diff --git "a/s1_SDK/dji.json" "b/s1_SDK/dji.json" new file mode 100644--- /dev/null +++ "b/s1_SDK/dji.json" @@ -0,0 +1,1500 @@ +{ + "log": { + "default_level": "info", + "default_channel": "console", + "default_mask": "enable_all", + "default_format": [ + "basic" + ] + }, + "blackbox": { + "active" : 2, + "base_dir" : "/blackbox/misc", + "prefix" : "", + "demuxed" : 0, + "file_num_limit" : 100, + "file_max_size_m" : 2, + "space_limit_m" : 16, + "cache_size_m" : 1, + "output_port" : 8919, + + "channels": [ + {"name": "duss_file_id", "active": 0, "id": 0, "checksum": "no", "high_priority": 0, "sync": 0, "dma": 0, "shm": 0, "prefix": "", "file_num_limit" : 10, "file_max_size_m" : 2, "space_limit_m" : 16, "self_inc_index" : 1}, + {"name": "duss_osal_info", "active": 0, "id": 1, "checksum": "no", "high_priority": 0, "sync": 0, "dma": 0, "shm": 0, "prefix": "", "file_num_limit" : 10, "file_max_size_m" : 2, "space_limit_m" : 16, "self_inc_index" : 1}, + {"name": "duss_tm_msg", "active": 0, "id": 3, "checksum": "no", "high_priority": 0, "sync": 0, "dma": 0, "shm": 0, "prefix": "", "file_num_limit" : 10, "file_max_size_m" : 2, "space_limit_m" : 16, "self_inc_index" : 1}, + {"name": "duss_data_info", "active": 0, "id": 5, "checksum": "no", "high_priority": 0, "sync": 0, "dma": 0, "shm": 0, "prefix": "", "file_num_limit" : 10, "file_max_size_m" : 2, "space_limit_m" : 16, "self_inc_index" : 1}, + {"name": "gimbal", "active": 1, "id": 7, "checksum": "no", "high_priority": 0, "sync": 0, "dma": 0, "shm": 0, "prefix": "GIMBAL", "file_num_limit" : 20, "file_max_size_m" : 30, "space_limit_m" : 100, "self_inc_index" : 1}, + {"name": "armor1", "active": 1, "id": 9, "checksum": "no", "high_priority": 0, "sync": 0, "dma": 0, "shm": 0, "prefix": "ARMOR1", "file_num_limit" : 20, "file_max_size_m" : 10, "space_limit_m" : 30, "self_inc_index" : 1}, + {"name": "armor2", "active": 1, "id": 11, "checksum": "no", "high_priority": 0, "sync": 0, "dma": 0, "shm": 0, "prefix": "ARMOR2", "file_num_limit" : 20, "file_max_size_m" : 10, "space_limit_m" : 30, "self_inc_index" : 1}, + {"name": "armor3", "active": 1, "id": 2, "checksum": "no", "high_priority": 0, "sync": 0, "dma": 0, "shm": 0, "prefix": "ARMOR3", "file_num_limit" : 20, "file_max_size_m" : 10, "space_limit_m" : 30, "self_inc_index" : 1}, + {"name": "armor4", "active": 1, "id": 4, "checksum": "no", "high_priority": 0, "sync": 0, "dma": 0, "shm": 0, "prefix": "ARMOR4", "file_num_limit" : 20, "file_max_size_m" : 10, "space_limit_m" : 30, "self_inc_index" : 1}, + {"name": "armor5", "active": 1, "id": 6, "checksum": "no", "high_priority": 0, "sync": 0, "dma": 0, "shm": 0, "prefix": "ARMOR5", "file_num_limit" : 20, "file_max_size_m" : 10, "space_limit_m" : 30, "self_inc_index" : 1}, + {"name": "armor6", "active": 1, "id": 8, "checksum": "no", "high_priority": 0, "sync": 0, "dma": 0, "shm": 0, "prefix": "ARMOR6", "file_num_limit" : 20, "file_max_size_m" : 10, "space_limit_m" : 30, "self_inc_index" : 1}, + {"name": "gamesystem", "active": 1, "id": 10, "checksum": "no", "high_priority": 0, "sync": 0, "dma": 0, "shm": 0, "prefix": "GAMESYSTEM", "file_num_limit" : 20, "file_max_size_m" : 30, "space_limit_m" : 100, "self_inc_index" : 1}, + {"name": "gun", "active": 1, "id": 12, "checksum": "no", "high_priority": 0, "sync": 0, "dma": 0, "shm": 0, "prefix": "GUN", "file_num_limit" : 20, "file_max_size_m" : 10, "space_limit_m" : 