合并分支 'dev_00.00.02.08' 到 'dev'

Dev 00.00.02.08



查看合并请求 !6

 # 编译链的配置
 
 #1、编译链与设备类型的选择
-set(DEVICE_NAME JZ_H1E)
+set(DEVICE_NAME JZ_C1)
 #上一行为禁止修改行
 
 if("${DEVICE_NAME}" STREQUAL "JZ_H1E")

@@ -7,7 +7,7 @@
 #define VERSION_CHOOSE_H
 #include "./ConfigParams.h"
 //1~10行 除了D可以修改版本选择 禁止动任何东西
-#define DEVICE_VERSION JZ_H1E
+#define DEVICE_VERSION JZ_C1
 
 //禁止修改行 选择是串口程序 还是 psdk程序
 #define APP_VERSION APP_PSDK
@@ -19,13 +19,13 @@
 #define MAJOR_VERSION 0x01
 #define MINOR_VERSION 0x03
 #define MODIFY_VERSION 0x09
-#define DEBUG_VERSION 0x01
+#define DEBUG_VERSION 0x05
 
 //禁止修改行 滤波方式
 #define FILTERING_TYPE HIGH_PASS_FILTERING
 
 //禁止修改行固件属地  目前 国内版/海外版
-#define FIRMWARE_ORIGIN OVERSEAS_VERSION
+#define FIRMWARE_ORIGIN DOMESTIC_VERSION
 
 //禁止修改行指定特殊固件
 #define SPECIAL_VERSION SPECIAL_NORMAL

@@ -238,11 +238,18 @@ static void *JZsdk_Kt_Irc_DataDeal_Thread(void *args)
         //4、将原始码流数据转换成h264流，为避免多次复制，这里的h264会直接放入视频流管理的缓冲区
         JZsdk_RTKMMP_RawData_to_h264(raw_data, raw_data_len);
 
-        free(raw_data);
-        raw_data = NULL;
-        free(gary_data);
-        gary_data = NULL;
-
+        if (raw_data != NULL)
+        {
+            free(raw_data);
+            raw_data = NULL;
+        }
+        
+        if (gary_data != NULL)
+        {
+            free(gary_data);
+            gary_data = NULL;
+        }
+        
         //JZSDK_LOG_DEBUG("得到了一帧红外h264");
     }
 }

@@ -828,9 +828,34 @@ T_JZsdkReturnCode JZIrcLib_DataDeal(U16_t* U16_data, unsigned int U16_dataSize,
         break;
 
         default:
+            if (u16_CorrentData != NULL)
+            {
+                free(u16_CorrentData);
+                u16_CorrentData = NULL;
+            }
+            
+            if (GrayImage != NULL)
+            {
+                free(GrayImage);
+                GrayImage = NULL;
+            }
+            
             return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
         break;
     }
 
+    if (u16_CorrentData != NULL)
+    {
+        free(u16_CorrentData);
+        u16_CorrentData = NULL;
+    }
+    
+    if (GrayImage != NULL)
+    {
+        free(GrayImage);
+        GrayImage = NULL;
+    }
+    
+
     return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
 }
\ No newline at end of file

@@ -43,7 +43,7 @@ T_JZsdkReturnCode MediaProc_Init()
         VideoStreamTransCode_Init();
 
         //5、打开默认选项
-        VideoMgmt_VideoStreamFlowIndex(VIDEOMGMT_STREAMING_FLOW_INDEX_SECOND); //默认推送光学摄像头
+        VideoMgmt_VideoStreamFlowIndex(VIDEOMGMT_STREAMING_FLOW_INDEX_FIRST); //默认推送光学摄像头
         JZsdk_Kt_Irc_ShutterSwitch(JZ_FLAGCODE_ON);
 
         //6、修改部分参数

@@ -187,7 +187,7 @@ static const T_DjiWidgetHandlerListItem s_widgetHandlerList[] = {
 };
 
 static const uint32_t s_widgetHandlerListCount = sizeof(s_widgetHandlerList) / sizeof(T_DjiWidgetHandlerListItem);
-int32_t s_widgetValueList[] = {VIDEOMGMT_STREAMING_FLOW_INDEX_SECOND,  //视频流
+int32_t s_widgetValueList[] = {VIDEOMGMT_STREAMING_FLOW_INDEX_FIRST,  //视频流
                                 OFF,    //测温模式
                                 ON,     //光圈开关
                                 OFF,    //冻结开关

@@ -87,7 +87,8 @@ T_DjiReturnCode DjiTest_XPortStartService(void)
     }
 
     limitAngle.upperLimit = 300;
-    limitAngle.lowerLimit = -1000;
+    //limitAngle.lowerLimit = -1000;
+    limitAngle.lowerLimit = -350;
     djiStat = DjiXPort_SetLimitAngleSync(DJI_XPORT_LIMIT_ANGLE_CATEGORY_PITCH_JOINT_ANGLE, limitAngle);
     if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
         USER_LOG_ERROR("set pitch joint angle limit angle for XPort error: 0x%08llX.", djiStat);
@@ -96,6 +97,7 @@ T_DjiReturnCode DjiTest_XPortStartService(void)
 
     limitAngle.upperLimit = 300;
     limitAngle.lowerLimit = -800;
+    //limitAngle.lowerLimit = -300;
     djiStat = DjiXPort_SetLimitAngleSync(DJI_XPORT_LIMIT_ANGLE_CATEGORY_PITCH_EULER_ANGLE, limitAngle);
     if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
         USER_LOG_ERROR("set pitch euler angle limit angle for XPort error: 0x%08llX.", djiStat);

 # cmake 最低版本要求 第三行名字不能动
 cmake_minimum_required(VERSION 2.8)
-project(JZ-H1E) 
+project(JZ_C1) 
 
 set(CMAKE_C_FLAGS "-pthread -std=gnu99 -lm -ldl -lstdc++")
 #"-pthread":指定在编译时链接POSIX线程库,以支持多线程程序。