预设任务更新

@@ -111,7 +111,10 @@
         "jzsdk_framecomparsion_6aframe.h": "c",
         "jzsdk_uart.h": "c",
         "audiomange.h": "c",
-        "pcmaudiofile.h": "c"
+        "pcmaudiofile.h": "c",
+        "megaphone_playback.h": "c",
+        "audiomange_param.h": "c",
+        "jzsdk_platform.h": "c"
     },
     "Codegeex.GenerationPreference": "automatic",
     "C_Cpp.dimInactiveRegions": false

 # 编译链的配置
 
 #1、编译链与设备类型的选择
-set(DEVICE_NAME JZ_H1T)
+set(DEVICE_NAME JZ_H10T)
 #上一行为禁止修改行
 
 message("**************************JZSDK构建编译开始***************************\n")

@@ -56,6 +56,8 @@ typedef void *T_JZsdkMutexHandle;
 typedef void *T_JZsdkSemaHandle;
 //文件权柄
 typedef void *T_JZsdkFileHandle;
+//目录权柄
+typedef void *T_JZsdkDirHandle;
 
 
 /* Exported types ------------------------------------------------------------*/

@@ -166,7 +166,7 @@ T_JZsdkReturnCode JZsdk_Osal_FileClose(T_JZsdkFileHandle fileObj)
     返回值：JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS表示写入成功，
     JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE表示写入失败
  * *******************************/
-T_JZsdkReturnCode JZsdk_Osal_FileWrite(T_JZsdkFileHandle fileObj, const U8_t *buf, U32_t len, U32_t *realLen)
+T_JZsdkReturnCode JZsdk_Osal_FileWrite_U8(T_JZsdkFileHandle fileObj, const U8_t *buf, U32_t len, U32_t *realLen)
 {
     int32_t ret;
 
@@ -192,7 +192,7 @@ T_JZsdkReturnCode JZsdk_Osal_FileWrite(T_JZsdkFileHandle fileObj, const U8_t *bu
     返回值：JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS表示读取成功，
     JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE表示读取失败
  * *******************************/
-T_JZsdkReturnCode JZsdk_Osal_FileRead(T_JZsdkFileHandle fileObj, U8_t *buf, U32_t len, U32_t *realLen)
+T_JZsdkReturnCode JZsdk_Osal_FileRead_U8(T_JZsdkFileHandle fileObj, U8_t *buf, U32_t len, U32_t *realLen)
 {
     int32_t ret;
 
@@ -680,4 +680,81 @@ T_JZsdkReturnCode JZsdk_Sync()
 {
     sync();
     return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_JZsdkReturnCode JZsdk_Osal_DirOpen(const char *filePath, T_JZsdkDirHandle *dirObj)
+{
+    if (filePath == NULL) {
+        return JZ_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    *dirObj = opendir(filePath);
+    if (*dirObj == NULL) {
+        return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
+    }
+
+    return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_JZsdkReturnCode JZsdk_Osal_DirClose(T_JZsdkDirHandle dirObj)
+{
+    int32_t ret;
+
+    if (dirObj == NULL) {
+        return JZ_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    ret = closedir((DIR *) dirObj);
+    if (ret < 0) {
+        return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
+    }
+
+    return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_JZsdkReturnCode JZsdk_Osal_DirRead(T_JZsdkDirHandle dirObj, T_JZsdkFileInfo *fileInfo)
+{
+    struct dirent *dirent;
+
+    if (dirObj == NULL || fileInfo == NULL) {
+        return JZ_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    dirent = readdir((DIR *) dirObj);
+    if (!dirent) {
+        return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
+    }
+
+    if (dirent->d_type == DT_DIR) {
+        fileInfo->isDir = true;
+    } else {
+        fileInfo->isDir = false;
+    }
+    strcpy(fileInfo->path, dirent->d_name);
+
+    return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+
+T_JZsdkReturnCode JZsdk_Osal_Unlink(const char *filePath)
+{
+    int32_t ret;
+
+    if (filePath == NULL) {
+        return JZ_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    if (filePath[strlen(filePath) - 1] == '/') {
+        ret = rmdir(filePath);
+        if (ret < 0) {
+            return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+        }
+    } else {
+        ret = unlink(filePath);
+        if (ret < 0) {
+            return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+        }
+    }
+
+    return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
 }
\ No newline at end of file

@@ -22,6 +22,59 @@ extern "C" {
 /* Exported constants --------------------------------------------------------*/
 /* 常亮定义*/
 
+/*
+    用途：用于读取文件内容。
+    权限：只允许读取文件，不允许写入或修改文件内容。
+    文件存在性：如果文件不存在，打开操作会失败，并返回一个错误。
+    文件指针位置：文件打开后，文件指针位于文件的开头。
+*/
+#define FS_ONLY_READ "rb"     
+
+/*
+    用途：用于读取和写入文件内容。
+    权限：允许读取和写入文件内容。
+    文件存在性：如果文件不存在，打开操作会失败，并返回一个错误。
+    文件指针位置：文件打开后，文件指针位于文件的开头。
+    注意事项：在写入文件时，会覆盖文件中对应位置的内容，但不会删除文件的其他内容。
+*/
+#define FS_READ_AND_WRITE "r+b"
+
+/*
+    用途：用于写入文件内容。
+    权限：只允许写入文件内容，不允许读取。
+    文件存在性：如果文件存在，其内容会被清空；如果文件不存在，会创建一个新文件。
+    文件指针位置：文件打开后，文件指针位于文件的开头，准备写入新内容。
+    注意事项：使用w模式打开文件时，会丢失文件中的原有内容。
+*/
+#define FS_ONLT_WRITE "wb"
+
+/*
+    用途：用于读取和写入文件内容，但会先清空文件。
+    权限：允许读取和写入文件内容。
+    文件存在性：如果文件存在，其内容会被清空；如果文件不存在，会创建一个新文件。
+    文件指针位置：文件打开后，文件指针位于文件的开头，准备写入新内容。
+    注意事项：使用w+模式打开文件时，会丢失文件中的原有内容。但在写入新内容后，仍然可以读取文件内容。
+*/
+#define FS_READ_AND_WRITE_CLEAR "w+b"
+
+/*
+    用途：用于在文件末尾追加内容。
+    权限：只允许写入文件内容，不允许读取。
+    文件存在性：如果文件存在，写入操作会追加到文件末尾；如果文件不存在，会创建一个新文件。
+    文件指针位置：文件打开后，文件指针位于文件末尾，准备追加新内容。
+*/
+#define FS_APPEND "ab"
+
+/*
+    用途：用于读取和写入文件内容，但写入操作会追加到文件末尾。
+    权限：允许读取和写入文件内容。
+    文件存在性：如果文件存在，写入操作会追加到文件末尾；如果文件不存在，会创建一个新文件。
+    文件指针位置：文件打开后，文件指针位于文件末尾，但可以通过fseek等函数移动到文件的其他位置进行读取或写入。
+*/
+#define FS_READ_AND_APPEND "a+b"
+
+
+
 /* Exported types ------------------------------------------------------------*/
 
 
@@ -47,12 +100,18 @@ T_JZsdkReturnCode JZsdk_Osal_Rename(const char *oldFilePath, const char *newFile
 
