The header file for cross-platform related functions is dji_platform.h. This document describes the key information and usage of the structure and function prototypes in the dji_platform.h file.

Catalog

• Definition, Enum and Struct
  E_DjiHalUartNum
  E_DjiSocketMode
  T_DjiUartStatus
  T_DjiTime
  T_DjiFileInfo
  T_DjiHalUartHandler
  T_DjiHalUsbBulkChannelInfo
  T_DjiHalUsbBulkInfo
  T_DjiHalUsbBulkDeviceInfo
  T_DjiHalUsbBulkHandler
  T_DjiHalNetworkHandler
  T_DjiOsalHandler
  T_DjiFileSystemHandler
  T_DjiSocketHandler
  DjiPlatform_RegHalUartHandler

• Function
  DjiPlatform_RegHalUsbBulkHandler
  DjiPlatform_RegHalNetworkHandler
  DjiPlatform_RegOsalHandler
  DjiPlatform_RegFileSystemHandler
  DjiPlatform_RegSocketHandler
  DjiPlatform_GetOsalHandler
  DjiPlatform_GetFileSystemHandler
  DjiPlatform_GetSocketHandler

Definition

typedef void *T_DjiUartHandle;

typedef void *T_DjiUsbBulkHandle;

typedef void *T_DjiNetworkHandle;

typedef void *T_DjiTaskHandle;

typedef void *T_DjiMutexHandle;

typedef void *T_DjiSemaHandle;

typedef void *T_DjiFileHandle;

typedef void *T_DjiDirHandle;

typedef void *T_DjiSocketHandle;

Enum

typedef enum E_DjiHalUartNum

typedef enum {
    DJI_HAL_UART_NUM_0,
    DJI_HAL_UART_NUM_1,
} E_DjiHalUartNum;

typedef enum E_DjiSocketMode

typedef enum {
    DJI_SOCKET_MODE_UDP,
    DJI_SOCKET_MODE_TCP,
} E_DjiSocketMode;

Struct

typedef struct T_DjiUartStatus

typedef struct {
    bool isConnect;
} T_DjiUartStatus;

typedef struct T_DjiTime

typedef struct {
    uint16_t year;
    uint8_t month;
    uint8_t day;
    uint8_t hour;
    uint8_t minute;
    uint8_t second;
} T_DjiTime;

typedef struct T_DjiFileInfo

typedef struct {
    uint32_t size;
    T_DjiTime createTime;
    T_DjiTime modifyTime;
    char path[DJI_FILE_PATH_SIZE_MAX];
    bool isDir;
} T_DjiFileInfo;

typedef struct T_DjiHalUartHandler

typedef struct {
    T_DjiReturnCode (*UartInit)(E_DjiHalUartNum uartNum, uint32_t baudRate, T_DjiUartHandle *uartHandle);

    T_DjiReturnCode (*UartDeInit)(T_DjiUartHandle uartHandle);

    T_DjiReturnCode (*UartWriteData)(T_DjiUartHandle uartHandle, const uint8_t *buf, uint32_t len, uint32_t *realLen);

    T_DjiReturnCode (*UartReadData)(T_DjiUartHandle uartHandle, uint8_t *buf, uint32_t len, uint32_t *realLen);

    T_DjiReturnCode (*UartGetStatus)(E_DjiHalUartNum uartNum, T_DjiUartStatus *status);
} T_DjiHalUartHandler;

typedef struct T_DjiHalUsbBulkChannelInfo

typedef struct {
    uint16_t interfaceNum;
    uint16_t endPointIn;
    uint16_t endPointOut;
} T_DjiHalUsbBulkChannelInfo;

typedef struct T_DjiHalUsbBulkInfo

typedef struct {
    bool isUsbHost;
    // attention: if 'isUsbHost' equals false, the following parameters is not valid.
    uint16_t pid;
    uint16_t vid;
    T_DjiHalUsbBulkChannelInfo channelInfo;
} T_DjiHalUsbBulkInfo;

typedef struct T_DjiHalUsbBulkDeviceInfo

typedef struct {
    uint16_t pid;
    uint16_t vid;
    uint8_t bulkChannelNum;
    T_DjiHalUsbBulkChannelInfo *channelInfo;
} T_DjiHalUsbBulkDeviceInfo;

typedef struct T_DjiHalUsbBulkHandler

typedef struct {
    T_DjiReturnCode (*UsbBulkInit)(T_DjiHalUsbBulkInfo usbBulkInfo, T_DjiUsbBulkHandle *usbBulkHandle);

    T_DjiReturnCode (*UsbBulkDeInit)(T_DjiUsbBulkHandle usbBulkHandle);

