树莓派 4B 连接大疆 M300 无人机开发教程 | 极客日志

树莓派 4B 连接大疆 M300 无人机开发教程 | 极客日志

1.FPV 摄像头	13.左视和右视红外感知系统	25.调参接口
2.前视红外感知系统	14.左视和右视视觉系统	26.OSDK 接口
3.前视视觉系统	15.智能飞行电池	27.PSDK 接口
4.云台接口	16.电池电量指示灯	28.下视红外感知系统
5.云台相机解锁按钮	17.电池电量按键	29.下视视觉系统
6.机臂	18.D-RTK2 天线	30.下视补光灯
7.电机	19.飞行器状态指示灯	31.下视夜航灯
8.螺旋桨	20.上视夜航灯	32.后视红外感知系统
9.电调 LED 指示灯	21.电源按键/指示灯	33.后视视觉系统
10.图传天线	22.上视红外感知系统	34.电池锁紧旋钮
11.起落架	23.上视补光灯	35.云台相机
12.防尘网	24.上视视觉系统	36.无线上网卡接口

sudo apt-get install libusb-1.0-0-dev

sudo apt install libgtk2.0-dev pkg-config #必须安装这个，后续才能使用 psdk3.11.0 正常订阅相机码流
unzip opencv-3.4.15.zip
cd opencv-3.4.15/
mkdir build && cd build/
cmake ../
make -j4 && sudo make install
opencv_version

if(src ==0|| src + off ==0) #改成下面的 if(src ==0|| off ==0) #然后重新打包即可

tar -zxvf ffmpeg-4.3.2.tar.gz
./configure --enable-shared
make -j4
sudo make install

tar -xzvf opus-1.3.1.tar.gz
cd opus-1.3.1/
autoreconf -f -i
./configure
make -j4 && sudo make install

sudo apt-get install automake
sudo apt-get install libaio-dev

sudo apt install gcc g++ -y
gcc -v #安装成功会显示版本信息

sudo apt install cmake

sudo apt-get update
sudo apt-get upgrade

dtoverlay=dwc2

modules-load=dwc2

libcomposite

cd usb-bulk-configuration-reference
make clean
make

sudo apt install libaio-dev build-essential

/* fix_endian.h */
#if __BYTE_ORDER == __LITTLE_ENDIAN
#define cpu_to_le32(x)(x)
#define cpu_to_le16(x)(x)
#else
#define cpu_to_le32(x) ((((x)&0xff000000u)>>24)|(((x)&0x00ff0000u)>>8)|(((x)&0x0000ff00u)<<8)|(((x)&0x000000ffu)<<24))
#define cpu_to_le16(x) ((((x)>>8)&0xffu)|(((x)&0xffu)<<8))
#endif

#include"fix_endian.h"

