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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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4
99-custom-serial.rules Normal file
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@ -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"

16
DeployPSDK.sh
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@ -1,11 +1,11 @@
sudo apt-get install libudev-dev sudo apt-get install libudev-dev -y
sudo apt-get install libusb-1.0-0-dev sudo apt-get install libusb-1.0-0-dev -y
sudo apt-get install libopus-dev sudo apt-get install libopus-dev -y
sudo apt-get install ffmpeg sudo apt-get install ffmpeg -y
sudo apt install libavformat-dev sudo apt install libavformat-dev -y
sudo apt-get install libswscale-dev sudo apt-get install libswscale-dev -y
sudo apt-get install libqt5websockets5-dev sudo apt-get install libqt5websockets5-dev -y
sudo apt-get install libssl-dev sudo apt-get install libssl-dev -y
#!/bin/bash #!/bin/bash
echo 'SUBSYSTEM=="usb", ATTRS{idVendor}=="2ca3", MODE="0666"' > /etc/udev/rules.d/DJIDevice.rules echo 'SUBSYSTEM=="usb", ATTRS{idVendor}=="2ca3", MODE="0666"' > /etc/udev/rules.d/DJIDevice.rules

2
Project_Grixis.cpp
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@ -27,7 +27,7 @@ int main()
QEventLoop qeLoop; QEventLoop qeLoop;
QTimer::singleShot(15000, &qeLoop, SLOT(quit())); QTimer::singleShot(15000, &qeLoop, SLOT(quit()));
qeLoop.exec(); qeLoop.exec();
QT_LOG::ZZ_InitLogger("/home/data/Log/"); // QT_LOG::ZZ_InitLogger("/home/data/Log/");
CMainAcqThread MainCtrl; CMainAcqThread MainCtrl;
MainCtrl.SetupContext(); MainCtrl.SetupContext();

2
Source/DataFileManager.cpp
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@ -62,7 +62,7 @@ int DataFileManager::GenerateFile()
return 0; return 0;
} }
int DataFileManager::WriteData(M300RTKDataFrame struM300RTKDataFrame, GSDataFrame struGSDataFrame, UASDataFrame struUASDataFrame) int DataFileManager::WriteData(M350RTKDataFrame struM300RTKDataFrame, GSDataFrame struGSDataFrame, UASDataFrame struUASDataFrame)
{ {
// QFile qfData(m_qstrFullFileName); // QFile qfData(m_qstrFullFileName);
// bool bRes = qfData.open(QFile::WriteOnly | QFile::Text | QIODevice::Append); // bool bRes = qfData.open(QFile::WriteOnly | QFile::Text | QIODevice::Append);

4
Source/DataFileManager.h
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@ -2,7 +2,7 @@
#include "pch.h" #include "pch.h"
#include "ZZ_Types.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::CO2_GAS_SENSOR;
using namespace ZZ_DATA_DEF::UA_SENSOR; using namespace ZZ_DATA_DEF::UA_SENSOR;
@ -16,7 +16,7 @@ public:
public: public:
void GenerateFilePath(); void GenerateFilePath();
int GenerateFile(); int GenerateFile();
int WriteData(M300RTKDataFrame struM300RTKDataFrame,GSDataFrame struGSDataFrame,UASDataFrame struUASDataFrame); int WriteData(M350RTKDataFrame struM300RTKDataFrame,GSDataFrame struGSDataFrame,UASDataFrame struUASDataFrame);
int CloseData(); int CloseData();
private: private:

182
Source/M300/PSDK_Qt/Config/ConfigParser_M300RTK.cpp
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@ -1,5 +1,6 @@
#include "ConfigParser_M300RTK.h" #include "ConfigParser_M300RTK.h"
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////M300
ZZ_ConfigParser_M300RTK::ZZ_ConfigParser_M300RTK(QObject* parent /*= nullptr*/) ZZ_ConfigParser_M300RTK::ZZ_ConfigParser_M300RTK(QObject* parent /*= nullptr*/)
{ {
m_bInit = false; m_bInit = false;
@ -92,7 +93,7 @@ int ZZ_ConfigParser_M300RTK::Initialize(QString qstrConfigFolderPath)
} }
++i; ++i;
} while (i < qfList.size()); } while (i < qfList.size());
if (j != 3) if (j != 3)
{ {
qDebug() << "ZZ_ConfigParser_M300:Func Initialize. File count not match"; qDebug() << "ZZ_ConfigParser_M300:Func Initialize. File count not match";
@ -198,6 +199,183 @@ int ZZ_ConfigParser_M300RTK::LoadParams()
return 1; 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;
}

30
Source/M300/PSDK_Qt/Config/ConfigParser_M300RTK.h
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@ -1,10 +1,36 @@
#pragma once #pragma once
#include "pch.h" #include "pch.h"
#include "ZZ_Types_M300.h" #include "ZZ_Types_DJI.h"
using namespace ZZ::Device::DJI::M300RTK; #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 class ZZ_ConfigParser_M300RTK :public QObject
{ {
Q_OBJECT Q_OBJECT
public: public:
ZZ_ConfigParser_M300RTK(QObject* parent = nullptr); ZZ_ConfigParser_M300RTK(QObject* parent = nullptr);

8
Source/M300/PSDK_Qt/Config/SettingFiles/AppInfoConfig.ini
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@ -1,6 +1,6 @@
[DJI] [DJI]
USER_APP_NAME=Project_Grixis USER_APP_NAME=Project_Fiora
USER_APP_ID=126401 USER_APP_ID=151266
USER_APP_KEY=a313e3617b16c56a11502bd91a61d6f USER_APP_KEY=d8bc685458ca5dca9280abcdc992d93
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_LICENSE=lXcHSZDwjws7SQnm3TjUINbKIyCC7438vJqiRBBhGe/ckOg3WmhhbYJC5aS/uKSRRMnB2UrqmiE6z+Ta+fBbUOmQUObSQJFrn/VHAsgGKR9nOMdrRNDDSwBbfLcheDIbJwjVmBAgk8RPcTZPH3WNtCohlRcpxuLIrG7oUWaawbLDwwwJ11hx5RqKKHn31I/CXTrbYQbJOm2Da32l/U7/BPF22eBUIJKts7aNfBBbFESNJI3p/xosmxfALkuXYKXMGBiIHk9bu+u0dT53Ddhz++tHh/oFyNQuyhCH4EtecvZu0PR3aMsmxyXbvXhAIocB5+AKZN+kykxhF8ToQS61bQ==
USER_DEVELOPER_ACCOUNT=1033584732@qq.com USER_DEVELOPER_ACCOUNT=1033584732@qq.com

