# DJI_Note
**Repository Path**: wsptrdev/DJI_Note
## Basic Information
- **Project Name**: DJI_Note
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: main
- **Homepage**: None
- **GVP Project**: No
## Statistics
- **Stars**: 0
- **Forks**: 0
- **Created**: 2025-02-19
- **Last Updated**: 2025-02-19
## Categories & Tags
**Categories**: Uncategorized
**Tags**: None
## README
# DJI_Note
### 无人机数据
struct SUavInfoIndType10_V2
{
U8 u8SubCmd; ///< 0x10
U8 u8ProtoVer; ///< 2
U16 u16CmdSn; ///< command sequence number inside of device
/// *******************************
/// \var U16 u16ValidBitmapFlag
/// \brief Bitmap flag to indicate data presence.
/// \see U16,
/// \details ******************************* \n
/// bit0: UAV SN is valid or not.
/// bit1: UAV status(from s32UavLongitude to s16AngleYaw, and from bit4 to bit11) is valid or not.
/// bit2: Home info(s32HomeLongitude and s32HomeLatitude) is valid or not.
/// bit3: UUID is valid or not.
/// bit4: .
/// bit5: .
/// bit6: .
/// bit7: .
/// bit8: .
/// bit9: .
/// bit10: .
/// bit11: .
/// bit12~15: reserved.
/// *******************************
U16 u16ValidBitmapFlag;
char acUavSn[MAX_UAV_SN_LEN]; ///< UAV unique SN code
S32 s32UavLongitude; ///< Unit: 1e-7 rad
S32 s32UavLatitude; ///< Unit: 1e-7 rad
S16 s16GpsAltitude; ///< Unit: m
S16 s16AirMeterAltitude; ///< Unit: dm
S16 s16SpeedX; ///< Speed of South-North, Northern is positive direction, Unit: cm/s
S16 s16SpeedY; ///< Speed of West-East, Eastern is positive direction, Unit: cm/s
S16 s16SpeedZ; ///< Speed of Low-High, High is positive direction, Unit: cm/s
S16 s16AngleYaw; ///< Angle of yaw, Unit: 0.01 deg
U64 u64AppTimeStamp; ///< app gps timestamp
S32 s32AppLongitude; ///< app gps longitude 1e-7 rad
S32 s32AppLatitude; ///< app gps Latitude 1e-7 rad
S32 s32HomeLongitude; ///< home Longitude 1e-7 rad
S32 s32HomeLatitude; ///< home Latitude 1e-7 rad
U8 u8ProductType; ///< Uav type
U8 u8UuidLen; ///< Uuid len
U8 au8Uuid[MAX_UUID_LEN]; ///< Uuid text
};
### 主机数据
struct SDeviceStatusInd
{
U8 u8ProtoVer; ///< 1
char acDeviceSn[MAX_DEVICE_SN_LEN];
U32 u32RunTime; ///< Runtime Seconds from start up
S32 s32Longitude; ///< Unit: 1e7 degree
S32 s32Latitude; ///< Unit: 1e7 degree
UDevStatus udsDevStatus; ///< 设备状态
ULbStatus udsLbStatus; ///< LB模块通信状态
UWifiStatus udsWifiStatus; ///< Wifi模块通信状态
USdrStatus udsSdrStatus; ///< SDR模块通信状态
U8 u8Soc; ///< 剩余电量
U16 u16TotalInCurrent; ///< 总输入电流*100
U16 u16AntCurrent; ///< 天线电流*100
U16 u16TotalInVoltage; ///< 总输入电压*100
U16 u16GpsBusVoltage; ///< GPS总线电压*100
S16 u16PcbTemperture; ///< PCB板温度*100
U16 u16HubSupplyVoltage; ///< HUB供电电压*100
U16 u16SdrTxVoltage; ///< SDR TX电压*100
U16 u16Svs5V; ///< 5V电源监控电压*100
U16 u16MainBoardLbVol; ///< 主RF板LB电压*100
