CoreAPI implements core Open Protocol communication between M100/M600/A3 and your onboard embedded platform. More...

#include <DJI_API.h>

Public Member Functions
void	ack (req_id_t req_id, unsigned char *ackdata, int len)
void	activate (ActivateData *data, CallBack callback=0, UserData userData=0)
	Activation Control.
unsigned short	activate (ActivateData *data, int timeout)
	Blocking API Control.
void	allocateACK (Header *protocolHeader)
	Notify caller ACK frame arrived.
void	byteHandler (const uint8_t in_data)
void	byteStreamHandler (uint8_t *buffer, size_t size)
void	callbackPoll (CoreAPI *api)
	CoreAPI (HardDriver *Driver=0, Version SDKVersion=0, bool userCallbackThread=false, CallBack userRecvCallback=0, UserData userData=0)
	CoreAPI (HardDriver *Driver, Version SDKVersion, CallBackHandler userRecvCallback, bool userCallbackThread=false)
bool	decodeACKStatus (unsigned short ack)
bool	decodeMissionStatus (uint8_t ack)
ActivateData	getAccountData () const
	Activation Control.
uint32_t	getACKFrameStatus ()
bool	getActivateMobileCMD ()
bool	getArmMobileCMD ()
bool	getAttiCtrlMobileCMD ()
bool	getBroadcastFrameStatus ()
bool	getDisArmMobileCMD ()
bool	getDrawCirMobileCMD ()
bool	getDrawSqrMobileCMD ()
HardDriver *	getDriver () const
SDKFilter	getFilter () const
	Open Protocol Control.
bool	getFollowData () const
bool	getGimbalCtrlMobileCMD ()
bool	getGlobalNavTestMobileCMD ()
bool	getGoHomeMobileCMD ()
bool	getHotPointData () const
	HotPoint Mission Control.
bool	getLandingMobileCMD ()
bool	getLocalMissionPlanCMD ()
bool	getLocalNavTestMobileCMD ()
bool	getObtainControlMobileCMD ()
bool	getReleaseControlMobileCMD ()
Version	getSDKVersion () const
SimpleACK	getSimpleACK () const
bool	getStartVideoMobileCMD ()
bool	getStopVideoMobileCMD ()
bool	getTakeOffMobileCMD ()
bool	getTakePhotoMobileCMD ()
bool	getVRCTestMobileCMD ()
bool	getWayPointData () const
	WayPoint Mission Control.
bool	getWayPointTestMobileCMD ()
void	notifyCaller (Header *protocolHeader)
void	notifyNonBlockingCaller (Header *protocolHeader)
void	parseFromMobileCallback (CoreAPI api, Header protocolHeader, UserData userData=0)
	Mobile Data Transparent Transmission Input Servicing.
void	readPoll (void)
void	sendPoll (void)
void	sendToMobile (uint8_t *data, uint8_t len, CallBack callback=0, UserData userData=0)
void	setAccountData (const ActivateData &value)
	Activation Control.
void	setACKFrameStatus (uint32_t usageFlag)
void	setActivateMobileCallback (CallBackHandler callback)
void	setActivateMobileCMD (bool userInput)
void	setActivation (bool isActivated)
	Activation Control.
void	setArmMobileCallback (CallBackHandler callback)
void	setArmMobileCMD (bool userInput)
void	setAttiCtrlMobileCMD (bool userInput)
void	setBroadcastCallback (CallBackHandler callback)
void	setBroadcastCallback (CallBack handler, UserData userData=0)
void	setBroadcastFrameStatus (bool isFrame)
void	setBroadcastFreq (uint8_t *dataLenIs16, CallBack callback=0, UserData userData=0)
unsigned short	setBroadcastFreq (uint8_t *dataLenIs16, int timeout)
void	setBroadcastFreqDefaults ()
unsigned short	setBroadcastFreqDefaults (int timeout)
	Set broadcast frequencies to their default values and block until ACK arrives from flight controller.
void	setBroadcastFreqToZero ()
void	setControl (bool enable, CallBack callback=0, UserData userData=0)
unsigned short	setControl (bool enable, int timeout)
	Blocking API Control.
void	setDisArmMobileCallback (CallBackHandler callback)
void	setDisArmMobileCMD (bool userInput)
void	setDrawCirMobileCMD (bool userInput)
void	setDrawSqrMobileCMD (bool userInput)
void	setDriver (HardDriver *value)
void	setFollowCallback (CallBackHandler callback)
void	setFollowCallback (CallBack handler, UserData userData=0)
void	setFollowData (bool value)
	Follow Me Mission Control.
void	setFromMobileCallback (CallBackHandler FromMobileEntrance)
void	setFromMobileCallback (CallBack handler, UserData userData=0)
void	setGimbalCtrlMobileCMD (bool userInput)
void	setGlobalNavTestMobileCMD (bool userInput)
void	setGoHomeMobileCallback (CallBackHandler callback)
void	setGoHomeMobileCMD (bool userInput)
void	setHotPointCallback (CallBackHandler callback)
void	setHotPointCallback (CallBack handler, UserData userData=0)
void	setHotPointData (bool value)
	HotPoint Mission Control.
void	setKey (const char *key)
void	setLandingMobileCallback (CallBackHandler callback)
void	setLandingMobileCMD (bool userInput)
void	setLocalMissionPlanCMD (bool userInput)
void	setLocalNavTestMobileCMD (bool userInput)
void	setMisssionCallback (CallBackHandler callback)
void	setMisssionCallback (CallBack handler, UserData userData=0)
void	setObtainControlMobileCallback (CallBackHandler callback)
void	setObtainControlMobileCMD (bool userInput)
void	setReleaseControlMobileCallback (CallBackHandler callback)
void	setReleaseControlMobileCMD (bool userInput)
void	setStartVideoMobileCallback (CallBackHandler callback)
void	setStartVideoMobileCMD (bool userInput)
void	setStopVideoMobileCallback (CallBackHandler callback)
void	setStopVideoMobileCMD (bool userInput)
void	setSyncFreq (uint32_t freqInHz)
void	setTakeOffMobileCallback (CallBackHandler callback)
void	setTakeOffMobileCMD (bool userInput)
void	setTakePhotoMobileCallback (CallBackHandler callback)
void	setTakePhotoMobileCMD (bool userInput)
void	setVersion (const Version &value)
void	setVRCTestMobileCMD (bool userInput)
void	setWayPointCallback (CallBackHandler callback)
void	setWayPointCallback (CallBack handler, UserData userData=0)
void	setWayPointData (bool value)
	WayPoint Mission Control.
void	setWayPointEventCallback (CallBackHandler callback)
void	setWayPointEventCallback (CallBack handler, UserData userData=0)
void	setWayPointTestMobileCMD (bool userInput)

