串口程序，00.00.00.08版本

+{
+    "files.associations": {
+        "typeinfo": "c",
+        "jzsdk_code.h": "c",
+        "jzsdk_getframetemplate.h": "c"
+    }
+}

+# cmake 最低版本要求
+cmake_minimum_required(VERSION 2.8)
+
+# 编译标志
+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。
+#"-std=gnu99":指定C语言标准为GNU C99(也就是C99加上GNU的扩展特性),该标准对于一些特性和库的使用是必须的。
+#"-lm"：指定在编译时链接数学库，以使用一些数学函数。
+#"-ldl"：指定在编译时链接动态库加载库，以使用动态加载。
+#"-lstdc++":指定在编译时链接C++标准库,以使用C++的一些特性和函数。
+
+# 配置编译器
+# 交叉编译链① 
+set(CMAKE_C_COMPILER "/usr/local/arm/4.9.3/bin/arm-cortexa9-linux-gnueabihf-gcc")
+set(CMAKE_CXX_COMPILER "/usr/local/arm/4.9.3/bin/arm-cortexa9-linux-gnueabihf-g++")
+
+# 本地测试编译链
+# set(CMAKE_C_COMPILER /usr/bin/gcc)
+# set(CMAKE_CXX_COMPILER /usr/bin/g++)
+
+# 工程名 JZ_UART_APP
+project(JZ_UART_APP)
+# 设置滤波方式  24行不能被改动，因为会被sh修改滤波方式
+set(filtering_type directed_stopband_filtering) 
+
+# 指定源文件
+file(GLOB_RECURSE APPLICATION_SRC application/*.c)
+file(GLOB_RECURSE JZSDK_SRC JZsdk/*.c)
+file(GLOB_RECURSE JZSDK_UART_DEAL_SRC JZsdk_Uart/*.c)
+file(GLOB_RECURSE GIMBAL_SRC Module/Gimbal/*.c)
+file(GLOB_RECURSE MEGAPHONE_SRC Module/Megaphone/*.c)
+file(GLOB_RECURSE LIGHTING_SRC Module/Lighting/*.c)
+
+file(GLOB_RECURSE MODULE_IRCUT_SRC Module/Ircut/*.c)
+file(GLOB_RECURSE MODULE_UICONTROL_SRC Module/UI_control/*.c)
+
+
+
+# 生成可执行文件 
+add_executable(
+	JZ_UART_APP 
+	${APPLICATION_SRC}
+	${JZSDK_SRC}
+	${JZSDK_UART_DEAL_SRC}
+	${MEGAPHONE_SRC}	
+	${MODULE_IRCUT_SRC}
+	${GIMBAL_SRC}
+	${MODULE_UICONTROL_SRC}
+	${LIGHTING_SRC}
+)
+
+# 头文件路径
+include_directories(./application)
+include_directories(./JZsdk)
+include_directories(./JZsdk_Uart)
+
+include_directories(./Module/Megaphone)
+include_directories(./Module/Ircut)
+include_directories(./Module/Ircut/H3_ircut/wiringPi)
+include_directories(./Module/Gimbal)
+include_directories(./Module/Lighting)
+include_directories(./Module/UI_control)
+
+# 库文件路径 
+if(${filtering_type} STREQUAL "directed_stopband_filtering")
+    message("Using library for directed stopband filtering")
+    target_link_libraries(${PROJECT_NAME} ${CMAKE_CURRENT_LIST_DIR}/ModuleLib/music/directed_stopband_filtering/libAudioPlayer.so)
+elseif(${filtering_type} STREQUAL "high_pass_filtering")
+    message("Using library for high pass filtering")
+    target_link_libraries(${PROJECT_NAME} ${CMAKE_CURRENT_LIST_DIR}/ModuleLib/music/high_pass_filtering/libAudioPlayer.so)
+else()
+    message(FATAL_ERROR "Invalid filtering type")
+endif()
+
+target_link_libraries(${PROJECT_NAME} 
+
+	${CMAKE_CURRENT_LIST_DIR}/ModuleLib/TTS/libmsc.so
+	${CMAKE_CURRENT_LIST_DIR}/ModuleLib/opus/libopus.so
+)
+

