PSDK 2.2.1升级到PSDK3系列都有串口通信错误导致的相关问题

Hao Tang

2023年06月06日 09:26

打印日志如下：

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

0

DJI Developer Support

2023年06月07日 03:17

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

0

Hao Tang

2023年06月07日 03:28

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

0

DJI Developer Support

2023年06月07日 03:44

把这个设置成true试试，PSDK口不要修改这个。

0

Hao Tang

2023年06月07日 03:48

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

0

DJI Developer Support

2023年06月07日 04:13

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

0

Hao Tang

2023年06月07日 04:14

是海思的芯片，型号为Hi3559AV100

0

YUAN

2023年06月07日 09:13

我也是海思。目前还没解决，大疆研发回复说的是下个版本会解决

0

Hao Tang

2023年06月07日 09:17

好的，谢谢！

0

PSDK 2.2.1升级到PSDK3系列都有串口通信错误导致的相关问题

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