void	send (unsigned char session_mode, unsigned char is_enc, CMD_SET cmd_set, unsigned char cmd_id, void *pdata, int len, CallBack ack_callback, int timeout=0, int retry_time=1)
void	send (unsigned char session_mode, bool is_enc, CMD_SET cmd_set, unsigned char cmd_id, void *pdata, size_t len, int timeout=0, int retry_time=1, CallBack ack_handler=0, UserData userData=0)
void	send (Command *parameter)
Static Public Member Functions
static void	activateCallback (CoreAPI api, Header protocolHeader, UserData userData=0)
static void	getDroneVersionCallback (CoreAPI api, Header protocolHeader, UserData userData=0)
static void	sendToMobileCallback (CoreAPI api, Header protocolHeader, UserData userData=0)
static void	setControlCallback (CoreAPI api, Header protocolHeader, UserData userData=0)
static void	setFrequencyCallback (CoreAPI api, Header protocolHeader, UserData userData=0)
Public Attributes
uint32_t	ack_data
HotPointReadACK	hotpointReadACK
MissionACKUnion	missionACKUnion
HardDriver *	serialDevice
bool	stopCond
WayPointInitACK	waypointInitACK
Private Member Functions
int	ackInterface (Ack *parameter)
ACKSession *	allocACK (unsigned short session_id, unsigned short size)
MMU_Tab *	allocMemory (unsigned short size)
CMDSession *	allocSession (unsigned short session_id, unsigned short size)
void	appHandler (Header *protocolHeader)
void	broadcast (Header *protocolHeader)
void	callApp (SDKFilter *p_filter)
void	checkStream (SDKFilter *p_filter)
unsigned short	encrypt (unsigned char pdest, const unsigned char psrc, unsigned short w_len, unsigned char is_ack, unsigned char is_enc, unsigned char session_id, unsigned short seq_num)
void	freeACK (ACKSession *session)
void	freeSession (CMDSession *session)
void	init (HardDriver *Driver, CallBackHandler userRecvCallback, bool userCallbackThread, Version SDKVersion)
	Serial Device Initialization.
void	recvReqData (Header *protocolHeader)
void	sendData (unsigned char *buf)
int	sendInterface (Command *parameter)
void	setup (void)
void	setupMMU (void)
void	setupSession (void)
void	storeData (SDKFilter *p_filter, unsigned char in_data)
void	streamHandler (SDKFilter *p_filter, unsigned char in_data)
void	verifyData (SDKFilter *p_filter)
void	verifyHead (SDKFilter *p_filter)
Private Attributes
ActivateData	accountData
uint32_t	ackFrameStatus
ACKSession	ACKSessionTab [SESSION_TABLE_NUM-1]
CallBackHandler	activateMobileCallback
bool	activateMobileCMD
CallBackHandler	armMobileCallback
bool	armMobileCMD
bool	attiCtrlMobileCMD
CallBackHandler	broadcastCallback
BroadcastData	broadcastData
bool	broadcastFrameStatus
bool	callbackThread
CMDSession	CMDSessionTab [SESSION_TABLE_NUM]
CallBackHandler	disArmMobileCallback
bool	disArmMobileCMD
bool	drawCirMobileCMD
bool	drawSqrMobileCMD
unsigned char	encodeACK [ACK_SIZE]
unsigned char	encodeSendData [BUFFER_SIZE]
SDKFilter	filter
CallBackHandler	followCallback
bool	followData
CallBackHandler	fromMobileCallback
	Mobile Data Transparent Transmission - callbacks.
bool	gimbalCtrlMobileCMD
bool	globalNavTestMobileCMD
CallBackHandler	goHomeMobileCallback
bool	goHomeMobileCMD
CallBackHandler	hotPointCallback
bool	hotPointData
CallBackHandler	landingMobileCallback
bool	landingMobileCMD
bool	localMissionPlanCMD
bool	localNavTestMobileCMD
unsigned char	memory [MEMORY_SIZE]
CallBackHandler	missionCallback
MMU_Tab	MMU [MMU_TABLE_NUM]
CallBackHandler	obtainControlMobileCallback
bool	obtainControlMobileCMD
	Mobile Data Transparent Transmission - flags.
CallBackHandler	recvCallback
CallBackHandler	releaseControlMobileCallback
bool	releaseControlMobileCMD
unsigned short	seq_num
CallBackHandler	startVideoMobileCallback
bool	startVideoMobileCMD
CallBackHandler	stopVideoMobileCallback
bool	stopVideoMobileCMD
CallBackHandler	takeOffMobileCallback
bool	takeOffMobileCMD
CallBackHandler	takePhotoMobileCallback
bool	takePhotoMobileCMD
VersionData	versionData
bool	VRCTestMobileCMD
CallBackHandler	wayPointCallback
bool	wayPointData
CallBackHandler	wayPointEventCallback
bool	wayPointTestMobileCMD
bool	nonBlockingCBThreadEnable
void	getDroneVersion (CallBack callback=0, UserData userData=0)
VersionData	getDroneVersion (int timeout)
	Get drone version from flight controller block until ACK arrives from flight controller.
BroadcastData	getBroadcastData () const
TimeStampData	getTime () const
FlightStatus	getFlightStatus () const
CtrlInfoData	getCtrlInfo () const
BatteryData	getBatteryCapacity () const

Detailed Description

CoreAPI implements core Open Protocol communication between M100/M600/A3 and your onboard embedded platform.

Remarks:

API is running on two poll threads:

sendPoll();
readPoll();
Please make sure both threads operate correctly.

Note:: if you can read data in a interrupt, try to pass data through byteHandler() or byteStreamHandler()

Definition at line 212 of file DJI_API.h.

Constructor & Destructor Documentation

CoreAPI::CoreAPI	(	HardDriver *	Driver = `0`,
		Version	SDKVersion = `0`,
		bool	userCallbackThread = `false`,
		CallBack	userRecvCallback = `0`,
		UserData	userData = `0`
	)

Definition at line 25 of file DJI_API.cpp.

