M350b版本

PSDK/samples/sample_c/module_sample/power_management/test_power_management.c

@@ -117,7 +117,9 @@ T_DjiReturnCode DjiTest_PowerManagementStartService(void)
 
         if (baseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_SKYPORT_V3 ||
             baseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_EPORT_V2_RIBBON_CABLE) {
-            E_DjiHighPowerVoltage voltage = E_DJI_HIGH_POWER_VOLTAGE_17V;
+            E_DjiHighPowerVoltage voltage = E_DJI_HIGH_POWER_VOLTAGE_24V;
+
+
 
             USER_LOG_INFO("Start to apply high power.");
 

Source/IrisSensor_Gas_P0.cpp

@@ -184,8 +184,8 @@ int IrisSensor_Gas_P0::GetMeasuredData(unsigned long &ulCO2, unsigned long &ulH2
 
 	ParseMeasuredData_Chk();
 
-	ulCO2 = m_ulCO2;
+	ulCO2 = m_ulCO2*1.0;
-	ulH2O = m_ulH2O;
+	ulH2O = m_ulH2O*1.0;
 	fTPTemperature = m_fTPTemperature;
 	fPP = m_fPP;
 	fPB = m_fPB;
@@ -226,6 +226,7 @@ int IrisSensor_Gas_P0::ZeroCalibration_Air()
 
 int IrisSensor_Gas_P0::SpanCalibration(char cChannel,unsigned int uiPPM)
 {
+	qDebug()<<"start span calirbation"<< uiPPM<<" on channel "<<(int)cChannel;
 	unsigned char ucChksum=0x0;
 	QByteArray qbSend;
 	qbSend.append(0x02);
@@ -251,6 +252,7 @@ int IrisSensor_Gas_P0::SpanCalibration(char cChannel,unsigned int uiPPM)
 	ucChksum = ~ucChksum + 1;
 
 	qbSend.append(ucChksum);   //chksum
+	SendData_Chk(qbSend.toStdString());
 
 	delete[] pResult;
 	return 0;

Source/IrisSensor_WDA_P0.cpp

@@ -134,6 +134,7 @@ int IrisSensor_WDA_P0::ParseData_NChk()
 int IrisSensor_WDA_P0::Initialize(std::string ucPortNumber)
 {
 	QString qstrPortName = QString::fromStdString(ucPortNumber);
+	qDebug()<<"port name is"<<qstrPortName;
 
 	m_pSerialPort->setPortName(qstrPortName);
 	m_pSerialPort->setReadBufferSize(512);

Source/M300/PSDK_Qt/Config/ConfigParser_M300RTK.cpp

@@ -153,12 +153,18 @@ int ZZ_ConfigParser_M300RTK::LoadParams()
 	m_struAppRegInfo.qstrUserAppName = qstrUSER_APP_NAME;
 	////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 	QString qstrUSER_BAUD_RATE = m_pqfM300ConfigFiles[1]->value(QString("COMPORT/USER_BAUD_RATE"),"NULL").toString();
+	QString qstrAirplaneType = m_pqfM300ConfigFiles[1]->value(QString("Airplane/AirplaneType"),"NULL").toString();
 	qDebug() << qstrUSER_BAUD_RATE;
 	if (qstrUSER_BAUD_RATE == "NULL")
 	{
 		qDebug() << "ZZ_ConfigParser_M300:Func LoadParams.USER_BAUD_RATE not load";
 		return 1;
 	}
+	if (qstrAirplaneType == "NULL")
+	{
+		qDebug() << "ZZ_ConfigParser_M300:Func LoadParams.AirplaneType not load";
+		qstrAirplaneType="M350";
+	}
 
 	int iCONFIG_HARDWARE_CONNECTION = m_pqfM300ConfigFiles[1]->value(QString("ADV MODE/CONFIG_HARDWARE_CONNECTION"),10000).toInt();
 	qDebug() << iCONFIG_HARDWARE_CONNECTION;
@@ -170,6 +176,7 @@ int ZZ_ConfigParser_M300RTK::LoadParams()
 
 	m_struHardwareInfo.enumHCM = HardwareConnectionMode(iCONFIG_HARDWARE_CONNECTION);
 	m_struHardwareInfo.qstrBaudRate = qstrUSER_BAUD_RATE;
+	m_struHardwareInfo.AirplaneType = qstrAirplaneType;
 	////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 	int iCaptureMode = m_pqfM300ConfigFiles[2]->value(QString("PSDK/CaptureMode"), -1).toInt();
 	qDebug() << iCaptureMode;

Source/M300/PSDK_Qt/Main/VehicleController.cpp

@@ -237,12 +237,7 @@ int VehicleController::SetupEnvironment_M300RTK()
 		throw std::runtime_error("Register osal handler error.");
 	}
 
