PSDK 2.2.1升级到PSDK3系列都有串口通信错误导致的相关问题

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Hao Tang

• June 06, 2023 09:14

我的问题与 https://sdk-forum.dji.net/hc/zh-cn/community/posts/17502724079897-PSDK3-3-0%E5%88%9D%E5%A7%8B%E5%8C%96%E4%B8%8D%E6%88%90%E5%8A%9F-%E4%B8%B2%E5%8F%A3%E6%8A%A5%E9%94%99  中描述极其一致，请问是否有解决方案或需要我提供相关日志文件？

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  Hao Tang

  • June 06, 2023 09:26

  打印日志如下：

  ~ # ./dji_sdk_demo_linux
  [0.006][core]-[Info]-[DjiCore_Init:101) Payload SDK Version : V3.5.0-beta.0-build.1764 
  [0.521][adapter]-[Info]-[DjiAccessAdapter_Init:186) Identify aircraft series is Matrice 300 Series 
  [0.521][adapter]-[Info]-[DjiAccessAdapter_Init:206) Identify mount position type is Payload Port Type 
  Run command: echo "4" >> /proc/irq/16/smp_affinity
  Child pid: 1651
  Child exited with status 0
  [0.524][adapter]-[Info]-[DjiAccessAdapter_Init:301) Identity uart0 baudrate is 460800 bps 
  [0.541][adapter]-[Info]-[DjiPayloadNegotiate_Init:212) Waiting payload negotiate finished. 
  [1.550][adapter]-[Info]-[DjiPayloadNegotiate_Init:212) Waiting payload negotiate finished. 
  [2.560][adapter]-[Info]-[DjiPayloadNegotiate_Init:212) Waiting payload negotiate finished. 
  [3.570][adapter]-[Info]-[DjiPayloadNegotiate_Init:212) Waiting payload negotiate finished. 
  [4.580][adapter]-[Info]-[DjiPayloadNegotiate_Init:212) Waiting payload negotiate finished. 
  [5.590][adapter]-[Info]-[DjiPayloadNegotiate_Init:212) Waiting payload negotiate finished. 
  [6.600][adapter]-[Info]-[DjiPayloadNegotiate_Init:212) Waiting payload negotiate finished. 
  [7.610][adapter]-[Info]-[DjiPayloadNegotiate_Init:212) Waiting payload negotiate finished. 
  [8.620][adapter]-[Info]-[DjiPayloadNegotiate_Init:212) Waiting payload negotiate finished. 
  [9.630][adapter]-[Info]-[DjiPayloadNegotiate_Init:212) Waiting payload negotiate finished. 
  [10.640][adapter]-[Info]-[DjiPayloadNegotiate_Init:212) Waiting payload negotiate finished. 
  Run command: echo "4" >> /proc/irq/16/smp_affinity
  Child pid: 1659
  Child exited with status 0
  [12.731][adapter]-[Info]-[DjiPayloadNegotiate_Init:212) Waiting payload negotiate finished. 
  random: crng init done
  [13.740][adapter]-[Info]-[DjiPayloadNegotiate_Init:212) Waiting payload negotiate finished. 
  [14.750][adapter]-[Info]-[DjiPayloadNegotiate_Init:212) Waiting payload negotiate finished. 
  [15.760][adapter]-[Info]-[DjiPayloadNegotiate_Init:212) Waiting payload negotiate finished. 
  [16.770][adapter]-[Info]-[DjiPayloadNegotiate_Init:212) Waiting payload negotiate finished. 
  [17.780][adapter]-[Info]-[DjiPayloadNegotiate_Init:212) Waiting payload negotiate finished. 
  [18.790][adapter]-[Info]-[DjiPayloadNegotiate_Init:212) Waiting payload negotiate finished. 
  [19.800][adapter]-[Info]-[DjiPayloadNegotiate_Init:212) Waiting payload negotiate finished. 
  [20.810][adapter]-[Info]-[DjiPayloadNegotiate_Init:212) Waiting payload negotiate finished. 
  [21.820][adapter]-[Info]-[DjiPayloadNegotiate_Init:212) Waiting payload negotiate finished. 
  [22.830][adapter]-[Info]-[DjiPayloadNegotiate_Init:212) Waiting payload negotiate finished. 
  [25.445][core]-[Info]-[DjiIdentityVerify_UpdatePolicy:470) Updating dji sdk policy file... 
  [26.450][core]-[Info]-[DjiIdentityVerify_UpdatePolicy:470) Updating dji sdk policy file... 
  [27.460][core]-[Info]-[DjiIdentityVerify_UpdatePolicy:470) Updating dji sdk policy file... 
  [28.470][core]-[Info]-[DjiIdentityVerify_UpdatePolicy:470) Updating dji sdk policy file... 
  [29.480][core]-[Info]-[DjiIdentityVerify_UpdatePolicy:470) Updating dji sdk policy file... 
  [30.490][core]-[Info]-[DjiIdentityVerify_UpdatePolicy:470) Updating dji sdk policy file... 
  [31.500][core]-[Info]-[DjiIdentityVerify_UpdatePolicy:473) Update dji sdk policy file successfully 
  [31.710][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 0, retryTimes = 3, cmdSet = 3, cmdId = 253 
  [33.690][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 0, retryTimes = 3, cmdSet = 0, cmdId = 81 
  [33.890][infor]-[Info]-[DjiAircraftInfo_GetAdapterSerialNumber:680) Get serial number of Skyport V2 or X-Port is 34DDJC7001H3RS 