CoreAPI::CoreAPI	(	HardDriver *	Driver,
		Version	SDKVersion,
		CallBackHandler	userRecvCallback,
		bool	userCallbackThread = `false`
	)

Definition at line 83 of file DJI_API.cpp.

Member Function Documentation

void CoreAPI::ack	(	req_id_t	req_id,
		unsigned char *	ackdata,
		int	len
	)

Definition at line 142 of file DJI_API.cpp.

int CoreAPI::ackInterface ( Ack * parameter ) [private]

Note:: Do nothing, session 0 is a NACK session.

Definition at line 327 of file DJI_Link.cpp.

void CoreAPI::activate	(	ActivateData *	data,
		CallBack	callback = `0`,
		UserData	userData = `0`
	)

Activation Control.

Send activation request to your flight controller to check if:
a) your application registered in your developer account
b) API Control enabled in the Assistant software

Proceed to programming if activation successful.

Note:: for ios verification

Definition at line 211 of file DJI_API.cpp.

unsigned short CoreAPI::activate	(	ActivateData *	data,
		int	timeout
	)

Blocking API Control.

Remarks:: Blocks until ACK frame arrives or timeout occurs

Send activation control to your flight controller to check if:
a) your application registered in your developer account
b) API Control enabled in the Assistant software

Proceed to programming if activation successful.

Returns:: ACK from flight controller

Todo:: Implement high resolution timer to catch ACK timeout

Note:: for ios verification

Definition at line 229 of file DJI_API.cpp.

void CoreAPI::activateCallback	(	CoreAPI *	api,
		Header *	protocolHeader,
		UserData userData	__UNUSED = `0`
	)		`[static]`

Definition at line 607 of file DJI_API.cpp.

ACKSession * DJI::onboardSDK::CoreAPI::allocACK	(	unsigned short	session_id,
		unsigned short	size
	)		`[private]`

Definition at line 236 of file DJI_Memory.cpp.

void CoreAPI::allocateACK ( Header * protocolHeader )

Notify caller ACK frame arrived.

Definition at line 162 of file DJI_Link.cpp.

MMU_Tab * DJI::onboardSDK::CoreAPI::allocMemory ( unsigned short size ) [private]

Definition at line 52 of file DJI_Memory.cpp.

CMDSession * DJI::onboardSDK::CoreAPI::allocSession	(	unsigned short	session_id,
		unsigned short	size
	)		`[private]`

Note:: Alloc a cmd session for sending cmd data when arg session_id = 0/1, it means select session 0/1 to send cmd otherwise set arg session_id = CMD_SESSION_AUTO (32), which means auto select a idle session id is between 2~31.

Definition at line 187 of file DJI_Memory.cpp.

void CoreAPI::appHandler ( Header * protocolHeader ) [private]

Non-blocking callback thread

Set end of ACK frame

Todo:: Implement proper notification mechanism

Todo:: unnecessary ack in case 1. Maybe add code later

Todo:: check algorithm

Note:: session id is 2

Definition at line 48 of file DJI_Link.cpp.

void DJI::onboardSDK::CoreAPI::broadcast ( Header * protocolHeader ) [private]

Warning:: Change to const (+change interface for passData) in next release

Todo:: better algorithm

Set broadcast frame status

Todo:: Implement proper notification mechanism

Definition at line 67 of file DJI_App.cpp.

void DJI::onboardSDK::CoreAPI::byteHandler ( const uint8_t in_data )

Todo:: Pipeline refactoring

Note:: Just think a command as below

[123456HHD1234567===HHHH------------------] --- is buf un-used part

if after recv full of above, but crc failed, we throw all data? NO! Just throw ONE BYTE, we move like below

[123456HH------------------D1234567===HHHH]

Use the buffer high part to re-loop, try to find a new command

if new cmd also fail, and buf like below

[56HHD1234567----------------------===HHHH]

throw one byte, buf looks like

[6HHD123-----------------------4567===HHHH]

the command tail part move to buffer right

Note:: because reuse_index maybe re-located, so reuse_index must be always point to un-used index re-loop the buffered data

Definition at line 761 of file DJI_Codec.cpp.

void CoreAPI::byteStreamHandler	(	uint8_t *	buffer,
		size_t	size
	)

Todo:: Implement stream handler

Definition at line 806 of file DJI_Codec.cpp.

void DJI::onboardSDK::CoreAPI::callApp ( SDKFilter * p_filter ) [private]

Definition at line 598 of file DJI_Codec.cpp.

void CoreAPI::callbackPoll ( CoreAPI * api )

Todo:: Implement callback poll handler

Todo:: Implement callback poll here

The protHeader is being passed to the Callback function for legacy purposes and is not thread safe. Ack is already avaialble to you in the callback via the mission ACK Union.

Definition at line 272 of file DJI_Link.cpp.

void DJI::onboardSDK::CoreAPI::checkStream ( SDKFilter * p_filter ) [private]

Definition at line 735 of file DJI_Codec.cpp.

bool CoreAPI::decodeACKStatus ( unsigned short ack )

ACK decoder.

Definition at line 607 of file DJI_Codec.cpp.

bool DJI::onboardSDK::CoreAPI::decodeMissionStatus ( uint8_t ack )

Flight mission decoder.

Todo:: Fix memory leak issue

Definition at line 89 of file DJI_Mission.cpp.

unsigned short DJI::onboardSDK::CoreAPI::encrypt	(	unsigned char *	pdest,
		const unsigned char *	psrc,
		unsigned short	w_len,
		unsigned char	is_ack,
		unsigned char	is_enc,
		unsigned char	session_id,
		unsigned short	seq_num
	)		`[private]`

Definition at line 849 of file DJI_Codec.cpp.

void DJI::onboardSDK::CoreAPI::freeACK ( ACKSession * session ) [private]

Definition at line 259 of file DJI_Memory.cpp.

void DJI::onboardSDK::CoreAPI::freeSession ( CMDSession * session ) [private]

Definition at line 226 of file DJI_Memory.cpp.

ActivateData CoreAPI::getAccountData ( ) const

Activation Control.

