repository·master·Indexed 19 days ago
https://github.com/dji-sdk/payload-sdkA development kit for creating custom hardware payloads for DJI drones via X-Port, SkyPort, or extension ports. Supports Linux and RTOS platforms, including Manifold 3 and Matrice drone series. The SDK provides APIs for aircraft information, power management, data transmission, and firmware upgrades, along with tools like build_dpk.sh for generating .dpk application packages.
The DJI Payload SDK (PSDK) is a development kit designed to enable developers to create payloads that can be mounted on DJI drones. By using hardware interfaces such as the X-Port, SkyPort, or extension port adapters, a payload can access drone information and resources.
Common use cases for PSDK-enabled payloads include:
The FreeRTOS portable layer is organized into common kernel components and hardware/compiler-specific files. When configuring a port, you need to identify the correct directory based on your specific microcontroller architecture and compiler.
FreeRTOS/Source/Portable/MemMang.FreeRTOS/Source/Portable/[compiler]/[architecture].If you only require a single specific port, you can ignore all other directories in the Portable folder.
To ensure successful installation of your .dpk package, you must synchronize the following fields in app.json with your application's source code:
user_app_id: Must match the USER_APP_ID defined in your code.
samples/sample_c/platform/linux/manifold3/application/dji_sdk_app_info.h (line 39)samples/sample_c++/platform/linux/manifold3/application/dji_sdk_app_info.h (line 39)firmware_version: Must match the firmwareVersion defined in your code.
samples/sample_c/platform/linux/manifold3/application/main.c (line 99)samples/sample_c++/platform/linux/manifold3/application/application.cpp (line 183)xx.xx.xx.xx (four segments, 0-99 per segment, numbers and dots only).The FreeRTOS kernel is organized into common core components and hardware-specific portable layers. When integrating or modifying the kernel, understand the following directory structure:
list.c, queue.c, and tasks.c.The file2c command-line utility converts binary files into C source files (.h and .c). This allows you to embed external assets, such as images or configuration files, directly into your C or C++ project as byte arrays.
# Example: Convert icon.png into icon_png.h and icon_png.c
file2c icon.pngFor comprehensive technical details, use the following official resources:
To run the Onboard SDK RTOS Sample on the STM32F407xG hardware, use one of the following recommended development environments:
The build_dpk.sh tool is used to package an application into a .dpk installation package. It requires an input application configuration file (app.json) to define the package contents and metadata.
dpkg tool must be available in your environment.The app.json file must follow specific filling specifications. You can find a reference implementation in the samples directory:
samples/sample_c/platform/linux/manifold3/app_json/app.json
For detailed instructions on how to populate the app.json fields, refer to the documentation located at:
samples/sample_c/platform/linux/manifold3/app_json/README.md
# Generate a .dpk package in the current directory
build_dpk.sh -i ../../samples/sample_c/platform/linux/manifold3/app_json/app.json
# Generate a .dpk package at a specific output path
build_dpk.sh -i ../../samples/sample_c/platform/linux/manifold3/app_json/app.json -o ./my_app.dpkThis sample provides a Payload SDK RTOS implementation using FreeRTOS on the GD32F527ZMT7 hardware. To replicate the test environment, use the following specifications:
Ensure your hardware connections match these pin assignments:
PC10 (TX), PC11 (RX)PA9 (TX), PA10 (RX)PD8 (TX), PD9 (RX)PD2921600The app.json file is a mandatory configuration file required to generate the .dpk application installation package. It contains metadata about your application, including identification, versioning, and localization.
Critical Requirement: Several fields in app.json must strictly match the values defined in your source code. If these values do not match, the application will fail to install.
For newer DJI models, model files are no longer maintained within the GitHub software package. Developers must visit the official DJI developer website to download the latest model files and review structural design standards.
Visit the official documentation for the latest model instructions and design criteria: https://developer.dji.com/doc/payload-sdk-tutorial/en/model-instruction/payload-develop-criterion.html#structural-design-standards
When running FreeRTOS on ARM Cortex-M7 microcontrollers within the PSDK environment, you must select a port based on the specific ARM Cortex-M7 core revision (e.g., 'r0p1').
r0p1).r0p1: Use the specific Cortex-M7 r0p1 port. This port includes a minor errata workaround./FreeRTOS/Source/portable/RVDS/ARM_CM7/r0p1r0p1: Use the ARM Cortex-M4F port. This is the recommended approach for all other revisions./FreeRTOS/Source/portable/RVDS/ARM_CM4Fr0p1 port, as it is compatible with all core revisions.