-	returnCode = DjiPlatform_RegHalUartHandler(&uartHandler);
+
-	if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
-	{
-		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)
 	// {
@@ -253,8 +248,14 @@ int VehicleController::SetupEnvironment_M300RTK()
 	// 		throw std::runtime_error("Register hal network handler error");
 	// 	}
 	// }
-
+	if (m_struHardwareInfo.AirplaneType=="M350"||m_struHardwareInfo.AirplaneType == "M300")
     {
+		returnCode = DjiPlatform_RegHalUartHandler(&uartHandler);
+		if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
+		{
+			qDebug() << "VehicleController: Func DjiPlatform_RegHalUartHandler. Register hal uart handler error";
+			throw std::runtime_error("Register hal uart handler error.");
+		}
     	//<2F><><EFBFBD><EFBFBD>
     	 returnCode = DjiPlatform_RegHalNetworkHandler(&networkHandler);
     	 if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
@@ -268,16 +269,15 @@ int VehicleController::SetupEnvironment_M300RTK()
     		printf("register osal socket handler error");
     		return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
     	}
+    }else {
+    		returnCode = DjiPlatform_RegHalUsbBulkHandler(&usbBulkHandler);
+    		if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+    			printf("register hal usb bulk handler error");
+    			return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    		}
     }
 
-    // {
+
-    // 	returnCode = DjiPlatform_RegHalUsbBulkHandler(&usbBulkHandler);
-    // 	if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
-    // 		printf("register hal usb bulk handler error");
-    // 		return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
-    // 	}
-    //
-    // }
 	returnCode = DjiPlatform_RegFileSystemHandler(&fileSystemHandler);
 	if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
 	{
@@ -348,20 +348,20 @@ int VehicleController::StartupPSDK_M300RTK()
 		throw std::runtime_error("Start sdk application error.");
 	}
 
-	// T_DjiTestApplyHighPowerHandler applyHighPowerHandler = {
+	T_DjiTestApplyHighPowerHandler applyHighPowerHandler = {
-	// 	.pinInit = DjiTest_HighPowerApplyPinInit,
+		.pinInit = DjiTest_HighPowerApplyPinInit,
-	// 	.pinWrite = DjiTest_WriteHighPowerApplyPin,
+		.pinWrite = DjiTest_WriteHighPowerApplyPin,
-	// };
+	};
-	//
+
-	// returnCode = DjiTest_RegApplyHighPowerHandler(&applyHighPowerHandler);
+	returnCode = DjiTest_RegApplyHighPowerHandler(&applyHighPowerHandler);
-	// if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+	if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
-	// 	USER_LOG_ERROR("regsiter apply high power handler error");
+		USER_LOG_ERROR("regsiter apply high power handler error");
-	// }
+	}
-	//
+
-	// returnCode = DjiTest_PowerManagementStartService();
+	returnCode = DjiTest_PowerManagementStartService();
-	// if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+	if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
-	// 	USER_LOG_ERROR("power management init error");
+		USER_LOG_ERROR("power management init error");
-	// }
+	}
    osalHandler->TaskSleepMs(5000);
 	SetupWidget();//<2F>?<EFBFBD><C9BC>?<EFBFBD><DFBC><3E><><EFBFBD>
    osalHandler->TaskSleepMs(5000);
@@ -784,6 +784,9 @@ int VehicleController::InitSystemParams()
 //     qt.fromString(qstrTime,"hhmmsszzz");
     qstrDateTime = qstrDate + qstrTime;
     qdtDateTime  = QDateTime::fromString(qstrDateTime, "yyyyMMddhhmmss");
+	QString command="date -s \""+qdtDateTime.toString("yyyy-MM-dd hh:mm:ss")+"\"";
+	system(command.toLatin1().data());
+
     time_t stdTime = qdtDateTime.toTime_t();
 
     if (qdtDateTime.isValid())

Source/M300/PSDK_Qt/Main/test_power_management.c

@@ -75,6 +75,7 @@ T_DjiReturnCode DjiTest_PowerManagementStartService(void)
     T_DjiReturnCode returnCode;
     T_DjiAircraftInfoBaseInfo baseInfo = {0};
 
+    int bbb=11;
     returnCode = DjiPowerManagement_Init();
     if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
         USER_LOG_ERROR("power management init error: 0x%08llX.", returnCode);
@@ -117,7 +118,7 @@ T_DjiReturnCode DjiTest_PowerManagementStartService(void)
 
         if (baseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_SKYPORT_V3 ||
             baseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_EPORT_V2_RIBBON_CABLE) {
-            E_DjiHighPowerVoltage voltage = E_DJI_HIGH_POWER_VOLTAGE_17V;
+            E_DjiHighPowerVoltage voltage = E_DJI_HIGH_POWER_VOLTAGE_24V;
 
             USER_LOG_INFO("Start to apply high power.");
 

Source/M300/PSDK_Qt/ZZ_Types_DJI.h

@@ -29,6 +29,7 @@ namespace ZZ
 				{
 					HardwareConnectionMode enumHCM;
 					QString qstrBaudRate;
+					QString AirplaneType;
 				}HardwareInfo;
 
 				typedef struct tagUIConfig

Source/MainAcqThread.cpp

@@ -292,6 +292,7 @@ void CMainAcqThread::GetCommand(QString Worker, QString Command) {
 	// 用qDebug打印接收到的命令
 	qDebug()<<"Received Command - Worker:" << Worker << ", Command:" << Command;
 
