223 lines
12 KiB
C
223 lines
12 KiB
C
/**
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********************************************************************
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* @file dji_xport.h
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* @brief XPort module provides some interfaces used to control XPort and get states of XPort. The module can be used
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* only when the DJI adapter is XPort, rather than Skyport.
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*
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* @copyright (c) 2021 DJI. All rights reserved.
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*
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* All information contained herein is, and remains, the property of DJI.
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* The intellectual and technical concepts contained herein are proprietary
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* to DJI and may be covered by U.S. and foreign patents, patents in process,
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* and protected by trade secret or copyright law. Dissemination of this
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* information, including but not limited to data and other proprietary
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* material(s) incorporated within the information, in any form, is strictly
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* prohibited without the express written consent of DJI.
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*
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* If you receive this source code without DJI’s authorization, you may not
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* further disseminate the information, and you must immediately remove the
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* source code and notify DJI of its removal. DJI reserves the right to pursue
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* legal actions against you for any loss(es) or damage(s) caused by your
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* failure to do so.
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*
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*********************************************************************
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*/
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/* Define to prevent recursive inclusion -------------------------------------*/
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#ifndef DJI_XPORT_H
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#define DJI_XPORT_H
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/* Includes ------------------------------------------------------------------*/
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#include "dji_typedef.h"
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#include "dji_gimbal.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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/* Exported constants --------------------------------------------------------*/
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/* Exported types ------------------------------------------------------------*/
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/**
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* @brief XPort limit angle category.
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*/
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typedef enum {
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DJI_XPORT_LIMIT_ANGLE_CATEGORY_ROLL_JOINT_ANGLE = 0, /*!< Joint angle limit of roll axis. */
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DJI_XPORT_LIMIT_ANGLE_CATEGORY_PITCH_JOINT_ANGLE = 1, /*!< Joint angle limit of pitch axis. */
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DJI_XPORT_LIMIT_ANGLE_CATEGORY_PITCH_EULER_ANGLE = 2, /*!< Euler angle limit of pitch axis, just is limitation of angle in ground coordinate. */
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DJI_XPORT_LIMIT_ANGLE_CATEGORY_PITCH_EULER_ANGLE_EXTENSION = 3, /*!< Extended euler angle limit of pitch axis, just is limitation of angle in ground coordinate. Extended euler
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angle limit is activated when enable extended pitch axis angle limit. */
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DJI_XPORT_LIMIT_ANGLE_CATEGORY_YAW_JOINT_ANGLE = 4, /*!< Joint angle limit of yaw axis. */
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} E_DjiXPortLimitAngleCategory;
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/**
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* @brief Limit angle data structure.
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*/
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typedef struct {
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int16_t upperLimit; /*!< Upper limit of limit angle, unit: 0.1degree. */
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int16_t lowerLimit; /*!< Lower limit of limit angle, unit: 0.1degree. */
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} T_DjiXPortLimitAngle;
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/**
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* @brief Prototype of callback function used to receive system state of XPort.
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* @warning User can not execute blocking style operations or functions in callback function, because that will block DJI
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* root thread, causing problems such as slow system response, payload disconnection or infinite loop.
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* @param systemState: system state of XPort.
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* @return Execution result.
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*/
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typedef T_DjiReturnCode (*DjiReceiveXPortSystemStateCallback)(T_DjiGimbalSystemState systemState);
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/**
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* @brief Prototype of callback function used to receive attitude information of XPort.
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* @warning User can not execute blocking style operations or functions in callback function, because that will block DJI
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* root thread, causing problems such as slow system response, payload disconnection or infinite loop.
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* @param attitudeInformation: attitude information of XPort.
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* @return Execution result.
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*/
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typedef T_DjiReturnCode (*DjiReceiveXPortAttitudeInformationCallback)(
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T_DjiGimbalAttitudeInformation attitudeInformation);
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/* Exported functions --------------------------------------------------------*/
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/**
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* @brief Initialise XPort module.