100, "self_inc_index" : 1}, + {"name": "camera", "active": 1, "id": 14, "checksum": "no", "high_priority": 0, "sync": 0, "dma": 0, "shm": 0, "prefix": "CAMERA", "file_num_limit" : 20, "file_max_size_m" : 10, "space_limit_m" : 50, "self_inc_index" : 1}, + {"name": "vision", "active": 1, "id": 13, "checksum": "no", "high_priority": 0, "sync": 0, "dma": 0, "shm": 0, "prefix": "VISION", "file_num_limit" : 20, "file_max_size_m" : 10, "space_limit_m" : 100, "self_inc_index" : 1}, + {"name": "scratch_sys", "active": 1, "id": 15, "checksum": "no", "high_priority": 0, "sync": 0, "dma": 0, "shm": 0, "prefix": "SCRATCH_SYS", "file_num_limit" : 20, "file_max_size_m" : 10, "space_limit_m" : 100, "self_inc_index" : 1}, + {"name": "scratch_script", "active": 1, "id": 16, "checksum": "no", "high_priority": 0, "sync": 0, "dma": 0, "shm": 0, "prefix": "SCRATCH_SCRIPT", "file_num_limit" : 20, "file_max_size_m" : 10, "space_limit_m" : 100, "self_inc_index" : 1}, + {"name": "chassis", "active": 1, "id": 17, "checksum": "no", "high_priority": 0, "sync": 0, "dma": 0, "shm": 0, "prefix": "CHASSIS", "file_num_limit" : 20, "file_max_size_m" : 10, "space_limit_m" : 100, "self_inc_index" : 1}, + {"name": "network", "active": 1, "id": 18, "checksum": "no", "high_priority": 0, "sync": 0, "dma": 0, "shm": 0, "prefix": "NETWORK", "file_num_limit" : 20, "file_max_size_m" : 30, "space_limit_m" : 100, "self_inc_index" : 1}, + {"name": "dji_system", "active": 1, "id": 19, "checksum": "no", "high_priority": 0, "sync": 0, "dma": 0, "shm": 0, "prefix": "SYSTEM", "file_num_limit" : 20, "file_max_size_m" : 30, "space_limit_m" : 100, "self_inc_index" : 1}, + {"name": "stick", "active": 1, "id": 20, "checksum": "no", "high_priority": 0, "sync": 0, "dma": 0, "shm": 0, "prefix": "STICK", "file_num_limit" : 20, "file_max_size_m" : 10, "space_limit_m" : 200, "self_inc_index" : 1} + ] + }, + "platform": { + "name": "common", + "pairing_gpio": 185, + "dev_info": "xw0607edu robot", + "hw_str": "xw0607edu robot", + "system_init": "sys_platform_xw607_init" + }, + "hal": { + "device_list": [ + {"name": "/dev/video0", "attach": "duss_hal_attach_p1_v4l2", "detach": "duss_hal_detach_p1_v4l2" }, + {"name": "/dev/ienc0", "attach": "duss_hal_attach_p1_ienc", "detach": "duss_hal_detach_p1_ienc" }, + {"name": "/dev/iencv", "attach": "duss_hal_attach_p1_ienc", "detach": "duss_hal_detach_p1_ienc" }, + {"name": "/dev/venc0", "attach": "duss_hal_attach_p1_venc", "detach": "duss_hal_detach_p1_venc" }, + {"name": "/dev/venc1", "attach": "duss_hal_attach_p1_venc", "detach": "duss_hal_detach_p1_venc" }, + {"name": "/dev/venc2", "attach": "duss_hal_attach_p1_venc", "detach": "duss_hal_detach_p1_venc" }, + {"name": "/dev/venc3", "attach": "duss_hal_attach_p1_venc", "detach": "duss_hal_detach_p1_venc" }, + {"name": "/dev/vencvf", "attach": "duss_hal_attach_p1_venc", "detach": "duss_hal_detach_p1_venc" }, + {"name": "/dev/vencvb", "attach": "duss_hal_attach_p1_venc", "detach": "duss_hal_detach_p1_venc" }, + {"name": "/dev/vdec0", "attach": "duss_hal_attach_p1_vdec", "detach": "duss_hal_detach_p1_vdec" }, + {"name": "/dev/vmem", "attach": "duss_hal_attach_p1_vmem", "detach": "duss_hal_detach_p1_vmem" }, + {"name": "/dev/vmem_cache", "attach": "duss_hal_attach_p1_vmem", "detach": "duss_hal_detach_p1_vmem" }, + {"name": "/dev/omem", "attach": "duss_hal_attach_p1_vmem", "detach": "duss_hal_detach_