PSDK3.8.0使用USB连接M3E经常失败

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bing

• May 08, 2024 06:25
• Edited

硬件平台RK3568，debian 10.

按照树莓派的脚本，设置rk3568的USB OTG接口为device，运行dji_sdk_demo_linux_cxx程序，有时候可以正常初始化，有时候初始化失败，成功是也不知道为啥会成功，

rk板子连接windows系统显示如下：

麻烦帮忙看一下什么问题，失败时的log如下：

[0.010][core]-[Info]-[DjiCore_Init:101) Payload SDK Version : V3.8.0-beta.0-build.1929

[0.012][utils]-[Debug]-[DjiCore_RootTask:131) work execution time:

[0.012][utils]-[Debug]-[DjiCore_RootTask:132) name                  execution time (ms)   max execution time (ms)

[0.012][utils]-[Debug]-[DjiCore_RootTask:134) recorderWork                      0           0      

[0.012][utils]-[Debug]-[DjiCore_RootTask:134) flowControllerTask                0           0      

[0.083][linker]-[Debug]-[DjiLinker_Init:128) init linker success, protocol:2, channelId:0

[0.084][linker]-[Debug]-[DjiProtocol_v1Pack:122) V1-Send: 0x0A06->0x0300 0x03FD

[0.088][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x0300->0x0A06 0x03FD

[0.104][linker]-[Debug]-[DjiProtocol_v1Pack:122) V1-Send: 0x0A06->0x0300 0x03FD

[0.104][linker]-[Debug]-[DjiProtocol_v1Pack:122) V1-Send: 0x0A06->0x0306 0x0001

[0.104][adapter]-[Debug]-[DjiAccessAdapter_CheckUserUartBaudRateAndAircraftSeries:1104) Check aircraft version...

[0.108][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x0300->0x0A06 0x03FD

[0.108][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x0306->0x0A06 0x0001

[0.130][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000

[0.154][linker]-[Debug]-[DjiProtocol_v1Pack:122) V1-Send: 0x0A06->0x0306 0x0001

[0.154][adapter]-[Debug]-[DjiAccessAdapter_CheckUserUartBaudRateAndAircraftSeries:1104) Check aircraft version...

[0.158][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x0306->0x0A06 0x0001

[0.205][linker]-[Debug]-[DjiProtocol_v1Pack:122) V1-Send: 0x0A06->0x0306 0x0001

[0.205][adapter]-[Debug]-[DjiAccessAdapter_CheckUserUartBaudRateAndAircraftSeries:1104) Check aircraft version...

[0.259][linker]-[Debug]-[DjiLinker_DeInit:170) deinit linker success, protocol:2, channelId:0

[0.259][adapter]-[Info]-[DjiAccessAdapter_Init:228) Identify aircraft series is Mavic 3 Series

[0.259][adapter]-[Info]-[DjiAccessAdapter_Init:261) Identify mount position type is Extension Port Type

[0.259][linker]-[Debug]-[DjiCommand_Init:158) config list channel id:2

[0.283][linker]-[Debug]-[DjiLinker_Init:128) init linker success, protocol:2, channelId:0

[0.283][linker]-[Debug]-[DjiCommand_Init:167) add linker node count:1

[0.284][adapter]-[Info]-[DjiAccessAdapter_Init:362) Identity uart0 baudrate is 921600 bps

[0.284][linker]-[Debug]-[DjiProtocol_v1Pack:122) V1-Send: 0x1303->0x0F01 0x0000

[0.284][linker]-[Debug]-[DjiCommand_SendAsync:436) Max wait ack item count is 32.

