PSDK3.2 与M300调试报错"-[DjiCommand_SendAsyncHandle:872) Command async send error 0"

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Riverlee87

 


~ # /mnt/psdk 
s02
s01
s03
s0
s2
s2
s2
s3
uartNum = 0 115200
[695.490][core]-[Info]-[DjiCore_Init:92) Payload SDK Version : V3.2.0-beta.0-build.1569 
uartNum = 0 115200
uartNum = 0 230400
uartNum = 0 460800
[695.856][adapter]-[Info]-[DjiAccessAdapter_Init:154) Identify aircraft series is Matrice 300 Series 
uartNum = 0 460800
[695.856][adapter]-[Info]-[DjiAccessAdapter_Init:171) Identify mount position type is Payload Port Type 
[695.861][adapter]-[Info]-[DjiPayloadNegotiate_Start:199) Waiting payload negotiate finished. 
[696.866][adapter]-[Info]-[DjiPayloadNegotiate_Start:199) Waiting payload negotiate finished. 
[697.876][adapter]-[Info]-[DjiPayloadNegotiate_Start:199) Waiting payload negotiate finished. 
[698.886][adapter]-[Info]-[DjiPayloadNegotiate_Start:199) Waiting payload negotiate finished. 
[699.896][adapter]-[Info]-[DjiPayloadNegotiate_Start:199) Waiting payload negotiate finished. 
HalNetWork_Config ok 192.168.120.2  255.255.0.0
uartNum = 0 460800
[701.970][adapter]-[Info]-[DjiPayloadNegotiate_Start:199) Waiting payload negotiate finished. 
[702.976][adapter]-[Info]-[DjiPayloadNegotiate_Start:199) Waiting payload negotiate finished. 
[703.986][adapter]-[Info]-[DjiPayloadNegotiate_Start:199) Waiting payload negotiate finished. 
[704.996][adapter]-[Info]-[DjiPayloadNegotiate_Start:199) Waiting payload negotiate finished. 
[706.006][adapter]-[Info]-[DjiPayloadNegotiate_Start:199) Waiting payload negotiate finished. 
[708.406][core]-[Info]-[DjiIdentityVerify_UpdatePolicy:415) Updating dji sdk policy file... 
[709.416][core]-[Info]-[DjiIdentityVerify_UpdatePolicy:418) Update dji sdk policy file successfully 
[711.126][linker]-[Warn]-[DjiCommand_SendAsyncHandle:860) Command async send retry: index = 0, retryTimes = 3, cmdSet = 0, cmdId = 81 
[711.336][linker]-[Warn]-[DjiCommand_SendAsyncHandle:860) Command async send retry: index = 0, retryTimes = 2, cmdSet = 0, cmdId = 81 
[711.546][linker]-[Warn]-[DjiCommand_SendAsyncHandle:860) Command async send retry: index = 0, retryTimes = 1, cmdSet = 0, cmdId = 81 
[711.756][linker]-[Error]-[DjiCommand_SendAsyncHandle:872) Command async send error 0 
[711.756][linker]-[Error]-[DjiCommand_SendSync:475) sendSync callback timeout 
[711.756][infor]-[Error]-[DjiAircraftInfo_GetAdapterSerialNumber:581) Can't get the serial num of Skyport V2 or X-Port. Probably because DJI Adapter not finish init or hardware error. Please contact DJI for help.  
[712.476][linker]-[Warn]-[DjiCommand_SendAsyncHandle:860) Command async send retry: index = 0, retryTimes = 3, cmdSet = 0, cmdId = 81 
[712.686][linker]-[Warn]-[DjiCommand_SendAsyncHandle:860) Command async send retry: index = 0, retryTimes = 2, cmdSet = 0, cmdId = 81 
[712.896][linker]-[Warn]-[DjiCommand_SendAsyncHandle:860) Command async send retry: index = 0, retryTimes = 1, cmdSet = 0, cmdId = 81 
[713.106][linker]-[Error]-[DjiCommand_SendAsyncHandle:872) Command async send error 0 
[713.106][linker]-[Error]-[DjiCommand_SendSync:475) sendSync callback timeout 
[713.106][infor]-[Error]-[DjiAircraftInfo_GetAdapterSerialNumber:581) Can't get the serial num of Skyport V2 or X-Port. Probably because DJI Adapter not finish init or hardware error. Please contact DJI for help.  
[713.816][infor]-[Info]-[DjiAircraftInfo_GetAdapterSerialNumber:568) Get serial number of Skyport V2 or X-Port is 39CBJ5J0010205 
[713.822][core]-[Info]-[DjiCore_Init:151) Identify AircraftType = Matrice 300 RTK, MountPosition = Payload Port NO1, SdkAdapterType = Skyport V2 