2
Source/M300/PSDK_Qt/Config/SettingFiles/HardwareSettings.ini
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@ -1,4 +1,4 @@
[COMPORT] [COMPORT]
USER_BAUD_RATE=230400 USER_BAUD_RATE=230400
[ADV MODE] [ADV MODE]
CONFIG_HARDWARE_CONNECTION=1 CONFIG_HARDWARE_CONNECTION=2

282
Source/M300/PSDK_Qt/Main/VehicleController.cpp
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@ -14,8 +14,9 @@
#include "hal_network.h" #include "hal_network.h"
#include "time.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_UNUSED(x) ((x) = (x))
#define ZZ_MIN(a, b) (((a) < (b)) ? (a) : (b)) #define ZZ_MIN(a, b) (((a) < (b)) ? (a) : (b))
#define ZZ_MAX(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) T_DjiReturnCode VehicleController::DjiTest_FcSubscriptionReceiveHeightCallback(const uint8_t* data, uint16_t dataSize, const T_DjiDataTimestamp* timestamp)
{ {
float fHeight = *((T_DjiFcSubscriptionAltitudeFused*)data); // float fHeight = *((T_DjiFcSubscriptionAltitudeFused*)data);
//qDebug() <<"[Fused Height]:"<< fHeight; // //qDebug() <<"[Fused Height]:"<< fHeight;
///Pump need to be added // ///Pump need to be added
if (m_siFlagIsPumpWorking==0&& fHeight > 10) // if (m_siFlagIsPumpWorking==0&& fHeight > 10)
{ //{
//system("sudo gpio mode 7 out"); // //system("sudo gpio mode 7 out");
m_siFlagIsPumpWorking = 1; // m_siFlagIsPumpWorking = 1;
system("sudo gpio write 7 1"); // system("sudo gpio write 7 1");
qDebug() << "[Fused Height]:" << fHeight; // qDebug() << "[Fused Height]:" << fHeight;
} // }
if (m_siFlagIsPumpWorking == 1 && fHeight < 10) // if (m_siFlagIsPumpWorking == 1 && fHeight < 10)
{ // {
//system("sudo gpio mode 7 out"); // //system("sudo gpio mode 7 out");
m_siFlagIsPumpWorking = 0; // m_siFlagIsPumpWorking = 0;
system("sudo gpio write 7 0"); // system("sudo gpio write 7 0");
qDebug() << "[Fused Height]:" << fHeight; // qDebug() << "[Fused Height]:" << fHeight;
} // }
//
//T_DjiOsalHandler* osalHandler = DjiPlatform_GetOsalHandler(); // //T_DjiOsalHandler* osalHandler = DjiPlatform_GetOsalHandler();
//osalHandler->TaskSleepMs(2000); // //osalHandler->TaskSleepMs(2000);
return 0; return 0;
} }
@ -82,37 +83,41 @@ T_DjiReturnCode VehicleController::ZZ_DjiWaypointV2EventCallback(T_DjiWaypointV2
} }
if (eventData.event == 0x10) if (eventData.event == 0x10)
{ {
if (eventData.data.waypointIndex==0 && m_siFlagIsStartCaptureSignalEmitted==0) // if (eventData.data.waypointIndex==0 && m_siFlagIsStartCaptureSignalEmitted==0)
{ // {
if (m_scCaptureMode==0) // if (m_scCaptureMode==0)
{ // {
m_siFlagIsStartCaptureSignalEmitted++; // m_siFlagIsStartCaptureSignalEmitted++;
spCaller->emit Signal_StartCapture(); //spCaller->emit Signal_StartCapture();
} // }
// emit Signal_StartCapture(); // // emit Signal_StartCapture();
//
} // }
} }
if (eventData.event == 0x11) if (eventData.event == 0x11)
{ {
qDebug() << "eventData.event" << m_siFlagIsStartCaptureSignalEmitted; qDebug() << "eventData.event" << m_siFlagIsStartCaptureSignalEmitted;
if (m_siFlagIsStartCaptureSignalEmitted > 0) /*if (m_siFlagIsStartCaptureSignalEmitted > 0)
{ {
m_siFlagIsStartCaptureSignalEmitted = 0; m_siFlagIsStartCaptureSignalEmitted = 0;
spCaller->emit Signal_StopCapture(); spCaller->emit Signal_StopCapture();
} }*/
} }
return 0; return 0;
} }
int VehicleController::Initialize() int VehicleController::Initialize()
{ {
//m_clsWidget.GetSettings(m_struUIConfig);
m_clsConfigParser.GetParams(m_struAppRegInfo, m_struHardwareInfo, m_struSensorPort);
//m_clsConfigParser.UpdateUIConfig(m_struUIConfig);
return 0; return 0;
} }
int VehicleController::SetupEnvironment_M300RTK() int VehicleController::SetupEnvironment()
{ {
using namespace ZZ::Device::DJI::M300RTK; // using namespace ZZ::Device::DJI::M300RTK;
spCaller = this; spCaller = this;
@ -121,7 +126,7 @@ int VehicleController::SetupEnvironment_M300RTK()
//clsConfigParser.GetParams(m_struAppRegInfo, m_struHardwareInfo, m_struUIConfig); //clsConfigParser.GetParams(m_struAppRegInfo, m_struHardwareInfo, m_struUIConfig);
// //
//for use //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"; qDebug() << "VehicleController: Func DjiPlatform_RegHalUartHandler. Register hal uart handler error";
throw std::runtime_error("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); returnCode = DjiPlatform_RegHalNetworkHandler(&networkHandler);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) 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"); throw std::runtime_error("Register hal network handler error");
} }
} }
else if (m_struHardwareInfo.enumHCM == HardwareConnectionMode::UartAndUSBBulk) //else if (m_struHardwareInfo.enumHCM == HardwareConnectionMode::UartAndUSBBulk)
{ //{
returnCode = DjiPlatform_RegHalUsbBulkHandler(&usbBulkHandler); // returnCode = DjiPlatform_RegHalUsbBulkHandler(&usbBulkHandler);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) // if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
{ // {
qDebug() << "VehicleController: Func DjiPlatform_RegHalUsbBulkHandler. Register hal usb bulk handler error"; // qDebug() << "VehicleController: Func DjiPlatform_RegHalUsbBulkHandler. Register hal usb bulk handler error";
throw std::runtime_error("Register hal usb bulk handler error."); // throw std::runtime_error("Register hal usb bulk handler error.");
} // }
} // }
