NEW: release DJI Payload-SDK version 3.2

Signed-off-by: DJI-Martin <DJI-Martin@dji.com>

CMakeLists.txt

@@ -28,9 +28,7 @@ endif ()
 if (USE_SYSTEM_ARCH MATCHES LINUX)
     add_definitions(-DSYSTEM_ARCH_LINUX)
     add_subdirectory(samples/sample_c/platform/linux/manifold2)
-
-    message("-- Attention: If you want to use opencv C++ sample, please uncomment the next line.")
-#   add_subdirectory(samples/sample_c++/platform/linux/manifold2)
+    add_subdirectory(samples/sample_c++/platform/linux/manifold2)
 
     execute_process(COMMAND uname -m OUTPUT_VARIABLE DEVICE_SYSTEM_ID)
     if (DEVICE_SYSTEM_ID MATCHES x86_64)

LICENSE.txt

@@ -6,11 +6,15 @@ The following portions of the DJI’s Payload SDK (“Software” referred to in
 │   ├── dji_sdk_code_style
 │   │   ├── dji_sdk_template.c
 │   │   └── dji_sdk_template.h
+│   ├── reference_designs
+│   │   └── Type-C Schematic Reference.pdf
 │   └── simple_model
 │       ├── M300_OSDK_Adapter.stp
 │       ├── M300_RTK_1.stp
 │       ├── M300_RTK_2.stp
 │       ├── M300_RTK_3.stp
+│       ├── M30T.stp
+│       ├── PSDK Mounting Bracket(Payload).stp
 │       ├── Skyport_Adapter_2.stp
 │       └── X-Port 80mm.stp
 ├── EULA.txt
@@ -43,6 +47,7 @@ The following portions of the DJI’s Payload SDK (“Software” referred to in
 │   │   ├── dji_version.h
 │   │   ├── dji_waypoint_v2.h
 │   │   ├── dji_waypoint_v2_type.h
+│   │   ├── dji_waypoint_v3.h
 │   │   ├── dji_widget.h
 │   │   ├── dji_xport.h
 │   │   └── legacy_psdk2.x
@@ -75,7 +80,7 @@ The following portions of the DJI’s Payload SDK (“Software” referred to in
 │       ├── aarch64-linux-gnu-gcc
 │       │   └── libpayloadsdk.a
 │       ├── armcc_cortex-m4
-│       │   └── libpayloadsdk.lib
+│       │   └── libpayload.lib
 │       ├── arm-himix100-linux-gcc
 │       │   └── libpayloadsdk.a
 │       ├── arm-himix200-linux-gcc
@@ -96,7 +101,9 @@ The following portions of the DJI’s Payload SDK (“Software” referred to in
 │       │   └── libpayloadsdk.a
 │       ├── arm-none-eabi-gcc
 │       │   └── libpayloadsdk.a
-│       └── x86_64-linux-gnu-gcc
+│       ├── x86_64-linux-gnu-gcc
+│       │   └── libpayloadsdk.a
+│       └── xtensa-esp32-elf-gcc
 │           └── libpayloadsdk.a
 ├── README.md
 ├── samples
@@ -186,11 +193,20 @@ The following portions of the DJI’s Payload SDK (“Software” referred to in
 │   │   │   ├── waypoint_v2
 │   │   │   │   ├── test_waypoint_v2.c
 │   │   │   │   └── test_waypoint_v2.h
+│   │   │   ├── waypoint_v3
+│   │   │   │   ├── test_waypoint_v3.c
+│   │   │   │   ├── test_waypoint_v3.h
+│   │   │   │   ├── waypoint_file
+│   │   │   │   │   └── waypoint_v3_test_file.kmz
+│   │   │   │   └── waypoint_file_c
+│   │   │   │       └── waypoint_v3_test_file_kmz.h
 │   │   │   ├── widget
 │   │   │   │   ├── file_binary_array_list_en.c
 │   │   │   │   ├── file_binary_array_list_en.h
 │   │   │   │   ├── test_widget.c
 │   │   │   │   ├── test_widget.h
+│   │   │   │   ├── test_widget_speaker.c
+│   │   │   │   ├── test_widget_speaker.h
 │   │   │   │   ├── widget_file
 │   │   │   │   │   ├── cn_big_screen
 │   │   │   │   │   │   ├── icon_button1.png
@@ -261,8 +277,9 @@ The following portions of the DJI’s Payload SDK (“Software” referred to in
 │   │       ├── linux
 │   │       │   ├── common
 │   │       │   │   ├── 3rdparty
-│   │       │   │   │   └── ffmpeg
-│   │       │   │   │       └── FindFFMPEG.cmake
+│   │       │   │   │   ├── FindFFMPEG.cmake
+│   │       │   │   │   ├── FindLIBUSB.cmake
+│   │       │   │   │   └── FindOPUS.cmake
 │   │       │   │   ├── monitor
 │   │       │   │   │   ├── sys_monitor.c
 │   │       │   │   │   └── sys_monitor.h
@@ -302,12 +319,24 @@ The following portions of the DJI’s Payload SDK (“Software” referred to in
 │   │               │   ├── dji_sdk_config.h
 │   │               │   ├── FreeRTOSConfig.h
 │   │               │   └── main.c
+│   │               ├── bootloader
+│   │               │   ├── common.c
+│   │               │   ├── common.h
+│   │               │   ├── main.c
+│   │               │   ├── main.h
+│   │               │   ├── menu.c
+│   │               │   ├── menu.h
+│   │               │   └── ymodem.c
 │   │               ├── drivers
 │   │               │   ├── BSP