  [33.896][core]-[Info]-[DjiCore_Init:169) Identify AircraftType = Matrice 300 RTK, MountPosition = Payload Port NO1, SdkAdapterType = X-Port 
  [34.100][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 0, retryTimes = 3, cmdSet = 5, cmdId = 11 
  [34.310][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 0, retryTimes = 2, cmdSet = 5, cmdId = 11 
  [34.560][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 0, retryTimes = 3, cmdSet = 5, cmdId = 11 
  [34.770][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 0, retryTimes = 2, cmdSet = 5, cmdId = 11 
  [35.901][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 0, retryTimes = 3, cmdSet = 3, cmdId = 21 
  [36.500][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 0, retryTimes = 3, cmdSet = 3, cmdId = 22 
  [37.010][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 0, retryTimes = 2, cmdSet = 3, cmdId = 22 
  [37.730][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 0, retryTimes = 3, cmdSet = 4, cmdId = 15 
  [38.040][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 0, retryTimes = 3, cmdSet = 4, cmdId = 15 
  [38.250][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 0, retryTimes = 2, cmdSet = 4, cmdId = 15 
  [38.520][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 0, retryTimes = 3, cmdSet = 4, cmdId = 15 
  [38.730][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 0, retryTimes = 2, cmdSet = 4, cmdId = 15 
  [38.940][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 0, retryTimes = 1, cmdSet = 4, cmdId = 15 
  [39.280][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 0, retryTimes = 3, cmdSet = 4, cmdId = 15 
  [39.490][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 0, retryTimes = 2, cmdSet = 4, cmdId = 15 
  [39.691][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 0, retryTimes = 1, cmdSet = 4, cmdId = 15 
  [39.900][linker]-[Error]-[DjiCommand_SendAsyncHandle:887) Command async send error 0 
  [39.901][linker]-[Error]-[DjiCommand_SendSync:488) sendSync callback timeout 
  [39.901][xport]-[Error]-[DjiXPort_SetUserParameterSync:875) set parameter error: 0x000000E1. 
  [39.901][xport]-[Error]-[DjiXPort_SetLimitAngleSync:621) set lower limit of limit angle of category 3 error: 0x000000E1. 
  [39.901][user]-[Error]-[DjiTest_XPortStartService:109) set pitch extension euler angle limit angle for XPort error: 0x000000E1. 
  [39.901][user]-[Error]-[main:236) psdk xport init error 
  [39.901][core]-[Info]-[DjiCore_ApplicationStart:239) Start dji sdk application 
  [44.910][linker]-[Error]-[DjiCommand_SendAsyncHandle:887) Command async send error 0 
  [44.910][infor]-[Warn]-[DjiAircraftInfo_CheckPingStatusAsyncCallback:265) connect status async timeout 
  [47.421][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 0, retryTimes = 3, cmdSet = 4, cmdId = 16 
  [47.421][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 1, retryTimes = 3, cmdSet = 4, cmdId = 16 
  [47.421][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 2, retryTimes = 3, cmdSet = 4, cmdId = 16 
  [47.421][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 3, retryTimes = 3, cmdSet = 4, cmdId = 16 
  [47.421][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 4, retryTimes = 3, cmdSet = 4, cmdId = 16 
  [47.630][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 0, retryTimes = 2, cmdSet = 4, cmdId = 16 
  [47.631][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 1, retryTimes = 2, cmdSet = 4, cmdId = 16 
  [47.631][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 2, retryTimes = 2, cmdSet = 4, cmdId = 16 
  [47.631][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 3, retryTimes = 2, cmdSet = 4, cmdId = 16 
  [47.631][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 4, retryTimes = 2, cmdSet = 4, cmdId = 16 
  [47.840][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 0, retryTimes = 1, cmdSet = 4, cmdId = 16 
  [47.841][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 1, retryTimes = 1, cmdSet = 4, cmdId = 16 
  [47.841][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 2, retryTimes = 1, cmdSet = 4, cmdId = 16 
  [47.841][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 3, retryTimes = 1, cmdSet = 4, cmdId = 16 
  [47.841][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 4, retryTimes = 1, cmdSet = 4, cmdId = 16 
  [48.051][linker]-[Error]-[DjiCommand_SendAsyncHandle:887) Command async send error 1 
  [48.051][xport]-[Warn]-[DjiXPort_GetUserParameterAsyncCallback:1031) get user parameter timeout. 
  [48.051][linker]-[Error]-[DjiCommand_SendAsyncHandle:887) Command async send error 2 
  [48.051][xport]-[Warn]-[DjiXPort_GetUserParameterAsyncCallback:1031) get user parameter timeout. 
  [48.051][linker]-[Error]-[DjiCommand_SendAsyncHandle:887) Command async send error 3 
  [48.051][xport]-[Warn]-[DjiXPort_GetUserParameterAsyncCallback:1031) get user parameter timeout. 
  [48.051][linker]-[Error]-[DjiCommand_SendAsyncHandle:887) Command async send error 4 
  [48.051][xport]-[Warn]-[DjiXPort_GetUserParameterAsyncCallback:1031) get user parameter timeout. 
  [57.420][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 0, retryTimes = 3, cmdSet = 4, cmdId = 16 
  [57.421][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 1, retryTimes = 3, cmdSet = 4, cmdId = 16 
  [57.421][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 2, retryTimes = 3, cmdSet = 4, cmdId = 16 
  [57.421][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 3, retryTimes = 3, cmdSet = 4, cmdId = 16 
  [57.421][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 4, retryTimes = 3, cmdSet = 4, cmdId = 16 
  [57.630][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 0, retryTimes = 2, cmdSet = 4, cmdId = 16 
  [57.631][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 1, retryTimes = 2, cmdSet = 4, cmdId = 16 
  [57.631][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 2, retryTimes = 2, cmdSet = 4, cmdId = 16 
  [57.631][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 3, retryTimes = 2, cmdSet = 4, cmdId = 16 
  [57.631][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 4, retryTimes = 2, cmdSet = 4, cmdId = 16 
  [57.841][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 0, retryTimes = 1, cmdSet = 4, cmdId = 16 
  [57.841][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 1, retryTimes = 1, cmdSet = 4, cmdId = 16 
  [57.841][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 2, retryTimes = 1, cmdSet = 4, cmdId = 16 
  [57.841][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 3, retryTimes = 1, cmdSet = 4, cmdId = 16 
  [57.841][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 4, retryTimes = 1, cmdSet = 4, cmdId = 16 
  [64.910][linker]-[Error]-[DjiCommand_SendAsyncHandle:887) Command async send error 0 
  [64.910][infor]-[Warn]-[DjiAircraftInfo_CheckPingStatusAsyncCallback:265) connect status async timeout 
  [67.411][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 0, retryTimes = 3, cmdSet = 4, cmdId = 16 
  [67.420][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 1, retryTimes = 3, cmdSet = 4, cmdId = 16 
  [67.421][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 2, retryTimes = 3, cmdSet = 4, cmdId = 16 
  [67.421][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 3, retryTimes = 3, cmdSet = 4, cmdId = 16 
  [67.421][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 4, retryTimes = 3, cmdSet = 4, cmdId = 16 
  [67.620][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 0, retryTimes = 2, cmdSet = 4, cmdId = 16 
  [67.630][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 1, retryTimes = 2, cmdSet = 4, cmdId = 16 
  [67.630][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 2, retryTimes = 2, cmdSet = 4, cmdId = 16 
  [67.631][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 3, retryTimes = 2, cmdSet = 4, cmdId = 16 
  [67.631][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 4, retryTimes = 2, cmdSet = 4, cmdId = 16 
  [67.830][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 0, retryTimes = 1, cmdSet = 4, cmdId = 16 
  [67.840][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 1, retryTimes = 1, cmdSet = 4, cmdId = 16 
  [67.840][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 2, retryTimes = 1, cmdSet = 4, cmdId = 16 
  [67.841][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 3, retryTimes = 1, cmdSet = 4, cmdId = 16 
  [67.841][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 4, retryTimes = 1, cmdSet = 4, cmdId = 16 
  [68.040][linker]-[Error]-[DjiCommand_SendAsyncHandle:887) Command async send error 0 
  [68.040][xport]-[Warn]-[DjiXPort_GetUserParameterAsyncCallback:1031) get user parameter timeout. 
  [68.051][linker]-[Error]-[DjiCommand_SendAsyncHandle:887) Command async send error 1 
  [68.051][xport]-[Warn]-[DjiXPort_GetUserParameterAsyncCallback:1031) get user parameter timeout. 
  [68.051][linker]-[Error]-[DjiCommand_SendAsyncHandle:887) Command async send error 2 
  [68.051][xport]-[Warn]-[DjiXPort_GetUserParameterAsyncCallback:1031) get user parameter timeout. 
  [68.051][linker]-[Error]-[DjiCommand_SendAsyncHandle:887) Command async send error 3 
  [68.051][xport]-[Warn]-[DjiXPort_GetUserParameterAsyncCallback:1031) get user parameter timeout. 
  [68.051][linker]-[Error]-[DjiCommand_SendAsyncHandle:887) Command async send error 4 
  [68.051][xport]-[Warn]-[DjiXPort_GetUserParameterAsyncCallback:1031) get user parameter timeout. 
  [77.420][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 0, retryTimes = 3, cmdSet = 4, cmdId = 16 
  [77.421][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 1, retryTimes = 3, cmdSet = 4, cmdId = 16 
  [77.421][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 2, retryTimes = 3, cmdSet = 4, cmdId = 16 
  [77.421][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 3, retryTimes = 3, cmdSet = 4, cmdId = 16 
  [77.421][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 4, retryTimes = 3, cmdSet = 4, cmdId = 16 
  [77.630][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 0, retryTimes = 2, cmdSet = 4, cmdId = 16 
  [77.631][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 1, retryTimes = 2, cmdSet = 4, cmdId = 16 
  [77.631][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 2, retryTimes = 2, cmdSet = 4, cmdId = 16 
  [77.631][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 3, retryTimes = 2, cmdSet = 4, cmdId = 16 
  [77.631][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 4, retryTimes = 2, cmdSet = 4, cmdId = 16 
  [77.841][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 0, retryTimes = 1, cmdSet = 4, cmdId = 16 
  [77.841][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 1, retryTimes = 1, cmdSet = 4, cmdId = 16 
  [77.841][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 2, retryTimes = 1, cmdSet = 4, cmdId = 16 
  [77.841][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 3, retryTimes = 1, cmdSet = 4, cmdId = 16 
  [77.841][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 4, retryTimes = 1, cmdSet = 4, cmdId = 16 
  [84.910][linker]-[Error]-[DjiCommand_SendAsyncHandle:887) Command async send error 0 
  [84.910][infor]-[Warn]-[DjiAircraftInfo_CheckPingStatusAsyncCallback:265) connect status async timeout 
  [87.421][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 0, retryTimes = 3, cmdSet = 4, cmdId = 16 

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  DJI Developer Support

  • June 07, 2023 03:17

  这个是使用的哪个平台的库？另外DJI_HAL_UART_NUM1这里是不是也有修改？

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  Hao Tang

  • June 07, 2023 03:28

  使用的aarch64-himix100-linux-gcc平台， DJI_HAL_UART_NUM1这里也置为false了（如下图所示）

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  DJI Developer Support

  • June 07, 2023 03:44

  把这个设置成true试试，PSDK口不要修改这个。

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  Hao Tang

  • June 07, 2023 03:48

  没修改之前也是一样的，就是因为有问题我才试着修改为false的，我打印调试过，PSDK接口不会使用DJI_HAL_UART_NUM1。

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  DJI Developer Support

  • June 07, 2023 04:13

  这个也是海思的芯片吗？具体是哪一颗芯片，我们这边已经收到相关的反馈了，但是PSDK研发那边目前还没有给结论。

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  Hao Tang

  • June 07, 2023 04:14

  是海思的芯片，型号为Hi3559AV100

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  YUAN

  • June 07, 2023 09:13

  我也是海思。目前还没解决，大疆研发回复说的是下个版本会解决

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  Hao Tang

  • June 07, 2023 09:17

  好的，谢谢！

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