else if (m_struHardwareInfo.enumHCM == HardwareConnectionMode::UartOnly) //else if (m_struHardwareInfo.enumHCM == HardwareConnectionMode::UartOnly)
{ //{
returnCode = DjiPlatform_RegSocketHandler(&socketHandler); // returnCode = DjiPlatform_RegSocketHandler(&socketHandler);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) // if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
{ // {
qDebug() << "VehicleController: Func DjiPlatform_RegSocketHandler. Register osal socket handler error"; // qDebug() << "VehicleController: Func DjiPlatform_RegSocketHandler. Register osal socket handler error";
throw std::runtime_error("register osal socket handler error"); // throw std::runtime_error("register osal socket handler error");
} // }
} //}
else //else
{ //{
qDebug() << "VehicleController: Func DjiPlatform_RegSocketHandler. Register osal socket handler error"; // qDebug() << "VehicleController: Func DjiPlatform_RegSocketHandler. Register osal socket handler error";
throw std::runtime_error("hardware connection configuration error"); // throw std::runtime_error("hardware connection configuration error");
} //}
returnCode = DjiPlatform_RegFileSystemHandler(&fileSystemHandler); returnCode = DjiPlatform_RegFileSystemHandler(&fileSystemHandler);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
@ -264,8 +279,9 @@ int VehicleController::SetupEnvironment_M300RTK()
return 0; return 0;
} }
int VehicleController::StartupPSDK_M300RTK() int VehicleController::StartupPSDK_M350RTK()
{ {
T_DjiUserInfo userInfo; T_DjiUserInfo userInfo;
T_DjiReturnCode returnCode; T_DjiReturnCode returnCode;
T_DjiAircraftInfoBaseInfo aircraftInfoBaseInfo; T_DjiAircraftInfoBaseInfo aircraftInfoBaseInfo;
@ -308,27 +324,27 @@ int VehicleController::StartupPSDK_M300RTK()
throw std::runtime_error("Start sdk application error."); throw std::runtime_error("Start sdk application error.");
} }
//osalHandler->TaskSleepMs(5000); osalHandler->TaskSleepMs(5000);
SetupWidget();//<2F>ɼ<EFBFBD><C9BC>߼<EFBFBD><DFBC>л<EFBFBD> SetupWidget();
//osalHandler->TaskSleepMs(5000); osalHandler->TaskSleepMs(5000);
SetupMessagePipe();//widget<65><74>vehicle SetupMessagePipe();
SetupWaypointStatusCallback(); //SetupWaypointStatusCallback();
InitSystemParams();//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD>䣬<EFBFBD><E4A3AC><EFBFBD><EFBFBD>ϵͳʱ<CDB3>䣬Ȼ<E4A3AC><C8BB>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><C4A3><EFBFBD>Ϊ<EFBFBD>޷<EFBFBD>ͬʱ<CDAC><CAB1><EFBFBD><EFBFBD>5<EFBFBD><35><EFBFBD><EFBFBD><EFBFBD><EFBFBD> //InitSystemParams();
SetupSubscriptions();//ʵ<><CAB5><EFBFBD><EFBFBD>Ҫ<EFBFBD>Ķ<EFBFBD><C4B6>ģ<EFBFBD><C4A3><EFBFBD><EFBFBD><EFBFBD>̫<EFBFBD><CCAB><EFBFBD><EFBFBD> SetupSubscriptions();
qDebug()<<"M300RTK PSDK Channel Started."; qDebug()<<"M350RTK PSDK Channel Started.";
return 0; return 0;
} }
int VehicleController::UpdateUIConfig() int VehicleController::UpdateUIConfig()
{ {
m_clsWidget.GetSettings(m_struUIConfig); //m_clsWidget.GetSettings(m_struUIConfig);
m_clsConfigParser.UpdateUIConfig(m_struUIConfig); //m_clsConfigParser.UpdateUIConfig(m_struUIConfig);
return 0; return 0;
} }
int VehicleController::GetOneDataFrame(M300RTKDataFrame& M300RTKDataFrame) int VehicleController::GetOneDataFrame(M350RTKDataFrame& M350RTKDataFrame)
{ {
T_DjiReturnCode tDjiReturnCode; T_DjiReturnCode tDjiReturnCode;
T_DjiFcSubscriptionVelocity tDjiVelocity = { 0 }; T_DjiFcSubscriptionVelocity tDjiVelocity = { 0 };
@ -372,29 +388,29 @@ int VehicleController::GetOneDataFrame(M300RTKDataFrame& M300RTKDataFrame)
//return 4; //return 4;
} }
M300RTKDataFrame.stVelocity.x = tDjiVelocity.data.x; M350RTKDataFrame.stVelocity.x = tDjiVelocity.data.x;
M300RTKDataFrame.stVelocity.y = tDjiVelocity.data.y; M350RTKDataFrame.stVelocity.y = tDjiVelocity.data.y;
M300RTKDataFrame.stVelocity.z = tDjiVelocity.data.z; M350RTKDataFrame.stVelocity.z = tDjiVelocity.data.z;
M300RTKDataFrame.stQuaternion.w_q0 = tDjiQuaternion.q0; M350RTKDataFrame.stQuaternion.w_q0 = tDjiQuaternion.q0;
M300RTKDataFrame.stQuaternion.x_q1 = tDjiQuaternion.q1; M350RTKDataFrame.stQuaternion.x_q1 = tDjiQuaternion.q1;
M300RTKDataFrame.stQuaternion.y_q2 = tDjiQuaternion.q2; M350RTKDataFrame.stQuaternion.y_q2 = tDjiQuaternion.q2;
M300RTKDataFrame.stQuaternion.z_q3 = tDjiQuaternion.q3; M350RTKDataFrame.stQuaternion.z_q3 = tDjiQuaternion.q3;
M300RTKDataFrame.stGPSPosition.x = tDjiGpsPosition.x; M350RTKDataFrame.stGPSPosition.x = tDjiGpsPosition.x;
M300RTKDataFrame.stGPSPosition.y = tDjiGpsPosition.y; M350RTKDataFrame.stGPSPosition.y = tDjiGpsPosition.y;
M300RTKDataFrame.stGPSPosition.z = tDjiGpsPosition.z; M350RTKDataFrame.stGPSPosition.z = tDjiGpsPosition.z;
M300RTKDataFrame.fAltitudeFused = tDjiAltFused; M350RTKDataFrame.fAltitudeFused = tDjiAltFused;
//////////////////////////////////////////////////////////////////////////Calc Euler From Quaternion 20230428 //////////////////////////////////////////////////////////////////////////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; -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; -2 * tDjiQuaternion.q2 * tDjiQuaternion.q2 - 2 * tDjiQuaternion.q3 * tDjiQuaternion.q3 + 1) * 57.3;
////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////
@ -410,24 +426,24 @@ int VehicleController::SetupSubscriptions()
{ {
T_DjiReturnCode tDjiReturnCode; T_DjiReturnCode tDjiReturnCode;