p1_vmem" }, + {"name": "/dev/o2d", "attach": "duss_hal_attach_p1_o2d", "detach": "duss_hal_detach_p1_o2d" }, + {"name": "/dev/o2d2", "attach": "duss_hal_attach_p1_o2d", "detach": "duss_hal_detach_p1_o2d" }, + {"name": "/dev/v2d", "attach": "duss_hal_attach_p1_v2d", "detach": "duss_hal_detach_p1_v2d" }, + {"name": "/dev/ttyS0", "attach": "duss_hal_attach_linux_tty", "detach": "duss_hal_detach_linux_tty" }, + {"name": "/dev/ttyS1", "attach": "duss_hal_attach_linux_tty", "detach": "duss_hal_detach_linux_tty" }, + {"name": "/dev/ttyS2", "attach": "duss_hal_attach_linux_tty", "detach": "duss_hal_detach_linux_tty" }, + {"name": "/dev/ttyS3", "attach": "duss_hal_attach_linux_tty", "detach": "duss_hal_detach_linux_tty" }, + {"name": "/dev/ttyACM:v4255p0052", "attach": "duss_hal_attach_linux_tty", "detach": "duss_hal_detach_linux_tty" }, + {"name": "/dev/ttyACM:vFFF0p0008", "attach": "duss_hal_attach_linux_tty", "detach": "duss_hal_detach_linux_tty" }, + {"name": "/dev/ttyACM0", "attach": "duss_hal_attach_linux_tty", "detach": "duss_hal_detach_linux_tty" }, + {"name": "/dev/ttyACM1", "attach": "duss_hal_attach_linux_tty", "detach": "duss_hal_detach_linux_tty" }, + {"name": "/dev/ttyACM2", "attach": "duss_hal_attach_linux_tty", "detach": "duss_hal_detach_linux_tty" }, + {"name": "/dev/ttyACM3", "attach": "duss_hal_attach_linux_tty", "detach": "duss_hal_detach_linux_tty" }, + {"name": "/dev/i2c-0", "attach": "duss_hal_attach_linux_i2c", "detach": "duss_hal_detach_linux_i2c" }, + {"name": "/dev/i2c-1", "attach": "duss_hal_attach_linux_i2c", "detach": "duss_hal_detach_linux_i2c" }, + {"name": "/dev/i2c-4", "attach": "duss_hal_attach_linux_i2c", "detach": "duss_hal_detach_linux_i2c" }, + {"name": "/dev/spidev0.0", "attach": "duss_hal_attach_linux_spi", "detach": "duss_hal_detach_linux_spi" }, + {"name": "/dev/spidev1.0", "attach": "duss_hal_attach_linux_spi", "detach": "duss_hal_detach_linux_spi" }, + {"name": "/sys/class/gpio", "attach": "duss_hal_attach_linux_gpio", "detach": "duss_hal_detach_linux_gpio" }, + {"name": "/dev/speaker0", "attach": "duss_hal_attach_speaker", "detach": "duss_hal_detach_speaker" }, + {"name": "/dev/ttyGS0", "attach": "duss_hal_attach_linux_tty", "detach": "duss_hal_detach_linux_tty" } + ] + }, + "process": { + "dji_monitor": { + "log": { + "default_level": "error", + "default_channel": "android_log", + "default_mask": "enable_all", + "default_format": [ + "basic" + ] + }, + "blackbox": { + "active" : 3, + "base_dir" : "/blackbox/dji_monitor", + "prefix" : "", + "demuxed" : 1, + "file_num_limit" : 10, + "file_max_size_m" : 1, + "space_limit_m" : 8, + "cache_size_m" : 1, + "output_port" : 8905 + } + }, + "dji_sys": { + "log": { + "default_level": "info", + "default_channel": "android_log", + "default_mask": "enable_all", + "default_module": [ + {"upgrade": "info"} + ], + "default_format": [ + "basic" + ] + }, + "blackbox": { + "active" : 3, + "base_dir" : "/blackbox/dji_system", + "prefix" : "", + "demuxed" : 1, + "file_num_limit" : 10, + "file_max_size_m" : 2, + "space_limit_m" : 16, + "cache_size_m" : 1, + "output_port" : 8906 + } + }, + "dji_camera": { + "log": { + "default_level": "error", + "default_channel": "android_log", + "default_mask": "enable_all", + "default_module": [ + {"network": "info"} + ], + "default_format": [ + "basic" + ] + }, + "blackbox": { + "active" : 3, + "base_dir" : "/blackbox/dji_camera", + "prefix" : "", + "demuxed" : 