatin1().data(),ZZ_MIN(sizeof(struDjiUserInfo->appLicense), m_struAppRegInfo.qstrUserAppLic.length())); memcpy(struDjiUserInfo->baudRate, m_struHardwareInfo.qstrBaudRate.toLatin1().data(), ZZ_MIN(sizeof(struDjiUserInfo->baudRate), m_struHardwareInfo.qstrBaudRate.length())); strncpy(struDjiUserInfo->developerAccount, m_struAppRegInfo.qstrUserAppAcc.toLatin1().data(), sizeof(struDjiUserInfo->developerAccount) - 1); @@ -532,22 +564,22 @@ T_DjiReturnCode VehicleController::DjiUser_PrintMessage(const uint8_t* data, uin int VehicleController::SetupMessagePipe() { - connect(&m_clsWidget, &ZZ_Widget_M300RTK::Signal_UpdateCaptureMode, this, &VehicleController::Slot_OnChangeCaptureMode); +// connect(&m_clsWidget, &ZZ_Widget_M300RTK::Signal_UpdateCaptureMode, this, &VehicleController::Slot_OnChangeCaptureMode); connect(&m_clsWidget, &ZZ_Widget_M300RTK::Signal_StartCapture, this, &VehicleController::Signal_StartCapture); - connect(&m_clsWidget, &ZZ_Widget_M300RTK::Signal_StopCapture, this, &VehicleController::Signal_StopCapture); + connect(&m_clsWidget, &ZZ_Widget_M300RTK::Signal_StopCapture, this, &VehicleController::Signal_StopCapture); connect(this, &VehicleController::Signal_UpdateVehicleMessage, &m_clsWidget, &ZZ_Widget_M300RTK::Slot_UpdatePSDKFloatMessage); - /// for test -#ifdef ZZ_FLAG_TEST - connect(this, &VehicleController::Signal_StartCapture, this, &VehicleController::Slot_TestStartCapture); - connect(this, &VehicleController::Signal_StopCapture, this, &VehicleController::Slot_TestStopCapture); -#endif +// /// for test +//#ifdef ZZ_FLAG_TEST +// connect(this, &VehicleController::Signal_StartCapture, this, &VehicleController::Slot_TestStartCapture); +// connect(this, &VehicleController::Signal_StopCapture, this, &VehicleController::Slot_TestStopCapture); +//#endif return 0; } int VehicleController::SetupWidget() { - m_clsWidget.SetUIFilePath("/home/DJI/Widget",100); - m_clsWidget.SetSettings(m_struUIConfig); + m_clsWidget.SetUIFilePath(const_cast("/home/DJI/Widget"),100); + // m_clsWidget.SetSettings(m_struUIConfig); m_clsWidget.PreparteEnvironment(); return 0; diff --git a/Source/M300/PSDK_Qt/Main/VehicleController.h b/Source/M300/PSDK_Qt/Main/VehicleController.h index 0bc2dc7..6a6705b 100644 --- a/Source/M300/PSDK_Qt/Main/VehicleController.h +++ b/Source/M300/PSDK_Qt/Main/VehicleController.h @@ -7,14 +7,15 @@ #include "dji_core.h" #include "dji_waypoint_v2.h" +//#include "ConfigParser_DJI.h" #include "pch.h" #include "ConfigParser_M300RTK.h" #include "Widget_M300RTK.h" #include "ZZ_Types.h" using namespace std; -using namespace ZZ_DATA_DEF::M300RTK; -using namespace ZZ_DATA_DEF::MainConfig; +using namespace ZZ_DATA_DEF::DJI; +//using namespace ZZ_DATA_DEF::MainConfig; class VehicleController :public QObject { @@ -28,15 +29,19 @@ public: static int m_siFlagIsStartCaptureSignalEmitted; static VehicleController* spCaller; static char m_scCaptureMode; + SensorPort m_struSensorPort; private: ///////////Config need modify - ZZ_ConfigParser_M300RTK m_clsConfigParser; - ZZ_Widget_M300RTK m_clsWidget; - - M300RTKSettings m_struM300RTKSs; + ZZ_ConfigParser_M350RTK m_clsConfigParser; AppRegInfo m_struAppRegInfo; HardwareInfo m_struHardwareInfo; - UIConfig m_struUIConfig; + //ZZ_ConfigParser_M300RTK m_clsConfigParser; + ZZ_Widget_M300RTK m_clsWidget; + + //M300RTKSettings m_struM300RTKSs; + //AppRegInfo m_struAppRegInfo; + //HardwareInfo m_struHardwareInfo; + //UIConfig m_struUIConfig; int m_iFlagIsVehicleTakeoff; int m_iFlagIsVehicleCapturing; @@ -53,15 +58,15 @@ public: public: /// call First int Initialize(); - int SetupEnvironment_M300RTK(); + int SetupEnvironment(); /// call Seconde - int StartupPSDK_M300RTK(); + int StartupPSDK_M350RTK(); ///call to save Settings int UpdateUIConfig(); /// data call - int GetOneDataFrame(M300RTKDataFrame &M300RTKDataFrame); + int GetOneDataFrame(M350RTKDataFrame &M350RTKDataFrame); private: /// int SetupMessagePipe(); diff --git a/Source/M300/PSDK_Qt/hal/hal_network.h b/Source/M300/PSDK_Qt/hal/hal_network.h index 302f8a9..848b915 100644 --- a/Source/M300/PSDK_Qt/hal/hal_network.h +++ b/Source/M300/PSDK_Qt/hal/hal_network.h @@ -42,7 +42,7 @@ extern "C" { #ifdef PLATFORM_ARCH_x86_64 #define LINUX_NETWORK_DEV "enxf8e43b7bbc2c" #else -#define LINUX_NETWORK_DEV "l4tbr0" +#define LINUX_NETWORK_DEV "pi4br0" #endif /** * @attention diff --git a/Source/M300/PSDK_Qt/hal/hal_uart.c b/Source/M300/PSDK_Qt/hal/hal_uart.c index 3c4a82f..14d17cc 100644 --- a/Source/M300/PSDK_Qt/hal/hal_uart.c +++ b/Source/M300/PSDK_Qt/hal/hal_uart.c @@ -68,7 +68,7 @@ T_DjiReturnCode HalUart_Init(E_DjiHalUartNum uartNum, uint32_t baudRate, T_DjiUa } else { goto free_uart_handle; } - +// #define USE_CLION_DEBUG; #ifdef USE_CLION_DEBUG sprintf(systemCmd, "ls -l %s", uartName); fp = popen(systemCmd, "r"); diff --git a/Source/M300/PSDK_Qt/hal/hal_uart.h b/Source/M300/PSDK_Qt/hal/hal_uart.h index c598ce0..ccc0878 100644 --- a/Source/M300/PSDK_Qt/hal/hal_uart.h +++ b/Source/M300/PSDK_Qt/hal/hal_uart.h @@ -45,8 +45,8 @@ extern "C" { /* Exported constants --------------------------------------------------------*/ //User can config dev based on there environmental conditions -#define LINUX_UART_DEV1 "/dev/ttyUSB0" -#define LINUX_UART_DEV2 "/dev/ttyACM0" +#define LINUX_UART_DEV1 "/dev/ttyAirborn" +#define LINUX_UART_DEV2 "/dev/ttyUSB2" //global extern char gvpcM300RTK_UART1[128]; diff --git a/Source/M300/PSDK_Qt/hal/hal_usb_bulk.c b/Source/M300/PSDK_Qt/hal/hal_usb_bulk.c index b912591..7803fc5 100644 --- a/Source/M300/PSDK_Qt/hal/hal_usb_bulk.c +++ b/Source/M300/PSDK_Qt/hal/hal_usb_bulk.c @@ -25,6 +25,7 @@ /* Includes ------------------------------------------------------------------*/ #include "hal_usb_bulk.h" #include "dji_logger.h" +#include "utils/dji_config_manager.h" /* Private constants ---------------------------------------------------------*/ #define LINUX_USB_BULK_TRANSFER_TIMEOUT_MS (50) @@ -52,6 +53,13 @@ T_DjiReturnCode HalUsbBulk_Init(T_DjiHalUsbBulkInfo usbBulkInfo, T_DjiUsbBulkHan { int32_t ret; struct libusb_device_handle *handle = NULL; + T_DjiUserLinkConfig linkConfig = {0}; + char usbBulk1EpInFd[USER_DEVICE_NAME_STR_MAX_SIZE]; + char usbBulk1EpOutFd[USER_DEVICE_NAME_STR_MAX_SIZE]; + char usbBulk2EpInFd[USER_DEVICE_NAME_STR_MAX_SIZE]; + char usbBulk2EpOutFd[USER_DEVICE_NAME_STR_MAX_SIZE]; + uint8_t usbBulk1InterfaceNum; + uint8_t usbBulk2InterfaceNum; *usbBulkHandle = malloc(sizeof(T_HalUsbBulkObj)); if (*usbBulkHandle == NULL) { @@ -67,7 +75,7 @@ T_DjiReturnCode HalUsbBulk_Init(T_DjiHalUsbBulkInfo usbBulkInfo, T_DjiUsbBulkHan } handle = libusb_open_device_with_vid_pid(NULL, usbBulkInfo.vid, usbBulkInfo.pid); - if(handle == NULL) { + if (handle == NULL) { USER_LOG_ERROR("open usb device failed"); return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR; } @@ -87,23 +95,44 @@ T_DjiReturnCode HalUsbBulk_Init(T_DjiHalUsbBulkInfo usbBulkInfo, T_DjiUsbBulkHan memcpy(&((T_HalUsbBulkObj *) *usbBulkHandle)->usbBulkInfo, &usbBulkInfo, sizeof(usbBulkInfo)); ((T_HalUsbBulkObj *) *usbBulkHandle)->interfaceNum = usbBulkInfo.channelInfo.interfaceNum; - if (usbBulkInfo.channelInfo.interfaceNum == LINUX_USB_BULK1_INTERFACE_NUM) { - ((T_HalUsbBulkObj *) *usbBulkHandle)->ep1 = open(LINUX_USB_BULK1_EP_OUT_FD, O_RDWR); + if (DjiUserConfigManager_IsEnable()) { + DjiUserConfigManager_GetLinkConfig(&linkConfig); + usbBulk1InterfaceNum = linkConfig.usbBulkConfig.usbBulk1InterfaceNum; + usbBulk2InterfaceNum = linkConfig.usbBulkConfig.usbBulk2InterfaceNum; + snprintf(usbBulk1EpOutFd, sizeof(usbBulk1EpOutFd), "%s/ep1", + linkConfig.usbBulkConfig.usbBulk1DeviceName); + snprintf(usbBulk1EpInFd, sizeof(usbBulk1EpInFd), "%s/ep2", + linkConfig.usbBulkConfig.usbBulk1DeviceName); + snprintf(usbBulk2EpOutFd, sizeof(usbBulk2EpOutFd), "%s/ep1", + linkConfig.usbBulkConfig.usbBulk2DeviceName); + snprintf(usbBulk2EpInFd, sizeof(usbBulk2EpInFd), "%s/ep2", + linkConfig.usbBulkConfig.usbBulk2DeviceName); + } else { + usbBulk1InterfaceNum = LINUX_USB_BULK1_INTERFACE_NUM; + usbBulk2InterfaceNum = LINUX_USB_BULK2_INTERFACE_NUM; + strcpy(usbBulk1EpInFd, LINUX_USB_BULK1_EP_IN_FD); + strcpy(usbBulk1EpOutFd, LINUX_USB_BULK1_EP_OUT_FD); + strcpy(usbBulk2EpInFd, LINUX_USB_BULK2_EP_IN_FD); + strcpy(usbBulk2EpOutFd, LINUX_USB_BULK2_EP_OUT_FD); + } + + if (usbBulkInfo.channelInfo.interfaceNum == usbBulk1InterfaceNum) { + ((T_HalUsbBulkObj *) *usbBulkHandle)->ep1 = open(usbBulk1EpOutFd, O_RDWR); if (((T_HalUsbBulkObj *) *usbBulkHandle)->ep1 < 0) { return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR; } - ((T_HalUsbBulkObj *) *usbBulkHandle)->ep2 = open(LINUX_USB_BULK1_EP_IN_FD, O_RDWR); + ((T_HalUsbBulkObj *) *usbBulkHandle)->ep2 = open(usbBulk1EpInFd, O_RDWR); if (((T_HalUsbBulkObj *) *usbBulkHandle)->ep2 < 0) { return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR; } - } else if (usbBulkInfo.channelInfo.interfaceNum == LINUX_USB_BULK2_INTERFACE_NUM) { - ((T_HalUsbBulkObj *) *usbBulkHandle)->ep1 = open(LINUX_USB_BULK2_EP_OUT_FD, O_RDWR); + } else if (usbBulkInfo.channelInfo.interfaceNum == usbBulk2InterfaceNum) { + ((T_HalUsbBulkObj *) *usbBulkHandle)->ep1 = open(usbBulk2EpOutFd, O_RDWR); if (((T_HalUsbBulkObj *) *usbBulkHandle)->ep1 < 0) { return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR; } - ((T_HalUsbBulkObj *) *usbBulkHandle)->ep2 = open(LINUX_USB_BULK2_EP_IN_FD, O_RDWR); + ((T_HalUsbBulkObj *) *usbBulkHandle)->ep2 = open(usbBulk2EpInFd, O_RDWR); if (((T_HalUsbBulkObj *) *usbBulkHandle)->ep2 < 0) { return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR; } @@ -127,8 +156,9 @@ T_DjiReturnCode HalUsbBulk_DeInit(T_DjiUsbBulkHandle usbBulkHandle) if (((T_HalUsbBulkObj *) usbBulkHandle)->usbBulkInfo.isUsbHost == true) { #ifdef LIBUSB_INSTALLED - ret = libusb_release_interface(handle, ((T_HalUsbBulkObj *) usbBulkHandle)->usbBulkInfo.channelInfo.interfaceNum); - if(ret != 0) { + ret = libusb_release_interface(handle, + ((T_HalUsbBulkObj *) usbBulkHandle)->usbBulkInfo.channelInfo.interfaceNum); + if (ret != 0) { USER_LOG_ERROR("release usb bulk interface failed, errno = %d", ret); return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR; } @@ -151,7 +181,8 @@ T_DjiReturnCode HalUsbBulk_WriteData(T_DjiUsbBulkHandle usbBulkHandle, const uin int32_t actualLen; struct libusb_device_handle *handle = NULL; - if (usbBulkHandle == NULL) { + if (usbBulkHandle == NULL) + { return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR; } @@ -208,19 +239,39 @@ T_DjiReturnCode HalUsbBulk_ReadData(T_DjiUsbBulkHandle usbBulkHandle, uint8_t *b T_DjiReturnCode HalUsbBulk_GetDeviceInfo(T_DjiHalUsbBulkDeviceInfo *deviceInfo) { - //attention: this interface only be called in usb device mode. - deviceInfo->vid = LINUX_USB_VID; - deviceInfo->pid = LINUX_USB_PID; + T_DjiUserLinkConfig linkConfig = {0}; - // This bulk channel is used to obtain DJI camera video stream and push 3rd-party camera video stream. - deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_0].interfaceNum = LINUX_USB_BULK1_INTERFACE_NUM; - deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_0].endPointIn = LINUX_USB_BULK1_END_POINT_IN; - deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_0].endPointOut = LINUX_USB_BULK1_END_POINT_OUT; + if (DjiUserConfigManager_IsEnable()) { + DjiUserConfigManager_GetLinkConfig(&linkConfig); - // This bulk channel is used to obtain DJI perception image and download camera media file. - deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_1].interfaceNum = LINUX_USB_BULK2_INTERFACE_NUM; - deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_1].endPointIn = LINUX_USB_BULK2_END_POINT_IN; - deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_1].endPointOut = LINUX_USB_BULK2_END_POINT_OUT; + //attention: this interface only be called in usb device mode. + deviceInfo->vid = linkConfig.usbBulkConfig.usbDeviceVid; + deviceInfo->pid = linkConfig.usbBulkConfig.usbDevicePid; + + // This bulk channel is used to obtain DJI camera video stream and push 3rd-party camera video stream. + deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_0].interfaceNum = linkConfig.usbBulkConfig.usbBulk1InterfaceNum; + deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_0].endPointIn = linkConfig.usbBulkConfig.usbBulk1EndpointIn; + deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_0].endPointOut = linkConfig.usbBulkConfig.usbBulk1EndpointOut; + + // This bulk channel is used to obtain DJI perception image and download camera media file. + deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_1].interfaceNum = linkConfig.usbBulkConfig.usbBulk2InterfaceNum; + deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_1].endPointIn = linkConfig.usbBulkConfig.usbBulk2EndpointIn; + deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_1].endPointOut = linkConfig.usbBulkConfig.usbBulk2EndpointOut; + } else { + //attention: this interface only be called in usb device mode. + deviceInfo->vid = LINUX_USB_VID; + deviceInfo->pid = LINUX_USB_PID; + + // This bulk channel is used to obtain DJI camera video stream and push 3rd-party camera video stream. + deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_0].interfaceNum = LINUX_USB_BULK1_INTERFACE_NUM; + deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_0].endPointIn = LINUX_USB_BULK1_END_POINT_IN; + deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_0].endPointOut = LINUX_USB_BULK1_END_POINT_OUT; + + // This bulk channel is used to obtain DJI perception image and download camera media file. + deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_1].interfaceNum = LINUX_USB_BULK2_INTERFACE_NUM; + deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_1].endPointIn = LINUX_USB_BULK2_END_POINT_IN; + deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_1].endPointOut = LINUX_USB_BULK2_END_POINT_OUT; + } return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS; } diff --git a/Source/MainAcqThread.cpp b/Source/MainAcqThread.cpp index af2f991..c561a57 100644 --- a/Source/MainAcqThread.cpp +++ b/Source/MainAcqThread.cpp @@ -27,7 +27,8 @@ int CMainAcqThread::SetupContext() { m_ctrlConfigParser.SetFilePath("/home/data/Settings/MainSettings.ini"); m_ctrlConfigParser.GetParams(m_struMiscCtrls,m_struM300RTKSs,m_struSensorPort); - + m_ctrlVehicle.Initialize(); + m_ctrlVehicle.SetupEnvironment(); #ifdef ZZ_FLAG_TEST qDebug() << m_struSensorPort.qstrGasSensorPort; qDebug() << m_struSensorPort.qstrWindSensorPort; @@ -35,8 +36,8 @@ int CMainAcqThread::SetupContext() qDebug() << m_struM300RTKSs.qstrM300RTKSettingsFilePath; qDebug() << m_struM300RTKSs.qstrM300RTKWidgetFilePath; #endif - - m_ctrlVehicle.SetupEnvironment_M300RTK(); + // m_ctrlVehicle.SetupEnvironment_M300RTK(); + m_ctrlVehicle.SetupEnvironment(); SetupMessagePipe(); return 0; } @@ -45,9 +46,10 @@ int CMainAcqThread::StartUp() { ///pump control system("sudo gpio mode 7 out"); - - m_ctrlVehicle.StartupPSDK_M300RTK(); + system("sudo gpio write 7 0"); + // m_ctrlVehicle.StartupPSDK_M300RTK(); + m_ctrlVehicle.StartupPSDK_M350RTK(); QString qstrMessage = "Initializing sensors,Please wait..."; emit Signal_UpdateVehicleMessage(qstrMessage); @@ -141,10 +143,10 @@ int CMainAcqThread::FormFixedWindData() m_fTempFixedWindVecY = m_fTempFixedWindVecY - m_struM300RTKDataFrame.stVelocity.y; m_fTempFixedWindVecZ = m_fTempFixedWindVecZ - m_struM300RTKDataFrame.stVelocity.z; - double dDotProduct = m_fTempFixedWindVecX; // 计算点积 - double dVectorLength = sqrt(m_fTempFixedWindVecX * m_fTempFixedWindVecX + m_fTempFixedWindVecY * m_fTempFixedWindVecY + m_fTempFixedWindVecZ * m_fTempFixedWindVecZ); // 计算向量模长 - double dAngleInRadians = acos(dDotProduct / dVectorLength); // 计算夹角的弧度值 - double angleInDegrees = dAngleInRadians * (180.0 / M_PI); // 将弧度转换为度数 + double dDotProduct = m_fTempFixedWindVecX; // 锟斤拷锟斤拷锟斤拷 + double dVectorLength = sqrt(m_fTempFixedWindVecX * m_fTempFixedWindVecX + m_fTempFixedWindVecY * m_fTempFixedWindVecY + m_fTempFixedWindVecZ * m_fTempFixedWindVecZ); // 锟斤拷锟斤拷锟斤拷锟斤拷模锟斤拷 + double dAngleInRadians = acos(dDotProduct / dVectorLength); // 锟斤拷锟斤拷薪堑幕锟斤拷锟街 + double angleInDegrees = dAngleInRadians * (180.0 / M_PI); // 锟斤拷锟斤拷锟斤拷转锟斤拷为锟斤拷锟斤拷 m_struUASDataFrame.fFixedWindDirection = angleInDegrees; m_struUASDataFrame.fFixedWindSpeed = dVectorLength; @@ -198,7 +200,7 @@ int CMainAcqThread::GetData() m_struUASDataFrame.fWindSpeed = fSpeed; m_struUASDataFrame.fWindTemperature = fWindTemp; - m_ctrlVehicle.GetOneDataFrame(m_struM300RTKDataFrame);//获取飞行器数据 + m_ctrlVehicle.GetOneDataFrame(m_struM300RTKDataFrame);//锟斤拷取锟斤拷锟斤拷锟斤拷锟斤拷锟斤拷 } int CMainAcqThread::OnTimerCapture() diff --git a/Source/MainAcqThread.h b/Source/MainAcqThread.h index 5ebc6a9..5e0cc2e 100644 --- a/Source/MainAcqThread.h +++ b/Source/MainAcqThread.h @@ -13,7 +13,7 @@ #include "DataFileManager.h" #include "MainConfigParser.h" -using namespace ZZ_DATA_DEF::M300RTK; +using namespace ZZ_DATA_DEF::DJI; using namespace ZZ_DATA_DEF::CO2_GAS_SENSOR; using namespace ZZ_DATA_DEF::UA_SENSOR; using namespace ZZ_DATA_DEF::MainConfig; @@ -35,7 +35,7 @@ private: M300RTKSettings