// tDjiReturnCode = DjiFcSubscription_Init(); tDjiReturnCode = DjiFcSubscription_Init();
// if (tDjiReturnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) if (tDjiReturnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
// { {
// qDebug() << "init data subscription module error."; qDebug() << "init data subscription module error.";
// return 0; return 0;
// } }
// else else
// { {
// qDebug() << "init data subscription module finished."; qDebug() << "init data subscription module finished.";
// } }
tDjiReturnCode = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_HEIGHT_FUSION, DJI_DATA_SUBSCRIPTION_TOPIC_1_HZ, DjiTest_FcSubscriptionReceiveHeightCallback); // 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) //if (tDjiReturnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
{ //{
qDebug() << "Subscribe topic DJI_FC_SUBSCRIPTION_TOPIC_HEIGHT_FUSION error."; // qDebug() << "Subscribe topic DJI_FC_SUBSCRIPTION_TOPIC_HEIGHT_FUSION error.";
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN; // return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
} //}
tDjiReturnCode = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_VELOCITY, DJI_DATA_SUBSCRIPTION_TOPIC_5_HZ, NULL); tDjiReturnCode = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_VELOCITY, DJI_DATA_SUBSCRIPTION_TOPIC_5_HZ, NULL);
if (tDjiReturnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) if (tDjiReturnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
@ -492,7 +508,7 @@ int VehicleController::SetupWaypointStatusCallback()
int VehicleController::LoadUserAppInfo(T_DjiUserInfo* struDjiUserInfo) 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->appName, 0, sizeof(struDjiUserInfo->appName));
memset(struDjiUserInfo->appId, 0, sizeof(struDjiUserInfo->appId)); 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->developerAccount, 0, sizeof(struDjiUserInfo->developerAccount));
memset(struDjiUserInfo->baudRate, 0, sizeof(struDjiUserInfo->baudRate)); memset(struDjiUserInfo->baudRate, 0, sizeof(struDjiUserInfo->baudRate));
if (m_struAppRegInfo.qstrUserAppName.length() >= sizeof(struDjiUserInfo->appName) || //struDjiUserInfo->appName = "Project_Fiora";
m_struAppRegInfo.qstrUserAppID.length() > sizeof(struDjiUserInfo->appId) || //struDjiUserInfo->appId = "151266";
m_struAppRegInfo.qstrUserAppKey.length() > sizeof(struDjiUserInfo->appKey) || //struDjiUserInfo->appKey = "d8bc685458ca5dca9280abcdc992d93";
m_struAppRegInfo.qstrUserAppLic.length() > sizeof(struDjiUserInfo->appLicense) || //struDjiUserInfo->appLicense = "lXcHSZDwjws7SQnm3TjUINbKIyCC7438vJqiRBBhGe/ckOg3WmhhbYJC5aS/uKSRRMnB2UrqmiE6z+Ta+fBbUOmQUObSQJFrn/VHAsgGKR9nOMdrRNDDSwBbfLcheDIbJwjVmBAgk8RPcTZPH3WNtCohlRcpxuLIrG7oUWaawbLDwwwJ11hx5RqKKHn31I/CXTrbYQbJOm2Da32l/U7/BPF22eBUIJKts7aNfBBbFESNJI3p/xosmxfALkuXYKXMGBiIHk9bu+u0dT53Ddhz++tHh/oFyNQuyhCH4EtecvZu0PR3aMsmxyXbvXhAIocB5+AKZN+kykxhF8ToQS61bQ==";
m_struAppRegInfo.qstrUserAppAcc.length() >= sizeof(struDjiUserInfo->developerAccount) || //struDjiUserInfo->developerAccount = "1033584732@qq.com";
m_struHardwareInfo.qstrBaudRate.length() > sizeof(struDjiUserInfo->baudRate)) //struDjiUserInfo->baudRate = "460800";
{
qDebug()<<"VehicleController:LoadUserAppInfo.Length of user information string is beyond limit,Please check"; //strncpy(struDjiUserInfo->appName, "Project_Fiora", sizeof(struDjiUserInfo->appName));
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER; //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()); 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->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->appKey, m_struAppRegInfo.qstrUserAppKey.toLatin1().data(), ZZ_MIN(sizeof(struDjiUserInfo->appKey), m_struAppRegInfo.qstrUserAppKey.length()));
memcpy(struDjiUserInfo->appLicense, m_struAppRegInfo.qstrUserAppLic.toLatin1().data(), memcpy(struDjiUserInfo->appLicense, m_struAppRegInfo.qstrUserAppLic.toLatin1().data(),ZZ_MIN(sizeof(struDjiUserInfo->appLicense), m_struAppRegInfo.qstrUserAppLic.length()));
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())); 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); 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() 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_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); connect(this, &VehicleController::Signal_UpdateVehicleMessage, &m_clsWidget, &ZZ_Widget_M300RTK::Slot_UpdatePSDKFloatMessage);
/// for test // /// for test
#ifdef ZZ_FLAG_TEST //#ifdef ZZ_FLAG_TEST
connect(this, &VehicleController::Signal_StartCapture, this, &VehicleController::Slot_TestStartCapture); // connect(this, &VehicleController::Signal_StartCapture, this, &VehicleController::Slot_TestStartCapture);
connect(this, &VehicleController::Signal_StopCapture, this, &VehicleController::Slot_TestStopCapture); // connect(this, &VehicleController::Signal_StopCapture, this, &VehicleController::Slot_TestStopCapture);
#endif //#endif
return 0; return 0;
} }
int VehicleController::SetupWidget() int VehicleController::SetupWidget()
{ {
m_clsWidget.SetUIFilePath("/home/DJI/Widget",100); m_clsWidget.SetUIFilePath(const_cast<char*>("/home/DJI/Widget"),100);
m_clsWidget.SetSettings(m_struUIConfig); // m_clsWidget.SetSettings(m_struUIConfig);
m_clsWidget.PreparteEnvironment(); m_clsWidget.PreparteEnvironment();
return 0; return 0;