Get Activation information

Definition at line 529 of file DJI_API.cpp.

uint32_t DJI::onboardSDK::CoreAPI::getACKFrameStatus ( )

Definition at line 307 of file DJI_Link.cpp.

bool DJI::onboardSDK::CoreAPI::getActivateMobileCMD ( ) [inline]

Definition at line 562 of file DJI_API.h.

bool DJI::onboardSDK::CoreAPI::getArmMobileCMD ( ) [inline]

Definition at line 563 of file DJI_API.h.

bool DJI::onboardSDK::CoreAPI::getAttiCtrlMobileCMD ( ) [inline]

Definition at line 575 of file DJI_API.h.

BatteryData DJI::onboardSDK::CoreAPI::getBatteryCapacity ( ) const

Get battery capacity.

Note:: Flight missions will not perform if battery capacity is under %50. If battery capacity drops below %50 during a flight mission, aircraft will automatically "go home".

Definition at line 47 of file DJI_App.cpp.

BroadcastData DJI::onboardSDK::CoreAPI::getBroadcastData ( ) const

Get broadcasted data values from flight controller.

Definition at line 45 of file DJI_App.cpp.

bool DJI::onboardSDK::CoreAPI::getBroadcastFrameStatus ( )

Definition at line 59 of file DJI_App.cpp.

CtrlInfoData DJI::onboardSDK::CoreAPI::getCtrlInfo ( ) const

Definition at line 52 of file DJI_App.cpp.

bool DJI::onboardSDK::CoreAPI::getDisArmMobileCMD ( ) [inline]

Definition at line 564 of file DJI_API.h.

bool DJI::onboardSDK::CoreAPI::getDrawCirMobileCMD ( ) [inline]

Custom missions - getters

Definition at line 573 of file DJI_API.h.

bool DJI::onboardSDK::CoreAPI::getDrawSqrMobileCMD ( ) [inline]

Definition at line 574 of file DJI_API.h.

HardDriver * CoreAPI::getDriver ( ) const

Get serial device handler.

Definition at line 567 of file DJI_API.cpp.

void CoreAPI::getDroneVersion	(	CallBack	callback = `0`,
		UserData	userData = `0`
	)

Get aircraft version.

Note:: You can query your flight controller prior to activation.

Definition at line 157 of file DJI_API.cpp.

VersionData CoreAPI::getDroneVersion ( int timeout )

Get drone version from flight controller block until ACK arrives from flight controller.

Blocking API Control

Returns:: VersionData containing ACK value, CRC of the protocol version and protocol version itself

Todo:: Implement high resolution timer to catch ACK timeout

Definition at line 171 of file DJI_API.cpp.

void CoreAPI::getDroneVersionCallback	(	CoreAPI *	api,
		Header *	protocolHeader,
		UserData userData	__UNUSED = `0`
	)		`[static]`

Definition at line 573 of file DJI_API.cpp.

SDKFilter CoreAPI::getFilter ( ) const

Open Protocol Control.

Get Open Protocol packet information.

Definition at line 877 of file DJI_API.cpp.

FlightStatus CoreAPI::getFlightStatus ( ) const

Get flight status at any time during a flight mission.

Definition at line 521 of file DJI_API.cpp.

bool CoreAPI::getFollowData ( ) const

Definition at line 537 of file DJI_API.cpp.

bool DJI::onboardSDK::CoreAPI::getGimbalCtrlMobileCMD ( ) [inline]

Definition at line 576 of file DJI_API.h.

bool DJI::onboardSDK::CoreAPI::getGlobalNavTestMobileCMD ( ) [inline]

Definition at line 579 of file DJI_API.h.

bool DJI::onboardSDK::CoreAPI::getGoHomeMobileCMD ( ) [inline]

Definition at line 567 of file DJI_API.h.

bool CoreAPI::getHotPointData ( ) const

HotPoint Mission Control.

Definition at line 535 of file DJI_API.cpp.

bool DJI::onboardSDK::CoreAPI::getLandingMobileCMD ( ) [inline]

Definition at line 566 of file DJI_API.h.

bool DJI::onboardSDK::CoreAPI::getLocalMissionPlanCMD ( ) [inline]

Definition at line 581 of file DJI_API.h.

bool DJI::onboardSDK::CoreAPI::getLocalNavTestMobileCMD ( ) [inline]

Definition at line 578 of file DJI_API.h.

bool DJI::onboardSDK::CoreAPI::getObtainControlMobileCMD ( ) [inline]

Setters and getters for Mobile CMD variables - these are used when interacting with a Data Transparent Transmission App Core functions - getters

Definition at line 560 of file DJI_API.h.

bool DJI::onboardSDK::CoreAPI::getReleaseControlMobileCMD ( ) [inline]

Definition at line 561 of file DJI_API.h.

Version CoreAPI::getSDKVersion ( ) const

Get SDK version

Definition at line 875 of file DJI_API.cpp.

SimpleACK CoreAPI::getSimpleACK ( ) const

Definition at line 569 of file DJI_API.cpp.

bool DJI::onboardSDK::CoreAPI::getStartVideoMobileCMD ( ) [inline]

Definition at line 569 of file DJI_API.h.

bool DJI::onboardSDK::CoreAPI::getStopVideoMobileCMD ( ) [inline]

Definition at line 570 of file DJI_API.h.

bool DJI::onboardSDK::CoreAPI::getTakeOffMobileCMD ( ) [inline]

Definition at line 565 of file DJI_API.h.

bool DJI::onboardSDK::CoreAPI::getTakePhotoMobileCMD ( ) [inline]

Definition at line 568 of file DJI_API.h.

TimeStampData CoreAPI::getTime ( ) const

Get timestamp from flight controller.

Note:: Make sure you are using appropriate timestamp broadcast frequency. See setBroadcastFreq
function for more details.

Definition at line 519 of file DJI_API.cpp.

bool DJI::onboardSDK::CoreAPI::getVRCTestMobileCMD ( ) [inline]

Definition at line 580 of file DJI_API.h.

bool CoreAPI::getWayPointData ( ) const

WayPoint Mission Control.

Definition at line 536 of file DJI_API.cpp.

bool DJI::onboardSDK::CoreAPI::getWayPointTestMobileCMD ( ) [inline]

Definition at line 577 of file DJI_API.h.

void CoreAPI::init	(	HardDriver *	Driver,
		CallBackHandler	userRecvCallback,
		bool	userCallbackThread,
		Version	SDKVersion
	)		`[private]`

Serial Device Initialization.