 T_JZsdkReturnCode JZsdk_Osal_FileOpen(const char *fileName, const char *fileMode, T_JZsdkFileHandle *fileObj);
 T_JZsdkReturnCode JZsdk_Osal_FileClose(T_JZsdkFileHandle fileObj);
-T_JZsdkReturnCode JZsdk_Osal_FileWrite(T_JZsdkFileHandle fileObj, const U8_t *buf, U32_t len, U32_t *realLen);
-T_JZsdkReturnCode JZsdk_Osal_FileRead(T_JZsdkFileHandle fileObj, U8_t *buf, U32_t len, U32_t *realLen);
+T_JZsdkReturnCode JZsdk_Osal_FileWrite_U8(T_JZsdkFileHandle fileObj, const U8_t *buf, U32_t len, U32_t *realLen);
+T_JZsdkReturnCode JZsdk_Osal_FileRead_U8(T_JZsdkFileHandle fileObj, U8_t *buf, U32_t len, U32_t *realLen);
 T_JZsdkReturnCode JZsdk_Osal_FileSeek(T_JZsdkFileHandle fileObj, U32_t offset);
 T_JZsdkReturnCode JZsdk_Osal_FileSync(T_JZsdkFileHandle fileObj);
 
 
+T_JZsdkReturnCode JZsdk_Osal_DirOpen(const char *filePath, T_JZsdkDirHandle *dirObj);
+T_JZsdkReturnCode JZsdk_Osal_DirClose(T_JZsdkDirHandle dirObj);
+T_JZsdkReturnCode JZsdk_Osal_DirRead(T_JZsdkDirHandle dirObj, T_JZsdkFileInfo *fileInfo);
+T_JZsdkReturnCode JZsdk_Osal_Unlink(const char *filePath);
+
+
 #ifdef __cplusplus
 }
 #endif

@@ -4,7 +4,8 @@
 
 
 
-static T_JZsdkOsalHandler* g_osalHandler = NULL;
+static T_JZsdkOsalHandler *g_osalHandler = NULL;
+static T_JZsdkFSHandler *g_FsHandler = NULL;
 
 static T_JZsdkReturnCode JZsdk_Platform_RegOsalHandler(const T_JZsdkOsalHandler *osalHandler)
 {
@@ -23,6 +24,25 @@ T_JZsdkOsalHandler *JZsdk_Platform_GetOsalHandler(void)
     return g_osalHandler;  // 返回已注册的 OSAL 处理器
 }
 
+
+static T_JZsdkReturnCode JZsdk_RegFsHandler(const T_JZsdkFSHandler *FsHandler)
+{
+    g_FsHandler = malloc(sizeof(T_JZsdkFSHandler));
+    if (g_FsHandler == NULL) {
+        return JZ_ERROR_SYSTEM_MODULE_CODE_MEMORY_ALLOC_FAILED; // 处理内存分配失败的情况
+    }
+    
+    memcpy(g_FsHandler, FsHandler, sizeof(T_JZsdkFSHandler));
+
+    return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_JZsdkFSHandler *JZsdk_GetFsHandler(void)
+{
+    return g_FsHandler;  // 返回已注册的 FS 处理器
+}
+
+
 T_JZsdkReturnCode JZsdk_OsalInit()
 {
     T_JZsdkOsalHandler osalHandler = {
@@ -45,7 +65,27 @@ T_JZsdkReturnCode JZsdk_OsalInit()
         .GetRandomNum  = JZsdk_Osal_GetRandomNum,
     };
 
+    T_JZsdkFSHandler fileSystemHandler = {
+        .FileOpen = JZsdk_Osal_FileOpen,
+        .FileClose = JZsdk_Osal_FileClose,
+        .FileWrite_U8 = JZsdk_Osal_FileWrite_U8,
+        .FileRead_U8 = JZsdk_Osal_FileRead_U8,
+        .FileSync = JZsdk_Osal_FileSync,
+        .FileSeek = JZsdk_Osal_FileSeek,
+        .DirOpen = JZsdk_Osal_DirOpen,
+        .DirClose = JZsdk_Osal_DirClose,
+        .DirRead = JZsdk_Osal_DirRead,
+        .Mkdir = JZsdk_Osal_Mkdir,
+        .Unlink = JZsdk_Osal_Unlink,
+        .Rename = JZsdk_Osal_Rename,
+        .Stat = JZsdk_Osal_Stat,
+    };
+
     JZsdk_Platform_RegOsalHandler(&osalHandler);
+    printf("JZsdk Osal handler registered\n");
+
+    JZsdk_RegFsHandler(&fileSystemHandler);
+    printf("JZsdk File system handler registered\n");
 
     return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
 }

@@ -73,6 +73,40 @@ typedef struct {
 } T_JZsdkOsalHandler;
 
 
+/****************
+ * 
+ *  filesysterm 文件系统权柄
+ * 
+ * 
+ * ******************/
+typedef struct {
+    T_JZsdkReturnCode (*FileOpen)(const char *fileName, const char *fileMode, T_JZsdkFileHandle *fileObj);
+
+    T_JZsdkReturnCode (*FileClose)(T_JZsdkFileHandle fileObj);
+
+    T_JZsdkReturnCode (*FileWrite_U8)(T_JZsdkFileHandle fileObj, const U8_t *buf, U32_t len, U32_t *realLen);
+
+    T_JZsdkReturnCode (*FileRead_U8)(T_JZsdkFileHandle fileObj, U8_t *buf, U32_t len, U32_t *realLen);
+
+    T_JZsdkReturnCode (*FileSeek)(T_JZsdkFileHandle fileObj, U32_t offset);
+
+    T_JZsdkReturnCode (*FileSync)(T_JZsdkFileHandle fileObj);
+
+    T_JZsdkReturnCode (*DirOpen)(const char *filePath, T_JZsdkDirHandle *dirObj);
+
+    T_JZsdkReturnCode (*DirClose)(T_JZsdkDirHandle dirObj);
+
+    T_JZsdkReturnCode (*DirRead)(T_JZsdkDirHandle dirObj, T_JZsdkFileInfo *fileInfo);
+
+    T_JZsdkReturnCode (*Mkdir)(const char *filePath);
+
+    T_JZsdkReturnCode (*Unlink)(const char *filePath);
+
+    T_JZsdkReturnCode (*Rename)(const char *oldFilePath, const char *newFilePath);
+
+    T_JZsdkReturnCode (*Stat)(const char *filePath, T_JZsdkFileInfo *fileInfo);
+} T_JZsdkFSHandler;
+
 
 /* Exported macro ------------------------------------------------------------*/
 
@@ -83,6 +117,7 @@ typedef struct {
 /* Exported functions --------------------------------------------------------*/
 T_JZsdkReturnCode JZsdk_OsalInit();
 T_JZsdkOsalHandler *JZsdk_Platform_GetOsalHandler(void);
+T_JZsdkFSHandler *JZsdk_GetFsHandler(void);
 
 
 #ifdef __cplusplus

@@ -21,6 +21,7 @@
 #include "MediaProc/MediaProc.h"
 #include "UI_control/WidegMgmt/JZsdk_Widget.h"
 #include "DeviceConfig/DeviceConfig.h"
+#include "CommonMod/CommonMod.h"
 
 #include "JZsdk_Hal.h"
 
@@ -210,7 +211,7 @@ T_JZsdkReturnCode Main_APP_Psdk()
 
         //4g设备初始化
         value[0] = COMM_4G_UART_BITRATE;
-        JZsdk_HalPort_Init(UART_DEV_1, value);
+        JZsdk_HalPort_Init(UART_4G, value);
 
         //喊话器初始化
         Megaphone_Init();
@@ -229,7 +230,7 @@ T_JZsdkReturnCode Main_APP_Psdk()
         {
             //4g设备初始化
             value[0] = COMM_4G_UART_BITRATE;
-            JZsdk_HalPort_Init(UART_DEV_1, value);
+            JZsdk_HalPort_Init(UART_4G, value);
         }
 
         //喊话器初始化
@@ -263,7 +264,7 @@ T_JZsdkReturnCode Main_APP_Psdk()
 
         //4g设备初始化
         value[0] = COMM_4G_UART_BITRATE;
-        JZsdk_HalPort_Init(UART_DEV_1, value);
+        JZsdk_HalPort_Init(UART_4G, value);
 