25
Source/M300/PSDK_Qt/Main/VehicleController.h
View File

@ -7,14 +7,15 @@
#include "dji_core.h" #include "dji_core.h"
#include "dji_waypoint_v2.h" #include "dji_waypoint_v2.h"
//#include "ConfigParser_DJI.h"
#include "pch.h" #include "pch.h"
#include "ConfigParser_M300RTK.h" #include "ConfigParser_M300RTK.h"
#include "Widget_M300RTK.h" #include "Widget_M300RTK.h"
#include "ZZ_Types.h" #include "ZZ_Types.h"
using namespace std; using namespace std;
using namespace ZZ_DATA_DEF::M300RTK; using namespace ZZ_DATA_DEF::DJI;
using namespace ZZ_DATA_DEF::MainConfig; //using namespace ZZ_DATA_DEF::MainConfig;
class VehicleController :public QObject class VehicleController :public QObject
{ {
@ -28,15 +29,19 @@ public:
static int m_siFlagIsStartCaptureSignalEmitted; static int m_siFlagIsStartCaptureSignalEmitted;
static VehicleController* spCaller; static VehicleController* spCaller;
static char m_scCaptureMode; static char m_scCaptureMode;
SensorPort m_struSensorPort;
private: private:
///////////Config need modify ///////////Config need modify
ZZ_ConfigParser_M300RTK m_clsConfigParser; ZZ_ConfigParser_M350RTK m_clsConfigParser;
ZZ_Widget_M300RTK m_clsWidget;
M300RTKSettings m_struM300RTKSs;
AppRegInfo m_struAppRegInfo; AppRegInfo m_struAppRegInfo;
HardwareInfo m_struHardwareInfo; 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_iFlagIsVehicleTakeoff;
int m_iFlagIsVehicleCapturing; int m_iFlagIsVehicleCapturing;
@ -53,15 +58,15 @@ public:
public: public:
/// call First /// call First
int Initialize(); int Initialize();
int SetupEnvironment_M300RTK(); int SetupEnvironment();
/// call Seconde /// call Seconde
int StartupPSDK_M300RTK(); int StartupPSDK_M350RTK();
///call to save Settings ///call to save Settings
int UpdateUIConfig(); int UpdateUIConfig();
/// data call /// data call
int GetOneDataFrame(M300RTKDataFrame &M300RTKDataFrame); int GetOneDataFrame(M350RTKDataFrame &M350RTKDataFrame);
private: private:
/// ///
int SetupMessagePipe(); int SetupMessagePipe();

2
Source/M300/PSDK_Qt/hal/hal_network.h
View File

@ -42,7 +42,7 @@ extern "C" {
#ifdef PLATFORM_ARCH_x86_64 #ifdef PLATFORM_ARCH_x86_64
#define LINUX_NETWORK_DEV "enxf8e43b7bbc2c" #define LINUX_NETWORK_DEV "enxf8e43b7bbc2c"
#else #else
#define LINUX_NETWORK_DEV "l4tbr0" #define LINUX_NETWORK_DEV "pi4br0"
#endif #endif
/** /**
* @attention * @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 { } else {
goto free_uart_handle; goto free_uart_handle;
} }
// #define USE_CLION_DEBUG;
#ifdef USE_CLION_DEBUG #ifdef USE_CLION_DEBUG
sprintf(systemCmd, "ls -l %s", uartName); sprintf(systemCmd, "ls -l %s", uartName);
fp = popen(systemCmd, "r"); fp = popen(systemCmd, "r");

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

@ -45,8 +45,8 @@ extern "C" {
/* Exported constants --------------------------------------------------------*/ /* Exported constants --------------------------------------------------------*/
//User can config dev based on there environmental conditions //User can config dev based on there environmental conditions
#define LINUX_UART_DEV1 "/dev/ttyUSB0" #define LINUX_UART_DEV1 "/dev/ttyAirborn"
#define LINUX_UART_DEV2 "/dev/ttyACM0" #define LINUX_UART_DEV2 "/dev/ttyUSB2"
//global //global
extern char gvpcM300RTK_UART1[128]; extern char gvpcM300RTK_UART1[128];

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

@ -25,6 +25,7 @@
/* Includes ------------------------------------------------------------------*/ /* Includes ------------------------------------------------------------------*/
#include "hal_usb_bulk.h" #include "hal_usb_bulk.h"
#include "dji_logger.h" #include "dji_logger.h"
#include "utils/dji_config_manager.h"
/* Private constants ---------------------------------------------------------*/ /* Private constants ---------------------------------------------------------*/
#define LINUX_USB_BULK_TRANSFER_TIMEOUT_MS (50) #define LINUX_USB_BULK_TRANSFER_TIMEOUT_MS (50)
@ -52,6 +53,13 @@ T_DjiReturnCode HalUsbBulk_Init(T_DjiHalUsbBulkInfo usbBulkInfo, T_DjiUsbBulkHan
{ {
int32_t ret; int32_t ret;
struct libusb_device_handle *handle = NULL; 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)); *usbBulkHandle = malloc(sizeof(T_HalUsbBulkObj));
if (*usbBulkHandle == NULL) { 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); 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"); USER_LOG_ERROR("open usb device failed");
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR; 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)); memcpy(&((T_HalUsbBulkObj *) *usbBulkHandle)->usbBulkInfo, &usbBulkInfo, sizeof(usbBulkInfo));
((T_HalUsbBulkObj *) *usbBulkHandle)->interfaceNum = usbBulkInfo.channelInfo.interfaceNum; ((T_HalUsbBulkObj *) *usbBulkHandle)->interfaceNum = usbBulkInfo.channelInfo.interfaceNum;
if (usbBulkInfo.channelInfo.interfaceNum == LINUX_USB_BULK1_INTERFACE_NUM) { if (DjiUserConfigManager_IsEnable()) {
((T_HalUsbBulkObj *) *usbBulkHandle)->ep1 = open(LINUX_USB_BULK1_EP_OUT_FD, O_RDWR); 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) { if (((T_HalUsbBulkObj *) *usbBulkHandle)->ep1 < 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR; 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) { if (((T_HalUsbBulkObj *) *usbBulkHandle)->ep2 < 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR; return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
} }
} else if (usbBulkInfo.channelInfo.interfaceNum == LINUX_USB_BULK2_INTERFACE_NUM) { } else if (usbBulkInfo.channelInfo.interfaceNum == usbBulk2InterfaceNum) {
((T_HalUsbBulkObj *) *usbBulkHandle)->ep1 = open(LINUX_USB_BULK2_EP_OUT_FD, O_RDWR); ((T_HalUsbBulkObj *) *usbBulkHandle)->ep1 = open(usbBulk2EpOutFd, O_RDWR);
if (((T_HalUsbBulkObj *) *usbBulkHandle)->ep1 < 0) { if (((T_HalUsbBulkObj *) *usbBulkHandle)->ep1 < 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR; 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) { if (((T_HalUsbBulkObj *) *usbBulkHandle)->ep2 < 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR; 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) { if (((T_HalUsbBulkObj *) usbBulkHandle)->usbBulkInfo.isUsbHost == true) {
#ifdef LIBUSB_INSTALLED #ifdef LIBUSB_INSTALLED
ret = libusb_release_interface(handle, ((T_HalUsbBulkObj *) usbBulkHandle)->usbBulkInfo.channelInfo.interfaceNum); ret = libusb_release_interface(handle,
if(ret != 0) { ((T_HalUsbBulkObj *) usbBulkHandle)->usbBulkInfo.channelInfo.interfaceNum);
if (ret != 0) {
USER_LOG_ERROR("release usb bulk interface failed, errno = %d", ret); USER_LOG_ERROR("release usb bulk interface failed, errno = %d", ret);
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR; return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
} }
@ -151,7 +181,8 @@ T_DjiReturnCode HalUsbBulk_WriteData(T_DjiUsbBulkHandle usbBulkHandle, const uin
int32_t actualLen; int32_t actualLen;
struct libusb_device_handle *handle = NULL; struct libusb_device_handle *handle = NULL;
if (usbBulkHandle == NULL) { if (usbBulkHandle == NULL)
{
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR; 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) T_DjiReturnCode HalUsbBulk_GetDeviceInfo(T_DjiHalUsbBulkDeviceInfo *deviceInfo)
{ {
//attention: this interface only be called in usb device mode. T_DjiUserLinkConfig linkConfig = {0};
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. if (DjiUserConfigManager_IsEnable()) {
deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_0].interfaceNum = LINUX_USB_BULK1_INTERFACE_NUM; DjiUserConfigManager_GetLinkConfig(&linkConfig);
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. //attention: this interface only be called in usb device mode.
deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_1].interfaceNum = LINUX_USB_BULK2_INTERFACE_NUM; deviceInfo->vid = linkConfig.usbBulkConfig.usbDeviceVid;
deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_1].endPointIn = LINUX_USB_BULK2_END_POINT_IN; deviceInfo->pid = linkConfig.usbBulkConfig.usbDevicePid;
deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_1].endPointOut = LINUX_USB_BULK2_END_POINT_OUT;
// 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; return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
} }