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* @note The function have to be called before other functions related to XPort.
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* @return Execution result.
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*/
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T_DjiReturnCode DjiXPort_Init(void);
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/**
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* @brief Deinitialize XPort module.
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* @return Execution result.
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*/
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T_DjiReturnCode DjiXPort_DeInit(void);
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/**
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* @brief Register callback function used to receive system state of XPort.
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* @note The callback function will be called after registering. The call frequency is 1Hz.
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* @param callback: pointer to the callback function.
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* @return Execution result.
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*/
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T_DjiReturnCode DjiXPort_RegReceiveSystemStateCallback(DjiReceiveXPortSystemStateCallback callback);
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/**
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* @brief Register callback function used to receive attitude information of XPort.
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* @note The callback function will be called after registering. The call frequency is 10Hz.
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* @param callback: pointer to the callback function.
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* @return Execution result.
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*/
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T_DjiReturnCode DjiXPort_RegReceiveAttitudeInformationCallback(DjiReceiveXPortAttitudeInformationCallback callback);
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/**
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* @brief Set gimbal mode of XPort in blocking mode.
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* @note Max execution time of this function is slightly larger than 600ms.
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* @param mode: gimbal mode.
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* @return Execution result.
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*/
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T_DjiReturnCode DjiXPort_SetGimbalModeSync(E_DjiGimbalMode mode);
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/**
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* @brief Rotate gimbal of XPort in blocking mode.
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* @note Max execution time of this function is slightly larger than 600ms.
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* @note If rotation mode is ::DJI_GIMBAL_ROTATION_MODE_RELATIVE_ANGLE or ::DJI_GIMBAL_ROTATION_MODE_ABSOLUTE_ANGLE,
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* range of yaw value in rotation value argument is [-1800, 1800]. Gimbal can rotate to any angle of yaw axis by the
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* range. Symbol of yaw value does not determine the rotation direction of the gimbal.
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* @note Attitude that gimbal can reach is also determined by angle limitation and angle limitation buffer of the gimbal.
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* When the gimbal is upward, angle limitation differs from limitation users set. For angle limitation and angle limitation
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* buffer, please refer to DJI documentation for details. If gimbal attitude is within range limitation buffer and
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* control gimbal move towards limit direction still, or gimbal attitude is outside the angle limitation buffer but
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* control gimbal to the range limitation buffer, the gimbal will return an error. For the former case, the gimbal will not
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* move. In the latter case, the gimbal will try to move towards the direction of angle limit but it will stop at
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* somewhere in angle limitation buffer.
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* @note Rotation speed and rotation duration are also limited by the maximum speed of gimbal and maximum acceleration. The
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* maximum acceleration is determined by the smooth factor of the gimbal controller set by APP. The maximum speed is determined
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* by default maximum speed and maximum speed percentage set by APP, and the default maximum speed of XPort is
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* 90degree/s. For the detailed relationship, please refer to SetControllerSmoothFactor() and
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* SetControllerMaxSpeedPercentage() callback function prototype in dji_gimbal.h file.
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* @note Only pitch and yaw axis of XPort is controllable.
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* @note XPort do not response rotation command in process of control parameters auto-tuning, coaxiality detection,
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* balance detection and resetting. And these operations will interrupt rotation of XPort.
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* @note Effective time of a speed control command is 500ms, that is, if XPort do not receive other control commands
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* within 500ms after speed control, XPort will stop rotation.
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* @param rotationMode: mode of rotation command.
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* @param rotationProperty: property of rotation command.
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* @param rotationValue: value of rotation command, unit: 0.1 degree (if rotation mode is
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* ::DJI_GIMBAL_ROTATION_MODE_RELATIVE_ANGLE or ::DJI_GIMBAL_ROTATION_MODE_ABSOLUTE_ANGLE), 0.1 degree/s
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* (if rotation mode is ::DJI_GIMBAL_ROTATION_MODE_SPEED).
