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Merge pull request #551 from DJI-Jerry/update_linker_lib
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update linker lib, mainly reduce the linker ram consumption for STM32.
Fix Cameramanager senyAsync crash bug.
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DJI-Jerry authored Jul 1, 2020
2 parents 1e3e4a0 + 07133c1 commit dc731de
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Showing 36 changed files with 886 additions and 611 deletions.
618 changes: 421 additions & 197 deletions Doxyfile

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40 changes: 20 additions & 20 deletions osdk-core/advanced-sensing/api/inc/dji_advanced_sensing.hpp
Original file line number Diff line number Diff line change
Expand Up @@ -111,7 +111,7 @@ class AdvancedSensing {
void deinit();
/*! @brief subscribe to 240p stereo images at 20 fps
*
* @note Supported drone type : M210V2
* @platforms M210V2
* @param select the choice of the image direction, ref to
* AdvancedSensing::ImageSelection
* @param callback callback function
Expand All @@ -120,29 +120,29 @@ class AdvancedSensing {
void subscribeStereoImages(const ImageSelection *select, VehicleCallBack callback = 0, UserData userData = 0);
/*! @brief subscribe to VGA (480x640) front stereo images at 10 or 20 fps
*
* @note Supported drone type : M210V2, M300
* @platforms M210V2, M300
* @param frequency of images using enum from AdvancedSensingProtocol::FREQ
* @param callback callback function
* @param userData user data (void ptr)
*/
void subscribeFrontStereoVGA(const uint8_t freq, VehicleCallBack callback = 0, UserData userData = 0);
/*! @brief subscribe to QVGA (240x320) stereo depth map at 10 fps
*
* @note Supported drone type : M210V2
* @platforms M210V2
* @param callback callback function
* @param userData user data (void ptr)
*/
void subscribeFrontStereoDisparity(VehicleCallBack callback = 0, UserData userData = 0);
/*!
* @brief unsubscribe to QVGA (240x320) stereo depth map or images
*
* @note Supported drone type : M210V2, M300
* @platforms M210V2, M300
*/
void unsubscribeStereoImages();
/*!
* @brief unsubscribe to VGA (480x640) stereo images
*
* @note Supported drone type : M210V2, M300
* @platforms M210V2, M300
*/
void unsubscribeVGAImages();
/*! @brief
Expand All @@ -167,7 +167,7 @@ class AdvancedSensing {
*
* Start the FPV Camera Stream
*
* @note Supported drone type : M210V2, M300
* @platforms M210V2, M300
* @param cb callback function that is called in a callback thread when a new
* image is received and decoded
* @param cbParam a void pointer that users can manipulate inside the callback
Expand All @@ -178,7 +178,7 @@ class AdvancedSensing {
*
* Start the Main Camera Stream
*
* @note Supported drone type : M210V2, M300
* @platforms M210V2, M300
* @param cb callback function that is called in a callback thread when a new
* image is received and decoded
* @param cbParam a void pointer that users can manipulate inside the callback
Expand All @@ -189,42 +189,42 @@ class AdvancedSensing {
*
* Set the ACM device path, mainly for M210V2
*
* @note Supported drone type : M210V2
* @platforms M210V2
*/
void setAcmDevicePath(const char *acm_path);

/*! @brief
*
* Stop the FPV RGB Stream
*
* @note Supported drone type : M210V2, M300
* @platforms M210V2, M300
*/
void stopFPVCameraStream();

