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xin
2026-01-08 16:00:08 +08:00
parent 7396728ea7
commit a76d4b77e9
213 changed files with 8883 additions and 7196579 deletions
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176
Source/M300/PSDK_Qt/hal/hal_i2c.c Normal file
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@ -0,0 +1,176 @@
/**
********************************************************************
* @file hal_i2c.c
* @brief
*
* @copyright (c) 2018 DJI. All rights reserved.
*
* All information contained herein is, and remains, the property of DJI.
* The intellectual and technical concepts contained herein are proprietary
* to DJI and may be covered by U.S. and foreign patents, patents in process,
* and protected by trade secret or copyright law. Dissemination of this
* information, including but not limited to data and other proprietary
* material(s) incorporated within the information, in any form, is strictly
* prohibited without the express written consent of DJI.
*
* If you receive this source code without DJI’s authorization, you may not
* further disseminate the information, and you must immediately remove the
* source code and notify DJI of its removal. DJI reserves the right to pursue
* legal actions against you for any loss(es) or damage(s) caused by your
* failure to do so.
*
*********************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include "hal_i2c.h"
#include <string.h>
#include <sys/ioctl.h>
#include <unistd.h>
#include <fcntl.h>
#include <linux/i2c-dev.h>
#include <linux/i2c.h>
/* Private constants ---------------------------------------------------------*/
#define I2C_DEVICE_RESET_TIME_US (25 * 1000)
#define I2C_DEVICE_RESET_GPIO_NUM (4)
#define DJI_SYSTEM_CMD_STR_MAX_SIZE (64)
/* Private types -------------------------------------------------------------*/
typedef struct {
int32_t i2cFd;
} T_I2cHandleStruct;
/* Private values -------------------------------------------------------------*/
/* Private functions declaration ---------------------------------------------*/
static void HalI2c_ResetDevice(void);
/* Exported functions definition ---------------------------------------------*/
T_DjiReturnCode HalI2c_Init(T_DjiHalI2cConfig i2cConfig, T_DjiI2cHandle *i2cHandle)
{
T_I2cHandleStruct *i2CHandleStruct = NULL;
//attention: suggest reset the i2c device before init it.
HalI2c_ResetDevice();
i2CHandleStruct = malloc(sizeof(T_I2cHandleStruct));
if (i2CHandleStruct == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_MEMORY_ALLOC_FAILED;
}
i2CHandleStruct->i2cFd = open(LINUX_I2C_DEV1, O_RDWR);
if (i2CHandleStruct->i2cFd < 0) {
printf("Open i2c device failed, fd: %d\r\n", i2CHandleStruct->i2cFd);
return -1;
}
*i2cHandle = i2CHandleStruct;
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode HalI2c_DeInit(T_DjiI2cHandle i2cHandle)
{
T_I2cHandleStruct *i2CHandleStruct = (T_I2cHandleStruct *) i2cHandle;
close(i2CHandleStruct->i2cFd);
free(i2CHandleStruct);
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode HalI2c_WriteData(T_DjiI2cHandle i2cHandle, uint16_t devAddress, const uint8_t *buf,
uint32_t len, uint32_t *realLen)
{
struct i2c_rdwr_ioctl_data data;
struct i2c_msg messages;
int32_t ret = 0;
T_I2cHandleStruct *i2CHandleStruct = (T_I2cHandleStruct *) i2cHandle;
messages.addr = devAddress;
messages.flags = 0;
messages.len = len;
messages.buf = (uint8_t *) buf;
data.msgs = &messages;
data.nmsgs = 1;
ret = ioctl(i2CHandleStruct->i2cFd, I2C_RDWR, &data);
if (ret < 0) {
*realLen = 0;
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
*realLen = ret;
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode HalI2c_ReadData(T_DjiI2cHandle i2cHandle, uint16_t devAddress, uint8_t *buf,
uint32_t len, uint32_t *realLen)
{
struct i2c_rdwr_ioctl_data data;
struct i2c_msg messages;
int32_t ret = 0;
T_I2cHandleStruct *i2CHandleStruct = (T_I2cHandleStruct *) i2cHandle;
messages.addr = devAddress;