1, + "file_num_limit" : 10, + "file_max_size_m" : 2, + "space_limit_m" : 16, + "cache_size_m" : 1, + "output_port" : 8907 + } + }, + "dji_vision": { + "log": { + "default_level": "error", + "default_channel": "android_log", + "default_mask": "enable_all", + "default_format": [ + "basic" + ] + }, + "blackbox": { + "active" : 3, + "base_dir" : "/blackbox/dji_vision", + "prefix" : "", + "demuxed" : 1, + "file_num_limit" : 10, + "file_max_size_m" : 16, + "space_limit_m" : 512, + "cache_size_m" : 1, + "output_port" : 8909 + } + }, + "dji_hdvt_uav": { + "log": { + "default_level": "error", + "default_channel": "android_log", + "default_mask": "enable_all", + "default_module": [ + {"upgrade": "info"}, + {"network": "info"} + ], + "default_format": [ + "basic" + ] + }, + "blackbox": { + "active" : 3, + "base_dir" : "/blackbox/dji_hdvt_uav", + "prefix" : "", + "demuxed" : 1, + "file_num_limit" : 10, + "file_max_size_m" : 2, + "space_limit_m" : 16, + "cache_size_m" : 1, + "output_port" : 8910 + } + }, + "dji_mb_ctrl": { + "log": { + "default_level": "warning", + "default_channel": "android_log", + "default_mask": "enable_all", + "default_format": [ + "basic" + ] + }, + "blackbox": { + "active" : 3, + "base_dir" : "/blackbox/dji_mb_ctrl", + "prefix" : "", + "demuxed" : 1, + "file_num_limit" : 10, + "file_max_size_m" : 1, + "space_limit_m" : 4, + "cache_size_m" : 1, + "output_port" : 8911 + } + }, + "dji_network": { + "log": { + "default_level": "warning", + "default_channel": "android_log", + "default_mask": "enable_all", + "default_format": [ + "basic" + ] + }, + "blackbox": { + "active" : 3, + "base_dir" : "/blackbox/dji_network", + "prefix" : "", + "demuxed" : 1, + "file_num_limit" : 10, + "file_max_size_m" : 2, + "space_limit_m" : 16, + "cache_size_m" : 1, + "output_port" : 8912 + } + }, + "dji_sw_uav": { + "log": { + "default_level": "warning", + "default_channel": "android_log", + "default_mask": "enable_all", + "default_format": [ + "basic" + ] + }, + "blackbox": { + "active" : 3, + "base_dir" : "/blackbox/dji_sw_uav_monitor", + "prefix" : "", + "demuxed" : 1, + "file_num_limit" : 10, + "file_max_size_m" : 2, + "space_limit_m" : 16, + "cache_size_m" : 1, + "output_port" : 8913 + } + }, + "sdrs": { + "log": { + "default_level": "warning", + "default_channel": "android_log", + "default_mask": "enable_all", + "default_format": [ + "basic" + ] + }, + "blackbox": { + "active" : 3, + "base_dir" : "/blackbox/sdrs", + "prefix" : "", + "demuxed" : 1, + "file_num_limit" : 10, + "file_max_size_m" : 1, + "space_limit_m" : 4, + "cache_size_m" : 1, + "output_port" : 8914 + } + }, + "sdrs_log": { + "log": { + "default_level": "warning", + "default_channel": "android_log", + "default_mask": "enable_all", + "default_format": [ + "basic" + ] + }, + "blackbox": { + "active" : 3, + "base_dir" : "/blackbox/sdrs_log", + "prefix" : "", + "demuxed" : 1, + "file_num_limit" : 10, + "file_max_size_m" : 1, + "space_limit_m" : 4, + "cache_size_m" : 1, + "output_port" : 8915 + } + }, + "dji_blackbox": { + "log": { + "default_level": "warning", + "default_channel": "android_log", + "default_mask": "enable_all", + "default_format": [ + "basic" + ] + }, + "blackbox": { + "active" : 3, + "base_dir" : "/blackbox", + "prefix" : "FLY", + "demuxed" : 1, + "file_num_limit" : 10, + "file_max_size_m" : 700, + "space_limit_m" : 2200, + "cache_size_m" : 