[0.290][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x0F01->0x1303 0x0000

[0.291][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:1

[0.291][linker]-[Debug]-[DjiCommand_SendSyncCallback:945) PsdkCommand_SendSyncCallback success

[0.291][linker]-[Debug]-[DjiCommand_DealCmd:769) callback function (cmdset: 0x00 cmdid: 0x00) deal time: 0 ms

[0.291][linker]-[Debug]-[DjiCommand_SendSync:492) sendSync callback success

[0.291][linker]-[Debug]-[DjiCommand_RegRecvCmdHandler:613) Reg command handle list success, index:0

[0.291][linker]-[Debug]-[DjiProtocol_v1Pack:122) V1-Send: 0x1303->0x0F01 0x0087

[0.299][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x0F01->0x1303 0x0087

[0.299][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0087 len:4

[0.299][linker]-[Debug]-[DjiCommand_SendSyncCallback:945) PsdkCommand_SendSyncCallback success

[0.299][linker]-[Debug]-[DjiCommand_DealCmd:769) callback function (cmdset: 0x00 cmdid: 0x87) deal time: 0 ms

[0.299][linker]-[Debug]-[DjiCommand_SendSync:492) sendSync callback success

[0.330][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000

[0.331][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2

[0.331][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00

[0.430][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000

[0.431][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2

[0.431][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00

[0.530][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000

[0.531][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2

[0.531][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00

[0.631][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1D00->0x0A06 0x2105

[0.631][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000

[0.632][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x2105 len:1

[0.632][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x21 cmdid: 0x05

[0.633][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2

[0.633][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00

[0.681][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x0300->0x0A06 0x0F74

[0.682][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0F74 len:28

[0.730][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000

[0.731][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2

[0.731][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00

[0.830][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000

[0.831][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2

[0.831][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00

[0.930][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000

[0.930][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2

[0.930][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00

[1.030][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000

[1.031][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2

[1.031][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00

[1.128][utils]-[Debug]-[DjiCore_RootTask:131) work execution time:

[1.128][utils]-[Debug]-[DjiCore_RootTask:132) name                  execution time (ms)   max execution time (ms)

[1.128][utils]-[Debug]-[DjiCore_RootTask:134) recorderWork                      1           1      

[1.128][utils]-[Debug]-[DjiCore_RootTask:134) flowControllerTask                1           1      

[1.128][utils]-[Debug]-[DjiCore_RootTask:134) commandTask                       1           1      

[1.130][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000

[1.130][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2

[1.130][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00

[1.230][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000

[1.231][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2

[1.231][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00

[1.330][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000

[1.331][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2

[1.331][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00

[1.430][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000

[1.430][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2

[1.431][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00

[1.473][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1D01->0x0A06 0x03D7

[1.474][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x03D7 len:8

[1.530][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000

[1.531][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2

[1.531][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00

[1.631][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1D00->0x0A06 0x2105

[1.631][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000

[1.631][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x2105 len:1

[1.631][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x21 cmdid: 0x05

[1.632][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2

[1.632][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00

[1.682][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x0300->0x0A06 0x0F74

[1.683][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0F74 len:28

[1.730][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000

[1.731][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2

[1.731][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00

[1.830][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000

[1.831][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2

[1.831][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00

[1.930][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000

[1.931][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2

[1.931][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00

[2.030][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000

[2.031][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2

[2.031][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00

[2.130][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000

[2.131][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2

[2.131][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00

[2.230][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000

[2.231][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2

[2.231][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00

[2.235][utils]-[Debug]-[DjiCore_RootTask:131) work execution time:

[2.235][utils]-[Debug]-[DjiCore_RootTask:132) name                  execution time (ms)   max execution time (ms)

[2.235][utils]-[Debug]-[DjiCore_RootTask:134) recorderWork                      1           1      

[2.235][utils]-[Debug]-[DjiCore_RootTask:134) flowControllerTask                0           1      

[2.235][utils]-[Debug]-[DjiCore_RootTask:134) commandTask                       1           1      

0

• 

  bing

  • May 08, 2024 03:12

  还有这一份log

  [0.012][core]-[Info]-[DjiCore_Init:101) Payload SDK Version : V3.8.0-beta.0-build.1929

  [0.015][utils]-[Debug]-[DjiCore_RootTask:131) work execution time:

  [0.015][utils]-[Debug]-[DjiCore_RootTask:132) name                  execution time (ms)   max execution time (ms)

  [0.015][utils]-[Debug]-[DjiCore_RootTask:134) recorderWork                      0           0      