         //喊话器初始化
         Megaphone_Init();
@@ -672,7 +673,7 @@ int Main_TestAPP()
 
     //串口设备1初始化
     value[0] = UART_DEV1_BITRATE;
-    JZsdk_HalPort_Init(UART_4G, value);
+    JZsdk_HalPort_Init(UART_DEV_1, value);
 }
 
 //JZ_FLAGCODE_GET为返回工作值，其他值为设置

@@ -77,7 +77,7 @@ T_JZsdkReturnCode JZsdk_ParamterParsing(int argc, char *argv[], unsigned int *mo
     int insCode = 0; //指令码
 
     //获取短选项
-    static char *opt_storage = "t:f:"; 
+    static char *opt_storage = "t:f:d:b"; 
 
     //解析参数
     while (1) 

@@ -7,19 +7,19 @@
 #define VERSION_CHOOSE_H
 #include "JZsdk_Base/JZsdk_Code/JZsdk_DeviceCode.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_H1T
+#define DEVICE_VERSION JZ_H10T
 
 //禁止修改行 选择是串口程序 还是 psdk程序
-#define APP_VERSION APP_UART
+#define APP_VERSION APP_PSDK
 
 //禁止修改行 板子型号
 #define PLATFORM_VERSION PLATFORM_V3S
 
 //禁止修改行 串口连接程序的软件版本号
-#define MAJOR_VERSION 0x00
-#define MINOR_VERSION 0x00
-#define MODIFY_VERSION 0x02
-#define DEBUG_VERSION 0x13
+#define MAJOR_VERSION 0x01
+#define MINOR_VERSION 0x03
+#define MODIFY_VERSION 0x10
+#define DEBUG_VERSION 0x00
 
 //禁止修改行 滤波方式
 #define FILTERING_TYPE HIGH_PASS_FILTERING

@@ -82,6 +82,11 @@ T_JZsdkReturnCode JZsdk_Hal_Init()
  * *********************/
 int JZsdk_HalPort_UseFlag(int PortName)
 {
+    if(g_HalInfo == NULL)
+    {
+        return JZ_FLAGCODE_OFF;
+    }
+
     return g_HalInfo->HalPort[PortName].UseFlag;
 }
 

+#include "JZsdkLib.h"
+
+#include "BaseConfig.h"
+
+#define PRESET_TASK_FALG_PATH "/root/preset_task_flag"
+
+static U8_t g_PrsetTask_Flag = JZ_FLAGCODE_OFF; //预设任务的开启标志位
+static U8_t g_PrsetTask_FinishFlag = JZ_FLAGCODE_OFF; //预设任务执行步骤
+
+/*******************
+ * 
+ *  创建一个预设任务
+ * 
+ * 
+ * ***************/
+T_JZsdkReturnCode PrsetTask_CreatePrsetTask()
+{
+    T_JZsdkReturnCode ret;
+
+
+
+#ifdef MEGAPHONE_CONFIG_STATUS_ON
+
+    JZSDK_LOG_INFO("喊话器配置已已打开，创建一个喊话器预设任务");
+
+#endif
+
+    return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+/*******************
+ * 
+ *  开启关闭预设任务
+ * 
+ * ***************/
+T_JZsdkReturnCode PrsetTask_SetPrsetTaskFlag(U8_t flag)
+{
+    T_JZsdkReturnCode ret;
+    int realLen;
+
+    T_JZsdkFSHandler *FSHandler = JZsdk_Platform_GetFSHandler();
+    T_JZsdkFileHandle FileHandle;
+
+    ret = FSHandler->FileOpen(PRESET_TASK_FALG_PATH, FS_READ_AND_WRITE_CLEAR, &FileHandle);
+    if (ret != JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
+    {
+        JZSDK_LOG_ERROR("预设任务标志位文件打开失败");
+        return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
+    }
+
+    ret = FSHandler->FileWrite_U8(FileHandle, &flag, 1, &realLen);
+    if (ret != JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
+    {
+        JZSDK_LOG_ERROR("预设任务标志位写入失败");
+        return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
+    }
+
+    ret = FSHandler->FileClose(FileHandle);
+    if (ret != JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
+    {
+        JZSDK_LOG_ERROR("预设任务标志位文件关闭失败");
+        return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
+    }
+
+    //将开启关闭放入
+    g_PrsetTask_Flag = flag;
+
+    if ()
+    {
+        /* code */
+    }
+    
+
+    return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_JZsdkReturnCode PrsetTask_Init()
+{
+    T_JZsdkReturnCode ret;
+    int realLen;
+
+    T_JZsdkOsalHandler *OsalHandler = JZsdk_Platform_GetOsalHandler();
+    T_JZsdkFSHandler *FSHandler = JZsdk_Platform_GetFSHandler();
+
+    //1、读取本地的预设任务标志位
+    T_JZsdkFileHandle FileHandle;
+    ret = FSHandler->FileOpen(PRESET_TASK_FALG_PATH, FS_ONLY_READ, &FileHandle);
+    if (ret != JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
+    {
+        JZSDK_LOG_ERROR("预设任务标志位获取失败，没有预设的任务");
+        ret = FSHandler->FileOpen(PRESET_TASK_FALG_PATH, FS_READ_AND_WRITE_CLEAR, &FileHandle);
+        if (ret != JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
+        {
+            JZSDK_LOG_ERROR("预设任务标志位文件创建失败");
+            return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
+        }
+        
+        ret = FSHandler->FileWrite_U8(FileHandle, &g_PrsetTask_Flag, 1, &realLen);
+        if (ret != JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
+        {
+            JZSDK_LOG_ERROR("预设任务标志位写入失败");
+            return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
+        }
+
+        g_PrsetTask_Flag = JZ_FLAGCODE_OFF;
+        return ret;
+    }
+    
+    //2、读取标志位
+    ret = FSHandler->FileRead_U8(FileHandle, &g_PrsetTask_Flag, 1, &realLen);
+    if (ret != JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
+    {
+        JZSDK_LOG_ERROR("预设任务标志位读取失败");
+        g_PrsetTask_Flag = JZ_FLAGCODE_OFF;
+        return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
+    }
+
+    //3、关闭文件
+    ret = FSHandler->FileClose(FileHandle);
+    if (ret != JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
+    {
+        JZSDK_LOG_ERROR("预设任务标志位文件关闭失败");
+        return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
+    }
+
+    return ret;
+}
\ No newline at end of file

@@ -852,7 +852,7 @@ static void *MixedVideo_Thread(void *args)
  * 
  * 
  * ********************/
-static JZC1_MixedVideo_Init()
+static T_JZsdkReturnCode JZC1_MixedVideo_Init()
 {
     g_MixedIrc_Buffer = (unsigned char *)malloc(JZ_ALIGN(FIRST_WIDTH, 16)*JZ_ALIGN(FIRST_HEIGHT, 16)*3/2);
     g_MixedOpt_Buffer = (unsigned char *)malloc(JZ_ALIGN(SECOND_WIDTH, 16)*JZ_ALIGN(SECOND_HEIGHT, 16)*3/2);

@@ -838,12 +838,14 @@ static T_JZsdkReturnCode Gimbal_Init_IndependentControl()
 {
     g_Gimbal_Mode = JZ_MODULE_CONTROL_WAY_INDEPENDENT;
 
-
     //舵机初始化
     Gimal_MotorInit();
 
     //云台微调初始化
     MotorFineTuning_Init(&g_MotorFineTuningPitch, &g_MotorFineTuningYaw, &g_MotorFineTuningRoll);
+
+    //云台角度初始化
+    Gimbal_Flush_Pitch();
     
     return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
 }

@@ -8,6 +8,7 @@
 #include "JZsdk_TaskManagement/TaskManagement.h"
 #include "Gimbal_SpecialUart/Gimbal_SpecialUart.h"
 #include "../Gimbal_Param.h"
+#include "Gimbal/Gimbal.h"
 