    T_DjiReturnCode (*UsbBulkWriteData)(T_DjiUsbBulkHandle usbBulkHandle, const uint8_t *buf,
                                        uint32_t len, uint32_t *realLen);

    T_DjiReturnCode (*UsbBulkReadData)(T_DjiUsbBulkHandle usbBulkHandle, uint8_t *buf,
                                       uint32_t len, uint32_t *realLen);

    T_DjiReturnCode (*UsbBulkGetDeviceInfo)(T_DjiHalUsbBulkDeviceInfo *deviceInfo);
} T_DjiHalUsbBulkHandler;

typedef struct T_DjiHalNetworkHandler

typedef struct {
    T_DjiReturnCode (*NetworkInit)(const char *ipAddr, const char *netMask, T_DjiNetworkHandle *networkHandle);

    T_DjiReturnCode (*NetworkDeInit)(T_DjiNetworkHandle networkHandle);
} T_DjiHalNetworkHandler;

typedef struct T_DjiOsalHandler

typedef struct {
    T_DjiReturnCode (*TaskCreate)(const char *name, void *(*taskFunc)(void *),
                                  uint32_t stackSize, void *arg, T_DjiTaskHandle *task);

    T_DjiReturnCode (*TaskDestroy)(T_DjiTaskHandle task);

    T_DjiReturnCode (*TaskSleepMs)(uint32_t timeMs);

    T_DjiReturnCode (*MutexCreate)(T_DjiMutexHandle *mutex);

    T_DjiReturnCode (*MutexDestroy)(T_DjiMutexHandle mutex);

    T_DjiReturnCode (*MutexLock)(T_DjiMutexHandle mutex);

    T_DjiReturnCode (*MutexUnlock)(T_DjiMutexHandle mutex);

    T_DjiReturnCode (*SemaphoreCreate)(uint32_t initValue, T_DjiSemaHandle *semaphore);

    T_DjiReturnCode (*SemaphoreDestroy)(T_DjiSemaHandle semaphore);

    T_DjiReturnCode (*SemaphoreWait)(T_DjiSemaHandle semaphore);

    T_DjiReturnCode (*SemaphoreTimedWait)(T_DjiSemaHandle semaphore, uint32_t waitTimeMs);

    T_DjiReturnCode (*SemaphorePost)(T_DjiSemaHandle semaphore);

    T_DjiReturnCode (*GetTimeMs)(uint32_t *ms);

    T_DjiReturnCode (*GetTimeUs)(uint64_t *us);

    void *(*Malloc)(uint32_t size);

    void (*Free)(void *ptr);
} T_DjiOsalHandler;

typedef struct T_DjiFileSystemHandler

typedef struct {
    T_DjiReturnCode (*FileOpen)(const char *fileName, const char *fileMode, T_DjiFileHandle *fileObj);

    T_DjiReturnCode (*FileClose)(T_DjiFileHandle fileObj);

    T_DjiReturnCode (*FileWrite)(T_DjiFileHandle fileObj, const uint8_t *buf, uint32_t len, uint32_t *realLen);

    T_DjiReturnCode (*FileRead)(T_DjiFileHandle fileObj, uint8_t *buf, uint32_t len, uint32_t *realLen);

    T_DjiReturnCode (*FileSeek)(T_DjiFileHandle fileObj, uint32_t offset);

    T_DjiReturnCode (*FileSync)(T_DjiFileHandle fileObj);

    T_DjiReturnCode (*DirOpen)(const char *filePath, T_DjiDirHandle *dirObj);

    T_DjiReturnCode (*DirClose)(T_DjiDirHandle dirObj);

    T_DjiReturnCode (*DirRead)(T_DjiDirHandle dirObj, T_DjiFileInfo *fileInfo);

    T_DjiReturnCode (*Mkdir)(const char *filePath);

    T_DjiReturnCode (*Unlink)(const char *filePath);

    T_DjiReturnCode (*Rename)(const char *oldFilePath, const char *newFilePath);

    T_DjiReturnCode (*Stat)(const char *filePath, T_DjiFileInfo *fileInfo);
} T_DjiFileSystemHandler;

typedef struct T_DjiSocketHandler

typedef struct {
    T_DjiReturnCode (*Socket)(E_DjiSocketMode mode, T_DjiSocketHandle *socketHandle);

    T_DjiReturnCode (*Close)(T_DjiSocketHandle socketHandle);

    T_DjiReturnCode (*Bind)(T_DjiSocketHandle socketHandle, const char *ipAddr, uint32_t port);