sed -i 's/\bhtole32\b/cpu_to_le32/g; s/\bhtole16\b/cpu_to_le16/g' startup_bulk.c

make clean
make

unzip usb-bulk-configuration-reference.zip

#!/bin/bash
# The IP address shared by all USB network interfaces created by this script.
net_ip=192.168.42.120
# The associated netmask.
net_mask=255.255.0.0
enable_vcom=0
enable_rndis=0
enable_bulk=1
startup_bulk_dir=$(dirname "$0")
startup_bulk_exe=${startup_bulk_dir}/startup_bulk
echo startup_bulk_exe
if [ ! -d /sys/kernel/config/usb_gadget ]; then
    if ! $(grep -q dtoverlay=dwc2 /boot/firmware/config.txt) ; then
        echo -e "\n\n\n## customized\n# for op-sdk enable USB device RNDIS\n[all]\ndtoverlay=dwc2" >> /boot/firmware/config.txt
        init 6
    fi
    if ! $(grep -q modules-load=dwc2 /boot/firmware/cmdline.txt) ; then
        sed -i 's/rootwait /&modules-load=dwc2 /' /boot/firmware/cmdline.txt
        init 6
    fi
    if ! $(grep -q libcomposite /etc/modules) ; then
        echo -e "\n\n\n## customized\n# for op-sdk enable USB device RNDIS\nlibcomposite" >> /etc/modules
        init 6
    fi
    exit 1
fi
modprobe g_ether
rmmod g_ether
sleep 1
#写入 gadget 配置文件
if [ ! -d /sys/kernel/config/usb_gadget/pi4 ]; then
    mkdir -p /sys/kernel/config/usb_gadget/pi4
    cd /sys/kernel/config/usb_gadget/pi4
    echo 0x2ca3 > idVendor # Linux Foundation
    echo 0xF001 > idProduct # Multifunction Composite Gadget
    if [ ${enable_vcom} -eq 1 ]; then
        echo 0xF002 > idProduct # Multifunction Composite Gadget
    fi
    if [ ${enable_rndis} -eq 1 ]; then
        echo 0xF003 > idProduct # Multifunction Composite Gadget
    fi
    if [ ${enable_bulk} -eq 1 ]; then
        echo 0xF001 > idProduct # Multifunction Composite Gadget
    fi
    echo 0x0001 > bcdDevice # v1.0.0
    echo 0x0200 > bcdUSB # USB2
    echo 0xEF > bDeviceClass
    echo 0x02 > bDeviceSubClass
    echo 0x01 > bDeviceProtocol
    mkdir -p strings/0x409
    echo "psdk-rpi4b" > strings/0x409/serialnumber
    echo "raspberry" > strings/0x409/manufacturer
    echo "PI4" > strings/0x409/product
    cfg=configs/c.1
    mkdir -p "${cfg}"
    echo 0x80 > ${cfg}/bmAttributes
    echo 250 > ${cfg}/MaxPower
    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
    if [ ${enable_vcom} -eq 1 ]; then
        cfg_str="${cfg_str}+ACM0"
        func=functions/acm.gs0
        mkdir -p "${func}"
        ln -sf "${func}" "${cfg}"
    fi
    if [ ${enable_bulk} -eq 1 ]; then
        mkdir -p /dev/usb-ffs
        cfg_str="${cfg_str}+BULK1"
        mkdir -p /dev/usb-ffs/bulk1
        func=functions/ffs.bulk1
        mkdir -p "${func}"
        ln -sf "${func}" "${cfg}"
        mount -o mode=0777,uid=2000,gid=2000 -t functionfs bulk1 /dev/usb-ffs/bulk1
        cfg_str="${cfg_str}+BULK2"
        mkdir -p /dev/usb-ffs/bulk2
        func=functions/ffs.bulk2
        mkdir -p "${func}"
        ln -sf "${func}" "${cfg}"
        mount -o mode=0777,uid=2000,gid=2000 -t functionfs bulk2 /dev/usb-ffs/bulk2
        #cfg_str="${cfg_str}+BULK3"
        #mkdir -p /dev/usb-ffs/bulk3
        #func=functions/ffs.bulk3
        #mkdir -p "${func}"
        #ln -sf "${func}" "${cfg}"
        #mount -o mode=0777,uid=2000,gid=2000 -t functionfs bulk3 /dev/usb-ffs/bulk3
    fi
    mkdir -p "${cfg}/strings/0x409"
    echo "${cfg_str:1}" > "${cfg}/strings/0x409/configuration"
    # cd -
fi
if [ ${enable_bulk} -eq 1 ]; then
    if [ ! -f ${startup_bulk_exe} ]; then
        cd ${startup_bulk_dir}
        make && ( $? != 0 ) && ( exit 1 )
        cp startup_bulk ${startup_bulk_dir}/startup_bulk
        #make clean
        cd -
    fi
    ${startup_bulk_exe} /dev/usb-ffs/bulk1 &
    sleep 1
    ${startup_bulk_exe} /dev/usb-ffs/bulk2 &
    sleep 1
    #${startup_bulk_exe} /dev/usb-ffs/bulk3 &
    #sleep 1
fi
udevadm settle -t 5 || :
ls /sys/class/udc > UDC
if [ ${enable_rndis} -eq 1 ]; then
    /sbin/brctl addbr pi4br0
    /sbin/ifconfig pi4br0 ${net_ip} netmask ${net_mask} up
    /sbin/brctl addif pi4br0 usb0
    /sbin/ifconfig usb0 down
    /sbin/ifconfig usb0 up
fi
exit 0

sudo systemctl enable bulk-gadget

[Unit]
Description=Start PSDK USB bulk gadget
After=sysinit.target
DefaultDependencies=no
[Service]
Type=oneshot
RemainAfterExit=yes
ExecStart=/home/pi/program/start_bulk/raspi-usb-device-start.sh
StandardOutput=journal
StandardError=journal
User=root
[Install]
WantedBy=sysinit.target

sudo nano /etc/systemd/system/bulk-gadget.service

sudo lsusb -d 2ca3:f001 -v

lsusb

chmod 777 raspi-usb-device-start.sh

ps -ef | grep startup_bulk

ls /dev/tty*

ls /dev/tty*

lsusb

#define USER_APP_NAME "your_app_name"
#define USER_APP_ID "your_app_id"
#define USER_APP_KEY "your_app_key"
#define USER_APP_LICENSE "your_app_license"
#define USER_DEVELOPER_ACCOUNT "your_developer_account"
#define USER_BAUD_RATE "921600"

无人机	串口波特率/bps
M350 RTK	11520、230400、460800、921600、1000000
M300 RTK	11520、230400、460800、921600、1000000
M30/M30T	11520、230400、460800、921600、1000000
M3D/M3TD	921600
M3E/M3T	921600