 #include "Hal_Send/HalSend.h"
 #include "JZsdk_uart/JZsdk_Uart.h"
@@ -211,51 +212,69 @@ T_JZsdkReturnCode Gimbal_DataDeal_SetPitchRange(int Range)
 
     //因为PWM写的时候是按90度写的，所以分母是900，不是设定的600
     int base_offset = g_Gimbal_Pitch_BaseOffset;
-    
+
     //先通过角度 得出目前的PWM值
     int angle = Gimbal_Get_PitchRealPitchAngle();
 
     //在最大的角度弄的
     if (Range == 0xFF)
     {
-        //先得出目前pwm值
-        int angle_PWM = 820 + base_offset + (angle * (120)/(MAX_PITCH - MIN_PITCH));   //820是0度 
-
-        //通过最大值的计算方式 得出新的offset值
-        //g_Gimbal_Pitch_BaseOffset = angle_PWM - ((MAX_PITCH*195)/(MAX_PITCH - MIN_PITCH)) - base_offset;
-        g_Gimbal_Pitch_BaseOffset = angle_PWM - 820 - ((MAX_PITCH*120)/(MAX_PITCH - MIN_PITCH)) - base_offset;
-
-        //下限600，上限830
-        if (g_Gimbal_Pitch_BaseOffset <= - 100)
-        {
-            g_Gimbal_Pitch_BaseOffset = - 100;
-        }
-        else if (g_Gimbal_Pitch_BaseOffset >= 20)
-        {
-            g_Gimbal_Pitch_BaseOffset = 20;
-        }
+        g_Gimbal_Pitch_BaseOffset++;
     }
-
     //在最小的角度弄的
     else if (Range == 0x00)
     {
-        //先通过角度 得出目前的PWM值
-        int angle = Gimbal_Get_PitchRealPitchAngle();
-        int angle_PWM = 820 + base_offset + (angle * (120)/(900));   //820是0度 
+        g_Gimbal_Pitch_BaseOffset--;
+    }
 
-        //通过最小值的计算方式 得出offset值
-        g_Gimbal_Pitch_BaseOffset = angle_PWM - 820 - ((MAX_PITCH*120)/(MAX_PITCH - MIN_PITCH)) - base_offset;
 
-        //下限600，上限830
-        if (g_Gimbal_Pitch_BaseOffset <= - 100)
-        {
-            g_Gimbal_Pitch_BaseOffset = - 100;
-        }
-        else if (g_Gimbal_Pitch_BaseOffset >= 20)
-        {
-            g_Gimbal_Pitch_BaseOffset = 20;
-        }
-    }
+    // //因为PWM写的时候是按90度写的，所以分母是900，不是设定的600
+    // int base_offset = g_Gimbal_Pitch_BaseOffset;
+    
+    // //先通过角度 得出目前的PWM值
+    // int angle = Gimbal_Get_PitchRealPitchAngle();
+
+    // //在最大的角度弄的
+    // if (Range == 0xFF)
+    // {
+    //     //先得出目前pwm值
+    //     int angle_PWM = 820 + base_offset + (angle * (120)/(MAX_PITCH - MIN_PITCH));   //820是0度 
+
+    //     //通过最大值的计算方式 得出新的offset值
+    //     //g_Gimbal_Pitch_BaseOffset = angle_PWM - ((MAX_PITCH*195)/(MAX_PITCH - MIN_PITCH)) - base_offset;
+    //     g_Gimbal_Pitch_BaseOffset = angle_PWM - 820 - ((MAX_PITCH*120)/(MAX_PITCH - MIN_PITCH)) - base_offset;
+
+    //     //下限600，上限830
+    //     if (g_Gimbal_Pitch_BaseOffset <= - 100)
+    //     {
+    //         g_Gimbal_Pitch_BaseOffset = - 100;
+    //     }
+    //     else if (g_Gimbal_Pitch_BaseOffset >= 20)
+    //     {
+    //         g_Gimbal_Pitch_BaseOffset = 20;
+    //     }
+    // }
+
+    // //在最小的角度弄的
+    // else if (Range == 0x00)
+    // {
+    //     //先通过角度 得出目前的PWM值
+    //     int angle = Gimbal_Get_PitchRealPitchAngle();
+    //     int angle_PWM = 820 + base_offset + (angle * (120)/(900));   //820是0度 
+
+    //     //通过最小值的计算方式 得出offset值
+    //     g_Gimbal_Pitch_BaseOffset = angle_PWM - 820 - ((MAX_PITCH*120)/(MAX_PITCH - MIN_PITCH)) - base_offset;
+
+    //     //下限600，上限830
+    //     if (g_Gimbal_Pitch_BaseOffset <= - 100)
+    //     {
+    //         g_Gimbal_Pitch_BaseOffset = - 100;
+    //     }
+    //     else if (g_Gimbal_Pitch_BaseOffset >= 20)
+    //     {
+    //         g_Gimbal_Pitch_BaseOffset = 20;
+    //     }
+    // }
 
     JZSDK_LOG_INFO("设置pitch的offset值:%d",g_Gimbal_Pitch_BaseOffset);
     
@@ -292,10 +311,10 @@ static T_JZsdkReturnCode Gimbal_DataDeal_Read_PitchBaseOffset(int *offset)
 {
     FILE *fp = NULL;
     
-	fp = fopen(PITCH_OFFSET_FILE_PATH, "rb+");
+	fp = fopen(PITCH_OFFSET_FILE_PATH, "r+b");
     if (fp == NULL) 
     {
-        fp = fopen(PITCH_OFFSET_FILE_PATH, "wb+");
+        fp = fopen(PITCH_OFFSET_FILE_PATH, "w+b");
         if (fp == NULL) 
         {
             *offset = 0;
@@ -319,9 +338,8 @@ static T_JZsdkReturnCode Gimbal_DataDeal_Read_PitchBaseOffset(int *offset)
         }
 		else
         {
-			JZSDK_LOG_ERROR("Pitch BaseOffset=%d",*offset);
-            *offset = 0;
-            return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
+			JZSDK_LOG_INFO("Pitch BaseOffset=%d",*offset);
+            return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
 		}
     }
 
@@ -337,7 +355,7 @@ static T_JZsdkReturnCode Gimbal_DataDeal_Write_PitchBaseOffset(int offset)
 {
     FILE *fp = NULL;
 
-    fp = fopen(PITCH_OFFSET_FILE_PATH, "wb+");
+    fp = fopen(PITCH_OFFSET_FILE_PATH, "w+b");
     if (fp == NULL) 
     {
         return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
@@ -353,6 +371,8 @@ static T_JZsdkReturnCode Gimbal_DataDeal_Write_PitchBaseOffset(int offset)
 		JZSDK_LOG_DEBUG("Pitch BaseOffset=%d\n",offset);
 	}
 
+    fflush(fp);
+
     fclose(fp);
 
     return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;

@@ -156,7 +156,7 @@ int V3s_PWM_contrl(int PWM_num)
     (*pwm_base_map) &= ~((uint32_t)1 << 19); //先将第4位置0 ---> disable
     (*pwm_base_map) |= (uint32_t)1 << 19;    //将第4位置1 ---> enable pwm1  
 