m_struM300RTKSs; SensorPort m_struSensorPort; - M300RTKDataFrame m_struM300RTKDataFrame; + M350RTKDataFrame m_struM300RTKDataFrame; GSDataFrame m_struGSDataFrame; UASDataFrame m_struUASDataFrame; diff --git a/Source/ZZ_Types.h b/Source/ZZ_Types.h index 30cccb1..a78079e 100644 --- a/Source/ZZ_Types.h +++ b/Source/ZZ_Types.h @@ -3,7 +3,7 @@ namespace ZZ_DATA_DEF { - namespace M300RTK + namespace DJI { typedef struct tagVector3f { @@ -29,17 +29,17 @@ namespace ZZ_DATA_DEF typedef struct tagQuaternion { float w_q0; - float x_q1; - float y_q2; - float z_q3; + float x_q1; + float y_q2; + float z_q3; }ZZQuaternion; typedef struct tagM300RTKDataFrame { -// ZZ_U32 usExposureTimeInMS; -// ZZ_S32 lData[4096]; -// float fTemperature = 0; -// double dTimes = 0; + // ZZ_U32 usExposureTimeInMS; + // ZZ_S32 lData[4096]; + // float fTemperature = 0; + // double dTimes = 0; ZZVector3d stGPSPosition = { 0 }; ZZVector3f stVelocity = { 0 }; ZZQuaternion stQuaternion = { 0 }; @@ -47,10 +47,69 @@ namespace ZZ_DATA_DEF ZZDegOrientation stEulerAngle = { 0 }; }M300RTKDataFrame; - + typedef struct tagM350RTKDataFrame + { + // ZZ_U32 usExposureTimeInMS; + // ZZ_S32 lData[4096]; + // float fTemperature = 0; + // double dTimes = 0; + ZZVector3d stGPSPosition = { 0 }; + ZZVector3f stVelocity = { 0 }; + ZZQuaternion stQuaternion = { 0 }; + float fAltitudeFused; + ZZDegOrientation stEulerAngle = { 0 }; + }M350RTKDataFrame; - }; + } +// namespace M300RTK +// { +// typedef struct tagVector3f +// { +// float x; /*!< Specifies float value of x for vector. */ +// float y; /*!< Specifies float value of y for vector. */ +// float z; /*!< Specifies float value of z for vector. */ +// }ZZVector3f; +// +// +// typedef struct tagVector3d { +// int32_t x; /*!< Specifies int32 value of x for vector. */ +// int32_t y; /*!< Specifies int32 value of y for vector. */ +// int32_t z; /*!< Specifies int32 value of z for vector. */ +// } ZZVector3d; +// +// typedef struct tagDegOrientation +// { +// float roll; +// float pitch; +// float yaw; +// }ZZDegOrientation; +// +// typedef struct tagQuaternion +// { +// float w_q0; +// float x_q1; +// float y_q2; +// float z_q3; +// }ZZQuaternion; +// +// typedef struct tagM300RTKDataFrame +// { +// // ZZ_U32 usExposureTimeInMS; +// // ZZ_S32 lData[4096]; +// // float fTemperature = 0; +// // double dTimes = 0; +// ZZVector3d stGPSPosition = { 0 }; +// ZZVector3f stVelocity = { 0 }; +// ZZQuaternion stQuaternion = { 0 }; +// float fAltitudeFused; +// ZZDegOrientation stEulerAngle = { 0 }; +// }M300RTKDataFrame; +// +// +// +// +// }; namespace CO2_GAS_SENSOR { diff --git a/mountdjirndis.sh b/mountdjirndis.sh new file mode 100644 index 0000000..5e13593 --- /dev/null +++ b/mountdjirndis.sh @@ -0,0 +1,171 @@ +#!/bin/bash +apt install -y bridge-utils +# The IP address shared by the USB network interface creatoedd by this script. +NET_IP="192.168.55.1" +# The associated netmask. +NET_MASK="255.255.0.0" + +# 瀹氫箟USB Gadget鐨勬牴鐩綍锛屼娇鐢ㄥ畼缃戣剼鏈殑閫氱敤鍚嶇О "pi4" +GADGET_NAME="pi4" +GADGET_ROOT="/sys/kernel/config/usb_gadget/${GADGET_NAME}" + +# --- UDC DEVICE 鎻愮ず --- +# 閫氬父 Raspberry Pi (鎴栫被浼糞oC) 鐨 dwc2/ci_hdrc 绛夐┍鍔ㄤ細鑷姩浣滀负 UDC 璁惧鍑虹幇銆 +# 瀹樼綉鑴氭湰鍦ㄧ粦瀹氭椂鐩存帴浣跨敤 'UDC' 鏂囦欢锛屼笉闇瑕佹樉寮忔寚瀹 UDC_DEVICE 鍙橀噺銆 +# 绯荤粺浼氳嚜鍔ㄦ煡鎵惧彲鐢ㄧ殑 UDC 璁惧杩涜缁戝畾銆 + +# 纭繚鑴氭湰浠oot鏉冮檺杩愯 +if [ "$(id -u)" -ne 0 ]; then + echo "This script must be run as root. Please run with 'sudo'." + exit 1 +fi + +echo "--------------------------------------" +echo "Configuring USB Gadget for RNDIS ONLY." +echo "--------------------------------------" + + + +# 1. 妫鏌NDIS鎵闇鐨勫唴鏍告ā鍧楀苟纭繚 g_ether 鏈姞杞 +echo "Checking and ensuring 'g_mass_storage' and 'g_ether' are not loaded, then loading 'libcomposite'..." + +# 鍗歌浇 g_mass_storage +if lsmod | grep -q g_mass_storage; then + echo "Unloading g_mass_storage module..." + modprobe -r g_mass_storage || { echo "WARNING: Failed to unload g_mass_storage. This might cause issues."; } + sleep 1 +fi + +# 鍗歌浇 g_ether +if lsmod | grep -q g_ether; then + echo "Unloading g_ether module..." + modprobe -r g_ether || { echo "WARNING: Failed to unload g_ether. This might cause issues."; } + sleep 1 +fi + +# libcomposite 鏄 gadget 妗嗘灦鐨勫熀纭 +if ! lsmod | grep -q libcomposite; then + echo "Loading libcomposite module..." + modprobe libcomposite || { echo "ERROR: Failed to load libcomposite. Exiting."; exit 1; } +fi + +# 2. 