APIs for controlling Hardware Sync. More...

#include <dji_hardware_sync.hpp>

Public Types
enum	SatelliteIndex { GPS, GLONASS, GALILEO, BEIDOU, MAX_INDEX_CNT }

enum	NMEAType { GNGSA, GNRMC, TYPENUM }

enum	PPSSource { INTERNAL_GPS, EXTERNAL_GPS, RTK }

typedef enum DJI::OSDK::HardwareSync::SatelliteIndex	SatelliteIndex

typedef struct DJI::OSDK::HardwareSync::SyncSettings	SyncSettings

typedef enum DJI::OSDK::HardwareSync::NMEAType	NMEAType

typedef enum DJI::OSDK::HardwareSync::PPSSource	PPSSource

typedef timespec	RecvTimeMsg

typedef struct DJI::OSDK::HardwareSync::NMEAData	NMEAData

typedef struct DJI::OSDK::HardwareSync::GNGSAPackage	GNGSAPackage

Public Member Functions
	HardwareSync (Vehicle *vehiclePtr=0)

void	setSyncFreq (uint32_t freqInHz, uint16_t tag=0)
	Call this API to start sending a hardware pulse and set up a software packet to accompany it. More...

void	startSync (SyncSettings &data)
	Internal setter function that is called by setSyncFreq function. More...

void	subscribeNMEAMsgs (VehicleCallBack cb, void *userData)
	Subscribe to NMEA messages with a callback function. More...

void	unsubscribeNMEAMsgs ()
	Unsubscribe to NMEA messages. More...

bool	getGNRMCMsg (NMEAData &nmea)
	Poll NMEA messages. More...

bool	getGNGSAMsg (GNGSAPackage &GNGSA)
	Poll NMEA messages. More...

void	subscribeUTCTime (VehicleCallBack cb, void *userData)
	Subscribe to UTC Time tag with a callback function. More...

void	unsubscribeUTCTime ()
	Unsubscribe to UTC time tag. More...

bool	getUTCTime (NMEAData &utc)
	Poll UTC time tag. More...

void	subscribeFCTimeInUTCRef (VehicleCallBack cb, void *userData)
	Subscribe to FC Time in UTC referece with a callback function. More...

void	unsubscribeFCTimeInUTCRef ()
	Unsubscribe to FC Time in UTC referece.

bool	getFCTimeInUTCRef (DJI::OSDK::ACK::FCTimeInUTC &fcTimeInUTC)
	Poll FC Time in UTC referece. More...

void	subscribePPSSource (VehicleCallBack cb, void *userData)
	Subscribe to PPS source info with a callback function. More...

void	unsubscribePPSSource ()
	Unsubscribe to PPS source info. More...

bool	getPPSSource (PPSSource &source)
	Poll PPS source info. More...

void	writeData (const uint8_t cmdID, const RecvContainer *recvContainer)
	Write data when received from UART. More...

Public Attributes
VehicleCallBackHandler	ppsNMEAHandler

VehicleCallBackHandler	ppsUTCTimeHandler

VehicleCallBackHandler	ppsUTCFCTimeHandler

VehicleCallBackHandler	ppsSourceHandler

Detailed Description

APIs for controlling Hardware Sync.

These APIs enable you to output a pulse/pulse train along with a software packet with synchronized timestamps and sensor data.

Note: You must use this in conjunction with TOPIC_HARD_SYNC subscription.; You need to set a F-channel to Sync through DJI Assistant 2.

Member Function Documentation

◆ getFCTimeInUTCRef()

bool HardwareSync::getFCTimeInUTCRef ( DJI::OSDK::ACK::FCTimeInUTC & fcTimeInUTC )

Poll FC Time in UTC referece.

Supported Platforms : M210V2, M300

Parameters

data	struct to fill

◆ getGNGSAMsg()

bool HardwareSync::getGNGSAMsg ( GNGSAPackage & GNGSA )

Poll NMEA messages.

Supported Platforms : M210V2, M300

Parameters

which	NMEA message to poll
data	struct to fill

◆ getGNRMCMsg()

bool HardwareSync::getGNRMCMsg ( NMEAData & nmea )

Poll NMEA messages.