messages.flags = I2C_M_RD;
messages.len = len;
messages.buf = buf;
data.msgs = &messages;
data.nmsgs = 1;
ret = ioctl(i2CHandleStruct->i2cFd, I2C_RDWR, &data);
if (ret < 0) {
*realLen = 0;
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
*realLen = ret;
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
/* Private functions definition-----------------------------------------------*/
static void HalI2c_ResetDevice(void)
{
char systemCmd[DJI_SYSTEM_CMD_STR_MAX_SIZE] = {0};
int32_t ret;
sprintf(systemCmd, "echo %d > /sys/class/gpio/export", I2C_DEVICE_RESET_GPIO_NUM);
ret = system(systemCmd);
if (ret != 0) {
printf("Export reset gpio failed, %d\r\n", ret);
}
sprintf(systemCmd, "echo out > /sys/class/gpio/gpio4/direction");
ret = system(systemCmd);
if (ret != 0) {
printf("Set gpio direction failed, %d\r\n", ret);
}
sprintf(systemCmd, "echo 0 > /sys/class/gpio/gpio4/value");
ret = system(systemCmd);
if (ret != 0) {
printf("Set gpio value failed, %d\r\n", ret);
}
usleep(I2C_DEVICE_RESET_TIME_US);
sprintf(systemCmd, "echo 1 > /sys/class/gpio/gpio4/value");
ret = system(systemCmd);
if (ret != 0) {
printf("Set gpio value failed, %d\r\n", ret);
}
sprintf(systemCmd, "echo %d > /sys/class/gpio/unexport", I2C_DEVICE_RESET_GPIO_NUM);
ret = system(systemCmd);
if (ret != 0) {
printf("Unexport reset gpio failed, %d\r\n", ret);
}
}
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

55
Source/M300/PSDK_Qt/hal/hal_i2c.h Normal file
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@ -0,0 +1,55 @@
/**
********************************************************************
* @file hal_i2c.h
* @brief This is the header file for "hal_i2c.c", defining the structure and
* (exported) function prototypes.
*
* @copyright (c) 2018 DJI. All rights reserved.
*
* All information contained herein is, and remains, the property of DJI.
* The intellectual and technical concepts contained herein are proprietary
* to DJI and may be covered by U.S. and foreign patents, patents in process,
* and protected by trade secret or copyright law. Dissemination of this
* information, including but not limited to data and other proprietary
* material(s) incorporated within the information, in any form, is strictly
* prohibited without the express written consent of DJI.
*
* If you receive this source code without DJI’s authorization, you may not
* further disseminate the information, and you must immediately remove the
* source code and notify DJI of its removal. DJI reserves the right to pursue
* legal actions against you for any loss(es) or damage(s) caused by your
* failure to do so.
*
*********************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef HAL_I2C_H
#define HAL_I2C_H
/* Includes ------------------------------------------------------------------*/
#include "dji_platform.h"
#ifdef __cplusplus
extern "C" {
#endif
/* Exported constants --------------------------------------------------------*/
#define LINUX_I2C_DEV1 "/dev/i2c-1"
/* Exported types ------------------------------------------------------------*/
/* Exported functions --------------------------------------------------------*/
T_DjiReturnCode HalI2c_Init(T_DjiHalI2cConfig i2cConfig, T_DjiI2cHandle *i2cHandle);
T_DjiReturnCode HalI2c_DeInit(T_DjiI2cHandle i2cHandle);
T_DjiReturnCode HalI2c_WriteData(T_DjiI2cHandle i2cHandle, uint16_t devAddress,
const uint8_t *buf, uint32_t len, uint32_t *realLen);
T_DjiReturnCode HalI2c_ReadData(T_DjiI2cHandle i2cHandle, uint16_t devAddress,
uint8_t *buf, uint32_t len, uint32_t *realLen);
#ifdef __cplusplus
}
#endif
#endif // HAL_I2C_H
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

39
Source/M300/PSDK_Qt/hal/hal_network.c
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@ -1,8 +1,6 @@
/**
********************************************************************
* @file hal_network.c
* @version V2.0.0
* @date 3/27/20
* @brief
*
* @copyright (c) 2021 DJI. All rights reserved.
