M3T PSDK orangepi5b的USB相关配置问题

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zbwmeepo

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

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  • zbwmeepo
    #!/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
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  • zbwmeepo

    [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

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  • zbwmeepo

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  • DJI Developer Support
    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
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  • zbwmeepo

    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
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  • DJI Developer Support
    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
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