Supported Platforms : M210V2, M300

Parameters

which	NMEA message to poll
data	struct to fill

◆ getPPSSource()

bool HardwareSync::getPPSSource ( PPSSource & source )

Poll PPS source info.

Supported Platforms : M210V2, M300

Parameters

data	struct to fill

◆ getUTCTime()

bool HardwareSync::getUTCTime ( NMEAData & utc )

Poll UTC time tag.

Supported Platforms : M210V2, M300

Parameters

data	struct to fill

◆ setSyncFreq()

void HardwareSync::setSyncFreq	(	uint32_t	freqInHz,
		uint16_t	tag = `0`
	)

Call this API to start sending a hardware pulse and set up a software packet to accompany it.

You need to select a pin on DJI Assistant 2 that will output this hardware pulse. To receive the software packet that accompanies this pulse, you will need to subscribe to TOPIC_HARD_SYNC.

Supported Platforms : M210V2, M300

Parameters

freqInHz	The frequency at which you want this pulse to be output.
tag	Identification to match pulse with the corresponding software packet

◆ startSync()

void HardwareSync::startSync ( SyncSettings & data )

Internal setter function that is called by setSyncFreq function.

Use setSyncFreq instead of this direct interface.

Supported Platforms : M210V2, M300

Parameters

data	Struct of type SyncCmdData.

◆ subscribeFCTimeInUTCRef()

void HardwareSync::subscribeFCTimeInUTCRef	(	VehicleCallBack	cb,
		void *	userData
	)

Subscribe to FC Time in UTC referece with a callback function.

Supported Platforms : M210V2, M300

Parameters

callback	callback function
userData	user data (void ptr)

◆ subscribeNMEAMsgs()

void HardwareSync::subscribeNMEAMsgs	(	VehicleCallBack	cb,
		void *	userData
	)

Subscribe to NMEA messages with a callback function.

Supported Platforms : M210V2, M300

Parameters

callback	callback function
userData	user data (void ptr)

◆ subscribePPSSource()

void HardwareSync::subscribePPSSource	(	VehicleCallBack	cb,
		void *	userData
	)

Subscribe to PPS source info with a callback function.

Supported Platforms : M210V2, M300

Parameters

callback	callback function
userData	user data (void ptr)

◆ subscribeUTCTime()

void HardwareSync::subscribeUTCTime	(	VehicleCallBack	cb,
		void *	userData
	)

Subscribe to UTC Time tag with a callback function.

Supported Platforms : M210V2, M300

Parameters

callback	callback function
userData	user data (void ptr)

◆ unsubscribeNMEAMsgs()

void HardwareSync::unsubscribeNMEAMsgs ( )

Unsubscribe to NMEA messages.

Supported Platforms : M210V2, M300

◆ unsubscribePPSSource()

void HardwareSync::unsubscribePPSSource ( )

Unsubscribe to PPS source info.

Supported Platforms : M210V2, M300

◆ unsubscribeUTCTime()

void HardwareSync::unsubscribeUTCTime ( )

Unsubscribe to UTC time tag.

Supported Platforms : M210V2, M300

◆ writeData()

void HardwareSync::writeData	(	const uint8_t	cmdID,
		const RecvContainer *	recvContainer
	)

Write data when received from UART.

Supported Platforms : M210V2, M300

Parameters

cmd	id
received	data

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

osdk-core/api/inc/dji_hardware_sync.hpp
osdk-core/api/src/dji_hardware_sync.cpp

Onboard SDK

Public Types

Public Member Functions

Public Attributes

Detailed Description

Member Function Documentation

◆ getFCTimeInUTCRef()

◆ getGNGSAMsg()

◆ getGNRMCMsg()

◆ getPPSSource()

◆ getUTCTime()

◆ setSyncFreq()

◆ startSync()

◆ subscribeFCTimeInUTCRef()

◆ subscribeNMEAMsgs()

◆ subscribePPSSource()

◆ subscribeUTCTime()

◆ unsubscribeNMEAMsgs()

◆ unsubscribePPSSource()

◆ unsubscribeUTCTime()

◆ writeData()