-    printf("V3s_Pwm_control:%d\n",PWM_num);
+    //printf("V3s_Pwm_control:%d\n",PWM_num);
 
     return 0;
 }

@@ -25,7 +25,7 @@
 #include "Megaphone/Music/RealTimeMP2/Megaphone_RealTimeMP2.h"
 #include "Megaphone/opus/Megaphone_Opus.h"
 #include "Megaphone/PcmAudio/PcmAudioFile.h"
-
+#include "Megaphone/Megaphone.h"
 
 int MegPlayStatusUnChange_flag = JZ_FLAGCODE_OFF;
 static MegaphonePlayStatus g_Megaphone_Play_Status = AUDIO_PLAY_STATUS_IDLE;
@@ -200,6 +200,7 @@ static T_JZsdkReturnCode Megaphone_Play(struct MegaphoneInfo *IndexInfo, enum Me
             //opus播放
             ret = OpusFile_PlayFixedFile();
         }
+        break;
 
         case AUDIO_PLAY_STATUS_PCM_LIST:
         {
@@ -208,6 +209,7 @@ static T_JZsdkReturnCode Megaphone_Play(struct MegaphoneInfo *IndexInfo, enum Me
             //pcm播放
             ret = PcmAudioPlay_Play(IndexInfo->str, IndexInfo->str_len);
         }
+        break;
 
         default:
             break;

@@ -7,6 +7,7 @@
 
 #include "JZsdkLib.h"
 #include "Megaphone/AudioMange/AudioMange.h"
+#include "Megaphone/PcmAudio/PcmAudioFile.h"
 
 #define PCM_DIR "/root/sdcard/pcm"
 

 /**
  ********************************************************************
- * @file   OpusFile.h
- *         OpusFile.c OpusFileSave.c 的头文件
+ * @file   PcmAudioFile.h
+ *         PcmAudioFile.c PcmAudioPlay.c 的头文件
  *
  *********************************************************************
  */
 
 /* Define to prevent recursive inclusion 避免重定义 -------------------------------------*/
-#ifndef OPUS_FILE_H
-#define OPUS_FILE_H
+#ifndef PCM_AUDIO_FILE_H
+#define PCM_AUDIO_FILE_H
 
 /* Includes ------------------------------------------------------------------*/
 #include "JZsdk_Base/JZsdk_Code/JZsdk_Code.h"

@@ -4,10 +4,12 @@
 #include <pthread.h>
 #include <dirent.h>  
 #include <sys/stat.h>  
+#include <math.h>
 
 #include "JZsdkLib.h"
 #include "Megaphone/PcmAudio/PcmAudioFile.h"
 #include "Megaphone/Megaphone.h"
+#include "AudioDeal/AudioDeal.h"
 
 #define PCM_DIR "/root/sdcard/pcm"
 static int g_opus_sampleRate = 16000; //解码采样率
@@ -29,7 +31,10 @@ static T_JZsdkReturnCode PcmPlay_Interface(t_PcmParam *PcmParam)
     double total_duration = 0;
     int last_printed_second = -1; // 上次打印的秒数，初始化为-1表示还没有打印过
 
-    FILE *Pcm_fp = fopen("%s/%s", "rb", PCM_DIR, PcmParam->FileName);
+    unsigned char PcmPath[JZSDK_FILE_PATH_SIZE_MAX];
+    snprintf(PcmPath, JZSDK_FILE_PATH_SIZE_MAX, "%s/%s", PCM_DIR, PcmParam->FileName);
+
+    FILE *Pcm_fp = fopen(PcmPath, "rb");
     if (Pcm_fp == NULL)
     {
         JZSDK_LOG_ERROR("PcmPlay_Interface: fopen failed, file name = %s", PcmParam->FileName);

@@ -234,7 +234,7 @@ T_JZsdkReturnCode OpusFile_SaveOpusFileEnd(int CheckFlag, unsigned char *CheckCo
     if (g_OpusSaveMode != JZ_FLAGCODE_OFF)
     {
         //将opus解码，并存储到指定目录
-        ret = OpusFile_DecodeOpusAndSave(g_OpusSaveMode ,g_OpusSaveMode, opus_SaveFile);
+        ret = OpusFile_DecodeOpusAndSave(g_OpusSaveMode ,OPUS_TEMP_SAVE_DIR, opus_SaveFile);
     }
 
     // if (g_OpusSaveMode != JZ_FLAGCODE_OFF)

@@ -19,13 +19,11 @@
     #include "widget/test_widget_speaker.h"
     #include "./Dji_Control/DJI_VideoDeal.h"
 
-    extern int Firstsong_flag ; 
 #elif APP_VERSION == APP_UART ||  APP_VERSION == APP_TEST 
 int Get_Opus_PlayMode()
 {
     return JZ_FLAGCODE_OFF;
 } 
-    int Firstsong_flag ; 
 #endif
 
 #define AUTO_CONTROL 0x02
@@ -221,7 +219,6 @@ static T_JZsdkReturnCode UI_control_WidgetSet(int type, int value)
 T_JZsdkReturnCode JZsdk_Psdk_UI_io_Reply_PlayStatus_end()
 {
     UI_control_WidgetSet(PSDK_UI_WIDGET_PLAYSTATUS, 1);
-    Firstsong_flag = 0;
 }
 
 

@@ -36,6 +36,7 @@
 
 #include "Psdk_UI_io.h"
 #include "BaseConfig.h"
+#include "UI_control/UI_control.h"
 
 /* Private constants ---------------------------------------------------------*/
 #define PAYLOAD_CAMERA_EMU_TASK_FREQ            (100)
@@ -962,15 +963,7 @@ static T_DjiReturnCode DjiTest_CameraRotationGimbal(T_TestCameraGimbalRotationAr
         return returnCode;
     }
 
-    if (aircraftBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_SKYPORT_V2 ||
-        aircraftBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_NONE) {
-        returnCode = DjiTest_GimbalRotate(gimbalRotationArgument.rotationMode, gimbalRotationArgument.rotationProperty,
-                                          gimbalRotationArgument.rotationValue);
-        if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
-            USER_LOG_ERROR("rotate gimbal error: 0x%08llX.", returnCode);
-            return returnCode;
-        }
-    } else if (aircraftBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_XPORT) {
+    if (aircraftBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_XPORT) {
         returnCode = DjiXPort_RotateSync(gimbalRotationArgument.rotationMode, gimbalRotationArgument.rotationProperty,
                                          gimbalRotationArgument.rotationValue);
         if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {

@@ -74,6 +74,8 @@ static const T_DjiTestCameraTypeStr s_cameraTypeStrList[] = {
     {DJI_CAMERA_TYPE_M3TD,    "M3TD Camera"},
     {DJI_CAMERA_TYPE_H30,     "H30 Camera"},
     {DJI_CAMERA_TYPE_H30T,    "H30T Camera"},
+    {DJI_CAMERA_TYPE_M4T,     "M4T Camera"},
+    {DJI_CAMERA_TYPE_M4E,     "M4E Camera"},
 };
 