[714.026][linker]-[Warn]-[DjiCommand_SendAsyncHandle:860) Command async send retry: index = 0, retryTimes = 3, cmdSet = 5, cmdId = 11 
[714.056][time_sync]-[Info]-[DjiTimeSync_PushAppTimeHandle:93) Current time: 2022.09.14 12:21:20. 
[714.426][linker]-[Warn]-[DjiCommand_SendAsyncHandle:860) Command async send retry: index = 0, retryTimes = 3, cmdSet = 5, cmdId = 11 
[714.636][linker]-[Warn]-[DjiCommand_SendAsyncHandle:860) Command async send retry: index = 0, retryTimes = 2, cmdSet = 5, cmdId = 11 
s4
s5
s6
d1
[714.836][linker]-[Warn]-[DjiCommand_SendAsyncHandle:860) Command async send retry: index = 1, retryTimes = 1, cmdSet = 0, cmdId = 0 
[715.156][linker]-[Warn]-[DjiCommand_SendAsyncHandle:860) Command async send retry: index = 0, retryTimes = 3, cmdSet = 3, cmdId = 21 
d2
[715.846][linker]-[Error]-[DjiCommand_SendAsyncHandle:872) Command async send error 1 
[715.846][infor]-[Warn]-[DjiAircraftInfo_CheckPingStatusAsyncCallback:191) connect status async timeout 
[715.976][linker]-[Warn]-[DjiCommand_SendAsyncHandle:860) Command async send retry: index = 0, retryTimes = 3, cmdSet = 3, cmdId = 22 
[716.486][linker]-[Warn]-[DjiCommand_SendAsyncHandle:860) Command async send retry: index = 0, retryTimes = 2, cmdSet = 3, cmdId = 22 
[716.996][linker]-[Warn]-[DjiCommand_SendAsyncHandle:860) Command async send retry: index = 0, retryTimes = 1, cmdSet = 3, cmdId = 22 
[717.536][linker]-[Warn]-[DjiCommand_SendAsyncHandle:860) Command async send retry: index = 0, retryTimes = 3, cmdSet = 3, cmdId = 20 
[718.046][linker]-[Warn]-[DjiCommand_SendAsyncHandle:860) Command async send retry: index = 0, retryTimes = 2, cmdSet = 3, cmdId = 20 
d3
[719.286][linker]-[Warn]-[DjiCommand_SendAsyncHandle:860) Command async send retry: index = 0, retryTimes = 3, cmdSet = 3, cmdId = 20 
d4
[720.176][linker]-[Warn]-[DjiCommand_SendAsyncHandle:860) Command async send retry: index = 0, retryTimes = 3, cmdSet = 3, cmdId = 22 
[720.686][linker]-[Warn]-[DjiCommand_SendAsyncHandle:860) Command async send retry: index = 0, retryTimes = 2, cmdSet = 3, cmdId = 22 
[721.196][linker]-[Warn]-[DjiCommand_SendAsyncHandle:860) Command async send retry: index = 0, retryTimes = 1, cmdSet = 3, cmdId = 22 
[721.896][linker]-[Warn]-[DjiCommand_SendAsyncHandle:860) Command async send retry: index = 0, retryTimes = 3, cmdSet = 3, cmdId = 20 
[722.406][linker]-[Warn]-[DjiCommand_SendAsyncHandle:860) Command async send retry: index = 0, retryTimes = 2, cmdSet = 3, cmdId = 20 
[722.916][linker]-[Warn]-[DjiCommand_SendAsyncHandle:860) Command async send retry: index = 0, retryTimes = 1, cmdSet = 3, cmdId = 20 
d5
[723.816][linker]-[Warn]-[DjiCommand_SendAsyncHandle:860) Command async send retry: index = 0, retryTimes = 3, cmdSet = 3, cmdId = 20 
d6
[724.396][linker]-[Warn]-[DjiCommand_SendAsyncHandle:860) Command async send retry: index = 0, retryTimes = 3, cmdSet = 3, cmdId = 22 
[724.716][utils]-[Error]-[DjiMsgq_Send:230) semaphore wait timeout 
[724.716][linker]-[Error]-[DjiLinker_RecvTask:267) send msg to queue error 
[724.736][utils]-[Error]-[DjiMsgq_Send:230) semaphore wait timeout 
[724.736][linker]-[Error]-[DjiLinker_RecvTask:259) send msg to queue error 
[724.766][utils]-[Error]-[DjiMsgq_Send:230) semaphore wait timeout 
[724.766][linker]-[Error]-[DjiLinker_RecvTask:267) send msg to queue error 
[724.796][utils]-[Error]-[DjiMsgq_Send:230) semaphore wait timeout 
[724.796][linker]-[Error]-[DjiLinker_RecvTask:259) send msg to queue error 
[724.816][utils]-[Error]-[DjiMsgq_Send:230) semaphore wait timeout 