  [0.015][utils]-[Debug]-[DjiCore_RootTask:134) flowControllerTask                0           0      

  [0.089][linker]-[Debug]-[DjiLinker_Init:128) init linker success, protocol:2, channelId:0

  [0.089][linker]-[Debug]-[DjiProtocol_v1Pack:122) V1-Send: 0x0A06->0x0300 0x03FD

  [0.092][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x0300->0x0A06 0x03FD

  [0.109][linker]-[Debug]-[DjiProtocol_v1Pack:122) V1-Send: 0x0A06->0x0300 0x03FD

  [0.110][linker]-[Debug]-[DjiProtocol_v1Pack:122) V1-Send: 0x0A06->0x0306 0x0001

  [0.110][adapter]-[Debug]-[DjiAccessAdapter_CheckUserUartBaudRateAndAircraftSeries:1104) Check aircraft version...

  [0.113][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x0300->0x0A06 0x03FD

  [0.114][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x0306->0x0A06 0x0001

  [0.160][linker]-[Debug]-[DjiProtocol_v1Pack:122) V1-Send: 0x0A06->0x0306 0x0001

  [0.160][adapter]-[Debug]-[DjiAccessAdapter_CheckUserUartBaudRateAndAircraftSeries:1104) Check aircraft version...

  [0.163][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x0306->0x0A06 0x0001

  [0.172][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000

  [0.210][linker]-[Debug]-[DjiProtocol_v1Pack:122) V1-Send: 0x0A06->0x0306 0x0001

  [0.211][adapter]-[Debug]-[DjiAccessAdapter_CheckUserUartBaudRateAndAircraftSeries:1104) Check aircraft version...

  [0.264][linker]-[Debug]-[DjiLinker_DeInit:170) deinit linker success, protocol:2, channelId:0

  [0.264][adapter]-[Info]-[DjiAccessAdapter_Init:228) Identify aircraft series is Mavic 3 Series

  [0.264][adapter]-[Info]-[DjiAccessAdapter_Init:261) Identify mount position type is Extension Port Type

  [0.264][linker]-[Debug]-[DjiCommand_Init:158) config list channel id:2

  [0.283][linker]-[Debug]-[DjiLinker_Init:128) init linker success, protocol:2, channelId:0

  [0.283][linker]-[Debug]-[DjiCommand_Init:167) add linker node count:1

  [0.284][adapter]-[Info]-[DjiAccessAdapter_Init:362) Identity uart0 baudrate is 921600 bps

  [0.284][linker]-[Debug]-[DjiProtocol_v1Pack:122) V1-Send: 0x1303->0x0F01 0x0000

  [0.284][linker]-[Debug]-[DjiCommand_SendAsync:436) Max wait ack item count is 32.

  [0.290][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x0F01->0x1303 0x0000

  [0.291][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:1

  [0.291][linker]-[Debug]-[DjiCommand_SendSyncCallback:945) PsdkCommand_SendSyncCallback success

  [0.292][linker]-[Debug]-[DjiCommand_DealCmd:769) callback function (cmdset: 0x00 cmdid: 0x00) deal time: 1 ms

  [0.292][linker]-[Debug]-[DjiCommand_SendSync:492) sendSync callback success

  [0.292][linker]-[Debug]-[DjiCommand_RegRecvCmdHandler:613) Reg command handle list success, index:0

  [0.292][linker]-[Debug]-[DjiProtocol_v1Pack:122) V1-Send: 0x1303->0x0F01 0x0087

  [0.298][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x0F01->0x1303 0x0087

  [0.299][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0087 len:4

  [0.299][linker]-[Debug]-[DjiCommand_SendSyncCallback:945) PsdkCommand_SendSyncCallback success

  [0.299][linker]-[Debug]-[DjiCommand_DealCmd:769) callback function (cmdset: 0x00 cmdid: 0x87) deal time: 0 ms

  [0.299][linker]-[Debug]-[DjiCommand_SendSync:492) sendSync callback success

  [0.360][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x0300->0x0A06 0x0F74