U16 u16MainBoardWifiVol; ///< 主RF板WIFI电压*100
U16 u16MainBoardSdrVol; ///< 主RF板SDR电压*100
U16 u16MainBoardAnt3V3Vol; ///< 主RF板3V3电压*100
U16 u16MainBoardLbCur; ///< 主RF板LB电流*100
U16 u16MainBoardWifiCur; ///< 主RF板WIFI电流*100
U16 u16MainBoardSdrCur; ///< 主RF板SDR电流*100
U16 u16MainBoardAnt3V3Cur; ///< 主RF板3V3电流*100
U16 u16MinorBoardLbVol; ///< 副RF板LB电压*100
U16 u16MinorBoardWifiVol; ///< 副RF板WIFI电压*100
U16 u16MinorBoardSdrVol; ///< 副RF板SDR电压*100
U16 u16MinorBoardAnt3V3Vol; ///< 副RF板3V3电压*100
U16 u16MinorBoardLbCur; ///< 副RF板LB电流*100
U16 u16MinorBoardWifiCur; ///< 副RF板WIFI电流*100
U16 u16MinorBoardSdrCur; ///< 副RF板SDR电流*100
U16 u16MinorBoardAnt3V3Cur; ///< 副RF板3V3电流*100
U8 u8GpsSatellite; ///< GPS搜星数量
};
### 校验码
crc8：
def calc_pkt55_hdr_checksum(seed, packet, plength):
arr_2A103 = [
0x00, 0x5E, 0xBC, 0xE2, 0x61, 0x3F, 0xDD, 0x83, 0xC2, 0x9C, 0x7E, 0x20, 0xA3, 0xFD, 0x1F, 0x41, 0x9D, 0xC3, 0x21, 0x7F, 0xFC, 0xA2, 0x40, 0x1E, 0x5F, 0x01, 0xE3, 0xBD, 0x3E, 0x60, 0x82, 0xDC, 0x23, 0x7D, 0x9F, 0xC1, 0x42, 0x1C, 0xFE, 0xA0, 0xE1, 0xBF, 0x5D, 0x03, 0x80, 0xDE, 0x3C, 0x62, 0xBE, 0xE0, 0x02, 0x5C, 0xDF, 0x81, 0x63, 0x3D, 0x7C, 0x22, 0xC0, 0x9E, 0x1D, 0x43, 0xA1, 0xFF,
0x46, 0x18, 0xFA, 0xA4, 0x27, 0x79, 0x9B, 0xC5, 0x84, 0xDA, 0x38, 0x66, 0xE5, 0xBB, 0x59, 0x07, 0xDB, 0x85, 0x67, 0x39, 0xBA, 0xE4, 0x06, 0x58, 0x19, 0x47, 0xA5, 0xFB, 0x78, 0x26, 0xC4, 0x9A, 0x65, 0x3B, 0xD9, 0x87, 0x04, 0x5A, 0xB8, 0xE6, 0xA7, 0xF9, 0x1B, 0x45, 0xC6, 0x98, 0x7A, 0x24, 0xF8, 0xA6, 0x44, 0x1A, 0x99, 0xC7, 0x25, 0x7B, 0x3A, 0x64, 0x86, 0xD8, 0x5B, 0x05, 0xE7, 0xB9,
0x8C, 0xD2, 0x30, 0x6E, 0xED, 0xB3, 0x51, 0x0F, 0x4E, 0x10, 0xF2, 0xAC, 0x2F, 0x71, 0x93, 0xCD, 0x11, 0x4F, 0xAD, 0xF3, 0x70, 0x2E, 0xCC, 0x92, 0xD3, 0x8D, 0x6F, 0x31, 0xB2, 0xEC, 0x0E, 0x50, 0xAF, 0xF1, 0x13, 0x4D, 0xCE, 0x90, 0x72, 0x2C, 0x6D, 0x33, 0xD1, 0x8F, 0x0C, 0x52, 0xB0, 0xEE, 0x32, 0x6C, 0x8E, 0xD0, 0x53, 0x0D, 0xEF, 0xB1, 0xF0, 0xAE, 0x4C, 0x12, 0x91, 0xCF, 0x2D, 0x73,
0xCA, 0x94, 0x76, 0x28, 0xAB, 0xF5, 0x17, 0x49, 0x08, 0x56, 0xB4, 0xEA, 0x69, 0x37, 0xD5, 0x8B, 0x57, 0x09, 0xEB, 0xB5, 0x36, 0x68, 0x8A, 0xD4, 0x95, 0xCB, 0x29, 0x77, 0xF4, 0xAA, 0x48, 0x16, 0xE9, 0xB7, 0x55, 0x0B, 0x88, 0xD6, 0x34, 0x6A, 0x2B, 0x75, 0x97, 0xC9, 0x4A, 0x14, 0xF6, 0xA8, 0x74, 0x2A, 0xC8, 0x96, 0x15, 0x4B, 0xA9, 0xF7, 0xB6, 0xE8, 0x0A, 0x54, 0xD7, 0x89, 0x6B, 0x35,
]
chksum = seed
for i in range(0, plength):
chksum = arr_2A103[((packet[i] ^ chksum) & 0xFF)]
return chksum
head = [0x55, 0x11,0x04] # 92
head = [0x55, 0x64,0x04] # db
head = [0x55, 0x61,0x04] # 24
head = [0x55, 0x96,0x04] # d3
head = [0x55, 0x6d,0x04] # 69
crc8 = calc_pkt55_hdr_checksum(0x77, head,3)
print(hex(crc8))
crc16:
/*
** const variable define
*/
const unsigned short wCRC_Table[256] = ....