22
Source/MainAcqThread.cpp
View File

@ -27,7 +27,8 @@ int CMainAcqThread::SetupContext()
{ {
m_ctrlConfigParser.SetFilePath("/home/data/Settings/MainSettings.ini"); m_ctrlConfigParser.SetFilePath("/home/data/Settings/MainSettings.ini");
m_ctrlConfigParser.GetParams(m_struMiscCtrls,m_struM300RTKSs,m_struSensorPort); m_ctrlConfigParser.GetParams(m_struMiscCtrls,m_struM300RTKSs,m_struSensorPort);
m_ctrlVehicle.Initialize();
m_ctrlVehicle.SetupEnvironment();
#ifdef ZZ_FLAG_TEST #ifdef ZZ_FLAG_TEST
qDebug() << m_struSensorPort.qstrGasSensorPort; qDebug() << m_struSensorPort.qstrGasSensorPort;
qDebug() << m_struSensorPort.qstrWindSensorPort; qDebug() << m_struSensorPort.qstrWindSensorPort;
@ -35,8 +36,8 @@ int CMainAcqThread::SetupContext()
qDebug() << m_struM300RTKSs.qstrM300RTKSettingsFilePath; qDebug() << m_struM300RTKSs.qstrM300RTKSettingsFilePath;
qDebug() << m_struM300RTKSs.qstrM300RTKWidgetFilePath; qDebug() << m_struM300RTKSs.qstrM300RTKWidgetFilePath;
#endif #endif
// m_ctrlVehicle.SetupEnvironment_M300RTK();
m_ctrlVehicle.SetupEnvironment_M300RTK(); m_ctrlVehicle.SetupEnvironment();
SetupMessagePipe(); SetupMessagePipe();
return 0; return 0;
} }
@ -45,9 +46,10 @@ int CMainAcqThread::StartUp()
{ {
///pump control ///pump control
system("sudo gpio mode 7 out"); system("sudo gpio mode 7 out");
system("sudo gpio write 7 0");
m_ctrlVehicle.StartupPSDK_M300RTK(); // m_ctrlVehicle.StartupPSDK_M300RTK();
m_ctrlVehicle.StartupPSDK_M350RTK();
QString qstrMessage = "Initializing sensors,Please wait..."; QString qstrMessage = "Initializing sensors,Please wait...";
emit Signal_UpdateVehicleMessage(qstrMessage); emit Signal_UpdateVehicleMessage(qstrMessage);
@ -141,10 +143,10 @@ int CMainAcqThread::FormFixedWindData()
m_fTempFixedWindVecY = m_fTempFixedWindVecY - m_struM300RTKDataFrame.stVelocity.y; m_fTempFixedWindVecY = m_fTempFixedWindVecY - m_struM300RTKDataFrame.stVelocity.y;
m_fTempFixedWindVecZ = m_fTempFixedWindVecZ - m_struM300RTKDataFrame.stVelocity.z; m_fTempFixedWindVecZ = m_fTempFixedWindVecZ - m_struM300RTKDataFrame.stVelocity.z;
double dDotProduct = m_fTempFixedWindVecX; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> double dDotProduct = m_fTempFixedWindVecX; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
double dVectorLength = sqrt(m_fTempFixedWindVecX * m_fTempFixedWindVecX + m_fTempFixedWindVecY * m_fTempFixedWindVecY + m_fTempFixedWindVecZ * m_fTempFixedWindVecZ); // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><C4A3> double dVectorLength = sqrt(m_fTempFixedWindVecX * m_fTempFixedWindVecX + m_fTempFixedWindVecY * m_fTempFixedWindVecY + m_fTempFixedWindVecZ * m_fTempFixedWindVecZ); // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><C4A3>
double dAngleInRadians = acos(dDotProduct / dVectorLength); // <20><><EFBFBD><EFBFBD><EFBFBD>нǵĻ<EFBFBD><EFBFBD><EFBFBD>ֵ double dAngleInRadians = acos(dDotProduct / dVectorLength); // <20><><EFBFBD><EFBFBD>нǵĻ<C7B5><C4BB><EFBFBD>ֵ
double angleInDegrees = dAngleInRadians * (180.0 / M_PI); // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD> double angleInDegrees = dAngleInRadians * (180.0 / M_PI); // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD>
m_struUASDataFrame.fFixedWindDirection = angleInDegrees; m_struUASDataFrame.fFixedWindDirection = angleInDegrees;
m_struUASDataFrame.fFixedWindSpeed = dVectorLength; m_struUASDataFrame.fFixedWindSpeed = dVectorLength;
@ -198,7 +200,7 @@ int CMainAcqThread::GetData()
m_struUASDataFrame.fWindSpeed = fSpeed; m_struUASDataFrame.fWindSpeed = fSpeed;
m_struUASDataFrame.fWindTemperature = fWindTemp; m_struUASDataFrame.fWindTemperature = fWindTemp;
m_ctrlVehicle.GetOneDataFrame(m_struM300RTKDataFrame);//<2F><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> m_ctrlVehicle.GetOneDataFrame(m_struM300RTKDataFrame);//<2F><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
} }
int CMainAcqThread::OnTimerCapture() int CMainAcqThread::OnTimerCapture()