  [0.360][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0F74 len:28

  [0.372][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000

  [0.372][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2

  [0.372][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00

  [0.472][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000

  [0.473][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2

  [0.473][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00

  [0.572][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000

  [0.573][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2

  [0.573][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00

  [0.672][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000

  [0.673][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2

  [0.673][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00

  [0.773][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000

  [0.773][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2

  [0.773][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00

  [0.872][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000

  [0.873][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2

  [0.873][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00

  [0.972][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1D00->0x0A06 0x2105

  [0.972][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000

  [0.973][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x2105 len:1

  [0.973][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x21 cmdid: 0x05

  [0.974][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2

  [0.975][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00

  [1.073][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000

  [1.074][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2

  [1.074][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00

  [1.128][utils]-[Debug]-[DjiCore_RootTask:131) work execution time:

  [1.128][utils]-[Debug]-[DjiCore_RootTask:132) name                  execution time (ms)   max execution time (ms)

  [1.128][utils]-[Debug]-[DjiCore_RootTask:134) recorderWork                      1           1      

  [1.128][utils]-[Debug]-[DjiCore_RootTask:134) flowControllerTask                1           1      

  [1.128][utils]-[Debug]-[DjiCore_RootTask:134) commandTask                       1           1      

  [1.173][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000

  [1.174][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2

  [1.174][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00

  [1.197][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1D01->0x0A06 0x03D7

  [1.198][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x03D7 len:8

  [1.273][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000

  [1.273][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2

  [1.273][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00

  [1.360][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x0300->0x0A06 0x0F74

  [1.360][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0F74 len:28

  [1.372][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000

  [1.373][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2

  [1.373][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00

  [1.473][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000

  [1.474][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2

  [1.474][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00

  [1.572][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000

  [1.573][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2

  [1.573][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00

  [1.672][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000

  [1.673][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2

  [1.673][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00

  [1.772][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000

  [1.773][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2

  [1.773][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00

  [1.872][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000

  [1.872][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2

  [1.872][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00

  [1.972][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000

  [1.973][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2

  [1.973][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00

  [2.035][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1D00->0x0A06 0x2105

  [2.036][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x2105 len:1

  [2.036][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x21 cmdid: 0x05

  [2.072][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000

  [2.073][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2

  [2.074][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00

  [2.173][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000

  [2.174][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2

  [2.174][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00

  [2.241][utils]-[Debug]-[DjiCore_RootTask:131) work execution time:

  [2.241][utils]-[Debug]-[DjiCore_RootTask:132) name                  execution time (ms)   max execution time (ms)

  [2.241][utils]-[Debug]-[DjiCore_RootTask:134) recorderWork                      1           1      

  [2.241][utils]-[Debug]-[DjiCore_RootTask:134) flowControllerTask                1           1      

  [2.241][utils]-[Debug]-[DjiCore_RootTask:134) commandTask                       1           1      

   

  0

  Comment actions Permalink
• 

  DJI Developer Support

  • May 08, 2024 12:03

  您好，我们之前收到过类似的反馈，RK3568平台bulk同一时刻只能用一个bulk通道进行数据交互，这个会导致概率性的PSDK协商失败，您的报错信息和我们提到的问题是类似的，如果您有条件切换的话，建议您使用USB网卡进行开发，走Network链路，因为您后续用单个bulk在使用媒体相关的功能时也会出问题，目前我们所支持的USB网卡型号是：AX88179A、RTL8152

  0

  Comment actions Permalink
• 

  bing

  • May 10, 2024 09:47

  我们接了RTL8152的网卡，然后运行官方例程，但是只成功运行一次，后面都是协商时报错麻烦看一下是什么原因。

  硬件配置已经修改为：DJI_USE_UART_AND_NETWORK_DEVICE

  