Todo:: simplify code above

Definition at line 34 of file DJI_API.cpp.

void CoreAPI::notifyCaller ( Header * protocolHeader )

Definition at line 178 of file DJI_Link.cpp.

void CoreAPI::notifyNonBlockingCaller ( Header * protocolHeader )

This version of non-blocking can be limited in performance since the read thread waits for the callback thread to return before the read thread continues.

Copying protocol header to a global variable - will be passed to the Callback thread. protHeader is not thread safe and is passed to Callback for legacy purposes. Ack is available in the callback via MissionACKUnion.

Definition at line 189 of file DJI_Link.cpp.

void CoreAPI::parseFromMobileCallback	(	CoreAPI *	api,
		Header *	protocolHeader,
		UserData userData	__UNUSED = `0`
	)

Mobile Data Transparent Transmission Input Servicing.

MOS Protocol parsing lirbary functions. Default MOS Protocol Parser. Calls other callback functions based on data

The next few are only polling based and do not use callbacks. See usage in Linux Sample.

Definition at line 686 of file DJI_API.cpp.

void CoreAPI::readPoll ( void )

Definition at line 256 of file DJI_Link.cpp.

void DJI::onboardSDK::CoreAPI::recvReqData ( Header * protocolHeader ) [private]

Todo:: add mission session decode

Todo:: compare IOC with other mission modes comprehensively

Todo:: add waypoint session decode

Definition at line 123 of file DJI_App.cpp.

void CoreAPI::send	(	unsigned char	session_mode,
		unsigned char	is_enc,
		CMD_SET	cmd_set,
		unsigned char	cmd_id,
		void *	pdata,
		int	len,
		CallBack	ack_callback,
		int	timeout = `0`,
		int	retry_time = `1`
	)

Remarks:: void send() - core overloaded function which can be invoked in three different ways.

void send(CallbackCommand *parameter) - main interface
(other two overloaded functions are builded on the base of this function)

Please be careful when passing in UserData, there might have memory leak problems.

Parameters:

timeout

Note:: Compatible for DJI_APP_Pro_send

Definition at line 90 of file DJI_API.cpp.

void CoreAPI::send	(	unsigned char	session_mode,
		bool	is_enc,
		CMD_SET	cmd_set,
		unsigned char	cmd_id,
		void *	pdata,
		size_t	len,
		int	timeout = `0`,
		int	retry_time = `1`,
		CallBack	ack_handler = `0`,
		UserData	userData = `0`
	)

Parameters:

userData

Note:: Better interface entrance

Definition at line 115 of file DJI_API.cpp.

void CoreAPI::send ( Command * parameter )

Note:: Main interface

Definition at line 140 of file DJI_API.cpp.

void CoreAPI::sendData ( unsigned char * buf ) [private]

Definition at line 32 of file DJI_Link.cpp.

int CoreAPI::sendInterface ( Command * parameter ) [private]

Definition at line 373 of file DJI_Link.cpp.

void CoreAPI::sendPoll ( void )

Note:: Add auto resendpoll

Definition at line 209 of file DJI_Link.cpp.

void CoreAPI::sendToMobile	(	uint8_t *	data,
		uint8_t	len,
		CallBack	callback = `0`,
		UserData	userData = `0`
	)

Definition at line 252 of file DJI_API.cpp.

void CoreAPI::sendToMobileCallback	(	CoreAPI *	api,
		Header *	protocolHeader,
		UserData userData	__UNUSED = `0`
	)		`[static]`

Definition at line 666 of file DJI_API.cpp.

void CoreAPI::setAccountData ( const ActivateData & value )

Activation Control.

Definition at line 531 of file DJI_API.cpp.

void DJI::onboardSDK::CoreAPI::setACKFrameStatus ( uint32_t usageFlag )

Let user know when ACK and Broadcast messages processed

Definition at line 302 of file DJI_Link.cpp.

void DJI::onboardSDK::CoreAPI::setActivateMobileCallback ( CallBackHandler callback ) [inline]

Definition at line 486 of file DJI_API.h.

void DJI::onboardSDK::CoreAPI::setActivateMobileCMD ( bool userInput ) [inline]

Definition at line 586 of file DJI_API.h.

void CoreAPI::setActivation ( bool isActivated )

Activation Control.

Is your aircraft already activated ?

Definition at line 294 of file DJI_Link.cpp.

void DJI::onboardSDK::CoreAPI::setArmMobileCallback ( CallBackHandler callback ) [inline]

Definition at line 487 of file DJI_API.h.

void DJI::onboardSDK::CoreAPI::setArmMobileCMD ( bool userInput ) [inline]

Definition at line 587 of file DJI_API.h.

void DJI::onboardSDK::CoreAPI::setAttiCtrlMobileCMD ( bool userInput ) [inline]

Definition at line 599 of file DJI_API.h.

void DJI::onboardSDK::CoreAPI::setBroadcastCallback ( CallBackHandler callback ) [inline]

Definition at line 447 of file DJI_API.h.

void CoreAPI::setBroadcastCallback	(	CallBack	handler,
		UserData	userData = `0`
	)

Definition at line 229 of file DJI_App.cpp.

void DJI::onboardSDK::CoreAPI::setBroadcastFrameStatus ( bool isFrame )

Definition at line 54 of file DJI_App.cpp.

void CoreAPI::setBroadcastFreq	(	uint8_t *	dataLenIs16,
		CallBack	callback = `0`,
		UserData	userData = `0`
	)

Set broadcast frequency.

Remarks:: We offer 12 frequency channels to customize:

0 - Timestamp
1 - Attitude Quaterniouns
2 - Acceleration
3 - Velocity (Ground Frame)
4 - Angular Velocity (Body Frame)
5 - Position
6 - Magnetometer
7 - RC Channels Data
8 - Gimbal Data
9 - Flight Status
10 - Battery Level
11 - Control Information

Note:: see also enum BROADCAST_FREQ in DJI_API.h

Definition at line 263 of file DJI_API.cpp.

unsigned short CoreAPI::setBroadcastFreq	(	uint8_t *	dataLenIs16,
		int	timeout
	)

Note:: see also enum BROADCAST_FREQ in DJI_API.h

Definition at line 289 of file DJI_API.cpp.

void CoreAPI::setBroadcastFreqDefaults ( )

Reset all broadcast frequencies to their default values

Definition at line 320 of file DJI_API.cpp.

unsigned short CoreAPI::setBroadcastFreqDefaults ( int timeout )

Set broadcast frequencies to their default values and block until ACK arrives from flight controller.