+	int waitebefore=120;
 	int waitetime=10;
 	qDebug()<<"GetCommand Worker:"<<Worker<<" Command:"<<Command;
 	if (Worker=="WDA") {
@@ -319,23 +320,23 @@ void CMainAcqThread::GetCommand(QString Worker, QString Command) {
 				return;
 			}
 			if (arc[1]=="Air") {
-				// system("sudo gpio write 7 1");
+				 system("sudo gpio write 7 1");
 				qDebug()<<"Start Gas Motor now";
 				QThread::sleep(waitetime);
 				m_ctrlGasSensor.ZeroCalibration_Air();
 				QThread::sleep(waitetime);
 				emit SendCommand("GAS", "Finish");
-				// system("sudo gpio write 7 0");
+				 system("sudo gpio write 7 0");
 				qDebug()<<"Stop Gas Motor now";
 			}
 			else if (arc[1] == "N2") {
-				// system("sudo gpio write 7 1");
+				 system("sudo gpio write 7 1");
 				qDebug()<<"Start Gas Motor now";
 				QThread::sleep(waitetime);
 				m_ctrlGasSensor.ZeroCalibration_N2();
 				QThread::sleep(waitetime);
 				emit SendCommand("GAS", "Finish");
-				// system("sudo gpio write 7 0");
+				 system("sudo gpio write 7 0");
 				qDebug()<<"Stop Gas Motor now";
 			}
 			else {
@@ -363,13 +364,13 @@ void CMainAcqThread::GetCommand(QString Worker, QString Command) {
 				return;
 			}
 			unsigned int uiPPM=arc[2].toUInt();
-			// system("sudo gpio write 7 1");
+			 system("sudo gpio write 7 1");
 			qDebug()<<"Start Gas Motor now";
-			QThread::sleep(waitetime);
+			QThread::sleep(waitebefore);
 			m_ctrlGasSensor.SpanCalibration(cChannel,uiPPM);
 			QThread::sleep(waitetime);
 			emit SendCommand("GAS", "Finish");
-			// system("sudo gpio write 7 0");
+			 system("sudo gpio write 7 0");
 			qDebug()<<"Stop Gas Motor now";
 
 

Source/MainAcqThread.h

@@ -28,7 +28,7 @@ public:
 private:
 	QTime lastTime;
 	QTimer m_clsCapTimer;
-
+	std::atomic<int> m_WorkingState;
 	int iFlagIsPathGenerated;
 
 	MiscControls      m_struMiscCtrls;

Source/ZZ_Types.h

@@ -115,8 +115,10 @@ namespace ZZ_DATA_DEF
 	{
 		typedef struct tagGSDataFrame
 		{
-			unsigned long ulCO2;
+			// unsigned long ulCO2;
-			unsigned long ulH2O;
+			// unsigned long ulH2O;
+			float ulCO2;
+			float ulH2O;
 			float fTemp;
 			float fPB;
 			float fPP;

USB_BULK/dep.sh

@@ -0,0 +1 @@
+sudo apt-get install libaio-dev

choosescript.sh

@@ -0,0 +1,24 @@
+#!/bin/bash
+# 定义配置文件路径
+CONFIG_FILE="/home/DJI/Settings/HardwareSettings.ini"
+# 判断文件是否存在
+if [ ! -f "$CONFIG_FILE" ]; then
+    echo "错误: 找不到配置文件 $CONFIG_FILE"
+    exit 1
+fi
+# 提取 AirplaneType 的值
+# 1. grep 找到包含 AirplaneType 的行
+# 2. cut 以 '=' 为分隔符取第二个字段
+# 3. tr -d 去除回车符(\r)和空格，防止空字符导致判断失败
+PLANE_TYPE=$(grep "AirplaneType" "$CONFIG_FILE" | cut -d'=' -f2 | tr -d '\r ')
+echo "当前的机型是: [$PLANE_TYPE]"
+# 进行判断
+if [ "$PLANE_TYPE" = "M400" ]; then
+    echo "执行 bash a.sh"
+    chmod +x /root/raspusb.sh
+    bash /root/raspusb.sh
+else
+    echo "机型不是 M400，执行 sh b.sh"
+    chmod +x /root/mountdjirndis.sh
+    sh /root/mountdjirndis.sh
+fi

configfile/DJI/Settings/HardwareSettings.ini

@@ -1,4 +1,6 @@
 [COMPORT]
 USER_BAUD_RATE=230400
 [ADV MODE]
-CONFIG_HARDWARE_CONNECTION=1
+CONFIG_HARDWARE_CONNECTION=1
+[Airplane]
+AirplaneType=M400

configfile/data/Settings/MainSettings.ini

@@ -1,5 +1,5 @@
 [SENSOR]
-WindSensorPort=/dev/ttyS2
+WindSensorPort=/dev/ttyWind
 GasSensorPort=/dev/ttyS1
 [M300RTK]
 UART1=/dev/ttyUSB0