 static FILE *s_downloadMediaFile = NULL;
@@ -846,12 +848,14 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
         case E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_CAMERA_SHUTTER_SPEED: {
             USER_LOG_INFO("--> Function a: Set camera shutter speed to 1/100 s");
             DjiTest_WidgetLogAppend("--> Function a: Set camera shutter speed to 1/100 s");
-            if (cameraType == DJI_CAMERA_TYPE_H20 || cameraType == DJI_CAMERA_TYPE_H20T ||
-                cameraType == DJI_CAMERA_TYPE_H20N || cameraType == DJI_CAMERA_TYPE_M30 ||
-                cameraType == DJI_CAMERA_TYPE_M30T || cameraType == DJI_CAMERA_TYPE_M3E ||
-                cameraType == DJI_CAMERA_TYPE_M3T || cameraType == DJI_CAMERA_TYPE_M3D ||
-                cameraType == DJI_CAMERA_TYPE_M3TD || cameraType == DJI_CAMERA_TYPE_H30 ||
-                cameraType == DJI_CAMERA_TYPE_H30T) {
+            if (DJI_CAMERA_TYPE_H20 == cameraType || DJI_CAMERA_TYPE_H20T == cameraType
+                || DJI_CAMERA_TYPE_H20N == cameraType
+                || DJI_CAMERA_TYPE_M30 == cameraType || DJI_CAMERA_TYPE_M30T == cameraType
+                || DJI_CAMERA_TYPE_M3E == cameraType || DJI_CAMERA_TYPE_M3T == cameraType
+                || DJI_CAMERA_TYPE_M3D == cameraType || DJI_CAMERA_TYPE_M3TD == cameraType
+                || DJI_CAMERA_TYPE_M4T == cameraType || DJI_CAMERA_TYPE_M4E == cameraType
+                || DJI_CAMERA_TYPE_H30 == cameraType || DJI_CAMERA_TYPE_H30T == cameraType
+                ) {
                 USER_LOG_INFO("Set mounted position %d camera's exposure mode to manual mode.",
                               mountPosition);
                 returnCode = DjiTest_CameraManagerSetExposureMode(mountPosition,
@@ -887,12 +891,14 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
         case E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_CAMERA_APERTURE: {
             USER_LOG_INFO("--> Function b: Set camera aperture to 400(F/4)");
             DjiTest_WidgetLogAppend("--> Function b: Set camera aperture to 400(F/4)");
-            if (cameraType == DJI_CAMERA_TYPE_H20 || cameraType == DJI_CAMERA_TYPE_H20N
-                || cameraType == DJI_CAMERA_TYPE_H20T || cameraType == DJI_CAMERA_TYPE_M30
-                || cameraType == DJI_CAMERA_TYPE_M30T || cameraType == DJI_CAMERA_TYPE_M3E
-                || cameraType == DJI_CAMERA_TYPE_M3T || cameraType == DJI_CAMERA_TYPE_M3D
-                || cameraType == DJI_CAMERA_TYPE_M3TD || cameraType == DJI_CAMERA_TYPE_H30
-                || cameraType == DJI_CAMERA_TYPE_H30T) {
+            if (DJI_CAMERA_TYPE_H20 == cameraType || DJI_CAMERA_TYPE_H20T == cameraType
+                || DJI_CAMERA_TYPE_H20N == cameraType
+                || DJI_CAMERA_TYPE_M30 == cameraType || DJI_CAMERA_TYPE_M30T == cameraType
+                || DJI_CAMERA_TYPE_M3E == cameraType || DJI_CAMERA_TYPE_M3T == cameraType
+                || DJI_CAMERA_TYPE_M3D == cameraType || DJI_CAMERA_TYPE_M3TD == cameraType
+                || DJI_CAMERA_TYPE_M4T == cameraType || DJI_CAMERA_TYPE_M4E == cameraType
+                || DJI_CAMERA_TYPE_H30 == cameraType || DJI_CAMERA_TYPE_H30T == cameraType
+            ) {
                 USER_LOG_INFO("Set mounted position %d camera's exposure mode to manual mode.",
                               mountPosition);
                 returnCode = DjiTest_CameraManagerSetExposureMode(mountPosition,
@@ -1185,11 +1191,14 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
             E_DjiCameraManagerNightSceneMode nightSceneMode;
             T_DjiCameraManagerRangeList nightSceneModeRange;
 
-            if (cameraType == DJI_CAMERA_TYPE_XT2 || cameraType == DJI_CAMERA_TYPE_XTS ||
-                cameraType == DJI_CAMERA_TYPE_H20 || cameraType == DJI_CAMERA_TYPE_P1 ||
-                cameraType == DJI_CAMERA_TYPE_L1 || cameraType == DJI_CAMERA_TYPE_L2 ||
-                cameraType == DJI_CAMERA_TYPE_M3E || cameraType == DJI_CAMERA_TYPE_M3T ||
-                cameraType == DJI_CAMERA_TYPE_M3D || cameraType == DJI_CAMERA_TYPE_M3TD) {
+            if (DJI_CAMERA_TYPE_XT2 == cameraType || DJI_CAMERA_TYPE_XTS == cameraType
+                || DJI_CAMERA_TYPE_H20 == cameraType
+                || DJI_CAMERA_TYPE_P1 == cameraType
+                || DJI_CAMERA_TYPE_L1 == cameraType || DJI_CAMERA_TYPE_L2 == cameraType
+                || DJI_CAMERA_TYPE_M3E == cameraType || DJI_CAMERA_TYPE_M3T == cameraType
+                || DJI_CAMERA_TYPE_M3D == cameraType || DJI_CAMERA_TYPE_M3TD == cameraType
+                || DJI_CAMERA_TYPE_M4T == cameraType || DJI_CAMERA_TYPE_M4E == cameraType
+            ) {
                 USER_LOG_INFO("Camera type %s does not support night scene mode!",
                               s_cameraTypeStrList[DjiTest_CameraManagerGetCameraTypeIndex(cameraType)].cameraTypeStr);
                 goto exitCameraModule;
@@ -1923,7 +1932,8 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
                 cameraType == DJI_CAMERA_TYPE_H20 || cameraType == DJI_CAMERA_TYPE_P1 ||
                 cameraType == DJI_CAMERA_TYPE_L1 || cameraType == DJI_CAMERA_TYPE_M30 ||
                 cameraType == DJI_CAMERA_TYPE_M3E || cameraType == DJI_CAMERA_TYPE_M3D ||
-                cameraType == DJI_CAMERA_TYPE_L2 || cameraType == DJI_CAMERA_TYPE_H30) {
+                cameraType == DJI_CAMERA_TYPE_L2 || cameraType == DJI_CAMERA_TYPE_H30 ||
+                cameraType == DJI_CAMERA_TYPE_M4T) {
                 USER_LOG_WARN("Camera type %s don't support FFC function.",
                               s_cameraTypeStrList[DjiTest_CameraManagerGetCameraTypeIndex(cameraType)].cameraTypeStr);
                 goto exitCameraModule;
@@ -1969,7 +1979,8 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
                 cameraType == DJI_CAMERA_TYPE_H20 || cameraType == DJI_CAMERA_TYPE_P1 ||
                 cameraType == DJI_CAMERA_TYPE_L1 || cameraType == DJI_CAMERA_TYPE_M30 ||
                 cameraType == DJI_CAMERA_TYPE_M3E || cameraType == DJI_CAMERA_TYPE_M3D ||
-                cameraType == DJI_CAMERA_TYPE_L2 || cameraType == DJI_CAMERA_TYPE_H30) {
+                cameraType == DJI_CAMERA_TYPE_L2 || cameraType == DJI_CAMERA_TYPE_H30 ||
+                cameraType == DJI_CAMERA_TYPE_M4T) {
                 USER_LOG_WARN("Camera type %s don't support infrared function.",
                               s_cameraTypeStrList[DjiTest_CameraManagerGetCameraTypeIndex(cameraType)].cameraTypeStr);
                 goto exitCameraModule;

@@ -95,8 +95,10 @@ T_DjiReturnCode DjiTest_DataTransmissionStartService(void)
         return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
     }
 
-    if (s_aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M30 ||
-        s_aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M30T) {
+        if (s_aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M30  ||
+            s_aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M30T ||
+            s_aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3D  ||
+            s_aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3TD) {
         channelAddress = DJI_CHANNEL_ADDRESS_CLOUD_API;
         djiStat = DjiLowSpeedDataChannel_RegRecvDataCallback(channelAddress, ReceiveDataFromCloud);
         if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
@@ -208,8 +210,10 @@ static void *UserDataTransmission_Task(void *arg)
             USER_LOG_ERROR("get send to mobile channel state error.");
         }
 
-        if (s_aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M30 ||
-            s_aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M30T) {
+        if (s_aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M30  ||
+            s_aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M30T ||
+            s_aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3D  ||
+            s_aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3TD) {
             channelAddress = DJI_CHANNEL_ADDRESS_CLOUD_API;
             djiStat = DjiLowSpeedDataChannel_SendData(channelAddress, dataToBeSent, sizeof(dataToBeSent));
             if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)

