Updating dji sdk policy file... 串口写失败

[shiner-chen]

我想通过psdk在orin agx板上拉取M300 RTK无人机上的视频流，根据官网的操作指南，连接了硬件，在运行psdk的demo程序：dji_sdk_demo_on_jetson， 报以下错误，不知道如何处理？

[0.001][core]-[Info]-[DjiCore_Init:107) Payload SDK Version : V3.10.0-beta.0-build.2190 Jan  9 2025 21:52:37 
[3.079][utils]-[Info]-[DjiSdkVersionAck_Parse:183) Identify aircraft serial number = 1ZNBJAL00C004N, Firmware = 3.4.18.68 
[3.089][adapter]-[Info]-[DjiAccessAdapter_Init:314) Identify aircraft series is Matrice 300 Series 
[3.089][adapter]-[Info]-[DjiAccessAdapter_Init:353) Identify mount position type is Extension Port Type 
[3.101][adapter]-[Info]-[DjiAccessAdapter_Init:475) Identity uart0 baudrate is 230400 bps 
[3.101][adapter]-[Info]-[DjiPayloadNegotiate_Init:134) No need negotiate device info 
[4.266][core]-[Info]-[DjiIdentityVerify_UpdatePolicy:493) Updating dji sdk policy file... 
[5.266][core]-[Info]-[DjiIdentityVerify_UpdatePolicy:493) Updating dji sdk policy file... 

[76.340][core]-[Info]-[DjiIdentityVerify_UpdatePolicy:493) Updating dji sdk policy file... 
[76.356][linker]-[Warn]-[DjiCommand_SendAsyncHandle:965) <0x5239>Command async send retry: index = 10, retryTimes = 65517, 0x0A06->0x0701 0x3C40 
[76.356][linker]-[Error]-[DjiChannel_uartWrite:102) uart write data error 
[76.356][linker]-[Error]-[DjiLinker_SendMsg:198) write data error 
[76.356][linker]-[Warn]-[DjiCommand_SendAsyncHandle:971) Command retry send failed, errorCode:0x000000EC 
[76.360][linker]-[Warn]-[DjiCommand_SendAsyncHandle:965) <0x5237>Command async send retry: index = 8, retryTimes = 65507, 0x0A06->0x0701 0x3C40 
[76.360][linker]-[Error]-[DjiChannel_uartWrite:102) uart write data error 
[76.360][linker]-[Error]-[DjiLinker_SendMsg:198) write data error 
[76.360][linker]-[Warn]-[DjiCommand_SendAsyncHandle:971) Command retry send failed, errorCode:0x000000EC 
[76.360][linker]-[Warn]-[DjiCommand_SendAsyncHandle:965) <0x5238>Command async send retry: index = 9, retryTimes = 65512, 0x0A06->0x0701 0x3C40 
[76.360][linker]-[Error]-[DjiChannel_uartWrite:102) uart write data error 
[76.360][linker]-[Error]-[DjiLinker_SendMsg:198) write data error 
[76.360][linker]-[Warn]-[DjiCommand_SendAsyncHandle:971) Command retry send failed, errorCode:0x000000EC 
[76.367][linker]-[Warn]-[DjiCommand_SendAsyncHandle:965) <0x5236>Command async send retry: index = 7, retryTimes = 65502, 0x0A06->0x0701 0x3C40 
[76.367][linker]-[Error]-[DjiChannel_uartWrite:102) uart write data error 
[76.367][linker]-[Error]-[DjiLinker_SendMsg:198) write data error 
[76.367][linker]-[Warn]-[DjiCommand_SendAsyncHandle:971) Command retry send failed, errorCode:0x000000EC 
[76.373][linker]-[Warn]-[DjiCommand_SendAsyncHandle:965) <0x5234>Command async send retry: index = 5, retryTimes = 65492, 0x0A06->0x0701 0x3C40 
[76.373][linker]-[Error]-[DjiChannel_uartWrite:102) uart write data error 
[76.373][linker]-[Error]-[DjiLinker_SendMsg:198) write data error 
[76.373][linker]-[Warn]-[DjiCommand_SendAsyncHandle:971) Command retry send failed, errorCode:0x000000EC 
[76.376][linker]-[Warn]-[DjiCommand_SendAsyncHandle:965) <0x5235>Command async send retry: index = 6, retryTimes = 65497, 0x0A06->0x0701 0x3C40 
[76.376][linker]-[Error]-[DjiChannel_uartWrite:102) uart write data error 
[76.376][linker]-[Error]-[DjiLinker_SendMsg:198) write data error 
[76.376][linker]-[Warn]-[DjiCommand_SendAsyncHandle:971) Command retry send failed, errorCode:0x000000EC 
[76.378][linker]-[Warn]-[DjiCommand_SendAsyncHandle:965) <0x5233>Command async send retry: index = 4, retryTimes = 65487, 0x0A06->0x0701 0x3C40 
[76.378][linker]-[Error]-[DjiChannel_uartWrite:102) uart write data error 
[76.378][linker]-[Error]-[DjiLinker_SendMsg:198) write data error 
[76.378][linker]-[Warn]-[DjiCommand_SendAsyncHandle:971) Command retry send failed, errorCode:0x000000EC 