4
Source/MainAcqThread.h
View File

@ -13,7 +13,7 @@
#include "DataFileManager.h" #include "DataFileManager.h"
#include "MainConfigParser.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::CO2_GAS_SENSOR;
using namespace ZZ_DATA_DEF::UA_SENSOR; using namespace ZZ_DATA_DEF::UA_SENSOR;
using namespace ZZ_DATA_DEF::MainConfig; using namespace ZZ_DATA_DEF::MainConfig;
@ -35,7 +35,7 @@ private:
M300RTKSettings m_struM300RTKSs; M300RTKSettings m_struM300RTKSs;
SensorPort m_struSensorPort; SensorPort m_struSensorPort;
M300RTKDataFrame m_struM300RTKDataFrame; M350RTKDataFrame m_struM300RTKDataFrame;
GSDataFrame m_struGSDataFrame; GSDataFrame m_struGSDataFrame;
UASDataFrame m_struUASDataFrame; UASDataFrame m_struUASDataFrame;

79
Source/ZZ_Types.h
View File

@ -3,7 +3,7 @@
namespace ZZ_DATA_DEF namespace ZZ_DATA_DEF
{ {
namespace M300RTK namespace DJI
{ {
typedef struct tagVector3f typedef struct tagVector3f
{ {
@ -29,17 +29,17 @@ namespace ZZ_DATA_DEF
typedef struct tagQuaternion typedef struct tagQuaternion
{ {
float w_q0; float w_q0;
float x_q1; float x_q1;
float y_q2; float y_q2;
float z_q3; float z_q3;
}ZZQuaternion; }ZZQuaternion;
typedef struct tagM300RTKDataFrame typedef struct tagM300RTKDataFrame
{ {
// ZZ_U32 usExposureTimeInMS; // ZZ_U32 usExposureTimeInMS;
// ZZ_S32 lData[4096]; // ZZ_S32 lData[4096];
// float fTemperature = 0; // float fTemperature = 0;
// double dTimes = 0; // double dTimes = 0;
ZZVector3d stGPSPosition = { 0 }; ZZVector3d stGPSPosition = { 0 };
ZZVector3f stVelocity = { 0 }; ZZVector3f stVelocity = { 0 };
ZZQuaternion stQuaternion = { 0 }; ZZQuaternion stQuaternion = { 0 };
@ -47,10 +47,69 @@ namespace ZZ_DATA_DEF
ZZDegOrientation stEulerAngle = { 0 }; ZZDegOrientation stEulerAngle = { 0 };
}M300RTKDataFrame; }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 namespace CO2_GAS_SENSOR
{ {

171
mountdjirndis.sh Normal file
View File

@ -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"
# 定义USB Gadget的根目录，使用官网脚本的通用名称 "pi4"
GADGET_NAME="pi4"
GADGET_ROOT="/sys/kernel/config/usb_gadget/${GADGET_NAME}"
# --- UDC DEVICE 提示 ---
# 通常 Raspberry Pi (或类似SoC) 的 dwc2/ci_hdrc 等驱动会自动作为 UDC 设备出现。
# 官网脚本在绑定时直接使用 'UDC' 文件，不需要显式指定 UDC_DEVICE 变量。
# 系统会自动查找可用的 UDC 设备进行绑定。
# 确保脚本以root权限运行
if [ "$(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. 检查RNDIS所需的内核模块并确保 g_ether 未加载
echo "Checking and ensuring 'g_mass_storage' and 'g_ether' are not loaded, then loading 'libcomposite'..."
# 卸载 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
# 卸载 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 是 gadget 框架的基础
if ! lsmod | grep -q libcomposite; then
echo "Loading libcomposite module..."
modprobe libcomposite || { echo "ERROR: Failed to load libcomposite. Exiting."; exit 1; }
fi
# 2. 卸载并清理旧的 gadget 配置 (可选，但推荐在测试时使用以确保干净状态)
if [ -d "${GADGET_ROOT}" ]; then
echo "Disabling existing gadget '${GADGET_NAME}'..."
# 尝试解绑当前的 UDC (如果已经绑定)
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" # 解绑 UDC
sleep 1
fi
fi
rm -rf "${GADGET_ROOT}" # 删除所有旧的配置
echo "Old gadget configuration removed."
sleep 1
fi
# 3. 创建新的 gadget 配置
echo "Creating new gadget configuration at ${GADGET_ROOT}..."
mkdir -p "${GADGET_ROOT}"
cd "${GADGET_ROOT}" || { echo "ERROR: Failed to cd to ${GADGET_ROOT}. Exiting."; exit 1; }
# 4. 设置设备描述符 (参考官网脚本的值)
echo "Setting device descriptors..."
echo 0x0955 > idVendor # Linux Foundation (官网脚本值)
echo 0x7020 > idProduct # Multifunction Composite Gadget (官网脚本中 RNDIS 启用时使用的值)
echo 0x0001 > bcdDevice # v1.0.0
echo 0x0200 > bcdUSB # USB2
echo 0xEF > bDeviceClass # Miscellaneous Device Class
echo 0x02 > bDeviceSubClass # Common Class
echo 0x01 > bDeviceProtocol # Interface Association Descriptor (IAD)
# 5. 设置字符串描述符 (参考官网脚本的值)
echo "Setting string descriptors (Manufacturer, Product, Serial)..."
mkdir -p strings/0x409 # English (0x409)
echo "NVIDIA" > strings/0x409/manufacturer
echo "Linux for Tegra" > strings/0x409/product
cat /proc/device-tree/serial-number > strings/0x409/serialnumber
# 6. 创建配置 c.1
echo "Creating configuration 'c.1'..."
cfg="configs/c.1"
mkdir -p "${cfg}/strings/0x409"
echo 0x80 > "${cfg}/bmAttributes" # Self-powered
echo 250 > "${cfg}/MaxPower" # Max power consumption (250mA)
echo "RNDIS" > "${cfg}/strings/0x409/configuration" # Configuration description
# 7. 配置 RNDIS 功能
echo "Enabling RNDIS function (rndis.usb0)..."
func_rndis="functions/rndis.usb0"
mkdir -p "${func_rndis}"
ln -sf "${func_rndis}" "${cfg}" # Link RNDIS function to configuration c.1
# RNDIS OS Descriptors for Windows auto-detection (参考官网脚本的值)
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 "${cfg}" os_desc
# 8. 绑定到 UDC 以激活 Gadget
echo "Activating USB Gadget..."
# 使用 udevadm settle 确保所有设备节点都已创建
udevadm settle -t 5 || :
# 直接将可用的 UDC 设备名称写入 UDC 文件。
# 如果系统有多个 UDC，通常会选择第一个可用的。
# 官网脚本也是直接 'ls /sys/class/udc > UDC' 来完成。
UDC_LIST=$(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 # 取第一个 UDC 设备名称
echo "USB Gadget successfully activated on ${UDC_LIST%% *}."
# 9. 配置 RNDIS 网络接口
echo "Configuring RNDIS network interface (usb0)..."
# 等待 usb0 接口出现
echo "Waiting for 'usb0' interface to appear..."
interface_ready=0
for i in $(seq 1 15); do # 等待最多15秒，给系统更多时间
if ip link show usb0 &> /dev/null; then
echo "'usb0' interface found."
interface_ready=1
break
fi
sleep 1
done
if [ "$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
# 清理旧的桥接设备 (如果存在)
if ip link show pi4br0 &> /dev/null; then
echo "Removing existing bridge 'pi4br0'..."
brctl delbr pi4br0
sleep 1
fi
/sbin/brctl addbr pi4br0 # 创建一个名为 pi4br0 的网络桥接
/sbin/ifconfig pi4br0 "${NET_IP}" netmask "${NET_MASK}" up # 配置桥接接口的IP地址
/sbin/brctl addif pi4br0 usb0 # 将 RNDIS 接口 usb0 添加到桥接
/sbin/ifconfig usb0 up # 确保 usb0 接口被激活
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