@@ -459,7 +459,7 @@ static void *Subscription_GimbalAngels_task(void *arg)
                 //printf("消息订阅联动\n");
 				JZsdk_Psdk_Ui_io_Gimbal_PitchAngleControlMode(NowGimbalPitch);
                 LastGimbalPitch = NowGimbalPitch;
-			}
+            }
             
         }
     }

@@ -899,8 +899,6 @@ T_DjiReturnCode DjiTest_TriggerFtsEventCallback(void)
         USER_LOG_WARN("Note: This is an empty implementation, and the FTS signal needs to be triggered by the PWM signal.");
         return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
     }
-
-    return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
 }
 
 void DjiTest_FlightControlPassiveTriggerFtsSample(void)
@@ -1304,10 +1302,11 @@ bool DjiTest_FlightControlGoHomeAndConfirmLanding(void)
                DjiTest_FlightControlGetValueOfFlightStatus() == DJI_FC_SUBSCRIPTION_FLIGHT_STATUS_IN_AIR) {
             T_DjiFcSubscriptionHeightFusion heightFusion = DjiTest_FlightControlGetValueOfHeightFusion();
             s_osalHandler->TaskSleepMs(1000);
-            if (aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3E ||
-                aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3T ||
-                aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3D ||
-                aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3TD) {
+            if (DJI_AIRCRAFT_TYPE_M3E == aircraftInfoBaseInfo.aircraftType || DJI_AIRCRAFT_TYPE_M3T == aircraftInfoBaseInfo.aircraftType
+                || DJI_AIRCRAFT_TYPE_M3D == aircraftInfoBaseInfo.aircraftType || DJI_AIRCRAFT_TYPE_M3TD == aircraftInfoBaseInfo.aircraftType
+                || DJI_AIRCRAFT_TYPE_M4T == aircraftInfoBaseInfo.aircraftType
+                || DJI_AIRCRAFT_TYPE_M4E == aircraftInfoBaseInfo.aircraftType
+            ) {
                 if ((dji_f64_t) 0.45 < heightFusion && heightFusion < (dji_f64_t) 0.55) {
                     break;
                 }

@@ -140,8 +140,11 @@ T_DjiReturnCode DjiTest_GimbalManagerRunSample(E_DjiMountPosition mountPosition,
 
             rotation = s_rotationActionList[i].rotation;
 
-            if (aircraftSeries == DJI_AIRCRAFT_SERIES_M3 || aircraftSeries == DJI_AIRCRAFT_SERIES_M30
-	        || aircraftSeries == DJI_AIRCRAFT_SERIES_M3D) {
+            if (DJI_AIRCRAFT_SERIES_M30 == aircraftSeries
+                || DJI_AIRCRAFT_SERIES_M3 == aircraftSeries
+	            || DJI_AIRCRAFT_SERIES_M3D == aircraftSeries
+                || DJI_AIRCRAFT_SERIES_M4 == aircraftSeries
+            ) {
                 if (s_rotationActionList[i].rotation.rotationMode == DJI_GIMBAL_ROTATION_MODE_ABSOLUTE_ANGLE) {
                     T_DjiFcSubscriptionGimbalAngles gimbalAngles = {0};
                     T_DjiDataTimestamp timestamp = {0};

@@ -51,11 +51,14 @@
 static const char *oldReplaceAlarmIdStr = "%alarmid";
 static const char *oldReplaceIndexStr = "%index";
 static const char *oldReplaceComponentIndexStr = "%component_index";
+static bool isHmsManagerInit = false;
 static T_DjiHmsFileBinaryArray s_EnHmsTextConfigFileBinaryArrayList[] = {
     {hms_text_config_json_fileName, hms_text_config_json_fileSize, hms_text_config_json_fileBinaryArray},
 };
 static uint8_t *s_hmsJsonData = NULL;
 static E_DjiMobileAppLanguage s_hmsLanguage = DJI_MOBILE_APP_LANGUAGE_ENGLISH;
+static bool s_isHmsConfigFileDirPathConfigured = false;
+static char s_hmsConfigFileDirPath[DJI_FILE_PATH_SIZE_MAX] = {0};
 
 /* Private functions declaration ---------------------------------------------*/
 static T_DjiReturnCode DjiTest_HmsManagerInit(void);
@@ -132,7 +135,11 @@ T_DjiReturnCode DjiTest_HmsCustomizationStartService(void)
         return returnCode;
     }
 
-    snprintf(tempPath, HMS_DIR_PATH_LEN_MAX, "%shms_text/en", curFileDirPath);
+    if (s_isHmsConfigFileDirPathConfigured == true) {
+        snprintf(tempPath, HMS_DIR_PATH_LEN_MAX, "%shms_text/en", s_hmsConfigFileDirPath);
+    } else {
+        snprintf(tempPath, HMS_DIR_PATH_LEN_MAX, "%shms_text/en", curFileDirPath);
+    }
 
     //set default hms text config path
     returnCode = DjiHmsCustomization_RegDefaultHmsTextConfigByDirPath(tempPath);
@@ -150,7 +157,12 @@ T_DjiReturnCode DjiTest_HmsCustomizationStartService(void)
     }
 
     //set hms text config for Chinese language
-    snprintf(tempPath, HMS_DIR_PATH_LEN_MAX, "%shms_text/cn", curFileDirPath);
+    if (s_isHmsConfigFileDirPathConfigured == true) {
+        snprintf(tempPath, HMS_DIR_PATH_LEN_MAX, "%shms_text/cn", s_hmsConfigFileDirPath);
+    } else {
+        snprintf(tempPath, HMS_DIR_PATH_LEN_MAX, "%shms_text/cn", curFileDirPath);
+    }
+
     returnCode = DjiHmsCustomization_RegHmsTextConfigByDirPath(DJI_MOBILE_APP_LANGUAGE_CHINESE,
                                                                tempPath);
     if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
@@ -174,11 +186,22 @@ T_DjiReturnCode DjiTest_HmsCustomizationStartService(void)
 
 #if DJI_CUSTOM_HMS_CODE_INJECT_ON
     DjiHmsCustomization_InjectHmsErrorCode(0x1E020000, DJI_HMS_ERROR_LEVEL_FATAL);
+    DjiHmsCustomization_InjectHmsErrorCode(0x1E020001, DJI_HMS_ERROR_LEVEL_CRITICAL);
+    DjiHmsCustomization_InjectHmsErrorCode(0x1E020002, DJI_HMS_ERROR_LEVEL_WARN);
+    DjiHmsCustomization_InjectHmsErrorCode(0x1E020003, DJI_HMS_ERROR_LEVEL_HINT);
 #endif
 
     return returnCode;
 }
 
+T_DjiReturnCode DjiTest_HmsCustomizationSetConfigFilePath(const char *path)
+{
+    memset(s_hmsConfigFileDirPath, 0, sizeof(s_hmsConfigFileDirPath));
+    memcpy(s_hmsConfigFileDirPath, path, USER_UTIL_MIN(strlen(path), sizeof(s_hmsConfigFileDirPath) - 1));
+    s_isHmsConfigFileDirPathConfigured = true;
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
 /* Private functions definition-----------------------------------------------*/
 static T_DjiReturnCode DjiTest_HmsManagerInit(void)
 {
@@ -199,13 +222,13 @@ static T_DjiReturnCode DjiTest_HmsManagerInit(void)
     returnCode = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_STATUS_FLIGHT,
                                                   DJI_DATA_SUBSCRIPTION_TOPIC_10_HZ,
                                                   NULL);
-
     if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
         USER_LOG_ERROR("HMS sample subscribe topic flight status error, error code:0x%08llX", returnCode);
         return returnCode;
     }
 