Blocking API Control

Returns:: ACK from flight controller

Todo:: Implement high resolution timer to catch ACK timeout

Definition at line 448 of file DJI_API.cpp.

void CoreAPI::setBroadcastFreqToZero ( )

Definition at line 390 of file DJI_API.cpp.

void CoreAPI::setControl	(	bool	enable,
		CallBack	callback = `0`,
		UserData	userData = `0`
	)

Definition at line 539 of file DJI_API.cpp.

unsigned short CoreAPI::setControl	(	bool	enable,
		int	timeout
	)

Blocking API Control.

Remarks:: Blocks until ACK frame arrives or timeout occurs

Obtain control

Returns:: ACK from flight controller

Todo:: Implement high resolution timer to catch ACK timeout

Definition at line 546 of file DJI_API.cpp.

void CoreAPI::setControlCallback	(	CoreAPI *	api,
		Header *	protocolHeader,
		UserData userData	__UNUSED = `0`
	)		`[static]`

Definition at line 881 of file DJI_API.cpp.

void DJI::onboardSDK::CoreAPI::setDisArmMobileCallback ( CallBackHandler callback ) [inline]

Definition at line 488 of file DJI_API.h.

void DJI::onboardSDK::CoreAPI::setDisArmMobileCMD ( bool userInput ) [inline]

Definition at line 588 of file DJI_API.h.

void DJI::onboardSDK::CoreAPI::setDrawCirMobileCMD ( bool userInput ) [inline]

Custom missions - setters

Definition at line 597 of file DJI_API.h.

void DJI::onboardSDK::CoreAPI::setDrawSqrMobileCMD ( bool userInput ) [inline]

Definition at line 598 of file DJI_API.h.

void CoreAPI::setDriver ( HardDriver * value )

Initialize serial device

Definition at line 571 of file DJI_API.cpp.

void DJI::onboardSDK::CoreAPI::setFollowCallback ( CallBackHandler callback ) [inline]

Definition at line 456 of file DJI_API.h.

void DJI::onboardSDK::CoreAPI::setFollowCallback	(	CallBack	handler,
		UserData	userData = `0`
	)

Definition at line 141 of file DJI_Mission.cpp.

void CoreAPI::setFollowData ( bool value )

Follow Me Mission Control.

Definition at line 534 of file DJI_API.cpp.

void CoreAPI::setFrequencyCallback	(	CoreAPI *	api,
		Header *	protocolHeader,
		UserData	userData = `0`
	)		`[static]`

Definition at line 848 of file DJI_API.cpp.

void CoreAPI::setFromMobileCallback ( CallBackHandler FromMobileEntrance )

Definition at line 523 of file DJI_API.cpp.

void CoreAPI::setFromMobileCallback	(	CallBack	handler,
		UserData	userData = `0`
	)

Definition at line 235 of file DJI_App.cpp.

void DJI::onboardSDK::CoreAPI::setGimbalCtrlMobileCMD ( bool userInput ) [inline]

Definition at line 600 of file DJI_API.h.

void DJI::onboardSDK::CoreAPI::setGlobalNavTestMobileCMD ( bool userInput ) [inline]

Definition at line 603 of file DJI_API.h.

void DJI::onboardSDK::CoreAPI::setGoHomeMobileCallback ( CallBackHandler callback ) [inline]

Definition at line 491 of file DJI_API.h.

void DJI::onboardSDK::CoreAPI::setGoHomeMobileCMD ( bool userInput ) [inline]

Definition at line 591 of file DJI_API.h.

void DJI::onboardSDK::CoreAPI::setHotPointCallback ( CallBackHandler callback ) [inline]

Definition at line 454 of file DJI_API.h.

void DJI::onboardSDK::CoreAPI::setHotPointCallback	(	CallBack	handler,
		UserData	userData = `0`
	)

Definition at line 129 of file DJI_Mission.cpp.

void CoreAPI::setHotPointData ( bool value )

HotPoint Mission Control.

Definition at line 532 of file DJI_API.cpp.

void CoreAPI::setKey ( const char * key )

Definition at line 288 of file DJI_Link.cpp.

void DJI::onboardSDK::CoreAPI::setLandingMobileCallback ( CallBackHandler callback ) [inline]

Definition at line 490 of file DJI_API.h.

void DJI::onboardSDK::CoreAPI::setLandingMobileCMD ( bool userInput ) [inline]

Definition at line 590 of file DJI_API.h.

void DJI::onboardSDK::CoreAPI::setLocalMissionPlanCMD ( bool userInput ) [inline]

Definition at line 605 of file DJI_API.h.

void DJI::onboardSDK::CoreAPI::setLocalNavTestMobileCMD ( bool userInput ) [inline]

Definition at line 602 of file DJI_API.h.

void DJI::onboardSDK::CoreAPI::setMisssionCallback ( CallBackHandler callback ) [inline]

Definition at line 453 of file DJI_API.h.

void DJI::onboardSDK::CoreAPI::setMisssionCallback	(	CallBack	handler,
		UserData	userData = `0`
	)

Definition at line 123 of file DJI_Mission.cpp.

void DJI::onboardSDK::CoreAPI::setObtainControlMobileCallback ( CallBackHandler callback ) [inline]

Mobile Callback handler functions

Definition at line 484 of file DJI_API.h.

void DJI::onboardSDK::CoreAPI::setObtainControlMobileCMD ( bool userInput ) [inline]

Core functions - setters

Definition at line 584 of file DJI_API.h.

void DJI::onboardSDK::CoreAPI::setReleaseControlMobileCallback ( CallBackHandler callback ) [inline]

Definition at line 485 of file DJI_API.h.

void DJI::onboardSDK::CoreAPI::setReleaseControlMobileCMD ( bool userInput ) [inline]

Definition at line 585 of file DJI_API.h.

void DJI::onboardSDK::CoreAPI::setStartVideoMobileCallback ( CallBackHandler callback ) [inline]

Definition at line 493 of file DJI_API.h.