+#include <stdio.h>
+#include "JZsdkLib.h"
+
+//初始化sdk
+T_JZsdkReturnCode JZsdk_LibInit()
+{
+    //1、初始化log
+    JZsdk_LoggerInit();
+}

+/**
+ ********************************************************************
+ * @file   JZsdkLib.h
+ *         JZsdk的头文件
+ *
+ *********************************************************************
+ */
+
+/* Define to prevent recursive inclusion 避免重定义 -------------------------------------*/
+#ifndef JZSDKLIB_H
+#define JZSDKLIB_H
+
+/* Includes ------------------------------------------------------------------*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+/* 常亮定义*/
+#include "JZsdk_Base/JZsdkBase.h"
+#include "JZsdk_CommonFuntion/JZsdkCommonFuntion.h"
+//#include "JZsdk_Normal_Module/JZsdk_normal_module.h"
+#include "JZsdk_Base/JZsdk_Code/JZsdk_Code.h"
+
+/* Exported types ------------------------------------------------------------*/
+
+/* Exported functions --------------------------------------------------------*/
+T_JZsdkReturnCode JZsdk_LibInit();
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif 
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

+/**
+ ********************************************************************
+ * @file   JZsdkBase.h
+ *         JZsdk基础部件的头文件
+ *
+ *********************************************************************
+ */
+
+/* Define to prevent recursive inclusion 避免重定义 -------------------------------------*/
+#ifndef JZSDKBASE_H
+#define JZSDKBASE_H
+
+/* Includes ------------------------------------------------------------------*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+/* 常亮定义*/
+#include "JZsdk_Logger/JZsdk_Logger.h"
+#include "JZsdk_Osal/JZsdk_FileSystm.h"
+#include "JZsdk_Delay/JZsdk_Delay.h"
+#include "JZsdk_Code/JZsdk_FLagCode.h"
+/* Exported types ------------------------------------------------------------*/
+
+
+/* Exported functions --------------------------------------------------------*/
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif 

+/**
+ ********************************************************************
+ * @file   JZsdk_Code.h
+ *          用于记录各类码的表
+ *
+ *********************************************************************
+ */
+
+/* Define to prevent recursive inclusion 避免重定义 -------------------------------------*/
+#ifndef JZSDK_CODE_H
+#define JZSDK_CODE_H
+
+/* Includes ------------------------------------------------------------------*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+/* 常亮定义*/
+
+#include "JZsdk_InsCode.h"
+#include "JZsdk_FLagCode.h"
+#include "JZsdk_ReturnCode.h"
+
+/* Exported types ------------------------------------------------------------*/
+
+
+/* Exported functions --------------------------------------------------------*/
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif 

+/**
+ ********************************************************************
+ * @file   JZsdk_ErrorCode.h
+ *          用于错误码的表
+ *
+ *********************************************************************
+ */
+
+/* Define to prevent recursive inclusion 避免重定义 -------------------------------------*/
+#ifndef JZSDK_ERRORCODE_H
+#define JZSDK_ERRORCODE_H
+
+/* Includes ------------------------------------------------------------------*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+/* 常亮定义*/
+
+
+/* Exported types ------------------------------------------------------------*/
+typedef enum {
+    JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS = 0x0000,
+    JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE = 0x0001
+} JZ_SYSTEM_Code;
+
+typedef enum {
+    JZ_ERROR_SYSTEM_FRAME_ERROR = 0x0100,
+    
+} JZ_Syetem_frame_ErrorCode;
+
+typedef enum {
+    JZ_ERRORCODE_MUSIC_NOT_FOUND_IN_LIST = 0x1000
+    
+} JZ_Megaphone_music_ErrorCode;
+
+typedef enum {
+    JZ_ERRORCODE_REALTIMEVOICE_HAS_BEEN_ON = 0x1201
+    
+} JZ_Megaphone_opus_ErrorCode;
+
+typedef enum {
+    JZ_ERRORCODE_TTS_INVALID_TONE = 0x1300,
+    JZ_ERRORCODE_TTS_INVALID_SPEED = 0x1301,
+    JZ_ERRORCODE_TTS_INVALID_ADDTONE = 0x1302,  
+
+} JZ_Megaphone_TTS_ErrorCode;
+
+typedef enum {
+    JZ_ERRORCODE_GIMBAL_INVALID_PITCH   = 0x4000,
+    JZ_ERRORCODE_GIMBAL_INVALID_YAW     = 0x4001,
+    JZ_ERRORCODE_GIMBAL_INVALID_ROLL    = 0x4002,
+
+} JZ_Gimbal_ErrorCode;
+/* Exported functions --------------------------------------------------------*/
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif 