  log：

  [0.019][core]-[Info]-[DjiCore_Init:101) Payload SDK Version : V3.8.0-beta.0-build.1929
  [0.022][utils]-[Debug]-[DjiCore_RootTask:131) work execution time:
  [0.022][utils]-[Debug]-[DjiCore_RootTask:132) name                    execution time (ms)      max execution time (ms)
  [0.022][utils]-[Debug]-[DjiCore_RootTask:134) recorderWork                        0           0       
  [0.022][utils]-[Debug]-[DjiCore_RootTask:134) flowControllerTask                  0           0       
  [0.099][linker]-[Debug]-[DjiLinker_Init:128) init linker success, protocol:2, channelId:0
  [0.099][linker]-[Debug]-[DjiProtocol_v1Pack:122) V1-Send: 0x0A06->0x0300 0x03FD
  [0.103][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x0300->0x0A06 0x03FD
  [0.105][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [0.120][linker]-[Debug]-[DjiProtocol_v1Pack:122) V1-Send: 0x0A06->0x0300 0x03FD
  [0.120][linker]-[Debug]-[DjiProtocol_v1Pack:122) V1-Send: 0x0A06->0x0306 0x0001
  [0.120][adapter]-[Debug]-[DjiAccessAdapter_CheckUserUartBaudRateAndAircraftSeries:1104) Check aircraft version...
  [0.123][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x0300->0x0A06 0x03FD
  [0.123][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x0306->0x0A06 0x0001
  [0.170][linker]-[Debug]-[DjiProtocol_v1Pack:122) V1-Send: 0x0A06->0x0306 0x0001
  [0.170][adapter]-[Debug]-[DjiAccessAdapter_CheckUserUartBaudRateAndAircraftSeries:1104) Check aircraft version...
  [0.172][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x0300->0x0A06 0x0F74
  [0.174][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x0306->0x0A06 0x0001
  [0.205][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [0.221][linker]-[Debug]-[DjiProtocol_v1Pack:122) V1-Send: 0x0A06->0x0306 0x0001
  [0.221][adapter]-[Debug]-[DjiAccessAdapter_CheckUserUartBaudRateAndAircraftSeries:1104) Check aircraft version...
  [0.274][linker]-[Debug]-[DjiLinker_DeInit:170) deinit linker success, protocol:2, channelId:0
  [0.274][adapter]-[Info]-[DjiAccessAdapter_Init:228) Identify aircraft series is Mavic 3 Series
  [0.274][adapter]-[Info]-[DjiAccessAdapter_Init:261) Identify mount position type is Extension Port Type
  [0.275][linker]-[Debug]-[DjiCommand_Init:158) config list channel id:2
  [0.295][linker]-[Debug]-[DjiLinker_Init:128) init linker success, protocol:2, channelId:0
  [0.295][linker]-[Debug]-[DjiCommand_Init:167) add linker node count:1
  [0.295][adapter]-[Info]-[DjiAccessAdapter_Init:362) Identity uart0 baudrate is 921600 bps
  [0.295][linker]-[Debug]-[DjiProtocol_v1Pack:122) V1-Send: 0x1303->0x0F01 0x0000
  [0.296][linker]-[Debug]-[DjiCommand_SendAsync:436) Max wait ack item count is 32.
  [0.300][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x0F01->0x1303 0x0000
  [0.300][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:1
  [0.300][linker]-[Debug]-[DjiCommand_SendSyncCallback:945) PsdkCommand_SendSyncCallback success
  [0.300][linker]-[Debug]-[DjiCommand_DealCmd:769) callback function (cmdset: 0x00 cmdid: 0x00) deal time: 0 ms
  [0.300][linker]-[Debug]-[DjiCommand_SendSync:492) sendSync callback success
  [0.300][linker]-[Debug]-[DjiCommand_RegRecvCmdHandler:613) Reg command handle list success, index:0
  [0.300][linker]-[Debug]-[DjiProtocol_v1Pack:122) V1-Send: 0x1303->0x0F01 0x0087
  [0.305][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [0.305][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [0.305][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [0.308][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x0F01->0x1303 0x0087
  [0.308][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0087 len:4
  [0.308][linker]-[Debug]-[DjiCommand_SendSyncCallback:945) PsdkCommand_SendSyncCallback success
  [0.308][linker]-[Debug]-[DjiCommand_DealCmd:769) callback function (cmdset: 0x00 cmdid: 0x87) deal time: 0 ms
  [0.308][linker]-[Debug]-[DjiCommand_SendSync:492) sendSync callback success
  [0.405][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [0.406][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [0.406][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [0.506][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [0.507][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [0.507][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [0.583][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1D00->0x0A06 0x2105
  [0.584][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x2105 len:1
  [0.584][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x21 cmdid: 0x05
  [0.606][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [0.607][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [0.607][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [0.705][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [0.706][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [0.706][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [0.805][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [0.806][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [0.806][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [0.905][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [0.906][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [0.906][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [1.005][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1D01->0x0A06 0x03D7
  [1.005][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [1.005][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x03D7 len:8
  [1.007][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [1.007][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [1.105][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [1.106][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [1.106][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [1.145][utils]-[Debug]-[DjiCore_RootTask:131) work execution time:
  [1.145][utils]-[Debug]-[DjiCore_RootTask:132) name                    execution time (ms)      max execution time (ms)
  [1.145][utils]-[Debug]-[DjiCore_RootTask:134) recorderWork                        1           1       
  [1.145][utils]-[Debug]-[DjiCore_RootTask:134) flowControllerTask                  0           0       
  [1.145][utils]-[Debug]-[DjiCore_RootTask:134) commandTask                         1           1       
  [1.172][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x0300->0x0A06 0x0F74
  [1.172][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0F74 len:28
  [1.205][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [1.206][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [1.206][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [1.305][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [1.306][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [1.306][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [1.406][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [1.407][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [1.407][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [1.506][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [1.506][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [1.506][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [1.585][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1D00->0x0A06 0x2105