void DJI::onboardSDK::CoreAPI::setStartVideoMobileCMD ( bool userInput ) [inline]

Definition at line 593 of file DJI_API.h.

void DJI::onboardSDK::CoreAPI::setStopVideoMobileCallback ( CallBackHandler callback ) [inline]

Definition at line 494 of file DJI_API.h.

void DJI::onboardSDK::CoreAPI::setStopVideoMobileCMD ( bool userInput ) [inline]

Definition at line 594 of file DJI_API.h.

void CoreAPI::setSyncFreq ( uint32_t freqInHz )

Definition at line 312 of file DJI_Link.cpp.

void DJI::onboardSDK::CoreAPI::setTakeOffMobileCallback ( CallBackHandler callback ) [inline]

Definition at line 489 of file DJI_API.h.

void DJI::onboardSDK::CoreAPI::setTakeOffMobileCMD ( bool userInput ) [inline]

Definition at line 589 of file DJI_API.h.

void DJI::onboardSDK::CoreAPI::setTakePhotoMobileCallback ( CallBackHandler callback ) [inline]

Definition at line 492 of file DJI_API.h.

void DJI::onboardSDK::CoreAPI::setTakePhotoMobileCMD ( bool userInput ) [inline]

Definition at line 592 of file DJI_API.h.

void CoreAPI::setup ( void ) [private]

Definition at line 282 of file DJI_Link.cpp.

void DJI::onboardSDK::CoreAPI::setupMMU ( void ) [private]

Definition at line 25 of file DJI_Memory.cpp.

void DJI::onboardSDK::CoreAPI::setupSession ( void ) [private]

Definition at line 163 of file DJI_Memory.cpp.

void CoreAPI::setVersion ( const Version & value )

Set SDK version.

Definition at line 879 of file DJI_API.cpp.

void DJI::onboardSDK::CoreAPI::setVRCTestMobileCMD ( bool userInput ) [inline]

Definition at line 604 of file DJI_API.h.

void DJI::onboardSDK::CoreAPI::setWayPointCallback ( CallBackHandler callback ) [inline]

Definition at line 455 of file DJI_API.h.

void DJI::onboardSDK::CoreAPI::setWayPointCallback	(	CallBack	handler,
		UserData	userData = `0`
	)

Definition at line 135 of file DJI_Mission.cpp.

void CoreAPI::setWayPointData ( bool value )

WayPoint Mission Control.

Definition at line 533 of file DJI_API.cpp.

void DJI::onboardSDK::CoreAPI::setWayPointEventCallback ( CallBackHandler callback )

Definition at line 118 of file DJI_Mission.cpp.

void DJI::onboardSDK::CoreAPI::setWayPointEventCallback	(	CallBack	handler,
		UserData	userData = `0`
	)

Definition at line 147 of file DJI_Mission.cpp.

void DJI::onboardSDK::CoreAPI::setWayPointTestMobileCMD ( bool userInput ) [inline]

Definition at line 601 of file DJI_API.h.

void CoreAPI::storeData	(	SDKFilter *	p_filter,
		unsigned char	in_data
	)		`[private]`

Note:: push data to filter buffer

Definition at line 645 of file DJI_Codec.cpp.

void DJI::onboardSDK::CoreAPI::streamHandler	(	SDKFilter *	p_filter,
		unsigned char	in_data
	)		`[private]`

Definition at line 755 of file DJI_Codec.cpp.

void DJI::onboardSDK::CoreAPI::verifyData ( SDKFilter * p_filter ) [private]

Note:: data crc fail, re-use the data part

Definition at line 701 of file DJI_Codec.cpp.

void DJI::onboardSDK::CoreAPI::verifyHead ( SDKFilter * p_filter ) [private]

Definition at line 715 of file DJI_Codec.cpp.

Member Data Documentation

ActivateData DJI::onboardSDK::CoreAPI::accountData [private]

Definition at line 661 of file DJI_API.h.

uint32_t DJI::onboardSDK::CoreAPI::ack_data

Note:: Thread data

Definition at line 515 of file DJI_API.h.

uint32_t DJI::onboardSDK::CoreAPI::ackFrameStatus [private]

Definition at line 609 of file DJI_API.h.

ACKSession DJI::onboardSDK::CoreAPI::ACKSessionTab[SESSION_TABLE_NUM-1] [private]

Definition at line 690 of file DJI_API.h.

CallBackHandler DJI::onboardSDK::CoreAPI::activateMobileCallback [private]

Definition at line 626 of file DJI_API.h.

bool DJI::onboardSDK::CoreAPI::activateMobileCMD [private]

Definition at line 640 of file DJI_API.h.

CallBackHandler DJI::onboardSDK::CoreAPI::armMobileCallback [private]

Definition at line 627 of file DJI_API.h.

bool DJI::onboardSDK::CoreAPI::armMobileCMD [private]

Definition at line 641 of file DJI_API.h.

bool DJI::onboardSDK::CoreAPI::attiCtrlMobileCMD [private]

Definition at line 652 of file DJI_API.h.

CallBackHandler DJI::onboardSDK::CoreAPI::broadcastCallback [private]

Definition at line 616 of file DJI_API.h.

BroadcastData DJI::onboardSDK::CoreAPI::broadcastData [private]

Definition at line 608 of file DJI_API.h.

bool DJI::onboardSDK::CoreAPI::broadcastFrameStatus [private]

Definition at line 610 of file DJI_API.h.

bool DJI::onboardSDK::CoreAPI::callbackThread [private]

Definition at line 705 of file DJI_API.h.

CMDSession DJI::onboardSDK::CoreAPI::CMDSessionTab[SESSION_TABLE_NUM] [private]

Definition at line 689 of file DJI_API.h.

CallBackHandler DJI::onboardSDK::CoreAPI::disArmMobileCallback [private]

Definition at line 628 of file DJI_API.h.

bool DJI::onboardSDK::CoreAPI::disArmMobileCMD [private]

Definition at line 642 of file DJI_API.h.

bool DJI::onboardSDK::CoreAPI::drawCirMobileCMD [private]

Definition at line 650 of file DJI_API.h.

bool DJI::onboardSDK::CoreAPI::drawSqrMobileCMD [private]

Definition at line 651 of file DJI_API.h.

unsigned char DJI::onboardSDK::CoreAPI::encodeACK[ACK_SIZE] [private]

Definition at line 612 of file DJI_API.h.

unsigned char DJI::onboardSDK::CoreAPI::encodeSendData[BUFFER_SIZE] [private]

Definition at line 611 of file DJI_API.h.