鍗歌浇骞舵竻鐞嗘棫鐨 gadget 閰嶇疆 (鍙夛紝浣嗘帹鑽愬湪娴嬭瘯鏃朵娇鐢ㄤ互纭繚骞插噣鐘舵) +if [ -d "${GADGET_ROOT}" ]; then + echo "Disabling existing gadget '${GADGET_NAME}'..." + # 灏濊瘯瑙ｇ粦褰撳墠鐨 UDC (濡傛灉宸茬粡缁戝畾) + if [ -f "${GADGET_ROOT}/UDC" ]; then + current_udc=$(cat "${GADGET_ROOT}/UDC") + if [ -n "$current_udc" ]; then + echo "Unbinding ${current_udc} from previous gadget..." + echo "" > "${GADGET_ROOT}/UDC" # 瑙ｇ粦 UDC + sleep 1 + fi + fi + rm -rf "${GADGET_ROOT}" # 鍒犻櫎鎵鏈夋棫鐨勯厤缃 + echo "Old gadget configuration removed." + sleep 1 +fi + +# 3. 鍒涘缓鏂扮殑 gadget 閰嶇疆 +echo "Creating new gadget configuration at ${GADGET_ROOT}..." +mkdir -p "${GADGET_ROOT}" +cd "${GADGET_ROOT}" || { echo "ERROR: Failed to cd to ${GADGET_ROOT}. Exiting."; exit 1; } + +# 4. 璁剧疆璁惧鎻忚堪绗 (鍙傝冨畼缃戣剼鏈殑鍊) +echo "Setting device descriptors..." +echo 0x0955 > idVendor # Linux Foundation (瀹樼綉鑴氭湰鍊) +echo 0x7020 > idProduct # Multifunction Composite Gadget (瀹樼綉鑴氭湰涓 RNDIS 鍚敤鏃朵娇鐢ㄧ殑鍊) +echo 0x0001 > bcdDevice # v1.0.0 +echo 0x0200 > bcdUSB # USB2 + +echo 0xEF > bDeviceClass # Miscellaneous Device Class +echo 0x02 > bDeviceSubClass # Common Class +echo 0x01 > bDeviceProtocol # Interface Association Descriptor (IAD) + +# 5. 璁剧疆瀛楃涓叉弿杩扮 (鍙傝冨畼缃戣剼鏈殑鍊) +echo "Setting string descriptors (Manufacturer, Product, Serial)..." +mkdir -p strings/0x409 # English (0x409) + +echo "NVIDIA" > strings/0x409/manufacturer +echo "Linux for Tegra" > strings/0x409/product +cat /proc/device-tree/serial-number > strings/0x409/serialnumber + +# 6. 鍒涘缓閰嶇疆 c.1 +echo "Creating configuration 'c.1'..." +cfg="configs/c.1" +mkdir -p "${cfg}/strings/0x409" +echo 0x80 > "${cfg}/bmAttributes" # Self-powered +echo 250 > "${cfg}/MaxPower" # Max power consumption (250mA) +echo "RNDIS" > "${cfg}/strings/0x409/configuration" # Configuration description + +# 7. 閰嶇疆 RNDIS 鍔熻兘 +echo "Enabling RNDIS function (rndis.usb0)..." +func_rndis="functions/rndis.usb0" +mkdir -p "${func_rndis}" +ln -sf "${func_rndis}" "${cfg}" # Link RNDIS function to configuration c.1 + +# RNDIS OS Descriptors for Windows auto-detection (鍙傝冨畼缃戣剼鏈殑鍊) +echo "Setting RNDIS OS Descriptors..." +echo 1 > os_desc/use +echo 0xcd > os_desc/b_vendor_code +echo MSFT100 > os_desc/qw_sign +echo "RNDIS" > "${func_rndis}/os_desc/interface.rndis/compatible_id" +echo "5162001" > "${func_rndis}/os_desc/interface.rndis/sub_compatible_id" +ln -sf "${cfg}" os_desc + +# 8. 缁戝畾鍒 UDC 浠ユ縺娲 Gadget +echo "Activating USB Gadget..." +# 浣跨敤 udevadm settle 纭繚鎵鏈夎澶囪妭鐐归兘宸插垱寤 +udevadm settle -t 5 || : +# 鐩存帴灏嗗彲鐢ㄧ殑 UDC 璁惧鍚嶇О鍐欏叆 UDC 鏂囦欢銆 +# 濡傛灉绯荤粺鏈夊涓 UDC锛岄氬父浼氶夋嫨绗竴涓彲鐢ㄧ殑銆 +# 瀹樼綉鑴氭湰涔熸槸鐩存帴 'ls /sys/class/udc > UDC' 鏉ュ畬鎴愩 +UDC_LIST=$(ls /sys/class/udc) +if [ -z "$UDC_LIST" ]; then + echo "ERROR: No USB Device Controller (UDC) found in /sys/class/udc/. Cannot activate gadget." + exit 1 +fi +echo "${UDC_LIST%% *}" > UDC # 鍙栫涓涓 UDC 璁惧鍚嶇О +echo "USB Gadget successfully activated on ${UDC_LIST%% *}." + +# 9. 閰嶇疆 RNDIS 缃戠粶鎺ュ彛 +echo "Configuring RNDIS network interface (usb0)..." + +# 绛夊緟 usb0 鎺ュ彛鍑虹幇 +echo "Waiting for 'usb0' interface to appear..." +interface_ready=0 +for i in $(seq 1 15); do # 绛夊緟鏈澶15绉掞紝缁欑郴缁熸洿澶氭椂闂 + if ip link show usb0 &> /dev/null; then + echo "'usb0' interface found." + interface_ready=1 + break + fi + sleep 1 +done + +if [ "$interface_ready" -eq 0 ]; then + echo "ERROR: 'usb0' interface did not appear after 15 seconds. RNDIS network configuration failed." + echo " Check kernel modules ('libcomposite' and 'usb_f_rndis' which is part of g_ether function) and dmesg for errors." + exit 1 +fi + +# 娓呯悊鏃х殑妗ユ帴璁惧 (濡傛灉瀛樺湪) +if ip link show pi4br0 &> /dev/null; then + echo "Removing existing bridge 'pi4br0'..." + brctl delbr pi4br0 + sleep 1 +fi + +/sbin/brctl addbr pi4br0 # 鍒涘缓涓涓悕涓 pi4br0 鐨勭綉缁滄ˉ鎺 +/sbin/ifconfig pi4br0 "${NET_IP}" netmask "${NET_MASK}" up # 閰嶇疆妗ユ帴鎺ュ彛鐨処P鍦板潃 +/sbin/brctl addif pi4br0 usb0 # 灏 RNDIS 鎺ュ彛 usb0 娣诲姞鍒版ˉ鎺 +/sbin/ifconfig usb0 up # 纭繚 usb0 鎺ュ彛琚縺娲 + +echo "RNDIS network configured to ${NET_IP} on 'pi4br0' (bridging 'usb0')." + +echo "--------------------------------------" +echo "USB Gadget RNDIS setup complete." +echo "Connect your device to a PC." +echo "--------------------------------------" + +exit 0 diff --git a/mountrndis.sh b/mountrndis.sh new file mode 100644 index 0000000..3bd444e --- /dev/null +++ b/mountrndis.sh @@ -0,0 +1,159 @@ +#!