+/**
+ ********************************************************************
+ * @file   JZsdk_FLagCode.h
+ *          用于标识码的表
+ *
+ *********************************************************************
+ */
+
+/* Define to prevent recursive inclusion 避免重定义 -------------------------------------*/
+#ifndef JZSDK_FLAGCODE_H
+#define JZSDK_FLAGCODE_H
+
+/* Includes ------------------------------------------------------------------*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+/* 常亮定义*/
+#define JZ_FLAGCODE_OFF   0x00
+#define JZ_FLAGCODE_ON    0x01
+
+/* Exported types ------------------------------------------------------------*/
+
+
+/* Exported functions --------------------------------------------------------*/
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif 

+/**
+ ********************************************************************
+ * @file   JZsdk_InsCode.h
+ *          用于错误码的表
+ *
+ *********************************************************************
+ */
+
+/* Define to prevent recursive inclusion 避免重定义 -------------------------------------*/
+#ifndef JZSDK_INSCODE_H
+#define JZSDK_INSCODE_H
+
+/* Includes ------------------------------------------------------------------*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+/* 常亮定义*/
+
+typedef enum {
+
+//5A类帧
+    JZ_INSCODE_5AFRAME_FRAME                         = 0x10000000,         //接收类帧
+
+    JZ_INSCODE_5AFRAME_ASKFORCONNECT                 = 0x10000100,         //申请连接
+
+    JZ_INSCODE_5AFRAME_REALTIMEMP2_START                   = 0x10000200,         //开启实时MP2
+    JZ_INSCODE_5AFRAME_REALTIMEMP2_TRANSMISSION            = 0x10000201,         //传输实时MP2
+    JZ_INSCODE_5AFRAME_REALTIMEMP2_STOP                    = 0x10000202,         //结束实时MP2
+
+    JZ_INSCODE_5AFRAME_AUDIOFILE_TRANS_START         = 0x10000300,    //打开音频文件上传
+    JZ_INSCODE_5AFRAME_AUDIOFILE_TRANS_TRANSMISSION  = 0x10000301,    //传输音频文件
+    JZ_INSCODE_5AFRAME_AUDIOFILE_TRANS_STOP          = 0x10000302,    //关闭音频文件上传
+
+    JZ_INSCODE_5AFRAME_AUDIO_PLAYFILE                = 0x10000400,           //播放指定音频
+    JZ_INSCODE_5AFRAME_AUDIO_CONTINUE                = 0x10000401,           //音频继续播放
+    JZ_INSCODE_5AFRAME_AUDIO_PAUSE                   = 0x10000402,           //音频暂停播放
+    JZ_INSCODE_5AFRAME_AUDIO_STOP                    = 0x10000403,           //音频停止播放
+
+    JZ_INSCODE_5AFRAME_AUDIO_LASTSONG                = 0x10000410,           //音频上一曲
+    JZ_INSCODE_5AFRAME_AUDIO_NEXTSONG                = 0x10000411,           //音频下一曲
+
+    JZ_INSCODE_5AFRAME_AUDIO_GETMUSICLIST            = 0x10000420,           //获取音频列表
+
+
+    JZ_INSCODE_5AFRAME_AMPLIFIER_STOP                = 0x10000500,           //强制关闭功放