@ -44,16 +42,27 @@ T_DjiReturnCode HalNetWork_Init(const char *ipAddr, const char *netMask, T_DjiNe
{
int32_t ret;
char cmdStr[LINUX_CMD_STR_MAX_SIZE];
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
int32_t routeIp[4] = {0};
int32_t genMask[4] = {0};
if (ipAddr == NULL || netMask == NULL) {
USER_LOG_ERROR("hal network config param error");
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
sscanf(ipAddr, "%d.%d.%d.%d", &routeIp[0], &routeIp[1], &routeIp[2], &routeIp[3]);
sscanf(netMask, "%d.%d.%d.%d", &genMask[0], &genMask[1], &genMask[2], &genMask[3]);
routeIp[0] &= genMask[0];
routeIp[1] &= genMask[1];
routeIp[2] &= genMask[2];
routeIp[3] &= genMask[3];
//Attention: need root permission to config ip addr and netmask.
memset(cmdStr, 0, sizeof(cmdStr));
snprintf(cmdStr, sizeof(cmdStr), "ifconfig %s up", LINUX_NETWORK_DEV);
USER_LOG_DEBUG("%s", cmdStr);
ret = system(cmdStr);
if (ret != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Can't open the network."
@ -63,14 +72,34 @@ T_DjiReturnCode HalNetWork_Init(const char *ipAddr, const char *netMask, T_DjiNe
}
snprintf(cmdStr, sizeof(cmdStr), "ifconfig %s %s netmask %s", LINUX_NETWORK_DEV, ipAddr, netMask);
USER_LOG_DEBUG("%s", cmdStr);
ret = system(cmdStr);
if (ret != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Can't config the ip address of network."
"Probably the program not execute with root permission."
"Please use the root permission to execute the program.");
USER_LOG_ERROR("cmd failed: %s", cmdStr);
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
osalHandler->TaskSleepMs(50);
snprintf(cmdStr, sizeof(cmdStr), "ip route flush dev %s", LINUX_NETWORK_DEV);
USER_LOG_DEBUG("%s", cmdStr);
ret = system(cmdStr);
if (ret != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("cmd failed: %s", cmdStr);
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
snprintf(cmdStr, sizeof(cmdStr), "route add -net %d.%d.%d.%d netmask %s dev %s",
routeIp[0], routeIp[1], routeIp[2], routeIp[3], netMask, LINUX_NETWORK_DEV);
USER_LOG_DEBUG("%s", cmdStr);
ret = system(cmdStr);
if (ret != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("cmd failed: %s", cmdStr);
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
osalHandler->TaskSleepMs(50);
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}

6
Source/M300/PSDK_Qt/hal/hal_network.h
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@ -40,7 +40,7 @@ extern "C" {
* NIC name micro define as #define 'LINUX_NETWORK_DEV "your NIC name"'.
*/
#ifdef PLATFORM_ARCH_x86_64
#define LINUX_NETWORK_DEV "enxf8e43b7bbc2c"
#define LINUX_NETWORK_DEV "enp0s31f6"
#else
#define LINUX_NETWORK_DEV "pi4br0"
#endif
@ -52,8 +52,8 @@ extern "C" {
#define USB_NET_ADAPTER_VID (0x0B95)
#define USB_NET_ADAPTER_PID (0x1790)
#else
#define USB_NET_ADAPTER_VID (0x0955)
#define USB_NET_ADAPTER_PID (0x7020)
#define USB_NET_ADAPTER_VID (0x2CA3)
#define USB_NET_ADAPTER_PID (0xF003)
#endif
#define LINUX_CMD_STR_MAX_SIZE (128)

21
Source/M300/PSDK_Qt/hal/hal_uart.c
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@ -31,12 +31,9 @@
#define DJI_SYSTEM_CMD_STR_MAX_SIZE (64)
#define DJI_SYSTEM_RESULT_STR_MAX_SIZE (128)
//Global
char gvpcM300RTK_UART1[128] = "/dev/ttyUSB0";
char gvpcM300RTK_UART2[128] = "/dev/ttyUSB0";
/* Private types -------------------------------------------------------------*/
typedef struct {
int uartFd;
int32_t uartFd;
} T_UartHandleStruct;
/* Private values -------------------------------------------------------------*/
@ -46,7 +43,7 @@ typedef struct {
/* Exported functions definition ---------------------------------------------*/
T_DjiReturnCode HalUart_Init(E_DjiHalUartNum uartNum, uint32_t baudRate, T_DjiUartHandle *uartHandle)