/bin/bash +apt-get install bridge-utils +rmmod g_mass_storage + + +# 瀹氫箟USB Gadget鐨勬牴鐩綍 +GADGET_ROOT="/sys/kernel/config/usb_gadget/nanopi" + +# *** 閲嶈锛氳鏍规嵁浣犵殑瀹為檯鎯呭喌淇敼杩欎釜鍊硷紒 *** +# 浣犲彲浠ラ氳繃杩愯 'ls /sys/class/udc/' 鍛戒护鏉ユ煡鐪嬪彲鐢ㄧ殑 UDC 璁惧鍚嶇О銆 +# 甯歌鐨勫悕绉版湁锛歮usb-hdrc.0, musb-hdrc.4.auto, ci_hdrc.0, 20a00000.usb +UDC_DEVICE="musb-hdrc.4.auto" + +# 纭繚鑴氭湰浠oot鏉冮檺杩愯 +if [ "$(id -u)" -ne 0 ]; then + echo "This script must be run as root. Please run with 'sudo'." + exit 1 +fi + +echo "--------------------------------------" +echo "Configuring USB Gadget for RNDIS Only" +echo "--------------------------------------" + +# 1. 鍗歌浇骞舵竻鐞嗘棫鐨 gadget 閰嶇疆 (鍙夛紝浣嗘帹鑽愬湪娴嬭瘯鏃朵娇鐢ㄤ互纭繚骞插噣鐘舵) +if [ -d "${GADGET_ROOT}" ]; then + echo "Disabling existing gadget '${GADGET_ROOT##*/}'..." + # 灏濊瘯瑙ｇ粦褰撳墠鐨 UDC (濡傛灉宸茬粡缁戝畾) + # 杩欓渶瑕佸厛杩涘叆 gadget 鐩綍锛岀劧鍚庢墠鑳 echo "" > UDC + if [ -f "${GADGET_ROOT}/UDC" ]; then + current_udc=$(cat "${GADGET_ROOT}/UDC") + if [ -n "$current_udc" ]; then + echo "Unbinding ${current_udc} from previous gadget..." + echo "" > "${GADGET_ROOT}/UDC" # 瑙ｇ粦 UDC + sleep 1 + fi + fi + rm -rf "${GADGET_ROOT}" # 鍒犻櫎鎵鏈夋棫鐨勯厤缃 + echo "Old gadget configuration removed." + sleep 1 +fi + +# 2. 杩涘叆 gadget 鏍圭洰褰曞苟鍒涘缓 +echo "Creating new gadget configuration at ${GADGET_ROOT}..." +mkdir -p "${GADGET_ROOT}" +cd "${GADGET_ROOT}" || { echo "ERROR: Failed to cd to ${GADGET_ROOT}. Exiting."; exit 1; } + +# 3. 璁剧疆璁惧鎻忚堪绗 +echo "Setting device descriptors..." +echo 0x0955 > idVendor # FriendlyElec's Vendor ID (or your preferred) +echo 0x7020 > idProduct # Product ID for NanoPi-NEO-Core (or your preferred) +echo 0x0100 > bcdDevice # Device Version 1.0 (0x0100) +echo 0x0200 > bcdUSB # USB 2.0 (0x0200) + +# RNDIS 澶嶅悎璁惧閫氬父浣跨敤鐗瑰畾鐨勮澶囩被/瀛愮被/鍗忚 +echo 0xEF > bDeviceClass # Miscellaneous Device Class +echo 0x02 > bDeviceSubClass # Common Class +echo 0x01 > bDeviceProtocol # Interface Association Descriptor (IAD) + +# 4. 璁剧疆瀛楃涓叉弿杩扮 +echo "Setting string descriptors (Manufacturer, Product, Serial)..." +mkdir -p strings/0x409 # English (0x409) + +# 鑾峰彇璁惧鏍戜腑鐨勫簭鍒楀彿锛屽鏋滄病鏈夊垯浣跨敤榛樿鍊 +if [ -f /proc/device-tree/serial-number ]; then + serialnumber="$(cat /proc/device-tree/serial-number|tr -d '\000')" +else + serialnumber="1234567890ABCD" # Default serial number +fi +echo "${serialnumber}" > strings/0x409/serialnumber +echo "FriendlyElec" > strings/0x409/manufacturer +echo "NanoPi-NEO-Core" > strings/0x409/product + +# 5. 鍒涘缓閰嶇疆 c.1 +echo "Creating configuration 'c.1'..." +cfg="configs/c.1" +mkdir -p "${cfg}/strings/0x409" +echo 0x80 > "${cfg}/bmAttributes" # Self-powered +echo 250 > "${cfg}/MaxPower" # Max power consumption (250mA) +echo "RNDIS Ethernet" > "${cfg}/strings/0x409/configuration" # Configuration description + +# 6. 閰嶇疆 RNDIS 鍔熻兘 +echo "Enabling RNDIS function (rndis.usb0)..." +func_rndis="functions/rndis.usb0" +mkdir -p "${func_rndis}" +ln -sf "${func_rndis}" "${cfg}" # Link RNDIS function to configuration c.1 + +# RNDIS OS Descriptors for Windows auto-detection +echo "Setting RNDIS OS Descriptors..." +echo 1 > os_desc/use +echo 0xcd > os_desc/b_vendor_code +echo MSFT100 > os_desc/qw_sign +echo "RNDIS" > "${func_rndis}/os_desc/interface.rndis/compatible_id" +echo "5162001" > "${func_rndis}/os_desc/interface.rndis/sub_compatible_id" +ln -sf "${cfg}" os_desc # Link configuration c.1 to os_desc + +# 7. 缁戝畾鍒 UDC 浠ユ縺娲 Gadget +echo "Activating USB Gadget on UDC: ${UDC_DEVICE}..." +# Check if UDC device exists in /sys/class/udc/ +if [ -e "/sys/class/udc/${UDC_DEVICE}" ]; then + echo "${UDC_DEVICE}" > UDC + echo "USB Gadget successfully activated." +else + echo "ERROR: UDC device '${UDC_DEVICE}' not found in /sys/class/udc/." + echo " Please check your UDC_DEVICE variable and 'ls /sys/class/udc/' output." + exit 1 +fi + +# 8. 