硬件连接方式如下：

实物图如下：

E-port的拨码开关如下图：

nv-l4t-usb-device-mode-start.sh脚本如下：

#!/bin/bash
set -ex

# Ensure the script runs as root
if [ "$(id -u)" -ne 0 ]; then
    echo "This script must be run as root"
    exit 1
fi

# Load required modules
sudo modprobe configfs
sudo modprobe libcomposite
sudo modprobe usb_f_fs

# Mount configfs if not already mounted
if ! mountpoint -q /sys/kernel/config; then
    sudo mount -t configfs none /sys/kernel/config
fi

script_dir="$(cd "$(dirname "$0")" && pwd)"
. "${script_dir}/nv-l4t-usb-device-mode-config.sh"

# Wait for any modules to load and initialize
for attempt in $(seq 60); do
    udc_dev_t210=700d0000.xudc
    if [ -e "/sys/class/udc/${udc_dev_t210}" ]; then
        udc_dev="${udc_dev_t210}"
        break
    fi
    udc_dev_t186=3550000.usb
    if [ -e "/sys/class/udc/${udc_dev_t186}" ]; then
        udc_dev="${udc_dev_t186}"
        break
    fi
    sleep 1
done
if [ "${udc_dev}" == "" ]; then
    echo No known UDC device found
    exit 1
fi

macs_file="${script_dir}/mac-addresses"
if [ -f "${macs_file}" ]; then
    . "${macs_file}"
else
    # Generate unique data
    if [ -f /proc/device-tree/serial-number ]; then
        random="$(md5sum /proc/device-tree/serial-number | cut -c1-12)"
    else
        random="$(echo "no-serial" | md5sum | cut -c1-12)"
    fi
    # Extract 6 bytes
    b1="$(echo "${random}" | cut -c1-2)"
    b2="$(echo "${random}" | cut -c3-4)"
    b3="$(echo "${random}" | cut -c5-6)"
    b4="$(echo "${random}" | cut -c7-8)"
    b5="$(echo "${random}" | cut -c9-10)"
    b6="$(echo "${random}" | cut -c11-12)"
    # Clear broadcast/multicast, set locally administered bits
    b1="$(printf "%02x" "$(("0x${b1}" & 0xfe | 0x02))")"
    # Set 4 LSBs to unique value per interface
    b6_rndis_h="$(printf "%02x" "$(("0x${b6}" & 0xfc | 0x00))")"
    b6_rndis_d="$(printf "%02x" "$(("0x${b6}" & 0xfc | 0x01))")"
    b6_ecm_h="$(printf "%02x" "$(("0x${b6}" & 0xfc | 0x02))")"
    b6_ecm_d="$(printf "%02x" "$(("0x${b6}" & 0xfc | 0x03))")"
    # Construct complete MAC per interface
    mac_rndis_h="${b1}:${b2}:${b3}:${b4}:${b5}:${b6_rndis_h}"
    mac_rndis_d="${b1}:${b2}:${b3}:${b4}:${b5}:${b6_rndis_d}"
    mac_ecm_h="${b1}:${b2}:${b3}:${b4}:${b5}:${b6_ecm_h}"
    mac_ecm_d="${b1}:${b2}:${b3}:${b4}:${b5}:${b6_ecm_d}"
    # Save values for next boot
    echo "mac_rndis_h=${mac_rndis_h}" > "${macs_file}"
    echo "mac_rndis_d=${mac_rndis_d}" >> "${macs_file}"
    echo "mac_ecm_h=${mac_ecm_h}" >> "${macs_file}"
    echo "mac_ecm_d=${mac_ecm_d}" >> "${macs_file}"
fi

mkdir -p /sys/kernel/config/usb_gadget/l4t
cd /sys/kernel/config/usb_gadget/l4t

# If this script is modified outside NVIDIA, the idVendor and idProduct values
# MUST be replaced with appropriate vendor-specific values.
echo 0x0955 > idVendor
echo 0x7020 > idProduct
# BCD value. Each nibble should be 0..9. 0x1234 represents version 12.3.4.
echo 0x0002 > bcdDevice

# Informs Windows that this device is a composite device, i.e. it implements
# multiple separate protocols/devices.
echo 0xEF > bDeviceClass
echo 0x02 > bDeviceSubClass
echo 0x01 > bDeviceProtocol

mkdir -p strings/0x409
if [ -f /proc/device-tree/serial-number ]; then
    serialnumber="$(cat /proc/device-tree/serial-number | tr -d '\000')"
else
    serialnumber=no-serial
fi
echo "${serialnumber}" > strings/0x409/serialnumber
# If this script is modified outside NVIDIA, the manufacturer and product values
# MUST be replaced with appropriate vendor-specific values.
echo "NVIDIA" > strings/0x409/manufacturer
echo "Linux for Tegra" > strings/0x409/product

cfg=configs/c.1
mkdir -p "${cfg}"
cfg_str=""

# Note: RNDIS must be the first function in the configuration, or Windows'
# RNDIS support will not operate correctly.
if [ ${enable_rndis} -eq 1 ]; then
    cfg_str="${cfg_str}+RNDIS"
    func=functions/rndis.usb0
    mkdir -p "${func}"
    echo "${mac_rndis_h}" > "${func}/host_addr"
    echo "${mac_rndis_d}" > "${func}/dev_addr"
    ln -sf "${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 two USB configs are created, and the second contains RNDIS and ACM, then
# Windows will ignore at the ACM function in that config. Consequently, this
# script creates only a single USB config.
if [ ${enable_acm} -eq 1 ]; then
    cfg_str="${cfg_str}+ACM"
    func=functions/acm.GS0
    mkdir -p "${func}"
    ln -sf "${func}" "${cfg}"
fi

# Copy system version information into the exposed filesystem image,
# so that any system that's attached to the USB port can identify this device.
# Do this even if $enable_ums!=1, since $fs_img is locally mounted too.
mntpoint="/mnt/l4t-devmode-$$"
rm -rf "${mntpoint}"
mkdir -p "${mntpoint}"
mount -o loop "${fs_img}" "${mntpoint}"
rm -rf "${mntpoint}/version"
mkdir -p "${mntpoint}/version"
if [ -f /etc/nv_tegra_release ]; then
    cp /etc/nv_tegra_release "${mntpoint}/version"
fi
if dpkg -s nvidia-l4t-core > /dev/null 2>&1; then
    dpkg -s nvidia-l4t-core > "${mntpoint}/version/nvidia-l4t-core.dpkg-s.txt"
fi
if [ -d /proc/device-tree/chosen/plugin-manager ]; then
    cp -r /proc/device-tree/chosen/plugin-manager "${mntpoint}/version/plugin-manager"
fi
umount "${mntpoint}"
rm -rf "${mntpoint}"

if [ ${enable_ums} -eq 1 ]; then
    cfg_str="${cfg_str}+UMS"
    func=functions/mass_storage.0
    mkdir -p "${func}"
    ln -sf "${func}" "${cfg}"
    # Prevent users from corrupting the disk image; make it read-only
    echo 1 > "${func}/lun.0/ro"
    echo "${fs_img}" > "${func}/lun.0/file"
fi

if [ ${enable_ecm} -eq 1 ]; then
    cfg_str="${cfg_str}+${ecm_ncm_name}"
    func=functions/${ecm_ncm}.usb0
    mkdir -p "${func}"
    echo "${mac_ecm_h}" > "${func}/host_addr"
    echo "${mac_ecm_d}" > "${func}/dev_addr"
    ln -sf "${func}" "${cfg}"
fi

enable_bulk=1
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 -o uid=2000 -o gid=2000 -t functionfs bulk1 /dev/usb-ffs/bulk1
    /home/chenx/workspace/usb-bulk-configure/startup_bulk /dev/usb-ffs/bulk1 &
    sleep 3


    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 -o uid=2000 -o gid=2000 -t functionfs bulk2 /dev/usb-ffs/bulk2
    /home/chenx/workspace/usb-bulk-configure/startup_bulk /dev/usb-ffs/bulk2 &
    sleep 3
fi

mkdir -p "${cfg}/strings/0x409"
# :1 in the variable expansion strips the first character from the value. This
# removes the unwanted leading + sign. This simplifies the logic to construct
# $cfg_str above; it can always add a leading delimiter rather than only doing
# so unless the string is previously empty.
echo "${cfg_str:1}" > "${cfg}/strings/0x409/configuration"

