DJI::OSDK::MFIO Class Reference

APIs for Multi-Function Input-Output functionality. More...

#include <dji_mfio.hpp>

Public Types
enum	MODE {   MODE_PWM_OUT = 0,   MODE_PWM_IN = 1,   MODE_GPIO_OUT = 2,   MODE_GPIO_IN = 3,   MODE_ADC = 4 }
enum	CHANNEL {   CHANNEL_0 = 0,   CHANNEL_1 = 1,   CHANNEL_2 = 2,   CHANNEL_3 = 3,   CHANNEL_4 = 4,   CHANNEL_5 = 5,   CHANNEL_6 = 6,   CHANNEL_7 = 7 }
typedef enum DJI::OSDK::MFIO::MODE	MODE
typedef enum DJI::OSDK::MFIO::CHANNEL	CHANNEL

Public Member Functions
	MFIO (Vehicle *vehicle)
void	config (MODE mode, CHANNEL channel, uint32_t defaultValue, uint16_t freq, VehicleCallBack fn=0, UserData userData=0)
	Non-blocking call for initializing an MFIO channel. More...
void	setValue (CHANNEL channel, uint32_t value, VehicleCallBack fn=0, UserData data=0)
	Non-blocking call for setting an MFIO value to a channel. More...
void	getValue (CHANNEL channel, VehicleCallBack fn=0, UserData data=0)
	Non-blocking call for getting data from an MFIO channel. More...
ACK::ErrorCode	config (MODE mode, CHANNEL channel, uint32_t defaultValue, uint16_t freq, int wait_timeout)
	Blocking call for initializing an MFIO channel. More...
ACK::ErrorCode	setValue (CHANNEL channel, uint32_t value, int wait_timeout)
ACK::MFIOGet	getValue (CHANNEL channel, int wait_timeout)

Detailed Description

APIs for Multi-Function Input-Output functionality.

This class offers control over the F-channel pins on DJI products. Five modes are available through the F-channels:

1. PWM Input (not supported yet)
2. PWM Output
3. Digital Input (GPI)
4. Digital Output (GPO)
5. Analog-Digital Conversion (ADC) Input

Note

You must map F-channels to SDK channels through DJI Assistant 2 to use MFIO functionality.

Member Function Documentation

config() [1/2]

void MFIO::config	(	MFIO::MODE	mode,
		CHANNEL	channel,
		uint32_t	defaultValue,
		uint16_t	freq,
		VehicleCallBack	fn = 0,
		UserData	userData = 0
	)

Non-blocking call for initializing an MFIO channel.

Supported Platforms : A3, N3

Parameters

mode	The mode (PWM, GPIO, ADC) to initialize to
channel	The channel (0-7) to initialize
defaultValue	The starting value [for output]
freq	The frequency
fn	Callback function you want called upon ACK
userData	Additional data you want the callback function to have access to

config() [2/2]

ACK::ErrorCode MFIO::config	(	MFIO::MODE	mode,
		CHANNEL	channel,
		uint32_t	defaultValue,
		uint16_t	freq,
		int	wait_timeout
	)

Blocking call for initializing an MFIO channel.

Supported Platforms : A3, N3

Parameters

mode	The mode (PWM, GPIO, ADC) to initialize to
channel	The channel (0-7) to initialize
defaultValue	The starting value [for output]
freq	The frequency
wait_timeout	Time(in s) you want the function to wait for an ACK

Returns

ACK::ErrorCode struct containing the ACK and metadata

getValue() [1/2]

void MFIO::getValue	(	MFIO::CHANNEL	channel,
		VehicleCallBack	fn = 0,
		UserData	data = 0
	)

Non-blocking call for getting data from an MFIO channel.

Supported Platforms : A3, N3

Parameters

channel	The channel (0-7) to get the value from
fn	Callback function you want called upon ACK
data	Additional data you want the callback function to have access to

getValue() [2/2]

ACK::MFIOGet MFIO::getValue	(	CHANNEL	channel,
		int	wait_timeout
	)

Blocking call for getting data from an MFIO channel

Supported Platforms : A3, N3

Parameters

channel	The channel (0-7) to get the value from
wait_timeout	Time(in s) you want the function to wait for an ACK

Returns

ACK::ErrorCode struct containing the ACK and metadata

setValue() [1/2]

void MFIO::setValue	(	MFIO::CHANNEL	channel,
		uint32_t	value,
		VehicleCallBack	fn = 0,
		UserData	data = 0
	)

Non-blocking call for setting an MFIO value to a channel.

Supported Platforms : A3, N3

Parameters

channel	The channel (0-7) to set the value to
value	The value you want to set
fn	Callback function you want called upon ACK
data	Additional data you want the callback function to have access to

setValue() [2/2]

ACK::ErrorCode MFIO::setValue	(	CHANNEL	channel,
		uint32_t	value,
		int	wait_timeout
	)

Blocking call for setting an MFIO value to a channel

Supported Platforms : A3, N3

Parameters

channel	The channel (0-7) to set the value to
value	The value you want to set
wait_timeout	Time(in s) you want the function to wait for an ACK

Returns

ACK::ErrorCode struct containing the ACK and metadata

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The documentation for this class was generated from the following files:

• osdk-core/api/inc/dji_mfio.hpp
• osdk-core/api/src/dji_mfio.cpp