 │   │               │   │   ├── apply_high_power.c
 │   │               │   │   ├── apply_high_power.h
+│   │               │   │   ├── button.c
+│   │               │   │   ├── button.h
 │   │               │   │   ├── dji_ringbuffer.c
 │   │               │   │   ├── dji_ringbuffer.h
+│   │               │   │   ├── flash_if.c
+│   │               │   │   ├── flash_if.h
 │   │               │   │   ├── freertos.c
 │   │               │   │   ├── led.c
 │   │               │   │   ├── led.h
@@ -321,15 +350,16 @@ The following portions of the DJI’s Payload SDK (“Software” referred to in
 │   │               │   │   ├── stm32f4xx_it.h
 │   │               │   │   ├── syscalls.c
 │   │               │   │   ├── sysmem.c
+│   │               │   │   ├── sysmem.h
 │   │               │   │   ├── system_stm32f4xx.c
 │   │               │   │   ├── uart.c
-│   │               │   │   └── uart.h
+│   │               │   │   ├── uart.h
+│   │               │   │   ├── upgrade_platform_opt_stm32.c
+│   │               │   │   └── upgrade_platform_opt_stm32.h
 │   │               │   ├── CMSIS
 │   │               │   │   ├── Device
 │   │               │   │   │   └── ST
 │   │               │   │   │       └── STM32F4xx
-│   │               │   │   │           ├── Include
-│   │               │   │   │           └── Source
 │   │               │   │   └── Include
 │   │               │   ├── STM32F4xx_HAL_Driver
 │   │               │   │   ├── Inc
@@ -378,21 +408,22 @@ The following portions of the DJI’s Payload SDK (“Software” referred to in
 │   │               │               ├── stream_buffer.c
 │   │               │               ├── tasks.c
 │   │               │               └── timers.c
-│   │               └── project
-│   │                   ├── clion_app
-│   │                   │   ├── CMakeLists.txt
-│   │                   │   ├── STM32F407VGTX_FLASH.ld
-│   │                   │   └── stm32f4discovery.cfg
-│   │                   └── mdk_app
-│   │                       └── mdk_app.uvprojx
+│   │               ├── project
+│   │               │   ├── armgcc
+│   │               │   │   ├── CMakeLists.txt
+│   │               │   │   ├── STM32F407VGTX_FLASH.ld
+│   │               │   │   └── stm32f4discovery.cfg
+│   │               │   ├── mdk
+│   │               │   │   └── mdk_app.uvprojx
+│   │               │   └── mdk_bootloader
+│   │               │       └── mdk_bootloader.uvprojx
+│   │               └── readme.txt
 │   └── sample_c++
 │       ├── module_sample
 │       │   ├── liveview
 │       │   │   ├── data
-│       │   │   │   ├── cars.xml
 │       │   │   │   ├── haarcascade_frontalface_alt.xml
 │       │   │   │   └── tensorflow
-│       │   │   │       ├── frozen_inference_graph.pb
 │       │   │   │       └── ssd_inception_v2_coco_2017_11_17.pbtxt
 │       │   │   ├── dji_camera_image_handler.cpp
 │       │   │   ├── dji_camera_image_handler.hpp
@@ -410,24 +441,31 @@ The following portions of the DJI’s Payload SDK (“Software” referred to in
 │       └── platform
 │           └── linux
 │               ├── common
+│               │   ├── 3rdparty
+│               │   │   ├── FindFFMPEG.cmake
+│               │   │   ├── FindLIBUSB.cmake
+│               │   │   └── FindOPUS.cmake
 │               │   └── osal
 │               │       ├── osal.c
-│               │       └── osal.h
+│               │       ├── osal_fs.c
+│               │       ├── osal_fs.h
+│               │       ├── osal.h
+│               │       ├── osal_socket.c
+│               │       └── osal_socket.h
 │               └── manifold2
 │                   ├── application
 │                   │   ├── application.cpp
 │                   │   ├── application.hpp
 │                   │   ├── dji_sdk_app_info.h
 │                   │   └── main.cpp
 │                   ├── CMakeLists.txt
-│                   ├── FindFFMPEG.cmake
 │                   └── hal
 │                       ├── hal_network.c
 │                       ├── hal_network.h
 │                       ├── hal_uart.c
 │                       ├── hal_uart.h
 │                       ├── hal_usb_bulk.c
-│                     └── hal_usb_bulk.h
+│                       └── hal_usb_bulk.h
 └── tools
     └── file2c
         ├── file2c.exe