SDKFilter DJI::onboardSDK::CoreAPI::filter [private]

Definition at line 665 of file DJI_API.h.

CallBackHandler DJI::onboardSDK::CoreAPI::followCallback [private]

Definition at line 620 of file DJI_API.h.

bool DJI::onboardSDK::CoreAPI::followData [private]

Definition at line 708 of file DJI_API.h.

CallBackHandler DJI::onboardSDK::CoreAPI::fromMobileCallback [private]

Mobile Data Transparent Transmission - callbacks.

Definition at line 615 of file DJI_API.h.

bool DJI::onboardSDK::CoreAPI::gimbalCtrlMobileCMD [private]

Definition at line 653 of file DJI_API.h.

bool DJI::onboardSDK::CoreAPI::globalNavTestMobileCMD [private]

Definition at line 656 of file DJI_API.h.

CallBackHandler DJI::onboardSDK::CoreAPI::goHomeMobileCallback [private]

Definition at line 631 of file DJI_API.h.

bool DJI::onboardSDK::CoreAPI::goHomeMobileCMD [private]

Definition at line 645 of file DJI_API.h.

CallBackHandler DJI::onboardSDK::CoreAPI::hotPointCallback [private]

Definition at line 617 of file DJI_API.h.

bool DJI::onboardSDK::CoreAPI::hotPointData [private]

Definition at line 706 of file DJI_API.h.

HotPointReadACK DJI::onboardSDK::CoreAPI::hotpointReadACK

Definition at line 516 of file DJI_API.h.

CallBackHandler DJI::onboardSDK::CoreAPI::landingMobileCallback [private]

Definition at line 630 of file DJI_API.h.

bool DJI::onboardSDK::CoreAPI::landingMobileCMD [private]

Definition at line 644 of file DJI_API.h.

bool DJI::onboardSDK::CoreAPI::localMissionPlanCMD [private]

Definition at line 658 of file DJI_API.h.

bool DJI::onboardSDK::CoreAPI::localNavTestMobileCMD [private]

Definition at line 655 of file DJI_API.h.

unsigned char DJI::onboardSDK::CoreAPI::memory[MEMORY_SIZE] [private]

Definition at line 691 of file DJI_API.h.

MissionACKUnion DJI::onboardSDK::CoreAPI::missionACKUnion

Definition at line 518 of file DJI_API.h.

CallBackHandler DJI::onboardSDK::CoreAPI::missionCallback [private]

Definition at line 621 of file DJI_API.h.

MMU_Tab DJI::onboardSDK::CoreAPI::MMU[MMU_TABLE_NUM] [private]

Definition at line 688 of file DJI_API.h.

bool DJI::onboardSDK::CoreAPI::nonBlockingCBThreadEnable

Definition at line 408 of file DJI_API.h.

CallBackHandler DJI::onboardSDK::CoreAPI::obtainControlMobileCallback [private]

Definition at line 624 of file DJI_API.h.

bool DJI::onboardSDK::CoreAPI::obtainControlMobileCMD [private]

Mobile Data Transparent Transmission - flags.

Definition at line 638 of file DJI_API.h.

CallBackHandler DJI::onboardSDK::CoreAPI::recvCallback [private]

Definition at line 622 of file DJI_API.h.

CallBackHandler DJI::onboardSDK::CoreAPI::releaseControlMobileCallback [private]

Definition at line 625 of file DJI_API.h.

bool DJI::onboardSDK::CoreAPI::releaseControlMobileCMD [private]

Definition at line 639 of file DJI_API.h.

unsigned short DJI::onboardSDK::CoreAPI::seq_num [private]

Definition at line 663 of file DJI_API.h.

HardDriver* DJI::onboardSDK::CoreAPI::serialDevice

Definition at line 703 of file DJI_API.h.

CallBackHandler DJI::onboardSDK::CoreAPI::startVideoMobileCallback [private]

Definition at line 633 of file DJI_API.h.

bool DJI::onboardSDK::CoreAPI::startVideoMobileCMD [private]

Definition at line 647 of file DJI_API.h.

bool DJI::onboardSDK::CoreAPI::stopCond

Note:: Thread data

Definition at line 509 of file DJI_API.h.

CallBackHandler DJI::onboardSDK::CoreAPI::stopVideoMobileCallback [private]

Definition at line 634 of file DJI_API.h.

bool DJI::onboardSDK::CoreAPI::stopVideoMobileCMD [private]

Definition at line 648 of file DJI_API.h.

CallBackHandler DJI::onboardSDK::CoreAPI::takeOffMobileCallback [private]

Definition at line 629 of file DJI_API.h.

bool DJI::onboardSDK::CoreAPI::takeOffMobileCMD [private]

Definition at line 643 of file DJI_API.h.

CallBackHandler DJI::onboardSDK::CoreAPI::takePhotoMobileCallback [private]

Definition at line 632 of file DJI_API.h.

bool DJI::onboardSDK::CoreAPI::takePhotoMobileCMD [private]

Definition at line 646 of file DJI_API.h.

VersionData DJI::onboardSDK::CoreAPI::versionData [private]

Definition at line 660 of file DJI_API.h.

bool DJI::onboardSDK::CoreAPI::VRCTestMobileCMD [private]

Definition at line 657 of file DJI_API.h.

CallBackHandler DJI::onboardSDK::CoreAPI::wayPointCallback [private]

Definition at line 618 of file DJI_API.h.

bool DJI::onboardSDK::CoreAPI::wayPointData [private]

Definition at line 707 of file DJI_API.h.

CallBackHandler DJI::onboardSDK::CoreAPI::wayPointEventCallback [private]

Definition at line 619 of file DJI_API.h.

WayPointInitACK DJI::onboardSDK::CoreAPI::waypointInitACK

Definition at line 517 of file DJI_API.h.

bool DJI::onboardSDK::CoreAPI::wayPointTestMobileCMD [private]

Definition at line 654 of file DJI_API.h.

The documentation for this class was generated from the following files:

Public Member Functions

Static Public Member Functions

Public Attributes

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation