M3T PSDK orangepi5b的USB相关配置问题

Completed

Follow

zbwmeepo

• December 20, 2023 06:28

使用官方提供的配置脚本rndis部分配置了rndis功能，目前orangepi5b开发板可以通过usb线与linux pc进行网络通信。但是无法通过eport连接飞机的方式正常启动官方示例程序，网络通信加载失败。

orangepi5b的usb-typec口为otg模式，eport的负载端拨到host模式。连接后/sys/class/udc下出现fc000000.usb，与和linux pc连接的情况相同，是否可以视为usb已经正常识别？

程序部分，hal_network.h中的vid和pid已经正确配置，想问下还可能有什么原因导致此问题

0

• 

  zbwmeepo

  • December 20, 2023 06:43

  #!/bin/bash

  
  

  mkdir -p /sys/kernel/config/usb_gadget/rockchip

  cd /sys/kernel/config/usb_gadget/rockchip

  
  

  echo 0x0955 > idVendor # Linux Foundation

  echo 0x7020 > idProduct # Multifunction Composite Gadget

  echo 0x0001 > bcdDevice # v1.0.0

  
  

  echo 0x0200 > bcdUSB # USB2

  
  

  echo 0xEF > bDeviceClass

  echo 0x02 > bDeviceSubClass

  echo 0x01 > bDeviceProtocol

  
  

  mkdir -p strings/0x409

  echo "abcdefg1234567890" > strings/0x409/serialnumber

  echo "raspberry" > strings/0x409/manufacturer

  echo "PI4" > strings/0x409/product

  
  

  cfg=configs/b.1

  mkdir -p "${cfg}"

  echo 0x80 > ${cfg}/bmAttributes

  echo 250 > ${cfg}/MaxPower

  
  

  cfg_str=""

  udc_dev=fc000000.usb

  echo device > /sys/kernel/debug/usb/${udc_dev}/mode

  
  

  # The IP address shared by all USB network interfaces created by this script.

  net_ip=192.168.2.1

  # The associated netmask.

  net_mask=255.255.255.0

  
  
  

  # Note: RNDIS must be the first function in the configuration, or Windows'

  # RNDIS support will not operate correctly.

  enable_rndis=1

  if [ ${enable_rndis} -eq 1 ]; then

  cfg_str="${cfg_str}+RNDIS"

  func=functions/rndis.usb0

  mkdir -p "${func}"

  ln -sf "${func}" "${cfg}"

  
  

  # Informs Windows that this device is compatible with the built-in RNDIS

  # driver. This allows automatic driver installation without any need for

  # a .inf file or manual driver selection.

  echo 1 > os_desc/use

  echo 0xcd > os_desc/b_vendor_code

  echo MSFT100 > os_desc/qw_sign

  echo RNDIS > "${func}/os_desc/interface.rndis/compatible_id"

  echo 5162001 > "${func}/os_desc/interface.rndis/sub_compatible_id"

  ln -sf "${cfg}" os_desc

  fi

  
  

  enable_bulk=0

  if [ ${enable_bulk} -eq 1 ]; then

  mkdir -p /dev/usb-ffs

  cfg_str="${cfg_str}+BULK"

  
  

  mkdir -p /dev/usb-ffs/bulk

  func=functions/ffs.bulk

  mkdir -p "${func}"

  ln -sf "${func}" configs/c.1/

  mount -o mode=0777 -o uid=2000 -o gid=2000 -t functionfs bulk /dev/usb-ffs/bulk

  /home/kyle/work/DJI/startup_bulk/startup_bulk /dev/usb-ffs/bulk &

  sleep 3

  fi

  
  

  mkdir -p "${cfg}/strings/0x409"

  echo "${cfg_str:1}" > "${cfg}/strings/0x409/configuration"

  
  

  udevadm settle -t 5 || :

  echo "$udc_dev" > UDC

  
  

  /sbin/brctl addbr pi4br0

  /sbin/ifconfig pi4br0 ${net_ip} netmask ${net_mask} up

  
  

  if [ ${enable_rndis} -eq 1 ]; then

  /sbin/brctl addif pi4br0 usb0

  /sbin/ifconfig usb0 down

  /sbin/ifconfig usb0 up

  #ifconfig usb0 192.168.2.110

  fi

  
  

  exit 0

  0

  Comment actions Permalink
• 

  zbwmeepo

  • December 20, 2023 06:45

  [0.009][core]-[Info]-[DjiCore_Init:101) Payload SDK Version : V3.8.0-beta.0-build.1929
  [0.010][utils]-[Debug]-[DjiCore_RootTask:131) work execution time:
  [0.010][utils]-[Debug]-[DjiCore_RootTask:132) name                    execution time (ms)      max execution time (ms)
  [0.010][utils]-[Debug]-[DjiCore_RootTask:134) recorderWork                        0           0       
  [0.010][utils]-[Debug]-[DjiCore_RootTask:134) flowControllerTask                  0           0       
  [0.044][linker]-[Debug]-[DjiLinker_Init:128) init linker success, protocol:2, channelId:0
  [0.044][linker]-[Debug]-[DjiProtocol_v1Pack:122) V1-Send: 0x0A06->0x0300 0x03FD
  [0.064][linker]-[Debug]-[DjiProtocol_v1Pack:122) V1-Send: 0x0A06->0x0300 0x03FD
  [0.084][linker]-[Debug]-[DjiProtocol_v1Pack:122) V1-Send: 0x0A06->0x0300 0x03FD
  [0.105][linker]-[Debug]-[DjiProtocol_v1Pack:122) V1-Send: 0x0A06->0x0300 0x03FD
  [0.125][linker]-[Debug]-[DjiProtocol_v1Pack:122) V1-Send: 0x0A06->0x0300 0x03FD
  [0.148][linker]-[Debug]-[DjiLinker_DeInit:170) deinit linker success, protocol:2, channelId:0
  [0.164][linker]-[Debug]-[DjiLinker_Init:128) init linker success, protocol:2, channelId:0
  [0.164][linker]-[Debug]-[DjiProtocol_v1Pack:122) V1-Send: 0x0507->0x0503 0x03FD
  [0.184][linker]-[Debug]-[DjiProtocol_v1Pack:122) V1-Send: 0x0507->0x0503 0x03FD
  [0.204][linker]-[Debug]-[DjiProtocol_v1Pack:122) V1-Send: 0x0507->0x0503 0x03FD
  [0.224][linker]-[Debug]-[DjiProtocol_v1Pack:122) V1-Send: 0x0507->0x0503 0x03FD
  [0.244][linker]-[Debug]-[DjiProtocol_v1Pack:122) V1-Send: 0x0507->0x0503 0x03FD
  [0.268][linker]-[Debug]-[DjiLinker_DeInit:170) deinit linker success, protocol:2, channelId:0
  [0.284][linker]-[Debug]-[DjiLinker_Init:128) init linker success, protocol:2, channelId:0
  [0.284][linker]-[Debug]-[DjiProtocol_v1Pack:122) V1-Send: 0x0507->0x0503 0x03FD
  [0.304][linker]-[Debug]-[DjiProtocol_v1Pack:122) V1-Send: 0x0507->0x0503 0x03FD
  [0.324][linker]-[Debug]-[DjiProtocol_v1Pack:122) V1-Send: 0x0507->0x0503 0x03FD
  [0.344][linker]-[Debug]-[DjiProtocol_v1Pack:122) V1-Send: 0x0507->0x0503 0x03FD
  [0.364][linker]-[Debug]-[DjiProtocol_v1Pack:122) V1-Send: 0x0507->0x0503 0x03FD
  [0.387][linker]-[Debug]-[DjiLinker_DeInit:170) deinit linker success, protocol:2, channelId:0
  [0.403][linker]-[Debug]-[DjiLinker_Init:128) init linker success, protocol:2, channelId:0
  [0.403][linker]-[Debug]-[DjiProtocol_v1Pack:122) V1-Send: 0x0507->0x0503 0x03FD
  [0.423][linker]-[Debug]-[DjiProtocol_v1Pack:122) V1-Send: 0x0507->0x0503 0x03FD
  [0.443][linker]-[Debug]-[DjiProtocol_v1Pack:122) V1-Send: 0x0507->0x0503 0x03FD
  [0.463][linker]-[Debug]-[DjiProtocol_v1Pack:122) V1-Send: 0x0507->0x0503 0x03FD
  [0.483][linker]-[Debug]-[DjiProtocol_v1Pack:122) V1-Send: 0x0507->0x0503 0x03FD
  [0.507][linker]-[Debug]-[DjiLinker_DeInit:170) deinit linker success, protocol:2, channelId:0
  [0.524][linker]-[Debug]-[DjiLinker_Init:128) init linker success, protocol:2, channelId:0
  [0.524][linker]-[Debug]-[DjiProtocol_v1Pack:122) V1-Send: 0x0507->0x0503 0x03FD
  [0.531][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [0.544][linker]-[Debug]-[DjiProtocol_v1Pack:122) V1-Send: 0x0507->0x0503 0x03FD
  [0.564][linker]-[Debug]-[DjiProtocol_v1Pack:122) V1-Send: 0x0507->0x0503 0x03FD
  [0.584][linker]-[Debug]-[DjiProtocol_v1Pack:122) V1-Send: 0x0507->0x0503 0x03FD
  [0.604][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1D01->0x0A06 0x03D7
  [0.604][linker]-[Debug]-[DjiProtocol_v1Pack:122) V1-Send: 0x0507->0x0503 0x03FD
  [0.628][linker]-[Debug]-[DjiLinker_DeInit:170) deinit linker success, protocol:2, channelId:0
  [0.644][linker]-[Debug]-[DjiLinker_Init:128) init linker success, protocol:2, channelId:0
  [0.644][linker]-[Debug]-[DjiProtocol_v1Pack:122) V1-Send: 0x0507->0x0503 0x03FD
  [0.664][linker]-[Debug]-[DjiProtocol_v1Pack:122) V1-Send: 0x0507->0x0503 0x03FD
  [0.684][linker]-[Debug]-[DjiProtocol_v1Pack:122) V1-Send: 0x0507->0x0503 0x03FD
  [0.704][linker]-[Debug]-[DjiProtocol_v1Pack:122) V1-Send: 0x0507->0x0503 0x03FD
  [0.724][linker]-[Debug]-[DjiProtocol_v1Pack:122) V1-Send: 0x0507->0x0503 0x03FD
  [0.748][linker]-[Debug]-[DjiLinker_DeInit:170) deinit linker success, protocol:2, channelId:0
  [0.764][linker]-[Debug]-[DjiLinker_Init:128) init linker success, protocol:2, channelId:0
  [0.764][linker]-[Debug]-[DjiProtocol_v1Pack:122) V1-Send: 0x0A06->0x0300 0x03FD
  [0.784][linker]-[Debug]-[DjiProtocol_v1Pack:122) V1-Send: 0x0A06->0x0300 0x03FD
  [0.804][linker]-[Debug]-[DjiProtocol_v1Pack:122) V1-Send: 0x0A06->0x0300 0x03FD
  [0.824][linker]-[Debug]-[DjiProtocol_v1Pack:122) V1-Send: 0x0A06->0x0300 0x03FD
  [0.844][linker]-[Debug]-[DjiProtocol_v1Pack:122) V1-Send: 0x0A06->0x0300 0x03FD
  [0.868][linker]-[Debug]-[DjiLinker_DeInit:170) deinit linker success, protocol:2, channelId:0
  [0.884][linker]-[Debug]-[DjiLinker_Init:128) init linker success, protocol:2, channelId:0
  [0.884][linker]-[Debug]-[DjiProtocol_v1Pack:122) V1-Send: 0x0A06->0x0300 0x03FD
  [0.904][linker]-[Debug]-[DjiProtocol_v1Pack:122) V1-Send: 0x0A06->0x0300 0x03FD
  [0.924][linker]-[Debug]-[DjiProtocol_v1Pack:122) V1-Send: 0x0A06->0x0300 0x03FD
  [0.944][linker]-[Debug]-[DjiProtocol_v1Pack:122) V1-Send: 0x0A06->0x0300 0x03FD
  [0.964][linker]-[Debug]-[DjiProtocol_v1Pack:122) V1-Send: 0x0A06->0x0300 0x03FD
  [0.988][linker]-[Debug]-[DjiLinker_DeInit:170) deinit linker success, protocol:2, channelId:0
  [1.004][linker]-[Debug]-[DjiLinker_Init:128) init linker success, protocol:2, channelId:0
  [1.004][linker]-[Debug]-[DjiProtocol_v1Pack:122) V1-Send: 0x0A06->0x0300 0x03FD
  [1.024][linker]-[Debug]-[DjiProtocol_v1Pack:122) V1-Send: 0x0A06->0x0300 0x03FD
  [1.044][linker]-[Debug]-[DjiProtocol_v1Pack:122) V1-Send: 0x0A06->0x0300 0x03FD
  [1.064][linker]-[Debug]-[DjiProtocol_v1Pack:122) V1-Send: 0x0A06->0x0300 0x03FD
  [1.084][linker]-[Debug]-[DjiProtocol_v1Pack:122) V1-Send: 0x0A06->0x0300 0x03FD
  [1.109][linker]-[Debug]-[DjiLinker_DeInit:170) deinit linker success, protocol:2, channelId:0
  [1.109][utils]-[Debug]-[DjiCore_RootTask:131) work execution time:
  [1.109][utils]-[Debug]-[DjiCore_RootTask:132) name                    execution time (ms)      max execution time (ms)
  [1.109][utils]-[Debug]-[DjiCore_RootTask:134) recorderWork                        0           0       
  [1.109][utils]-[Debug]-[DjiCore_RootTask:134) flowControllerTask                  1           1       
  [1.124][linker]-[Debug]-[DjiLinker_Init:128) init linker success, protocol:2, channelId:0
  [1.124][linker]-[Debug]-[DjiProtocol_v1Pack:122) V1-Send: 0x0A06->0x0300 0x03FD
  [1.129][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x0300->0x0A06 0x03FD
  [1.131][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [1.144][linker]-[Debug]-[DjiProtocol_v1Pack:122) V1-Send: 0x0A06->0x0300 0x03FD
  [1.144][linker]-[Debug]-[DjiProtocol_v1Pack:122) V1-Send: 0x0A06->0x0306 0x0001
  [1.144][adapter]-[Debug]-[DjiAccessAdapter_IdentifyUart0InfoAndAircraftSeries:696) Check aircraft version...
  [1.148][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x0300->0x0A06 0x03FD
  [1.150][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x0306->0x0A06 0x0001
  [1.168][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x0300->0x0A06 0x0F74
  [1.195][linker]-[Debug]-[DjiProtocol_v1Pack:122) V1-Send: 0x0A06->0x0306 0x0001
  [1.195][adapter]-[Debug]-[DjiAccessAdapter_IdentifyUart0InfoAndAircraftSeries:696) Check aircraft version...
  [1.200][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x0306->0x0A06 0x0001
  [1.231][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [1.245][linker]-[Debug]-[DjiProtocol_v1Pack:122) V1-Send: 0x0A06->0x0306 0x0001
  [1.245][adapter]-[Debug]-[DjiAccessAdapter_IdentifyUart0InfoAndAircraftSeries:696) Check aircraft version...
  [1.251][linker]-[Debug]-[DjiLinker_DeInit:170) deinit linker success, protocol:2, channelId:0
  [1.251][adapter]-[Info]-[DjiAccessAdapter_Init:228) Identify aircraft series is Mavic 3 Series
  [1.251][adapter]-[Info]-[DjiAccessAdapter_Init:261) Identify mount position type is Extension Port Type
  [1.251][linker]-[Debug]-[DjiCommand_Init:158) config list channel id:2
  [1.261][linker]-[Debug]-[DjiLinker_Init:128) init linker success, protocol:2, channelId:0
  [1.261][linker]-[Debug]-[DjiCommand_Init:167) add linker node count:1
  [1.261][adapter]-[Info]-[DjiAccessAdapter_Init:362) Identity uart0 baudrate is 921600 bps
  [1.261][linker]-[Debug]-[DjiProtocol_v1Pack:122) V1-Send: 0x1303->0x0F01 0x0000
  [1.261][linker]-[Debug]-[DjiCommand_SendAsync:436) Max wait ack item count is 32.
  [1.269][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x0F01->0x1303 0x0000
  [1.270][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:1
  [1.270][linker]-[Debug]-[DjiCommand_SendSyncCallback:945) PsdkCommand_SendSyncCallback success
  [1.270][linker]-[Debug]-[DjiCommand_DealCmd:769) callback function (cmdset: 0x00 cmdid: 0x00) deal time: 0 ms
  [1.272][linker]-[Debug]-[DjiCommand_SendSync:492) sendSync callback success
  [1.272][linker]-[Debug]-[DjiCommand_RegRecvCmdHandler:613) Reg command handle list success, index:0
  [1.272][linker]-[Debug]-[DjiProtocol_v1Pack:122) V1-Send: 0x1303->0x0F01 0x0087
  [1.279][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x0F01->0x1303 0x0087
  [1.280][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0087 len:4
  [1.280][linker]-[Debug]-[DjiCommand_SendSyncCallback:945) PsdkCommand_SendSyncCallback success
  [1.280][linker]-[Debug]-[DjiCommand_DealCmd:769) callback function (cmdset: 0x00 cmdid: 0x87) deal time: 0 ms
  [1.280][linker]-[Debug]-[DjiCommand_SendSync:492) sendSync callback success
  [1.332][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [1.333][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [1.333][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [1.432][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [1.433][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [1.433][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [1.484][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1D00->0x0A06 0x2105
  [1.484][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x2105 len:1
  [1.484][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x21 cmdid: 0x05
  [1.532][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [1.533][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [1.533][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [1.632][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [1.633][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [1.633][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [1.732][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [1.732][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [1.732][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [1.832][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [1.833][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [1.833][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [1.932][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [1.932][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [1.932][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [2.032][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [2.033][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [2.033][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [2.132][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [2.132][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [2.133][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [2.168][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x0300->0x0A06 0x0F74
  [2.169][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0F74 len:28
  [2.192][utils]-[Debug]-[DjiCore_RootTask:131) work execution time:
  [2.192][utils]-[Debug]-[DjiCore_RootTask:132) name                    execution time (ms)      max execution time (ms)
  [2.193][utils]-[Debug]-[DjiCore_RootTask:134) recorderWork                        1           1       
  [2.193][utils]-[Debug]-[DjiCore_RootTask:134) flowControllerTask                  0           1       
  [2.193][utils]-[Debug]-[DjiCore_RootTask:134) commandTask                         1           1       
  [2.232][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [2.232][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [2.233][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [2.332][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [2.332][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [2.332][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [2.432][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [2.432][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [2.432][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [2.494][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1D00->0x0A06 0x2105
  [2.494][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x2105 len:1
  [2.494][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x21 cmdid: 0x05
  [2.532][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [2.532][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [2.532][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [2.604][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1D01->0x0A06 0x03D7
  [2.605][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x03D7 len:8
  [2.632][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [2.633][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [2.633][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [2.732][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [2.732][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [2.732][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [2.832][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [2.834][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [2.834][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [2.931][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [2.931][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [2.931][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [3.031][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [3.032][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [3.032][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [3.131][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [3.132][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [3.132][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [3.168][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x0300->0x0A06 0x0F74
  [3.169][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0F74 len:28
  [3.235][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [3.236][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [3.236][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [3.281][linker]-[Debug]-[DjiProtocol_v1Pack:122) V1-Send: 0x1303->0x0F01 0x0087
  [3.288][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x0F01->0x1303 0x0087
  [3.289][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0087 len:4
  [3.289][linker]-[Debug]-[DjiCommand_SendSyncCallback:945) PsdkCommand_SendSyncCallback success
  [3.289][linker]-[Debug]-[DjiCommand_DealCmd:769) callback function (cmdset: 0x00 cmdid: 0x87) deal time: 0 ms
  [3.290][linker]-[Debug]-[DjiCommand_SendSync:492) sendSync callback success
  [3.290][adapter]-[Info]-[DjiPayloadNegotiate_Init:219) Waiting payload negotiate finish.
  [3.330][utils]-[Debug]-[DjiCore_RootTask:131) work execution time:
  [3.330][utils]-[Debug]-[DjiCore_RootTask:132) name                    execution time (ms)      max execution time (ms)
  [3.330][utils]-[Debug]-[DjiCore_RootTask:134) recorderWork                        1           1       
  [3.330][utils]-[Debug]-[DjiCore_RootTask:134) flowControllerTask                  1           1       
  [3.330][utils]-[Debug]-[DjiCore_RootTask:134) commandTask                         1           1       
  [3.331][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [3.332][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [3.332][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [3.432][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [3.432][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [3.432][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [3.514][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1D00->0x0A06 0x2105
  [3.514][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x2105 len:1
  [3.514][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x21 cmdid: 0x05
  [3.532][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [3.532][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [3.532][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [3.632][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [3.633][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [3.633][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [3.732][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [3.732][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [3.732][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [3.832][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [3.832][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [3.832][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [3.932][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [3.932][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [3.932][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [4.032][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [4.033][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [4.033][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [4.132][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [4.132][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [4.132][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [4.168][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x0300->0x0A06 0x0F74
  [4.168][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0F74 len:28
  [4.232][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [4.233][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [4.233][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [4.290][adapter]-[Info]-[DjiPayloadNegotiate_Init:219) Waiting payload negotiate finish.
  [4.332][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [4.332][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [4.332][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [4.419][utils]-[Debug]-[DjiCore_RootTask:131) work execution time:
  [4.419][utils]-[Debug]-[DjiCore_RootTask:132) name                    execution time (ms)      max execution time (ms)
  [4.419][utils]-[Debug]-[DjiCore_RootTask:134) recorderWork                        0           1       
  [4.419][utils]-[Debug]-[DjiCore_RootTask:134) flowControllerTask                  0           1       
  [4.419][utils]-[Debug]-[DjiCore_RootTask:134) commandTask                         1           1       
  [4.432][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [4.433][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [4.433][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [4.532][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [4.533][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [4.533][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [4.547][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1D00->0x0A06 0x2105
  [4.547][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x2105 len:1
  [4.548][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x21 cmdid: 0x05
  [4.604][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1D01->0x0A06 0x03D7
  [4.604][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x03D7 len:8
  [4.632][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [4.632][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [4.632][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [4.732][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [4.732][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [4.732][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [4.832][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [4.832][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [4.832][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [4.932][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [4.933][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [4.933][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [5.032][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [5.033][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [5.033][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [5.132][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [5.132][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [5.132][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [5.168][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x0300->0x0A06 0x0F74
  [5.168][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0F74 len:28
  [5.232][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [5.232][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [5.232][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [5.290][adapter]-[Info]-[DjiPayloadNegotiate_Init:219) Waiting payload negotiate finish.
  [5.331][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [5.332][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [5.332][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [5.432][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [5.432][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [5.432][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [5.496][utils]-[Debug]-[DjiCore_RootTask:131) work execution time:
  [5.496][utils]-[Debug]-[DjiCore_RootTask:132) name                    execution time (ms)      max execution time (ms)
  [5.496][utils]-[Debug]-[DjiCore_RootTask:134) recorderWork                        1           1       
  [5.497][utils]-[Debug]-[DjiCore_RootTask:134) flowControllerTask                  0           1       
  [5.497][utils]-[Debug]-[DjiCore_RootTask:134) commandTask                         1           1       
  [5.532][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [5.533][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [5.533][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [5.547][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1D00->0x0A06 0x2105
  [5.547][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x2105 len:1
  [5.548][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x21 cmdid: 0x05
  [5.632][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [5.632][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [5.633][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [5.731][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [5.732][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [5.732][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [5.831][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [5.832][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [5.832][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [5.931][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [5.932][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [5.932][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [6.031][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [6.032][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [6.032][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [6.132][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [6.133][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [6.133][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [6.168][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x0300->0x0A06 0x0F74
  [6.168][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0F74 len:28
  [6.231][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [6.231][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [6.232][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [6.290][adapter]-[Info]-[DjiPayloadNegotiate_Init:219) Waiting payload negotiate finish.
  [6.331][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [6.332][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [6.332][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [6.432][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [6.433][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [6.433][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [6.532][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [6.533][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [6.533][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [6.547][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1D00->0x0A06 0x2105
  [6.548][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x2105 len:1
  [6.548][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x21 cmdid: 0x05
  [6.576][utils]-[Debug]-[DjiCore_RootTask:131) work execution time:
  [6.576][utils]-[Debug]-[DjiCore_RootTask:132) name                    execution time (ms)      max execution time (ms)
  [6.576][utils]-[Debug]-[DjiCore_RootTask:134) recorderWork                        0           1       
  [6.576][utils]-[Debug]-[DjiCore_RootTask:134) flowControllerTask                  0           1       
  [6.576][utils]-[Debug]-[DjiCore_RootTask:134) commandTask                         1           1       
  [6.604][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1D01->0x0A06 0x03D7
  [6.605][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x03D7 len:8
  [6.632][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [6.633][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [6.633][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [6.732][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [6.732][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [6.732][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [6.832][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [6.832][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [6.832][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [6.932][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [6.932][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [6.932][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [7.031][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [7.032][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [7.032][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [7.132][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [7.133][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [7.133][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [7.168][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x0300->0x0A06 0x0F74
  [7.169][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0F74 len:28
  [7.232][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [7.233][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [7.233][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [7.290][adapter]-[Info]-[DjiPayloadNegotiate_Init:219) Waiting payload negotiate finish.
  [7.331][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [7.332][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [7.332][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [7.431][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [7.431][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [7.431][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [7.532][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [7.532][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [7.532][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [7.549][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1D00->0x0A06 0x2105
  [7.549][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x2105 len:1
  [7.549][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x21 cmdid: 0x05
  [7.632][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [7.633][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [7.633][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [7.650][utils]-[Debug]-[DjiCore_RootTask:131) work execution time:
  [7.650][utils]-[Debug]-[DjiCore_RootTask:132) name                    execution time (ms)      max execution time (ms)
  [7.650][utils]-[Debug]-[DjiCore_RootTask:134) recorderWork                        0           1       
  [7.650][utils]-[Debug]-[DjiCore_RootTask:134) flowControllerTask                  1           1       
  [7.650][utils]-[Debug]-[DjiCore_RootTask:134) commandTask                         1           1       
  [7.732][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [7.733][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [7.733][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [7.832][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [7.832][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [7.832][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [7.932][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [7.932][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [7.932][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [8.032][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [8.033][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [8.033][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [8.132][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [8.132][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [8.132][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [8.168][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x0300->0x0A06 0x0F74
  [8.169][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0F74 len:28
  [8.232][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [8.232][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [8.232][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [8.290][adapter]-[Error]-[DjiAccessAdapter_Init:373) Payload negotiate error, returnCode = 225
  [8.290][adapter]-[Error]-[DjiAccessAdapter_Init:379) Payload negotiate error, returnCode = 225
  [8.290][core]-[Error]-[DjiCore_Init:121) Access adapter init error, stat:225
  [8.333][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [8.333][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [8.333][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [8.432][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [8.432][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [8.432][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [8.532][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [8.532][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [8.532][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [8.604][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1D01->0x0A06 0x03D7
  [8.604][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x03D7 len:8
  [8.623][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1D00->0x0A06 0x2105
  [8.624][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x2105 len:1
  [8.624][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x21 cmdid: 0x05
  [8.632][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [8.632][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [8.632][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [8.731][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [8.731][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [8.731][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [8.761][utils]-[Debug]-[DjiCore_RootTask:131) work execution time:
  [8.761][utils]-[Debug]-[DjiCore_RootTask:132) name                    execution time (ms)      max execution time (ms)
  [8.761][utils]-[Debug]-[DjiCore_RootTask:134) recorderWork                        1           1       
  [8.761][utils]-[Debug]-[DjiCore_RootTask:134) flowControllerTask                  0           1       
  [8.761][utils]-[Debug]-[DjiCore_RootTask:134) commandTask                         1           1       
  [8.832][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [8.832][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [8.832][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [8.932][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [8.933][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [8.933][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [9.032][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [9.033][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [9.033][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [9.131][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [9.132][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [9.132][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [9.168][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x0300->0x0A06 0x0F74
  [9.169][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0F74 len:28
  [9.231][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [9.232][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [9.232][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00

  0

  Comment actions Permalink
• 

  zbwmeepo

  • December 20, 2023 06:45

  

  0

  Comment actions Permalink
• 

  DJI Developer Support

  • December 20, 2023 11:55

  尊敬的开发者， 您好，感谢您联系DJI 大疆创新。 我看您的这个问题在另一个工单上有了新的进度，请问下您这两个是同一个问题吗？如果是同一问题建议放在相同的工单里跟踪进度。 感谢您对大疆产品的支持！祝您一切顺利！ Best Regards, DJI 大疆创新SDK技术支持

  1

  Comment actions Permalink
• 

  zbwmeepo

  • December 21, 2023 06:04

  我现在如果只配置一个bulk链路，就是树莓派4b那个文章里面的配置，使用测试程序是可以正常进行收发的。
  如果配置两条bulk链路，每次启动测试程序使用其中的bulk1或bulk2是可以正常收发的，但如果在一个进程中使用bulk1，在启动另外一个进程使用bulk2，第二个启动的进程会失败。如果在一个进程中同时使用bulk1和bulk2进行收发每个链路都是有些发送成功有些发送失败。然后无论是配置一条还是两条链路，官方Psdk程序初始化bulk链路都是失败的。

  0

  Comment actions Permalink
• 

  DJI Developer Support

  • December 21, 2023 09:01

  尊敬的开发者， 您好，感谢您联系DJI 大疆创新。 如果测试过回环是通的，可以在PSDK的HalUsbBulk_Init函数中加一些打印，看看具体是卡在哪个步骤初始化失败了。 感谢您对大疆产品的支持！祝您一切顺利！ Best Regards, DJI 大疆创新SDK技术支持

  0

  Comment actions Permalink

Please sign in to leave a comment.