  [1.586][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x2105 len:1
  [1.586][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x21 cmdid: 0x05
  [1.605][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [1.606][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [1.606][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [1.705][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [1.706][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [1.706][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [1.805][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [1.806][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [1.807][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [1.906][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [1.907][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [1.907][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [2.005][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [2.006][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [2.006][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [2.105][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [2.105][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [2.105][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [2.172][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x0300->0x0A06 0x0F74
  [2.172][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0F74 len:28
  [2.205][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [2.207][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [2.207][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [2.262][utils]-[Debug]-[DjiCore_RootTask:131) work execution time:
  [2.262][utils]-[Debug]-[DjiCore_RootTask:132) name                    execution time (ms)      max execution time (ms)
  [2.262][utils]-[Debug]-[DjiCore_RootTask:134) recorderWork                        1           1       
  [2.262][utils]-[Debug]-[DjiCore_RootTask:134) flowControllerTask                  1           1       
  [2.262][utils]-[Debug]-[DjiCore_RootTask:134) commandTask                         1           1       
  [2.305][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [2.305][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [2.305][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [2.308][linker]-[Debug]-[DjiProtocol_v1Pack:122) V1-Send: 0x1303->0x0F01 0x0087
  [2.315][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x0F01->0x1303 0x0087
  [2.317][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0087 len:4
  [2.317][linker]-[Debug]-[DjiCommand_SendSyncCallback:945) PsdkCommand_SendSyncCallback success
  [2.317][linker]-[Debug]-[DjiCommand_DealCmd:769) callback function (cmdset: 0x00 cmdid: 0x87) deal time: 0 ms
  [2.317][linker]-[Debug]-[DjiCommand_SendSync:492) sendSync callback success
  [2.317][adapter]-[Info]-[DjiPayloadNegotiate_Init:219) Waiting payload negotiate finish.
  [2.406][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [2.406][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [2.406][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [2.506][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [2.507][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [2.507][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [2.605][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [2.606][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [2.606][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [2.706][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [2.707][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [2.707][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [2.805][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [2.805][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [2.805][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [2.904][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1D00->0x0A06 0x2105
  [2.904][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x2105 len:1
  [2.904][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x21 cmdid: 0x05
  [2.905][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [2.906][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [2.906][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [3.005][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1D01->0x0A06 0x03D7
  [3.005][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [3.005][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x03D7 len:8
  [3.007][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [3.007][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [3.105][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [3.106][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [3.106][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [3.171][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x0300->0x0A06 0x0F74
  [3.172][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0F74 len:28
  [3.205][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [3.205][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [3.205][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [3.305][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [3.306][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [3.306][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [3.317][adapter]-[Info]-[DjiPayloadNegotiate_Init:219) Waiting payload negotiate finish.
  [3.384][utils]-[Debug]-[DjiCore_RootTask:131) work execution time:
  [3.384][utils]-[Debug]-[DjiCore_RootTask:132) name                    execution time (ms)      max execution time (ms)
  [3.384][utils]-[Debug]-[DjiCore_RootTask:134) recorderWork                        1           1       
  [3.384][utils]-[Debug]-[DjiCore_RootTask:134) flowControllerTask                  0           1       
  [3.384][utils]-[Debug]-[DjiCore_RootTask:134) commandTask                         1           1       
  [3.406][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [3.406][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [3.406][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [3.505][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [3.506][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [3.506][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [3.605][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [3.606][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [3.606][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [3.706][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [3.706][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [3.706][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [3.806][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [3.807][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [3.807][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [3.903][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1D00->0x0A06 0x2105
  [3.904][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x2105 len:1
  [3.904][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x21 cmdid: 0x05
  [3.905][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [3.906][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [3.906][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [4.006][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [4.007][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [4.007][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [4.105][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [4.106][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [4.106][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [4.172][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x0300->0x0A06 0x0F74
  [4.173][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0F74 len:28
  [4.205][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [4.207][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [4.207][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [4.305][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [4.306][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [4.306][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [4.318][adapter]-[Info]-[DjiPayloadNegotiate_Init:219) Waiting payload negotiate finish.
  [4.405][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [4.406][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [4.406][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [4.501][utils]-[Debug]-[DjiCore_RootTask:131) work execution time:
  [4.501][utils]-[Debug]-[DjiCore_RootTask:132) name                    execution time (ms)      max execution time (ms)
  [4.501][utils]-[Debug]-[DjiCore_RootTask:134) recorderWork                        1           1       
  [4.501][utils]-[Debug]-[DjiCore_RootTask:134) flowControllerTask                  0           1       
  [4.501][utils]-[Debug]-[DjiCore_RootTask:134) commandTask                         1           1       
  [4.505][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [4.505][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [4.505][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [4.605][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [4.606][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [4.606][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [4.706][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [4.706][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [4.707][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [4.805][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [4.806][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [4.806][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [4.906][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [4.909][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [4.909][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [5.005][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [5.005][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [5.005][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [5.009][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1D01->0x0A06 0x03D7
  [5.010][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x03D7 len:8
  [5.030][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1D00->0x0A06 0x2105
  [5.031][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x2105 len:1
  [5.031][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x21 cmdid: 0x05
  [5.105][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [5.107][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [5.107][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [5.172][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x0300->0x0A06 0x0F74
  [5.173][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0F74 len:28
  [5.205][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [5.205][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [5.205][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [5.306][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [5.307][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [5.307][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [5.318][adapter]-[Info]-[DjiPayloadNegotiate_Init:219) Waiting payload negotiate finish.
  [5.406][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [5.407][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [5.407][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [5.506][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [5.507][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [5.507][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [5.606][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [5.606][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [5.606][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [5.624][utils]-[Debug]-[DjiCore_RootTask:131) work execution time:
  [5.624][utils]-[Debug]-[DjiCore_RootTask:132) name                    execution time (ms)      max execution time (ms)
  [5.624][utils]-[Debug]-[DjiCore_RootTask:134) recorderWork                        1           1       
  [5.624][utils]-[Debug]-[DjiCore_RootTask:134) flowControllerTask                  0           1       
  [5.624][utils]-[Debug]-[DjiCore_RootTask:134) commandTask                         1           1       
  [5.706][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [5.707][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [5.707][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [5.805][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [5.806][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [5.806][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [5.906][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [5.907][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [5.907][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [6.005][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [6.006][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [6.006][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [6.033][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1D00->0x0A06 0x2105
  [6.033][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x2105 len:1
  [6.034][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x21 cmdid: 0x05
  [6.105][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [6.106][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [6.106][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [6.172][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x0300->0x0A06 0x0F74
  [6.172][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0F74 len:28