{
T_UartHandleStruct *uartHandleStruct;
T_UartHandleStruct *uartHandleStruct = NULL;
struct termios options;
struct flock lock;
T_DjiReturnCode returnCode = DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
@ -68,7 +65,7 @@ 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");
@ -258,6 +255,18 @@ T_DjiReturnCode HalUart_GetStatus(E_DjiHalUartNum uartNum, T_DjiUartStatus *stat
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode HalUart_GetDeviceInfo(T_DjiHalUartDeviceInfo *deviceInfo)
{
if (deviceInfo == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
deviceInfo->vid = USB_UART_CONNECTED_TO_UAV_VID;
deviceInfo->pid = USB_UART_CONNECTED_TO_UAV_PID;
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
/* Private functions definition-----------------------------------------------*/
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

15
Source/M300/PSDK_Qt/hal/hal_uart.h
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@ -46,12 +46,16 @@ extern "C" {
/* Exported constants --------------------------------------------------------*/
//User can config dev based on there environmental conditions
#define LINUX_UART_DEV1 "/dev/ttyAirborn"
#define LINUX_UART_DEV2 "/dev/ttyUSB2"
//global
extern char gvpcM300RTK_UART1[128];
extern char gvpcM300RTK_UART2[128];
#define LINUX_UART_DEV2 "/dev/ttyAirborn"
/**
* Use for Eport 2.0, specify the VID and PID of the USB serial port closest to the aircraft.
* FT232 0x0403:0x6001
* CP2102 0x10C4:0xEA60
* VCOM 0x2CA3:0xF002
*/
#define USB_UART_CONNECTED_TO_UAV_VID (0x0403)
#define USB_UART_CONNECTED_TO_UAV_PID (0x6001)
/* Exported types ------------------------------------------------------------*/
@ -61,6 +65,7 @@ T_DjiReturnCode HalUart_DeInit(T_DjiUartHandle uartHandle);
T_DjiReturnCode HalUart_WriteData(T_DjiUartHandle uartHandle, const uint8_t *buf, uint32_t len, uint32_t *realLen);
T_DjiReturnCode HalUart_ReadData(T_DjiUartHandle uartHandle, uint8_t *buf, uint32_t len, uint32_t *realLen);
T_DjiReturnCode HalUart_GetStatus(E_DjiHalUartNum uartNum, T_DjiUartStatus *status);
T_DjiReturnCode HalUart_GetDeviceInfo(T_DjiHalUartDeviceInfo *deviceInfo);
#ifdef __cplusplus
}

129
Source/M300/PSDK_Qt/hal/hal_usb_bulk.c
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@ -25,7 +25,7 @@
/* Includes ------------------------------------------------------------------*/
#include "hal_usb_bulk.h"
#include "dji_logger.h"
#include "utils/dji_config_manager.h"
#include <errno.h>
/* Private constants ---------------------------------------------------------*/
#define LINUX_USB_BULK_TRANSFER_TIMEOUT_MS (50)
@ -53,13 +53,6 @@ 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) {
@ -70,19 +63,18 @@ T_DjiReturnCode HalUsbBulk_Init(T_DjiHalUsbBulkInfo usbBulkInfo, T_DjiUsbBulkHan
#ifdef LIBUSB_INSTALLED
ret = libusb_init(NULL);
if (ret < 0) {
USER_LOG_ERROR("init usb bulk failed, errno = %d", ret);
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
handle = libusb_open_device_with_vid_pid(NULL, usbBulkInfo.vid, usbBulkInfo.pid);
if (handle == NULL) {
USER_LOG_ERROR("open usb device failed");
USER_LOG_ERROR("libusb open device error");
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
ret = libusb_claim_interface(handle, usbBulkInfo.channelInfo.interfaceNum);
if (ret != LIBUSB_SUCCESS) {
USER_LOG_ERROR("libusb claim interface failed, errno = %d", ret);
USER_LOG_ERROR("libusb claim interface error");
libusb_close(handle);
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
@ -95,44 +87,33 @@ 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 (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 (usbBulkInfo.channelInfo.interfaceNum == LINUX_USB_BULK1_INTERFACE_NUM) {