# Create and configure the network bridge before setting the UDC device. This
# ensures that no matter how quickly udev events (which run -runtime-start.sh)
# are triggered after setting the UDC device below, the bridge device is
# guaranteed to exist, so -runtime-start.sh is guaranteed to be able to
# configure it.
#
# Set the device to "down" initially; if/when -runtime-start.sh runs in response
# to cable presence, the interface will be set to "up".
/sbin/brctl addbr l4tbr0
/sbin/ifconfig l4tbr0 down

echo "${udc_dev}" > UDC

# Ethernet devices require additional configuration. This must happen after the
# UDC device is assigned, since that triggers the creation of the Tegra-side
# Ethernet interfaces.
#
# This script always assigns any-and-all Ethernet devices to an Ethernet
# bridge, and assigns the static IP to that bridge. This allows the script to
# more easily handle the potentially variable set of Ethernet devices.
#
# If your custom use-case requires separate IP addresses per interface, or
# only ever has one interface active, you may modify this script to skip
# bridge creation, and assign IP address(es) directly to the interface(s).

if [ ${enable_rndis} -eq 1 ]; then
    /sbin/brctl addif l4tbr0 "$(cat functions/rndis.usb0/ifname)"
    /sbin/ifconfig "$(cat functions/rndis.usb0/ifname)" up
fi

if [ ${enable_ecm} -eq 1 ]; then
    /sbin/brctl addif l4tbr0 "$(cat functions/${ecm_ncm}.usb0/ifname)"
    /sbin/ifconfig "$(cat functions/${ecm_ncm}.usb0/ifname)" up
fi

cd - # Out of /sys/kernel/config/usb_gadget

# Create a local disk device that exposes the same filesystem image that's
# exported over USB. This will allow local users to see the files too.
/sbin/losetup -f -r "${fs_img}"

exit 0

hal_uart.h 内容如下：运行device-mode脚本后，我的usb虚拟串口名称是ttyGS0,而不是你们指南说的ttyACM0.

#ifndef HAL_UART_H
#define HAL_UART_H

/* Includes ------------------------------------------------------------------*/
#include "stdint.h"
#include <stdio.h>
#include <unistd.h>
#include <fcntl.h>
#include <termios.h>
#include <unistd.h>
#include <string.h>
#include "stdlib.h"

#include "dji_platform.h"

#ifdef __cplusplus
extern "C" {
#endif

/* Exported constants --------------------------------------------------------*/
//User can config dev based on there environmental conditions
#define LINUX_UART_DEV1 "/dev/ttyUSB0"
#define LINUX_UART_DEV2 "/dev/ttyGS0"

/* Exported types ------------------------------------------------------------*/

/* Exported functions --------------------------------------------------------*/
T_DjiReturnCode HalUart_Init(E_DjiHalUartNum uartNum, uint32_t baudRate, T_DjiUartHandle *uartHandle);
T_DjiReturnCode HalUart_DeInit(T_DjiUartHandle uartHandle);
T_DjiReturnCode HalUart_WriteData(T_DjiUartHandle uartHandle, const uint8_t *buf, uint32_t len, uint32_t *realLen);
T_DjiReturnCode HalUart_ReadData(T_DjiUartHandle uartHandle, uint8_t *buf, uint32_t len, uint32_t *realLen);
T_DjiReturnCode HalUart_GetStatus(E_DjiHalUartNum uartNum, T_DjiUartStatus *status);

#ifdef __cplusplus
}
#endif

#endif // HAL_UART_H
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

根据lsusb -d 0955:7020 -v 输出的内容，将hal_usb_bulk.h 文件中bulk配置如下：

/* Exported constants --------------------------------------------------------*/
#define LINUX_USB_BULK1_EP_IN_FD "/dev/usb-ffs/bulk1/ep1"
#define LINUX_USB_BULK1_EP_OUT_FD "/dev/usb-ffs/bulk1/ep2"

#define LINUX_USB_BULK1_INTERFACE_NUM (7)
#define LINUX_USB_BULK1_END_POINT_IN (0x88)
#define LINUX_USB_BULK1_END_POINT_OUT (0x05)

#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 (8)
#define LINUX_USB_BULK2_END_POINT_IN (0x89)
#define LINUX_USB_BULK2_END_POINT_OUT (0x06)

#define LINUX_USB_VID (0x0955)
#define LINUX_USB_PID (0x7020)

/* Exported types ------------------------------------------------------------*/

[dji-dev]

Agent comment from Leon in Zendesk ticket #127344:

您好，请问下您使用的是板载串口还是USB-TTL，这个主要是串口相关的报错，建议您更换下串口连接链路，或者调整一下波特率。同时您可以确认下无人机的固件版本是否为最新。

°°°