  [6.205][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [6.207][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [6.207][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [6.305][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [6.306][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [6.306][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [6.318][adapter]-[Info]-[DjiPayloadNegotiate_Init:219) Waiting payload negotiate finish.
  [6.406][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [6.406][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [6.406][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [6.506][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [6.507][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [6.507][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [6.606][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [6.606][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [6.606][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [6.706][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [6.707][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [6.707][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [6.737][utils]-[Debug]-[DjiCore_RootTask:131) work execution time:
  [6.737][utils]-[Debug]-[DjiCore_RootTask:132) name                    execution time (ms)      max execution time (ms)
  [6.737][utils]-[Debug]-[DjiCore_RootTask:134) recorderWork                        1           1       
  [6.737][utils]-[Debug]-[DjiCore_RootTask:134) flowControllerTask                  1           1       
  [6.737][utils]-[Debug]-[DjiCore_RootTask:134) commandTask                         1           1       
  [6.806][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [6.807][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [6.807][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [6.905][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [6.906][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [6.906][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [7.005][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [7.005][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [7.005][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [7.008][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1D01->0x0A06 0x03D7
  [7.008][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x03D7 len:8
  [7.105][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [7.106][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [7.106][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [7.172][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x0300->0x0A06 0x0F74
  [7.172][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0F74 len:28
  [7.205][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [7.206][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [7.206][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [7.279][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1D00->0x0A06 0x2105
  [7.279][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x2105 len:1
  [7.279][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x21 cmdid: 0x05
  [7.305][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [7.306][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [7.306][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [7.318][adapter]-[Error]-[DjiAccessAdapter_Init:373) Payload negotiate error, returnCode = 225
  [7.318][adapter]-[Error]-[DjiAccessAdapter_Init:379) Payload negotiate error, returnCode = 225
  [7.318][core]-[Error]-[DjiCore_Init:121) Access adapter init error, stat:225
  [7.406][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [7.407][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [7.407][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [7.506][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [7.507][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [7.507][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [7.605][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [7.605][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [7.605][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [7.705][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [7.705][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [7.705][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [7.805][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [7.806][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [7.806][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [7.865][utils]-[Debug]-[DjiCore_RootTask:131) work execution time:
  [7.865][utils]-[Debug]-[DjiCore_RootTask:132) name                    execution time (ms)      max execution time (ms)
  [7.865][utils]-[Debug]-[DjiCore_RootTask:134) recorderWork                        1           1       
  [7.865][utils]-[Debug]-[DjiCore_RootTask:134) flowControllerTask                  0           1       
  [7.865][utils]-[Debug]-[DjiCore_RootTask:134) commandTask                         1           1       
  [7.906][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [7.907][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [7.907][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [8.006][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [8.007][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [8.007][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [8.106][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [8.107][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [8.107][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [8.172][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x0300->0x0A06 0x0F74
  [8.172][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0F74 len:28
  [8.205][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [8.205][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [8.205][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00
  [8.281][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1D00->0x0A06 0x2105
  [8.281][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x2105 len:1
  [8.281][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x21 cmdid: 0x05
  [8.305][linker]-[Debug]-[DjiProtocol_v1Unpack:213) V1-Recv: 0x1204->0x0A06 0x0000
  [8.305][linker]-[Debug]-[DjiCommand_RecvWork:994) Receive msg from linker, id:0x0000 len:2
  [8.305][linker]-[Debug]-[DjiCommand_DealCmd:855) received unsupport request cmd that need ack, cmdset: 0x00 cmdid: 0x00

   

   

   

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  bing

  • May 10, 2024 10:03

  另外我修改hal_network.c文件，在HalNetWork_Init和HalNetWork_GetDeviceInfo中打印log，只有HalNetWork_GetDeviceInfo方法被调用，HalNetWork_Init则没有。

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  DJI Developer Support

  • May 11, 2024 07:30

  您好，您这个看起来是没有识别到配置的网卡信息，请问下您设备是否有多个网卡？您可以将其他网卡都down掉，保留一两个再试试，或者您插拔下网线。

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