((T_HalUsbBulkObj *) *usbBulkHandle)->ep1 = open(LINUX_USB_BULK1_EP_IN_FD, O_RDWR);
if (((T_HalUsbBulkObj *) *usbBulkHandle)->ep1 < 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
((T_HalUsbBulkObj *) *usbBulkHandle)->ep2 = open(usbBulk1EpInFd, O_RDWR);
((T_HalUsbBulkObj *) *usbBulkHandle)->ep2 = open(LINUX_USB_BULK1_EP_OUT_FD, O_RDWR);
if (((T_HalUsbBulkObj *) *usbBulkHandle)->ep2 < 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
} else if (usbBulkInfo.channelInfo.interfaceNum == usbBulk2InterfaceNum) {
((T_HalUsbBulkObj *) *usbBulkHandle)->ep1 = open(usbBulk2EpOutFd, O_RDWR);
} else if (usbBulkInfo.channelInfo.interfaceNum == LINUX_USB_BULK2_INTERFACE_NUM) {
((T_HalUsbBulkObj *) *usbBulkHandle)->ep1 = open(LINUX_USB_BULK2_EP_IN_FD, O_RDWR);
if (((T_HalUsbBulkObj *) *usbBulkHandle)->ep1 < 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
((T_HalUsbBulkObj *) *usbBulkHandle)->ep2 = open(usbBulk2EpInFd, O_RDWR);
((T_HalUsbBulkObj *) *usbBulkHandle)->ep2 = open(LINUX_USB_BULK2_EP_OUT_FD, O_RDWR);
if (((T_HalUsbBulkObj *) *usbBulkHandle)->ep2 < 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
} else if (usbBulkInfo.channelInfo.interfaceNum == LINUX_USB_BULK3_INTERFACE_NUM) {
((T_HalUsbBulkObj *) *usbBulkHandle)->ep1 = open(LINUX_USB_BULK3_EP_IN_FD, O_RDWR);
if (((T_HalUsbBulkObj *) *usbBulkHandle)->ep1 < 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
((T_HalUsbBulkObj *) *usbBulkHandle)->ep2 = open(LINUX_USB_BULK3_EP_OUT_FD, O_RDWR);
if (((T_HalUsbBulkObj *) *usbBulkHandle)->ep2 < 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
@ -146,7 +127,6 @@ T_DjiReturnCode HalUsbBulk_DeInit(T_DjiUsbBulkHandle usbBulkHandle)
{
struct libusb_device_handle *handle = NULL;
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
int32_t ret;
if (usbBulkHandle == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
@ -156,12 +136,8 @@ 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) {
USER_LOG_ERROR("release usb bulk interface failed, errno = %d", ret);
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
libusb_release_interface(handle, ((T_HalUsbBulkObj *) usbBulkHandle)->usbBulkInfo.channelInfo.interfaceNum);
osalHandler->TaskSleepMs(100);
libusb_exit(NULL);
#endif
} else {
@ -181,8 +157,7 @@ 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;
}
@ -200,7 +175,13 @@ T_DjiReturnCode HalUsbBulk_WriteData(T_DjiUsbBulkHandle usbBulkHandle, const uin
*realLen = actualLen;
#endif
} else {
*realLen = write(((T_HalUsbBulkObj *) usbBulkHandle)->ep1, buf, len);
ret = write(((T_HalUsbBulkObj *) usbBulkHandle)->ep1, buf, len);
if (ret < 0) {
USER_LOG_ERROR("write ret %d %d %s\n", ret, errno, strerror(errno));
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
} else {
*realLen = ret;
}
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
@ -231,7 +212,13 @@ T_DjiReturnCode HalUsbBulk_ReadData(T_DjiUsbBulkHandle usbBulkHandle, uint8_t *b
*realLen = actualLen;
#endif
} else {
*realLen = read(((T_HalUsbBulkObj *) usbBulkHandle)->ep2, buf, len);
ret = read(((T_HalUsbBulkObj *) usbBulkHandle)->ep2, buf, len);
if (ret < 0) {
USER_LOG_ERROR("read ret %d %d %s\n", ret, errno, strerror(errno));
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
} else {
*realLen = ret;
}
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
@ -239,39 +226,23 @@ T_DjiReturnCode HalUsbBulk_ReadData(T_DjiUsbBulkHandle usbBulkHandle, uint8_t *b
T_DjiReturnCode HalUsbBulk_GetDeviceInfo(T_DjiHalUsbBulkDeviceInfo *deviceInfo)
{
T_DjiUserLinkConfig linkConfig = {0};
//attention: this interface only be called in usb device mode.