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  • Riverlee87

    ~ # /mnt/dji_sdk_demo_linux 
    [0.006][core]-[Info]-[DjiCore_Init:92) Payload SDK Version : V3.2.0-beta.0-build.1569 
    [0.371][adapter]-[Info]-[DjiAccessAdapter_Init:154) Identify aircraft series is Matrice 300 Series 
    [0.371][adapter]-[Info]-[DjiAccessAdapter_Init:171) Identify mount position type is Payload Port Type 
    [0.375][adapter]-[Info]-[DjiPayloadNegotiate_Start:199) Waiting payload negotiate finished. 
    [1.381][adapter]-[Info]-[DjiPayloadNegotiate_Start:199) Waiting payload negotiate finished. 
    [2.391][adapter]-[Info]-[DjiPayloadNegotiate_Start:199) Waiting payload negotiate finished. 
    [3.401][adapter]-[Info]-[DjiPayloadNegotiate_Start:199) Waiting payload negotiate finished. 
    [4.411][adapter]-[Info]-[DjiPayloadNegotiate_Start:199) Waiting payload negotiate finished. 
    [6.484][adapter]-[Info]-[DjiPayloadNegotiate_Start:199) Waiting payload negotiate finished. 
    [7.491][adapter]-[Info]-[DjiPayloadNegotiate_Start:199) Waiting payload negotiate finished. 
    [8.501][adapter]-[Info]-[DjiPayloadNegotiate_Start:199) Waiting payload negotiate finished. 
    [9.511][adapter]-[Info]-[DjiPayloadNegotiate_Start:199) Waiting payload negotiate finished. 
    [10.521][adapter]-[Info]-[DjiPayloadNegotiate_Start:199) Waiting payload negotiate finished. 
    [12.919][core]-[Info]-[DjiIdentityVerify_UpdatePolicy:415) Updating dji sdk policy file... 
    [13.920][core]-[Info]-[DjiIdentityVerify_UpdatePolicy:418) Update dji sdk policy file successfully 
    [15.901][linker]-[Warn]-[DjiCommand_SendAsyncHandle:860) Command async send retry: index = 0, retryTimes = 3, cmdSet = 0, cmdId = 81 
    [16.111][linker]-[Warn]-[DjiCommand_SendAsyncHandle:860) Command async send retry: index = 0, retryTimes = 2, cmdSet = 0, cmdId = 81 
    [16.321][linker]-[Warn]-[DjiCommand_SendAsyncHandle:860) Command async send retry: index = 0, retryTimes = 1, cmdSet = 0, cmdId = 81 
    [16.531][linker]-[Error]-[DjiCommand_SendAsyncHandle:872) Command async send error 0 
    [16.531][linker]-[Error]-[DjiCommand_SendSync:475) sendSync callback timeout 
    [16.531][infor]-[Error]-[DjiAircraftInfo_GetAdapterSerialNumber:581) Can't get the serial num of Skyport V2 or X-Port. Probably because DJI Adapter not finish init or hardware error. Please contact DJI for help.  
    [17.251][linker]-[Warn]-[DjiCommand_SendAsyncHandle:860) Command async send retry: index = 0, retryTimes = 3, cmdSet = 0, cmdId = 81 
    [17.461][linker]-[Warn]-[DjiCommand_SendAsyncHandle:860) Command async send retry: index = 0, retryTimes = 2, cmdSet = 0, cmdId = 81 
    [17.671][linker]-[Warn]-[DjiCommand_SendAsyncHandle:860) Command async send retry: index = 0, retryTimes = 1, cmdSet = 0, cmdId = 81 
    [17.881][linker]-[Error]-[DjiCommand_SendAsyncHandle:872) Command async send error 0 
    [17.881][linker]-[Error]-[DjiCommand_SendSync:475) sendSync callback timeout 
    [17.881][infor]-[Error]-[DjiAircraftInfo_GetAdapterSerialNumber:581) Can't get the serial num of Skyport V2 or X-Port. Probably because DJI Adapter not finish init or hardware error. Please contact DJI for help.  
    [18.401][infor]-[Info]-[DjiAircraftInfo_GetAdapterSerialNumber:568) Get serial number of Skyport V2 or X-Port is 39CBJ5J0010205 
    [18.406][core]-[Info]-[DjiCore_Init:151) Identify AircraftType = Matrice 300 RTK, MountPosition = Payload Port NO1, SdkAdapterType = Skyport V2 
    [18.610][linker]-[Warn]-[DjiCommand_SendAsyncHandle:860) Command async send retry: index = 0, retryTimes = 3, cmdSet = 5, cmdId = 11 
    [18.820][linker]-[Warn]-[DjiCommand_SendAsyncHandle:860) Command async send retry: index = 0, retryTimes = 2, cmdSet = 5, cmdId = 11 
    [19.021][linker]-[Warn]-[DjiCommand_SendAsyncHandle:860) Command async send retry: index = 0, retryTimes = 1, cmdSet = 5, cmdId = 11 
    [19.231][linker]-[Error]-[DjiCommand_SendAsyncHandle:872) Command async send error 0 
    [19.231][linker]-[Error]-[DjiCommand_SendSync:475) sendSync callback timeout 
    [19.231][collaboration]-[Error]-[DjiPayloadCollaboration_SubscribeOtherCameraSystemStateOnM300:651) subscribe other camera system state error: 0x000000E1. 
    [19.231][collaboration]-[Error]-[DjiPayloadCollaboration_Init:159) subscribe other camera system state error: 0x000000E1. 
    [19.231][core]-[Error]-[DjiCore_Init:182) Execution timeout. Suggestion : Please contact DJI for help. 
    [19.231][core]-[Error]-[DjiCore_Init:183) Payload collaboration init error 
    [19.231][user]-[Error]-[main:118) Core init error 

