30 #define __UNUSED __attribute__((__unused__)) 31 #define __DELETE(x) delete (char *) x 34 #define __DELETE(x) delete x 39 #pragma warning(disable : 4100) 40 #pragma warning(disable : 4800) 41 #pragma warning(disable : 4996) 42 #pragma warning(disable : 4244) 43 #pragma warning(disable : 4267) 44 #pragma warning(disable : 4700) 45 #pragma warning(disable : 4101) 50 #define __func__ __FUNCTION__ 53 #define API_LOG(driver, title, fmt, ...) \ 56 int len = (sprintf(DJI::onboardSDK::buffer, "%s %s,line %d: " fmt, \ 57 (title) ? (title) : "NONE", __func__, __LINE__, ##__VA_ARGS__)); \ 58 if ((len != -1) && (len < 1024)) \ 59 (driver)->displayLog(); \ 61 (driver)->displayLog("ERROR: log printer inner fault\n"); \ 64 #define DEBUG_LOG "DEBUG" 70 #define ERROR_LOG "ERROR" 75 #ifdef API_BUFFER_DATA 76 #define BUFFER_LOG "BUFFER" 81 #ifdef API_STATUS_DATA 82 #define STATUS_LOG "STATUS" 87 #ifdef API_MISSION_DATA 88 #define MISSION_LOG "MISSION" 94 #define RTK_LOG "MISSION" 109 const size_t bufsize = 1024;
110 extern char buffer[];
111 extern uint8_t encrypt;
113 const size_t SESSION_TABLE_NUM = 32;
114 const size_t CALLBACK_LIST_NUM = 10;
120 unsigned int sof : 8;
121 unsigned int length : 10;
122 unsigned int version : 6;
123 unsigned int sessionID : 5;
124 unsigned int isAck : 1;
128 unsigned int padding : 5;
129 unsigned int enc : 3;
133 unsigned int sequenceNumber : 16;
134 unsigned int crc : 16;
147 unsigned short sessionMode : 2;
148 unsigned short encrypt : 1;
149 unsigned short retry : 13;
150 unsigned short timeout;
160 unsigned short reuseIndex;
161 unsigned short reuseCount;
162 unsigned short recvIndex;
163 unsigned char recvBuf[BUFFER_SIZE];
165 unsigned char sdkKey[32];
166 unsigned char encode;
172 unsigned int tabIndex : 8;
173 unsigned int usageFlag : 8;
174 unsigned int memSize : 16;
180 uint32_t sessionID : 5;
181 uint32_t usageFlag : 1;
184 uint32_t timeout : 16;
189 time_ms preTimestamp;
194 uint32_t sessionID : 5;
195 uint32_t sessionStatus : 2;
202 uint16_t sessionID : 8;
203 uint16_t encrypt : 8;
211 typedef uint8_t BatteryData;
212 typedef uint8_t MissionACK;
231 typedef float float32_t;
232 typedef double float64_t;
265 uint8_t sensorID : 4;
339 uint8_t deviceStatus : 3;
340 uint8_t flightStatus : 1;
341 uint8_t vrcStatus : 1;
342 uint8_t reserved : 3;
358 uint8_t pitchLimit : 1;
359 uint8_t rollLimit : 1;
360 uint8_t yawLimit : 1;
361 uint8_t reserved : 5;
364 typedef uint8_t FlightStatus;
368 unsigned char cmdSequence;
369 unsigned char cmdData;
382 float32_t velocityNorth;
383 float32_t velocityEast;
403 float32_t velocityNorth;
404 float32_t velocityEast;
414 unsigned short dataFlag;
444 uint8_t reserved : 6;
477 #define PRO_PURE_DATA_MAX_SIZE 1007 // 2^10 - header size 478 const size_t MMU_TABLE_NUM = 32;
Definition: DJI_Type.h:317
Definition: DJI_Type.h:214
Definition: DJI_Type.h:394
Definition: DJI_Type.h:309
uint32_t time
Definition: DJI_Type.h:348
Definition: DJI_Type.h:447
Definition: DJI_Type.h:440
uint8_t activation
Definition: DJI_Type.h:436
MagnetData mag
Definition: DJI_Type.h:424
Definition: DJI_Type.h:223
float32_t Hmsl
Definition: DJI_Type.h:380
CoreAPI implements core Open Protocol communication between M100/M600/A3 and your onboard embedded pl...
Definition: DJI_API.h:195
Definition: DJI_Type.h:345
Definition: DJI_Type.h:178
Definition: DJI_Type.h:192
Definition: DJI_Type.h:366
Definition: DJI_Type.h:252
CommonData w
Definition: DJI_Type.h:421
CommonData a
Definition: DJI_Type.h:418
Definition: DJI_Type.h:170
Definition: DJI_Type.h:269
Definition: DJI_Type.h:298
Definition: DJI_Type.h:158
RadioData rc
Definition: DJI_Type.h:428
Definition: DJI_Type.h:287
Definition: DJI_Type.h:353
Definition: DJI_Type.h:200
Definition: DJI_Type.h:259
Definition: DJI_Type.h:145
BatteryData battery
Definition: DJI_Type.h:431
Definition: DJI_Type.h:139
float32_t velocityGround
Definition: DJI_Type.h:406
Definition: DJI_Type.h:373
Definition: DJI_Type.h:234
Definition: DJI_Mission.cpp:16
float32_t height
Definition: DJI_Type.h:281
uint32_t roll
Definition: DJI_Type.h:452
int32_t Hmsl
Definition: DJI_Type.h:401
Definition: DJI_Type.h:326
Definition: DJI_Type.h:412
float32_t velocityGround
Definition: DJI_Type.h:385
Definition: DJI_Type.h:243
float32_t altitude
Definition: DJI_Type.h:276
float64_t altitude
Definition: DJI_Type.h:331
Definition: DJI_Type.h:335