 #ifdef SYSTEM_ARCH_LINUX
+
     returnCode = DjiUserUtil_GetCurrentFileDirPath(__FILE__, HMS_DIR_PATH_LEN_MAX, curFileDirPath);
     if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
         USER_LOG_ERROR("Get file current path error, stat = 0x%08llX", returnCode);
@@ -230,6 +253,8 @@ static T_DjiReturnCode DjiTest_HmsManagerInit(void)
     UtilFile_GetFileDataByPath(tempFileDirPath, 0, fileSize, s_hmsJsonData, &readRealSize);
 #endif
 
+    isHmsManagerInit = true;
+
     return DjiHmsManager_Init();
 }
 
@@ -249,6 +274,8 @@ static T_DjiReturnCode DjiTest_HmsManagerDeInit(void)
     osalHandler->Free(s_hmsJsonData);
 #endif
 
+    isHmsManagerInit = false;
+
     return DjiHmsManager_DeInit();
 }
 
@@ -258,6 +285,10 @@ static T_DjiFcSubscriptionFlightStatus DjiTest_GetValueOfFlightStatus(void)
     T_DjiFcSubscriptionFlightStatus flightStatus;
     T_DjiDataTimestamp flightStatusTimestamp = {0};
 
+    if (isHmsManagerInit == false) {
+        return DJI_FC_SUBSCRIPTION_FLIGHT_STATUS_ON_GROUND;
+    }
+
     returnCode = DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_STATUS_FLIGHT,
                                                          (uint8_t *) &flightStatus,
                                                          sizeof(T_DjiFcSubscriptionFlightStatus),

@@ -41,6 +41,7 @@ extern "C" {
 /* Exported functions --------------------------------------------------------*/
 T_DjiReturnCode DjiTest_HmsManagerRunSample(E_DjiMobileAppLanguage language);
 T_DjiReturnCode DjiTest_HmsCustomizationStartService(void);
+T_DjiReturnCode DjiTest_HmsCustomizationSetConfigFilePath(const char *path);
 
 #ifdef __cplusplus
 }

@@ -277,8 +277,10 @@ T_DjiReturnCode DjiTest_LiveviewRunSample(E_DjiMountPosition mountPosition)
     USER_LOG_INFO("Fpv stream is saved to file: %s", s_fpvCameraStreamFilePath);
     USER_LOG_INFO("Payload%d stream is saved to file: %s\r\n", mountPosition, s_payloadCameraStreamFilePath);
 
-    if (aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3T ||
-        aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3TD) {
+    if (DJI_AIRCRAFT_TYPE_M3T == aircraftInfoBaseInfo.aircraftType
+        || DJI_AIRCRAFT_TYPE_M3TD == aircraftInfoBaseInfo.aircraftType
+        || DJI_AIRCRAFT_TYPE_M4T == aircraftInfoBaseInfo.aircraftType
+    ) {
         USER_LOG_INFO("--> Start h264 stream of the fpv and selected payload\r\n");
 
         localTime = localtime(&currentTime);

@@ -180,7 +180,7 @@ REWAIT:
         }
 
         sendDataCount++;
-        memset(sendBuf, sendDataCount, TEST_MOP_CHANNEL_NORMAL_TRANSFOR_SEND_BUFFER);
+        memset(sendBuf, 'A' - 1 + (sendDataCount % 26), TEST_MOP_CHANNEL_NORMAL_TRANSFOR_SEND_BUFFER);
         returnCode = DjiMopChannel_SendData(s_testMopChannelNormalOutHandle, sendBuf,
                                             TEST_MOP_CHANNEL_NORMAL_TRANSFOR_SEND_BUFFER, &realLen);
         if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {

@@ -89,9 +89,9 @@ T_DjiReturnCode DjiTest_PowerManagementStartService(void)
         return returnCode;
     }
 
-    if (((baseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M300_RTK || baseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M350_RTK) &&
-        (baseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_SKYPORT_V2 || baseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_XPORT)) ||
-         baseInfo.aircraftType == DJI_AIRCRAFT_TYPE_FC30) {
+    if (baseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_SKYPORT_V2 ||
+        baseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_XPORT ||
+        baseInfo.aircraftType == DJI_AIRCRAFT_TYPE_FC30) {
         // apply high power
         if (s_applyHighPowerHandler.pinInit == NULL) {
             USER_LOG_ERROR("apply high power pin init interface is NULL error");

@@ -71,6 +71,7 @@ typedef struct {
         uint8_t usbBulk2InterfaceNum;
         uint8_t usbBulk2EndpointIn;
         uint8_t usbBulk2EndpointOut;
+
     } usbBulkConfig;
 } T_DjiUserLinkConfig;
 

@@ -88,7 +88,7 @@ T_DjiReturnCode DjiTest_WaypointV3RunSample(void)
     /*! Attention: suggest use the exported kmz file by DJI pilot. If use this test file, you need set the longitude as
      * 113.94255, latitude as 22.57765 on DJI Assistant 2 simulator */
     snprintf(tempPath, DJI_TEST_WAYPOINT_V3_KMZ_FILE_PATH_LEN_MAX, "%s/waypoint_file/waypoint_v3_test_file.kmz",
-             curFileDirPath);
+            curFileDirPath);
 
     kmzFile = fopen(tempPath, "r");
     if (kmzFile == NULL) {

@@ -44,7 +44,7 @@
 
 #include "UI_control/WidegMgmt/JZsdk_Widget.h"
 #include "UI_control/UI_control.h"
-
+#include "JZsdkLib.h"
 
 #include "MediaProc/MediaProc.h"
 #include "DeviceInfo/DeviceInfo.h"
@@ -254,7 +254,7 @@ T_DjiReturnCode DjiTest_WidgetStartService(void)
     if (JZsdk_check_file_exists("/root/ShakedownTest") == JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
     {
         JZSDK_LOG_INFO("开启调试模式");
-        if(JZsdk_delete_file("/root/ShakedownTest") != JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
+        if(JZsdk_Osal_delete("/root/ShakedownTest") != JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
         {
             JZSDK_LOG_ERROR("关闭调试模式失败");
         }

@@ -461,8 +461,8 @@ static void *DjiTest_WidgetInteractionTask(void *arg)
         USER_LOG_INFO("--------------------------------------------------------------------------------------------->");
         DjiTest_WidgetLogAppend("-> Sample Start");
 
-        if (s_aircraftInfoBaseInfo.mountPosition == DJI_MOUNT_POSITION_EXTENSION_PORT
-            || DJI_MOUNT_POSITION_EXTENSION_LITE_PORT == s_aircraftInfoBaseInfo.mountPosition) {
+        if (s_aircraftInfoBaseInfo.mountPositionType == DJI_MOUNT_POSITION_TYPE_EXTENSION_PORT ||
+            s_aircraftInfoBaseInfo.mountPositionType == DJI_MOUNT_POSITION_TYPE_EXTENSION_LITE_PORT) {
             switch (s_extensionPortSampleIndex) {
                 case E_DJI_SAMPLE_INDEX_WAYPOINT_V2:
                     if (s_isallowRunFlightControlSample == true) {

 # cmake 最低版本要求 第三行名字不能动
 cmake_minimum_required(VERSION 2.8)
-project(JZ_C1) 
+project(JZ_H10T) 
 
 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。

@@ -429,6 +429,10 @@ int main(int argc,  char *argv[])
         if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
             USER_LOG_ERROR("data subscription sample init error\n");
         }
+        else
+        {
+            USER_LOG_INFO("DjiTest_FcSubscriptionStartService初始化");
+        }
 #endif
 
 #ifdef CONFIG_MODULE_SAMPLE_LIVEVIEW_ON