159
mountrndis.sh Normal file
View File

@ -0,0 +1,159 @@
#!/bin/bash
apt-get install bridge-utils
rmmod g_mass_storage
# 定义USB Gadget的根目录
GADGET_ROOT="/sys/kernel/config/usb_gadget/nanopi"
# *** 重要：请根据你的实际情况修改这个值！ ***
# 你可以通过运行 'ls /sys/class/udc/' 命令来查看可用的 UDC 设备名称。
# 常见的名称有：musb-hdrc.0, musb-hdrc.4.auto, ci_hdrc.0, 20a00000.usb
UDC_DEVICE="musb-hdrc.4.auto"
# 确保脚本以root权限运行
if [ "$(id -u)" -ne 0 ]; then
echo "This script must be run as root. Please run with 'sudo'."
exit 1
fi
echo "--------------------------------------"
echo "Configuring USB Gadget for RNDIS Only"
echo "--------------------------------------"
# 1. 卸载并清理旧的 gadget 配置 (可选，但推荐在测试时使用以确保干净状态)
if [ -d "${GADGET_ROOT}" ]; then
echo "Disabling existing gadget '${GADGET_ROOT##*/}'..."
# 尝试解绑当前的 UDC (如果已经绑定)
# 这需要先进入 gadget 目录，然后才能 echo "" > UDC
if [ -f "${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" # 解绑 UDC
sleep 1
fi
fi
rm -rf "${GADGET_ROOT}" # 删除所有旧的配置
echo "Old gadget configuration removed."
sleep 1
fi
# 2. 进入 gadget 根目录并创建
echo "Creating new gadget configuration at ${GADGET_ROOT}..."
mkdir -p "${GADGET_ROOT}"
cd "${GADGET_ROOT}" || { echo "ERROR: Failed to cd to ${GADGET_ROOT}. Exiting."; exit 1; }
# 3. 设置设备描述符
echo "Setting device descriptors..."
echo 0x0955 > idVendor # FriendlyElec's Vendor ID (or your preferred)
echo 0x7020 > idProduct # Product ID for NanoPi-NEO-Core (or your preferred)
echo 0x0100 > bcdDevice # Device Version 1.0 (0x0100)
echo 0x0200 > bcdUSB # USB 2.0 (0x0200)
# RNDIS 复合设备通常使用特定的设备类/子类/协议
echo 0xEF > bDeviceClass # Miscellaneous Device Class
echo 0x02 > bDeviceSubClass # Common Class
echo 0x01 > bDeviceProtocol # Interface Association Descriptor (IAD)
# 4. 设置字符串描述符
echo "Setting string descriptors (Manufacturer, Product, Serial)..."
mkdir -p strings/0x409 # English (0x409)
# 获取设备树中的序列号，如果没有则使用默认值
if [ -f /proc/device-tree/serial-number ]; then
serialnumber="$(cat /proc/device-tree/serial-number|tr -d '\000')"
else
serialnumber="1234567890ABCD" # Default serial number
fi
echo "${serialnumber}" > strings/0x409/serialnumber
echo "FriendlyElec" > strings/0x409/manufacturer
echo "NanoPi-NEO-Core" > strings/0x409/product
# 5. 创建配置 c.1
echo "Creating configuration 'c.1'..."
cfg="configs/c.1"
mkdir -p "${cfg}/strings/0x409"
echo 0x80 > "${cfg}/bmAttributes" # Self-powered
echo 250 > "${cfg}/MaxPower" # Max power consumption (250mA)
echo "RNDIS Ethernet" > "${cfg}/strings/0x409/configuration" # Configuration description
# 6. 配置 RNDIS 功能
echo "Enabling RNDIS function (rndis.usb0)..."
func_rndis="functions/rndis.usb0"
mkdir -p "${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. 绑定到 UDC 以激活 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. 配置 RNDIS 网络接口
echo "Configuring RNDIS network interface (usb0)..."
NET_IP="192.168.55.1"
NET_MASK="255.255.255.0"
# 等待 usb0 接口出现
echo "Waiting for 'usb0' interface to appear..."
interface_ready=0
for i in $(seq 1 10); do # 等待最多10秒
if ip link show usb0 &> /dev/null; then
echo "'usb0' interface found."
interface_ready=1
break
fi
sleep 1
done
if [ "$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
# 检查并安装 bridge-utils (如果需要)
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)"
# 如果没有 brctl，尝试直接配置 usb0 接口，但不推荐
echo "Attempting to configure 'usb0' directly (without bridge)..."
ifconfig usb0 "${NET_IP}" netmask "${NET_MASK}" up
echo "RNDIS network configured to ${NET_IP} on usb0 directly."
else
# 清理旧的桥接设备 (如果存在)
if ip link show zzbr0 &> /dev/null; then
echo "Removing existing bridge 'zzbr0'..."
brctl delbr zzbr0
fi
brctl addbr zzbr0 # 创建一个名为 zzbr0 的网络桥接
ifconfig zzbr0 "${NET_IP}" netmask "${NET_MASK}" up # 配置桥接接口的IP地址
brctl addif zzbr0 usb0 # 将 RNDIS 接口 usb0 添加到桥接
ifconfig usb0 up # 确保 usb0 接口被激活
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

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#!/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