README.md

@@ -1,6 +1,6 @@
 # DJI Payload SDK (PSDK)
 
-![](https://img.shields.io/badge/version-V3.1.0-orange.svg)
+![](https://img.shields.io/badge/version-V3.2.0-orange.svg)
 ![](https://img.shields.io/badge/platform-linux_|_rtos-green.svg)
 ![](https://img.shields.io/badge/license-MIT-blue.svg)
 [![Join the chat at https://gitter.im/dji-sdk/Payload-SDK](https://badges.gitter.im/Join%20Chat.svg)](https://gitter.im/dji-sdk/Payload-SDK?utm_source=badge&utm_medium=badge&utm_campaign=pr-badge&utm_content=badge)
@@ -15,17 +15,31 @@ Payload Controller, Video Image Analysis Platform, Mapping Camera, Megaphone And
 
 ## Documentation
 
-For full documentation, please visit the [DJI Developer Documentation](https://developer.dji.com/payload-sdk/documentation/). 
-Documentation regarding the code can be found in the [PSDK API Reference](https://developer.dji.com/payload-api-reference/introduction/index.html) section of the developer's website.
-Please visit the [Latest Version Information](https://developer.dji.com/payload-sdk/documentation/appendix/firmware.html) to get the latest version information.
+For full documentation, please visit
+the [DJI Developer Documentation](https://developer.dji.com/payload-sdk/documentation/). Documentation regarding the
+code can be found in the [PSDK API Reference](https://developer.dji.com/payload-api-reference/introduction/index.html)
+section of the developer's website. Please visit
+the [Latest Version Information](https://developer.dji.com/payload-sdk/documentation/appendix/firmware.html) to get the
+latest version information.
 
 ## Latest Release
 
-PSDK 3.1.0 was released on 21 March 2022. This version of Payload SDK mainly add some features support, such as add the 
-Matrice 30/30T support, add the standard speaker widget support on M30/M30T, add the waypoint 3.0 support on M30/30T, add the 
-get camera laser ranging data support on M30/30T, add the power-off notification support on M300 RTK OSDK port, etc. At 
-the same time, we also fixed some bugs on the last version, add more sample support and add ESP32 toolchain support. 
-Please refer to the release notes for detailed changes list.
+PSDK 3.2.0 was released on 08 August 2022. This version of Payload SDK mainly add some features support and fixed some
+bugs. Please refer to the release notes for detailed changes list.
+
+* Add the support of standard speaker on M300 RTK, M30/M30T Pilot
+* Add the support of the mapping between the speaker with the remote controller button on M300 RTK, M30/M30T Pilot
+* Add function support for H20N on M300 RTK
+* Add infrared zoom function support of H20T on M300 RTK
+* Fix the occasional problem of the Camera Livestream can not be subscribed on M30/M30T
+* Fix the problem of some interfaces of camera management run error on M30/M30T
+* Fix the problem of the infrared code stream can not be obtained on M30/M30T
+* Fix the problem of RTOS platform data subscription crash on M30/M30T
+* Fix the occasional problem of abnormal media download function on M300 RTK
+* Fix the occasional problem of abnormal SDK interconnection function on M300 RTK
+* Fix the occasional problem of the PSDK payload name displays abnormally
+* Fix the coordinate system problem of the gimbal angle of the data subscription function
+* Optimize the compilation dependency problems of third-party dependent libraries
 