閰嶇疆 RNDIS 缃戠粶鎺ュ彛 +echo "Configuring RNDIS network interface (usb0)..." +NET_IP="192.168.55.1" +NET_MASK="255.255.255.0" + +# 绛夊緟 usb0 鎺ュ彛鍑虹幇 +echo "Waiting for 'usb0' interface to appear..." +interface_ready=0 +for i in $(seq 1 10); do # 绛夊緟鏈澶10绉 + if ip link show usb0 &> /dev/null; then + echo "'usb0' interface found." + interface_ready=1 + break + fi + sleep 1 +done + +if [ "$interface_ready" -eq 0 ]; then + echo "ERROR: 'usb0' interface did not appear after 10 seconds. RNDIS network configuration failed." + echo " Check kernel modules (g_ether, usb_f_rndis) and dmesg for errors." + exit 1 +fi + +# 妫鏌ュ苟瀹夎 bridge-utils (濡傛灉闇瑕) +if ! command -v brctl &> /dev/null; then + echo "WARNING: 'brctl' command not found. Please install 'bridge-utils' package." + echo " (e.g., 'sudo apt install bridge-utils' on Debian/Ubuntu)" + # 濡傛灉娌℃湁 brctl锛屽皾璇曠洿鎺ラ厤缃 usb0 鎺ュ彛锛屼絾涓嶆帹鑽 + echo "Attempting to configure 'usb0' directly (without bridge)..." + ifconfig usb0 "${NET_IP}" netmask "${NET_MASK}" up + echo "RNDIS network configured to ${NET_IP} on usb0 directly." +else + # 娓呯悊鏃х殑妗ユ帴璁惧 (濡傛灉瀛樺湪) + if ip link show zzbr0 &> /dev/null; then + echo "Removing existing bridge 'zzbr0'..." + brctl delbr zzbr0 + fi + + brctl addbr zzbr0 # 鍒涘缓涓涓悕涓 zzbr0 鐨勭綉缁滄ˉ鎺 + ifconfig zzbr0 "${NET_IP}" netmask "${NET_MASK}" up # 閰嶇疆妗ユ帴鎺ュ彛鐨処P鍦板潃 + brctl addif zzbr0 usb0 # 灏 RNDIS 鎺ュ彛 usb0 娣诲姞鍒版ˉ鎺 + ifconfig usb0 up # 纭繚 usb0 鎺ュ彛琚縺娲 + + echo "RNDIS network configured to ${NET_IP} on 'zzbr0' (bridging 'usb0')." +fi + +echo "--------------------------------------" +echo "USB Gadget RNDIS setup complete." +echo "Connect your device to a PC." +echo "--------------------------------------" + +exit 0 diff --git a/rasp.sh b/rasp.sh new file mode 100644 index 0000000..109864d --- /dev/null +++ b/rasp.sh @@ -0,0 +1,109 @@ +#!/bin/bash + +# The IP address shared by all USB network interfaces created by this script. +net_ip=192.168.42.120 +# The associated netmask. +net_mask=255.255.0.0 + +enable_vcom=0 +enable_rndis=1 +enable_bulk=0 + +startup_bulk_dir=$(dirname "$0") +startup_bulk_exe=${startup_bulk_dir}/build/startup_bulk +# +#if [ ! -d /sys/kernel/config/usb_gadget ]; then +# if ! $(grep -q dtoverlay=dwc2 /boot/config.txt) ; then +# echo -e "\n\n\n## customized\n# for op-sdk enable USB device RNDIS\n[all]\ndtoverlay=dwc2" >> /boot/config.txt +# init 6 +# fi +# +# if ! $(grep -q modules-load=dwc2 /boot/cmdline.txt) ; then +# sed -i 's/rootwait /&modules-load=dwc2 /' /boot/cmdline.txt +# init 6 +# fi +# +# if ! $(grep -q libcomposite /etc/modules) ; then +# echo -e "\n\n\n## customized\n# for op-sdk enable USB device RNDIS\nlibcomposite" >> /etc/modules +# init 6 +# fi +# +# exit 1 +#fi + + +rmmod g_mass_storage +sleep 1 + +if [ ! -d /sys/kernel/config/usb_gadget/pi4 ]; then + mkdir -p /sys/kernel/config/usb_gadget/pi4 + cd /sys/kernel/config/usb_gadget/pi4 + echo 0x2ca3 > idVendor # Linux Foundation + echo 0xF001 > idProduct # Multifunction Composite Gadget + + if [ ${enable_vcom} -eq 1 ]; then + echo 0xF002 > idProduct # Multifunction Composite Gadget + fi + + if [ ${enable_rndis} -eq 1 ]; then + echo 0xF003 > idProduct # Multifunction Composite Gadget + fi + + if [ ${enable_bulk} -eq 1 ]; then + echo 0xF001 > idProduct # Multifunction Composite Gadget + fi + + echo 0x0001 > bcdDevice # v1.0.0 + echo 0x0200 > bcdUSB # USB2 + + echo 0xEF > bDeviceClass + echo 0x02 > bDeviceSubClass + echo 0x01 > bDeviceProtocol + + mkdir -p strings/0x409 + echo "psdk-rpi4b" > strings/0x409/serialnumber + echo "raspberry" > strings/0x409/manufacturer + echo "PI4" > strings/0x409/product + + cfg=configs/c.1 + + mkdir -p "${cfg}" + echo 0x80 > ${cfg}/bmAttributes + echo 250 > ${cfg}/MaxPower + + cfg_str="" + + if [ ${enable_rndis} -eq 1 ]; then + cfg_str="${cfg_str}+RNDIS" + func=functions/rndis.usb0 + mkdir -p "${func}" + ln -sf "${func}" "${cfg}" + + # Informs Windows that this device is compatible with the built-in RNDIS + # driver. This allows automatic driver installation without any need for + # a .inf file or manual driver selection. + echo 1 > os_desc/use + echo 0xcd > os_desc/b_vendor_code + echo MSFT100 > os_desc/qw_sign + echo RNDIS > "${func}/os_desc/interface.rndis/compatible_id" + echo 5162001 > "${func}/os_desc/interface.rndis/sub_compatible_id" + + ln -sf "${cfg}" os_desc + fi + mkdir -p "${cfg}/strings/0x409" + echo "${cfg_str:1}" > "${cfg}/strings/0x409/configuration" + # cd - + +fi + udevadm settle -t 5 || : + ls /sys/class/udc > UDC + +if [ ${enable_rndis} -eq 1 ]; then + /sbin/brctl addbr pi4br0 + /sbin/ifconfig pi4br0 ${net_ip} netmask ${net_mask} up + + /sbin/brctl addif pi4br0 usb0 + /sbin/ifconfig usb0 down + /sbin/ifconfig usb0 up +fi +exit 0 \ No newline at end of file