M350b版本

PSDK/psdk_lib/include/dji_platform.h

@@ -52,6 +52,11 @@ typedef void *T_DjiUsbBulkHandle;
 */
 typedef void *T_DjiNetworkHandle;
 
+/**
+* @brief Platform handle of i2c device operation.
+*/
+typedef void *T_DjiI2cHandle;
+
 /**
 * @brief Platform handle of thread task operation.
 */
@@ -104,6 +109,7 @@ typedef enum {
 typedef enum {
     DJI_HAL_USB_BULK_NUM_0 = 0,
     DJI_HAL_USB_BULK_NUM_1,
+    DJI_HAL_USB_BULK_NUM_2,
     DJI_HAL_USB_BULK_NUM_MAX,
 } E_DjiHalUsbBulkNum;
 
@@ -133,6 +139,11 @@ typedef struct {
     bool isDir;
 } T_DjiFileInfo;
 
+typedef struct {
+    uint16_t pid;
+    uint16_t vid;
+} T_DjiHalUartDeviceInfo;
+
 typedef struct {
     T_DjiReturnCode (*UartInit)(E_DjiHalUartNum uartNum, uint32_t baudRate, T_DjiUartHandle *uartHandle);
 
@@ -143,6 +154,13 @@ typedef struct {
     T_DjiReturnCode (*UartReadData)(T_DjiUartHandle uartHandle, uint8_t *buf, uint32_t len, uint32_t *realLen);
 
     T_DjiReturnCode (*UartGetStatus)(E_DjiHalUartNum uartNum, T_DjiUartStatus *status);
+
+    /**
+     * Get the device info of USB uart (virtual com or TTL-To-USB) which directly connected to UAV.
+     * Use for SDK adapter type Eport V2 ribbon cable.
+     * When using other types of interface, it is not necessary to implement this member function.
+     */
+    T_DjiReturnCode (*UartGetDeviceInfo)(T_DjiHalUartDeviceInfo *deviceInfo);
 } T_DjiHalUartHandler;
 
 typedef struct {
@@ -172,6 +190,11 @@ typedef struct {
     } usbNetAdapter;
 } T_DjiHalNetworkDeviceInfo;
 
+typedef struct {
+    uint32_t i2cSpeed;
+    uint16_t devAddress;
+} T_DjiHalI2cConfig;
+
 typedef struct {
     T_DjiReturnCode (*UsbBulkInit)(T_DjiHalUsbBulkInfo usbBulkInfo, T_DjiUsbBulkHandle *usbBulkHandle);
 
@@ -194,6 +217,18 @@ typedef struct {
     T_DjiReturnCode (*NetworkGetDeviceInfo)(T_DjiHalNetworkDeviceInfo *deviceInfo);
 } T_DjiHalNetworkHandler;
 
+typedef struct {
+    T_DjiReturnCode (*I2cInit)(T_DjiHalI2cConfig i2cConfig, T_DjiI2cHandle *i2cHandle);
+
+    T_DjiReturnCode (*I2cDeInit)(T_DjiI2cHandle i2cHandle);
+
+    T_DjiReturnCode (*I2cWriteData)(T_DjiI2cHandle i2cHandle, uint16_t devAddress, const uint8_t *buf,
+                                    uint32_t len, uint32_t *realLen);
+
+    T_DjiReturnCode (*I2cReadData)(T_DjiI2cHandle i2cHandle, uint16_t devAddress, uint8_t *buf,
+                                   uint32_t len, uint32_t *realLen);
+} T_DjiHalI2cHandler;
+
 typedef struct {
     T_DjiReturnCode (*TaskCreate)(const char *name, void *(*taskFunc)(void *),
                                   uint32_t stackSize, void *arg, T_DjiTaskHandle *task);
@@ -314,11 +349,24 @@ T_DjiReturnCode DjiPlatform_RegHalUsbBulkHandler(const T_DjiHalUsbBulkHandler *h
  * sure that the feature is available after a successful registration.
  * @attention The interface needs to be called at the beginning of the application for registration, otherwise, the
  * subsequent functions will not work properly.
- * @param osalHandler: pointer to the handler for network handler interfaces by your platform.
+ * @param halNetworkHandler: pointer to the handler for network handler interfaces by your platform.
  * @return Execution result.
  */
 T_DjiReturnCode DjiPlatform_RegHalNetworkHandler(const T_DjiHalNetworkHandler *halNetworkHandler);
 
+/**
+ * @brief Register the handler for hal i2c master mode interfaces by your platform.
+ * @note It should be noted that the interface in hal is written and tested well. Users need to implement all the
+ * interfaces. Otherwise, the user interface cannot be successfully registered, and then the user interface is registered
+ * through the interface. If the registration fails, it needs to be based on the return code. To judge the problem. Make
+ * sure that the feature is available after a successful registration.
+ * @attention The interface needs to be called at the beginning of the application for registration, otherwise, the
+ * subsequent functions will not work properly.
+ * @param halI2cHandler: pointer to the handler for hal i2c handler interfaces by your platform.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiPlatform_RegHalI2cHandler(const T_DjiHalI2cHandler *halI2cHandler);
+
 /**
  * @brief Register the handler for osal interfaces by your platform.
  * @note It should be noted that the interface in osal is written and tested well. Users need to implement all the
@@ -363,6 +411,12 @@ T_DjiHalUsbBulkHandler *DjiPlatform_GetHalUsbBulkHandler(void);
  */
 T_DjiHalNetworkHandler *DjiPlatform_GetHalNetworkHandler(void);
 
+/**
+ * @brief Get the handler of i2c interfaces.
+ * @return Pointer to i2c handler.
+ */
+T_DjiHalI2cHandler *DjiPlatform_GetHalI2cHandler(void);
+
 /**
  * @brief Get the handler of file-system interfaces.
  * @return Pointer to file-system handler.