    T_DjiReturnCode (*UdpSendData)(T_DjiSocketHandle socketHandle, const char *ipAddr, uint32_t port,
                                   const uint8_t *buf, uint32_t len, uint32_t *realLen);

    T_DjiReturnCode (*UdpRecvData)(T_DjiSocketHandle socketHandle, char *ipAddr, uint32_t *port,
                                   uint8_t *buf, uint32_t len, uint32_t *realLen);

    T_DjiReturnCode (*TcpListen)(T_DjiSocketHandle socketHandle);

    T_DjiReturnCode (*TcpAccept)(T_DjiSocketHandle socketHandle, char *ipAddr, uint32_t *port,
                                 T_DjiSocketHandle *outSocketHandle);

    T_DjiReturnCode (*TcpConnect)(T_DjiSocketHandle socketHandle, const char *ipAddr, uint32_t port);

    T_DjiReturnCode (*TcpSendData)(T_DjiSocketHandle socketHandle,
                                   const uint8_t *buf, uint32_t len, uint32_t *realLen);

    T_DjiReturnCode (*TcpRecvData)(T_DjiSocketHandle socketHandle,
                                   uint8_t *buf, uint32_t len, uint32_t *realLen);
} T_DjiSocketHandler;

Function

function DjiPlatform_RegHalUartHandler

Function:Register the handler for hal uart interfaces by your platform.

product：all

T_PsdkReturnCode DjiPlatform_RegHalUartHandler(const T_DjiHalUartHandler *halUartHandler);

Parameter
halUartHandler：pointer to the handler for hal uart interfaces by your platform.
Return
The details for the return code please refer to: DjiErrorCode

function DjiPlatform_RegHalUsbBulkHandler

Function:Register the handler for usb bulk interfaces by your platform.

product：all

T_DjiReturnCode DjiPlatform_RegHalUsbBulkHandler(const T_DjiHalUsbBulkHandler *halUsbBulkHandler);

Parameter
halUsbBulkHandler：pointer to the handler for usb bulk interfaces by your platform.
Return
The details for the return code please refer to: DjiErrorCode

function DjiPlatform_RegHalNetworkHandler

Function:Register the handler for hal network interfaces by your platform.

product：all

T_DjiReturnCode DjiPlatform_RegHalNetworkHandler(const T_DjiHalNetworkHandler *halNetworkHandler);

Notes:

• It should be noted that the interface in hal is written and tested well. Users need to implement all the interfaces. Otherwise, the user interface cannot be successfully registered, and then the user interface is registered through the interface. If the registration fails, it needs to be based on the return code. To judge the problem. Make sure that the feature is available after a successful registration.
• The interface needs to be called at the beginning of the application for registration, otherwise, the subsequent functions will not work properly.

Parameter
halNetworkHandler：pointer to the handler for network handler interfaces by your platform.
Return
The details for the return code please refer to: DjiErrorCode

function DjiPlatform_RegOsalHandler

Function:Register the handler for osal interfaces by your platform.

product：all

T_DjiReturnCode DjiPlatform_RegOsalHandler(const T_DjiOsalHandler *osalHandler);

Parameter
osalHandler：pointer to the handler for osal interfaces by your platform.
Return
The details for the return code please refer to: DjiErrorCode

function DjiPlatform_RegFileSystemHandler

Function:Register the handler for file-system interfaces by your platform.

product：all

T_DjiReturnCode DjiPlatform_RegFileSystemHandler(const T_DjiFileSystemHandler *fileSystemHandler);

Parameter
fileSystemHandler：pointer to the handler for file-system interfaces by your platform.
Return
The details for the return code please refer to: DjiErrorCode

function DjiPlatform_RegSocketHandler

Function:Register the handler for socket interfaces by your platform.

product：all

T_DjiReturnCode DjiPlatform_RegSocketHandler(const T_DjiSocketHandler *socketHandler);

Parameter
socketHandler：pointer to the handler for socket interfaces by your platform.
Return
The details for the return code please refer to: DjiErrorCode

function DjiPlatform_GetOsalHandler

Function:Get the handler of osal interfaces.

product：all

T_DjiOsalHandler *DjiPlatform_GetOsalHandler(void);

Return
The details for the return code please refer to: DjiErrorCode

function DjiPlatform_GetFileSystemHandler

Function:Get the handler of file-system interfaces.

product：all

T_DjiFileSystemHandler *DjiPlatform_GetFileSystemHandler(void);

Return
The details for the return code please refer to: DjiErrorCode

function DjiPlatform_GetSocketHandler

Function:Get the handler of socket interfaces.

product：all

T_DjiSocketHandler *DjiPlatform_GetSocketHandler(void);

Return
The details for the return code please refer to: DjiErrorCode