#define DJI_USE_ONLY_UART (0)
#define DJI_USE_UART_AND_USB_BULK_DEVICE (1)
#define DJI_USE_UART_AND_NETWORK_DEVICE (2)
#define DJI_USE_ONLY_USB_BULK_DEVICE (3)
#define DJI_USE_ONLY_NETWORK_DEVICE (4)
/*!< Attention: Select your hardware connection mode here. * */
#define CONFIG_HARDWARE_CONNECTION DJI_USE_UART_AND_USB_BULK_DEVICE

//User can config dev based on there environmental conditions
#define LINUX_UART_DEV1 "/dev/ttyUSB0"
#define LINUX_UART_DEV2 "/dev/ttyACM0"

#define LINUX_USB_BULK1_EP_IN_FD "/dev/usb-ffs/bulk1/ep1" //修改为 2.2 中树莓派上查看到的值
#define LINUX_USB_BULK1_EP_OUT_FD "/dev/usb-ffs/bulk1/ep2" //同上
#define LINUX_USB_BULK1_INTERFACE_NUM (0) //修改为 2.2 中 Ubuntu 查看的 bInterfaceNumber 的值
#define LINUX_USB_BULK1_END_POINT_IN (0x81) //修改为 2.2 中的 bEndpointAddress 的值
#define LINUX_USB_BULK1_END_POINT_OUT (0x01) //修改为 2.2 中的 bEndpointAddress 的值
#define LINUX_USB_BULK2_EP_IN_FD "/dev/usb-ffs/bulk2/ep1"
#define LINUX_USB_BULK2_EP_OUT_FD "/dev/usb-ffs/bulk2/ep2"
#define LINUX_USB_BULK2_INTERFACE_NUM (1)
#define LINUX_USB_BULK2_END_POINT_IN (0x82)
#define LINUX_USB_BULK2_END_POINT_OUT (0x02)
#define LINUX_USB_VID (0x2CA3) //修改为 2.2 中的 VID 值
#define LINUX_USB_PID (0xF001) //修改为 2.2 中的 PID 值

if (USE_SYSTEM_ARCH MATCHES LINUX)
    add_definitions(-DSYSTEM_ARCH_LINUX)
    add_subdirectory(samples/sample_c/platform/linux/manifold2)#路径修改成这个
    add_subdirectory(samples/sample_c++/platform/linux/manifold2)
endif

cd Payload-SDK/
mkdir build && cd build
cmake ../
make -j4

sudo ./dji_sdk_demo_linux_cxx

'Logs/latest.log' ->'DJI_0009_20251210_16-34-36.log'
[0.024][core]-[Info]-[DjiCore_Init:107) Payload SDK Version : V3.11.0-beta.0-build.2206 Mar 12202512:41:40
[3.237][utils]-[Info]-[DjiSdkVersionAck_Parse:183) Identify aircraft serial number = 1ZNBJ8700C019S, Firmware =3.4.18.68
[3.242][adapter]-[Info]-[DjiAccessAdapter_Init:314) Identify aircraft series is Matrice 300 Series
[3.242][adapter]-[Info]-[DjiAccessAdapter_Init:353) Identify mount position type is Extension Port Type
[3.270][adapter]-[Info]-[DjiAccessAdapter_Init:475) Identity uart0 baudrate is 921600 bps
[3.270][adapter]-[Info]-[DjiPayloadNegotiate_Init:134) No need negotiate device info
[4.434][core]-[Info]-[DjiIdentityVerify_UpdatePolicy:493) Updating dji sdk policy file...
[5.434][core]-[Info]-[DjiIdentityVerify_UpdatePolicy:501) Update dji sdk policy file successfully
[5.438][core]-[Info]-[DjiCore_Init:169) Identify AircraftType = Matrice 300 RTK, MountPosition = Extension Port, SdkAdapterType = None
[5.475][core]-[Info]-[DjiCore_SetAlias:186) Set alias: PSDK_APPALIAS
[5.475][gimbal]-[Error]-[DjiGimbal_Init:205) Can't support this function
[5.476][user]-[Error]-[DjiTest_GimbalStartService:154) init gimbal module error: 0x000000E0
[5.476][user]-[Error]-[DjiUser_ApplicationStart:316) psdk gimbal init error
[5.983][user]-[Info]-[SetVolume:583) Set widget speaker volume: 60
[5.983][user]-[Warn]-[SetVolume:601) No audio device found, please add audio device and init speaker volume here!!!
[10.985][core]-[Info]-[DjiCore_ApplicationStart:247) Start dji sdk application
[10.985][user]-[Info]-[DjiUser_ApplicationStart:363) Application start. | Available commands: |
| [0] Fc subscribe sample - subscribe quaternion and gps data |
| [1] Flight controller sample - you can control flying by PSDK |
| [2] Hms info manager sample - get health manger system info by language |
| [a] Gimbal manager sample - you can control gimbal by PSDK |
| [c] Camera stream view sample - display the camera video stream |
| [d] Stereo vision view sample - display the stereo image |
| [e] Run camera manager sample - you can test camera's functions interactively ||
|[f] Start rtk positioning sample - you can receive rtk rtcm data when rtk signal is ok |