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* @return Execution result.
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*/
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T_DjiReturnCode DjiXPort_RotateSync(E_DjiGimbalRotationMode rotationMode,
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T_DjiGimbalRotationProperty rotationProperty, T_DjiAttitude3d rotationValue);
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/**
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* @brief Release gimbal control permission out in blocking mode.
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* @details When DJI application control XPort gimbal, DJI application will capture and gain control permission of
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* gimbal if allowable. After DJI application sending a sequence of the gimbal control command, DJI application should
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* call this interface to release control permission of gimbal, to allow other modules (like APP, flight
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* controller) can control gimbal right now. For example, DJI application can release control permission after tap
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* zooming. Of course, if DJI application does not release control permission after controlling gimbal, the gimbal will also
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* release control permission automatically at some time point later than the completion of control commands. Undoubtedly,
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* this is inefficient.
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* @note Max execution time of this function is slightly larger than 600ms.
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* @note XPort do not response release control permission command in process of control parameters auto-tuning,
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* coaxiality detection and balance detection.
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* @return Execution result.
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*/
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T_DjiReturnCode DjiXPort_ReleaseControlPermissionSync(void);
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/**
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* @brief Reset gimbal of XPort in blocking mode.
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* @details The interface reset angle of pitch axis to corresponding fine tune value in ground coordinate, and yaw axis
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* to superimposed value of yaw axis angle of aircraft and corresponding fine tune value in ground coordinate.
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* @note Max execution time of this function is slightly larger than 600ms.
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* @note XPort do not response reset command in process of control parameters auto-tuning, coaxiality detection and
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* balance detection.
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* @param mode: Reset mode.
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* @return Execution result.
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*/
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T_DjiReturnCode DjiXPort_ResetSync(E_DjiGimbalResetMode mode);
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/**
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* @brief Set limit angle for XPort in blocking mode.
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* @details Please refer to XPort part of <a href="https://developer.dji.com/payload-sdk">developer website</a> for
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* details about default limit angle of XPort.
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* @note Max execution time of this function is slightly larger than 1200ms.
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* @note XPort do not response set limit angle command in process of control parameters auto-tuning, coaxiality
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* detection and balance detection.
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* @param limitAngleCategory: limit angle category.
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* @param limitAngle: limit angle.
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* @return Execution result.
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*/
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T_DjiReturnCode DjiXPort_SetLimitAngleSync(E_DjiXPortLimitAngleCategory limitAngleCategory,
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T_DjiXPortLimitAngle limitAngle);
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/**
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* @brief Get limit angle of XPort in blocking mode.
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* @note Max execution time of this function is slightly larger than 1200ms.
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* @param limitAngleCategory: limit angle category.
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* @param limitAngle: pointer to memory space used to store limit angle.
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* @return Execution result.
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*/
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T_DjiReturnCode DjiXPort_GetLimitAngleSync(E_DjiXPortLimitAngleCategory limitAngleCategory,
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T_DjiXPortLimitAngle *limitAngle);
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/**
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* @brief Set speed conversion factor for speed control from joystick and APP.
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* @details XPort convert speed control command from joystick and APP to rotation speed based on the speed conversion
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* factor. The formula is "speed = maximum rotation speed * conversion factor", and maximum rotation speed is a product of
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* default maximum speed and maximum speed percentage. The default maximum rotation speed is 90degree/s. The maximum
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* speed percentage is set by APP. The default speed conversion factor is 1.0.
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* @note The value will be effective after a while, and the max value is 100ms.
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* @param factor: Speed conversion factor and it has to be smaller than or equal to 1.0.
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* @return Execution result.
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*/
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T_DjiReturnCode DjiXPort_SetSpeedConversionFactor(float factor);
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#ifdef __cplusplus
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}
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#endif
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#endif // DJI_XPORT_H
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/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
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