16, + "output_port" : 8916 + } + }, + "dji_perception": { + "log": { + "default_level": "warning", + "default_channel": "android_log", + "default_mask": "enable_all", + "default_format": [ + "basic" + ] + }, + "blackbox": { + "active" : 3, + "base_dir" : "/blackbox/dji_perception", + "prefix" : "", + "demuxed" : 1, + "file_num_limit" : 10, + "file_max_size_m" : 16, + "space_limit_m" : 512, + "cache_size_m" : 1, + "output_port" : 8925 + } + } + }, + "vtair_service": { + "mb_route_table": { + "vt_sdr_fc": { + "host": "vt_air", "index": 0, + "1": {"status": 1, "target": "camera", "index": 0, "channel": "local", "distance": 0, "protocol": "logic", + "local": {"direct_host": "camera", "index": 0}}, + "2": {"status": 1, "target": "vt_gnd", "index": 0, "channel": "wl", "distance": 0, "protocol": "v1", + "wl": {"interface": "iwlan0", "local_port": 0, "remote_address": "0.0.0.0", "remote_port": 0, "server": true, "protocol": "dmp_v2"}}, + "3": {"status": 1, "target": "mobile", "index": 0, "channel": "wl", "distance": 0, "protocol": "v1", + "wl": {"interface": "iwlan0", "local_port": 0, "remote_address": "0.0.0.0", "remote_port": 0, "server": true, "protocol": "dmp_v2"}}, + "4": {"status": 1, "target": "glass", "index": 0, "channel": "wl", "distance": 0, "protocol": "v1", + "wl": {"interface": "iwlan0", "local_port": 0, "remote_address": "0.0.0.0", "remote_port": 0, "server": true, "protocol": "dmp_v2"}}, + "5": {"status": 1, "target": "rc", "index": 0, "channel": "wl", "distance": 0, "protocol": "v1", + "wl": {"interface": "iwlan0", "local_port": 0, "remote_address": "0.0.0.0", "remote_port": 0, "server": true, "protocol": "dmp_v2"}}, + "6": {"status": 1, "target": "ve_gnd", "index": 1, "channel": "wl", "distance": 0, "protocol": "v1", + "wl": {"interface": "iwlan0", "local_port": 0, "remote_address": "0.0.0.0", "remote_port": 0, "server": true, "protocol": "dmp_v2"}}, + "7": {"status": 1, "target": "vt_gnd", "index": 1, "channel": "wl", "distance": 0, "protocol": "v1", + "wl": {"interface": "iwlan0", "local_port": 0, "remote_address": "0.0.0.0", "remote_port": 0, "server": true, "protocol": "dmp_v2"}}, + "8": {"status": 1, "target": "ve_gnd", "index": 7, "channel": "wl", "distance": 0, "protocol": "v1", + "wl": {"interface": "iwlan0", "local_port": 0, "remote_address": "0.0.0.0", "remote_port": 1, "server": true, "protocol": "dmp_v2"}}, + "9": {"status": 1, "target": "vt_gnd", "index": 7, "channel": "wl", "distance": 0, "protocol": "v1", + "wl": {"interface": "iwlan0", "local_port": 0, "remote_address": "0.0.0.0", "remote_port": 1, "server": true, "protocol": "dmp_v2"}}, + "10": {"status": 1, "target": "ve_air", "index": 1, "channel": "local", "distance": 0, "protocol": "logic", + "local": {"direct_host": "ve_air", "index": 1}}, + "11": {"status": 1, "target": "ve_air", "index": 7, "channel": "local", "distance": 0, "protocol": "logic", + "local": {"direct_host": "ve_air", "index": 7}}, + "12": {"status": 1, "target": "test", "index": 0, "channel": "local", "distance": 0, "protocol": "logic", + "local": {"direct_host": "test", "index": 0}}, + "13": {"status": 1, "target": "pc", "index": 0, "channel": "local", "distance": 0, "protocol": "logic", + "local": {"direct_host": "ve_air", "index": 1}}, + "14": {"status": 1, "target": "pc", "index": 1, "channel": "local", "distance": 0, 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