/*! @brief
*
* Stop the Main Camera RGB Stream
*
* @note Supported drone type : M210V2, M300
* @platforms M210V2, M300
*/
void stopMainCameraStream();
/*! @brief Check if a new image from the FPV camera is received
*
* @note Supported drone type : M210V2, M300
* @platforms M210V2, M300
*
* @return true if a new image frame is ready, false otherwise
*/
bool newFPVCameraImageIsReady();
/*! @brief Check if a new image from the main camera is received
*
* @note Supported drone type : M210V2, M300
* @platforms M210V2, M300
*
* @return true if a new image frame is ready, false otherwise
*/
bool newMainCameraImageReady();
/*! @brief Get a copy of the new image from the FPV camera
*
* @note Supported drone type : M210V2, M300
* @platforms M210V2, M300
* @param A copy of the new available image will be put here.
* It is safe for user to manipulate this image.
* @note If a new image is not ready upon calling this function,
Expand All @@ -235,7 +235,7 @@ class AdvancedSensing {
bool getFPVCameraImage(CameraRGBImage& copyOfImage);
/*! @brief Get a copy of the new image from the main camera
*
* @note Supported drone type : M210V2, M300
* @platforms M210V2, M300
* @param A copy of the new available image will be put here.
* It is safe for user to manipulate this image.
* @note If a new image is not ready upon calling this function,
Expand All @@ -249,7 +249,7 @@ class AdvancedSensing {
*
* Start the FPV or Camera H264 Stream
*
* @note Supported drone type : M210V2, M300
* @platforms M210V2, M300
* @note For M210 V2 series, only OSDK_CAMERA_POSITION_NO_1 and
* OSDK_CAMERA_POSITION_FPV are supported.
* @note For M300, all the poss are supported.
Expand All @@ -265,7 +265,7 @@ class AdvancedSensing {
*
* Stop the FPV or Camera H264 Stream
*
* @note Supported drone type : M210V2, M300
* @platforms M210V2, M300
* @note For M210 V2 series, only OSDK_CAMERA_POSITION_NO_1 and
* OSDK_CAMERA_POSITION_FPV are supported.
* @note For M300, all the poss are supported.
Expand All @@ -278,7 +278,7 @@ class AdvancedSensing {
*
* Subscribe the perception camera image stream (Only for M300 series)
*
* @note Supported drone type : M300
* @platforms M300
* @param direction point out which direction's stream need to be subscribed
* @param cb callback function that is called in a callback thread when a
* perception image frame is received
Expand All @@ -291,7 +291,7 @@ class AdvancedSensing {
*
* Unsubscribe the perception camera image stream (Only for M300 series)
*
* @note Supported drone type : M300
* @platforms M300
* @param direction point out which direction's stream need to be unsubscribed
* @return Errorcode of liveivew, ref to DJI::OSDK::LiveView::LiveViewErrCode
*/
Expand All @@ -302,7 +302,7 @@ class AdvancedSensing {
* Trigger the perception parameters to be passed to the callback which is
* registered by DJI::OSDK::Perception::setStereoCamParamsObserver. (Only for M300 series)
*
* @note Supported drone type : M300
* @platforms M300
* @return Errorcode of liveivew, ref to DJI::OSDK::LiveView::LiveViewErrCode
*/
Perception::PerceptionErrCode triggerStereoCamParamsPushing();
Expand All @@ -311,7 +311,7 @@ class AdvancedSensing {
*
* Set the callback to catch the perception camera parameters. (Only for M300 series)
*
* @note Supported drone type : M300
* @platforms M300
* @note The callback will be triggered by calling
* DJI::OSDK::Perception::triggerStereoCamParamsPushing() or when the parameters of
* perception cameras are refreshed.
Expand Down
4 changes: 2 additions & 2 deletions osdk-core/advanced-sensing/api/inc/dji_liveview.hpp
Original file line number Diff line number Diff line change
Expand Up @@ -66,7 +66,7 @@ class LiveView {
*
* Start the FPV or Camera H264 Stream
*
* @note Supported drone type : M300
* @platforms M300
* @param pos point out which camera to output the H264 stream
* @param cb callback function that is called in a callback thread when a new
* h264 frame is received
Expand All @@ -79,7 +79,7 @@ class LiveView {
*
* Stop the FPV or Camera H264 Stream
*
* @note Supported drone type : M300
* @platforms M300
* @param pos point out which camera to output the H264 stream
* @return Errorcode of liveivew, ref to DJI::OSDK::LiveView::LiveViewErrCode
*/
Expand Down
10 changes: 5 additions & 5 deletions osdk-core/advanced-sensing/api/inc/dji_perception.hpp
Original file line number Diff line number Diff line change
Expand Up @@ -127,7 +127,7 @@ class Perception {
/*! @brief subscribe the raw images of both stereo cameras in the same
* direction. Default frequency at 20 Hz.
*
* @note Supported drone type : M300
* @platforms M300
* @param direction to specifly the direction of the subscription. Ref to
* DJI::OSDK::Perception::DirectionType
* @param cb callback to observer the stereo camera image and info.
Expand All @@ -139,7 +139,7 @@ class Perception {
/*! @brief unsubscribe the raw image of both stereo cameras in the same
* direction.
*
* @note Supported drone type : M300
* @platforms M300
* @param direction to specifly the direction of the subscription. Ref to
* DJI::OSDK::Perception::DirectionType
* @return error code. Ref to DJI::OSDK::Perception::PerceptionErrCode
Expand All @@ -148,7 +148,7 @@ class Perception {

/*! @brief trigger stereo cameras parameters pushing once.
*
* @note Supported drone type : M300
* @platforms M300
* @param direction to specifly the direction of the subscription. Ref to
* DJI::OSDK::Perception::DirectionType
* @return error code. Ref to DJI::OSDK::Perception::PerceptionErrCode
Expand All @@ -158,7 +158,7 @@ class Perception {
/*! @brief set callback to get stereo camera parameters after trigger stereo
* camera parameters pushing.
*
* @note Supported drone type : M300
* @platforms M300
* @param cb callback to observer the parameters of stereo cameras. Ref to
* DJI::OSDK:Perception::PerceptionCamParamCB
* @param userData when cb is called, used in cb.
Expand All @@ -167,7 +167,7 @@ class Perception {

/*! @brief unsubscribe all the stereo camera parameters pushing.
*
* @note Supported drone type : M300
* @platforms M300
*/
void cancelAllSubsciptions();

Expand Down
6 changes: 3 additions & 3 deletions osdk-core/api/inc/dji_battery.hpp
Original file line number Diff line number Diff line change
Expand Up @@ -203,7 +203,7 @@ class DJIBattery
* @brief Send subscribe request to your flight controller
* to get whole battery's information, blocking calls
*
* @note Supported drone type : M210V2
* @platforms M210V2
* @param enable whether subscribe battery Info
* true:subscribe
* false:unsubscribe
Expand All @@ -216,15 +216,15 @@ class DJIBattery

/*! @brief The interface of getting whole battery information
*
* @note Supported drone type : M210V2
* @platforms M210V2
* @param batteryWholeInfo the whole information of battery
* @return bool true:success;false:fail
*/
bool getBatteryWholeInfo(BatteryWholeInfo& batteryWholeInfo);

/*! @brief The interface of getting single battery's dynamic information
*
* @note Supported drone type : M210V2
* @platforms M210V2
* @param batteryIndex the index of battery.enum-type:RequestSmartBatteryIndex
* @param batteryDynamicInfo
* @return bool true:success;false:fail
Expand Down
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