deviceInfo->vid = LINUX_USB_VID;
deviceInfo->pid = LINUX_USB_PID;
if (DjiUserConfigManager_IsEnable()) {
DjiUserConfigManager_GetLinkConfig(&linkConfig);
// 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;
//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 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;
// 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;
}
deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_2].interfaceNum = LINUX_USB_BULK3_INTERFACE_NUM;
deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_2].endPointIn = LINUX_USB_BULK3_END_POINT_IN;
deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_2].endPointOut = LINUX_USB_BULK3_END_POINT_OUT;
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}

36
Source/M300/PSDK_Qt/hal/hal_usb_bulk.h
View File

@ -38,7 +38,6 @@
#include <sys/socket.h>
#include <netinet/in.h>
#include <arpa/inet.h>
#ifdef LIBUSB_INSTALLED
#include <libusb-1.0/libusb.h>
@ -52,28 +51,29 @@ extern "C" {
#endif
/* Exported constants --------------------------------------------------------*/
#define LINUX_USB_BULK1_EP_OUT_FD "/dev/usb-ffs/bulk1/ep1"
#define LINUX_USB_BULK1_EP_IN_FD "/dev/usb-ffs/bulk1/ep2"
#define LINUX_USB_BULK1_EP_IN_FD "/dev/usb-ffs/bulk1/ep1"
#define LINUX_USB_BULK1_EP_OUT_FD "/dev/usb-ffs/bulk1/ep2"
#define LINUX_USB_BULK1_INTERFACE_NUM (2)
#define LINUX_USB_BULK1_END_POINT_IN (0x83)
#define LINUX_USB_BULK1_END_POINT_OUT (2)
#define LINUX_USB_BULK1_INTERFACE_NUM (0)
#define LINUX_USB_BULK1_END_POINT_IN (0x81)
#define LINUX_USB_BULK1_END_POINT_OUT (0x01)
#define LINUX_USB_BULK2_EP_OUT_FD "/dev/usb-ffs/bulk2/ep1"
#define LINUX_USB_BULK2_EP_IN_FD "/dev/usb-ffs/bulk2/ep2"
#define LINUX_USB_BULK2_EP_IN_FD "/dev/usb-ffs/bulk2/ep1"
#define LINUX_USB_BULK2_EP_OUT_FD "/dev/usb-ffs/bulk2/ep2"
#define LINUX_USB_BULK2_INTERFACE_NUM (3)
#define LINUX_USB_BULK2_END_POINT_IN (0x84)
#define LINUX_USB_BULK2_END_POINT_OUT (3)
#define LINUX_USB_BULK2_INTERFACE_NUM (1)
#define LINUX_USB_BULK2_END_POINT_IN (0x82)
#define LINUX_USB_BULK2_END_POINT_OUT (0x02)
#ifdef PLATFORM_ARCH_x86_64
#define LINUX_USB_VID (0x0B95)
#define LINUX_USB_PID (0x1790)
#else
#define LINUX_USB_VID (0x0955)
#define LINUX_USB_PID (0x7020)
#endif
#define LINUX_USB_BULK3_EP_IN_FD "/dev/usb-ffs/bulk3/ep1"
#define LINUX_USB_BULK3_EP_OUT_FD "/dev/usb-ffs/bulk3/ep2"
#define LINUX_USB_BULK3_INTERFACE_NUM (2)
#define LINUX_USB_BULK3_END_POINT_IN (0x83)
#define LINUX_USB_BULK3_END_POINT_OUT (0x03)
#define LINUX_USB_VID (0x2CA3)
#define LINUX_USB_PID (0xF001)
/* Exported types ------------------------------------------------------------*/
/* Exported functions --------------------------------------------------------*/