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M350b版本

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This commit is contained in:
xin
2025-12-24 09:09:03 +08:00
parent 22906dd9fa
commit 72b1b29c10
21 changed files with 999 additions and 203 deletions
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2
Source/M300/PSDK_Qt/hal/hal_network.h
View File

@ -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

2
Source/M300/PSDK_Qt/hal/hal_uart.c
View File

@ -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");

4
Source/M300/PSDK_Qt/hal/hal_uart.h
View File

@ -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];

93
Source/M300/PSDK_Qt/hal/hal_usb_bulk.c
View File

@ -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;
}