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  • DJI Developer Support
    看起来串口通信不稳定，波特率是多少？可以先调整波特率试试看能否缓解。PSDK 3.x版本是会自适应波特率，如果波特率与飞机对应不上，会用不同的波特率重复的初始化串口，如果板子串口不支持，M300可以在DJI Assistant2上设置一个固定波特率，然后PSDK设置同样的波特率来运行。
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  • Riverlee87

    PSDK 2.X的版本对接M300 是可以正常使用的

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  • DJI Developer Support
    PSDK 2.0没有串口自适应
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  • DJI Developer Support
    串口波特率自适应。
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  • Riverlee87

    uartNum = 0 115200
    uartNum = 0 115200
    uartNum = 0 230400
    uartNum = 0 460800
    uartNum = 0 460800
    [762.214][adapter]-[Info]-[DjiAccessAdapter_Init:154) Identify aircraft series is Matrice 300 Series 
    [762.214][adapter]-[Info]-[DjiAccessAdapter_Init:171) Identify mount position type is Payload Port Type 
    [762.219][adapter]-[Info]-[DjiPayloadNegotiate_Start:199) Waiting payload negotiate finished. 
    [763.224][adapter]-[Info]-[DjiPayloadNegotiate_Start:199) Waiting payload negotiate finished. 
    [764.234][adapter]-[Info]-[DjiPayloadNegotiate_Start:199) Waiting payload negotiate finished. 
    [765.244][adapter]-[Info]-[DjiPayloadNegotiate_Start:199) Waiting payload negotiate finished. 
    [766.254][adapter]-[Info]-[DjiPayloadNegotiate_Start:199) Waiting payload negotiate finished.

    PSDK 2.0 460800是可以正常通信的

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  • DJI Developer Support
    您这个是PSDK端口，在DJI Assistant2 Payload SDK界面设置转接环的波特率，代码中设定相同的波特率，然后在hal_uart.c 回调中HalUart_Init只初始化设定的波特率，传入的波特率对不上时直接反馈成功。
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  • Riverlee87

    DJI Assistant2 Payload SDK界面设置转接环的波特率    两边参数都是设置的一样的

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