 ## License
 

psdk_lib/include/dji_camera_manager.h

@@ -509,7 +509,8 @@ typedef enum {
 typedef struct {
     E_DjiDownloadFileEvent downloadFileEvent;
     uint32_t fileIndex;
-    uint8_t progressInPercent;
+    uint32_t fileSize;
+    float progressInPercent;
 } T_DjiDownloadFilePacketInfo;
 
 typedef struct {
@@ -767,6 +768,15 @@ T_DjiReturnCode DjiCameraManager_SetOpticalZoomParam(E_DjiMountPosition position
 T_DjiReturnCode DjiCameraManager_GetOpticalZoomParam(E_DjiMountPosition position,
                                                      T_DjiCameraManagerOpticalZoomParam *opticalZoomParam);
 
+/**
+ * @brief Set parameters for camera infrared zooming of the selected camera mounted position.
+ * @param position: camera mounted position
+ * @param factor: target zoom factor.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiCameraManager_SetInfraredZoomParam(E_DjiMountPosition position,
+                                                      dji_f32_t factor);
+
 /**
  * @brief Stop camera optical zooming of the selected camera mounted position.
  * @note Called to stop focal length changing, when it currently is from
@@ -957,6 +967,8 @@ T_DjiReturnCode DjiCameraManager_StopRecordVideo(E_DjiMountPosition position);
 
 /**
  * @brief Download selected camera media file list.
+ * @note The interface is a synchronous interface, which occupies more CPU resources when using it.
+ * If the download file fails, the timeout time is 3S.
  * @param position: the mount position of the camera
  * @param fileList: the pointer to the downloaded camera file list
  * @return Execution result.
@@ -975,7 +987,8 @@ T_DjiReturnCode DjiCameraManager_RegDownloadFileDataCallback(E_DjiMountPosition
 /**
  * @brief Download selected camera media file by file index.
  * @note Only support download one file at the same time, the new file download need wait for the previous file
- * download finished.
+ * download finished.The interface is a synchronous interface, which occupies more CPU resources when using it.
+ * If the download file fails, the timeout time is 3S.
  * @param position: the mount position of the camera
  * @param fileIndex: the index of the camera media file
  * @return Execution result.

psdk_lib/include/dji_core.h

@@ -89,6 +89,12 @@ T_DjiReturnCode DjiCore_SetAlias(const char *productAlias);
  */
 T_DjiReturnCode DjiCore_ApplicationStart(void);
 
+/**
+ * @brief DeInitialize the Payload SDK core in blocking mode.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiCore_DeInit(void);
+
 #ifdef __cplusplus
 }
 #endif

psdk_lib/include/dji_fc_subscription.h

@@ -157,7 +157,6 @@ typedef enum {
      *
      * @note This value is updated each time the drone takes off.
      *
-     * @sensors Visual Odometry (M210 only), Barometer, IMU
      * @units m
      * @datastruct \ref T_DjiFcSubscriptionAltitudeOfHomePoint
      */
@@ -935,8 +934,7 @@ typedef struct BatterySingleInfo {
  */
 typedef struct SDKCtrlInfo {
     uint8_t controlMode;      /*!< See CtlrMode in dji_status.hpp*/
-    uint8_t deviceStatus: 3; /*!< For M300 and M210V2(firmware version V01.00.0690 and later):0->rc  1->app  4->serial;
-                                 Other: 0->rc  1->app  2->serial*/
+    uint8_t deviceStatus: 3; /*!< 0->rc  1->app  4->serial */
     uint8_t flightStatus: 1; /*!< 1->opensd  0->close */
     uint8_t vrcStatus: 1;
     uint8_t reserved: 3;
@@ -1062,7 +1060,6 @@ typedef struct PositionVO {
 /*!
  * @brief struct for data broadcast and subscription, return obstacle info around the vehicle
  *
- * @note available in M210 (front, up, down)
  */
 typedef struct RelativePosition {
     dji_f32_t down;            /*!< distance from obstacle (m) */
@@ -1170,7 +1167,8 @@ T_DjiReturnCode DjiFcSubscription_SubscribeTopic(E_DjiFcSubscriptionTopic topic,
  * @param timestamp: pointer to memory space used to store timestamps. The memory space used to store timestamps
  * have to have been allocated correctly, and should ensure its size is equal to data structure size of timestamp,
  * otherwise, this function will not be able to return data and timestamp (return error code) or even cause memory
- * overflow event. If the user does not need timestamp information, can fill in NULL.
+ * overflow event. If the user does not need timestamp information, can fill in NULL. Use flight controller power-on
+ * timestamp on M300 RTK. Use payload local timestamp on M30/M30T.
  * @return Execution result.
  */
 T_DjiReturnCode DjiFcSubscription_GetLatestValueOfTopic(E_DjiFcSubscriptionTopic topic,