const unsigned short CRC_INIT = ....
/*
** Descriptions: CRC16 checksum function
** Input: Data to check,Stream length, initialized checksum
** Output: CRC checksum
*/
unsigned short check_crc16_sum(unsigned char *pchMessage,unsigned int dwLength,unsigned short wCRC)
{
unsigned char chData;
if (pchMessage == 0)
{
return 0xFFFF;
}
while(dwLength--)
{
chData = *pchMessage++;
(wCRC) = ((unsigned short)(wCRC) >> 8) ^ wCRC_Table[((unsigned short)(wCRC) ^ (unsigned short)(chData)) & 0x00ff];
}
return wCRC;
}
/*
** Descriptions: CRC16 Verify function
** Input: Data to Verify,Stream length = Data + checksum
** Output: True or False (CRC Verify Result)
*/
//CRC 的验证方法也可以是看append后的字节流经过CRC运算后结果是否为零来判断
unsigned int check_verify_crc16_sum(unsigned char *pchMessage, unsigned int dwLength)
{
unsigned short wExpected = 0;
if ((pchMessage == 0) || (dwLength <= 2))
{
return 0;
}
wExpected = check_crc16_sum( pchMessage, dwLength - 2, CRC_INIT);
return (wExpected & 0xff) == pchMessage[dwLength - 2] &&
((wExpected >> 8) & 0xff) == pchMessage[dwLength - 1];
}
/*
** Descriptions: append CRC16 to the end of data
** Input: Data to CRC and append,Stream length = Data + checksum
** Output: True or False (CRC Verify Result)
*/
void check_append_crc16_sum(unsigned char* pchMessage,unsigned int dwLength)
{
unsigned short wCRC = 0;
if ((pchMessage == 0) || (dwLength <= 2))
{
return;
}
wCRC = check_crc16_sum( (unsigned char *)pchMessage, dwLength-2, CRC_INIT );
pchMessage[dwLength-2] = (unsigned char)(wCRC & 0x00ff);
pchMessage[dwLength-1] = (unsigned char)((wCRC >> 8)& 0x00ff);
}
#include
#include
#include
#include
std::vector char2hexvec(const char* msg, unsigned int len)
{
int hex_len = len / 2;
std::vector buf(hex_len);
for(int i=0;i buf= {0x55, 0x0e, 0x04, 0x66, 0x0a, 0x0d , 0x11 , 0x27, 0x40, 0x09, 0xc0, 0x01 , 0x44, 0x1e};
short crc = check_crc16_sum(buf.data(), buf.size()-2, CRC_INIT);
printf("%x\n", crc & 0xffff);
const char msg[] = "551d04df0a0d" "13" "274009c0040e" "3051524445395530303130303636" "7fc2";
buf = char2hexvec(msg, strlen(msg) - 4);
crc = check_crc16_sum(buf.data(), buf.size(), CRC_INIT);
printf("%x\n", crc & 0xffff);
return 0;
}