+    JZ_INSCODE_5AFRAME_AMPLIFIER_OPEN                = 0x10000501,           //强制开启功放
+    JZ_INSCODE_5AFRAME_AMPLIFIER_AUTO                = 0x10000502,           //恢复自动功放
+
+    JZ_INSCODE_5AFRAME_VOLUME                        = 0x10000600,           //调节音量
+
+    JZ_INSCODE_5AFRAME_CHECKSTATUS_VOLUME            = 0x10000620,             //查询音量
+    JZ_INSCODE_5AFRAME_CHECKSTATUS_PLAY              = 0x10000621,             //查询播放状态
+    JZ_INSCODE_5AFRAME_CHECKSTATUS_GIMBAL            = 0x10000622,             //查询云台角度
+    JZ_INSCODE_5AFRAME_CHECKSTATUS_GIMBAL_FINETUNING            = 0x10000623,             //查询云台微调角度
+
+    JZ_INSCODE_5AFRAME_CHECKSTATUS_PLAYFILENAME      = 0x10000624,             //查询播放文件名
+    JZ_INSCODE_5AFRAME_CHECKSTATUS_SOFTWAREVERSION   = 0x10000625,             //查询软件版本号
+    JZ_INSCODE_5AFRAME_CHECKSTATUS_LOOPPLAY          = 0x10000626,             //查询是否打开循环
+    JZ_INSCODE_5AFRAME_CHECKSTATUS_TTSTONE           = 0x10000627,             //查询音色
+    JZ_INSCODE_5AFRAME_CHECKSTATUS_TTSSPEED          = 0x10000628,             //查询语速 
+    JZ_INSCODE_5AFRAME_CHECKSTATUS_SEARCHLIGHT_LIGHTATTRIBUTE             = 0x10000629,             //查询探照灯 灯3个属性
+    JZ_INSCODE_5AFRAME_CHECKSTATUS_SEARCHLIGHT_LUMEN             = 0x10000630,             //查询探照灯流明
+    JZ_INSCODE_5AFRAME_CHECKSTATUS_SEARCHLIGHT_FREQUENCY         = 0x10000631,             //查询探照灯频率
+    JZ_INSCODE_5AFRAME_CHECKSTATUS_SEARCHLIGHT_MODE              = 0x10000632,             //查询探照灯模式
+    JZ_INSCODE_5AFRAME_CHECKSTATUS_SEARCHLIGHT_TEMPERATURE      = 0x10000633,               //查询探照灯温度
+
+    JZ_INSCODE_5AFRAME_CHECKSTATUS_LASER_STATUS      = 0x10000634,                         //查询激光状态
+    JZ_INSCODE_5AFRAME_CHECKSTATUS_WARNINGLIGHT_STATUS           = 0x10000635,             //查询警灯状态
+    JZ_INSCODE_5AFRAME_CHECKSTATUS_WARNINGLIGHT_COLOR            = 0x10000636,             //查询警灯颜色
+    JZ_INSCODE_5AFRAME_CHECKSTATUS_SERIALNUMBER      = 0x10000637,                         //查询序列号
+
+
+    JZ_INSCODE_5AFRAME_PLAY_LOOP                       = 0x10000690,           //开启关闭循环
+
+    JZ_INSCODE_5AFRAME_DELETE_AUDIO                         = 0x10000700,           //删除音频
+    JZ_INSCODE_5AFRAME_DELETE_VOICE_RECORD                  = 0x10000710,           //删除录音
+    JZ_INSCODE_5AFRAME_DELETE_VIDEO_RECORD                  = 0x10000720,           //删除视频
+
+
+    JZ_INSCODE_5AFRAME_TTS_SET_TONE                    = 0x10000801,           //TTS设置音色
+    JZ_INSCODE_5AFRAME_TTS_SET_SPEED                   = 0x10000802,           //TTS设置语速
+    JZ_INSCODE_5AFRAME_TTS_TRANS_START                 = 0x10000803,           //TTS开始发送
+    JZ_INSCODE_5AFRAME_TTS_TRANS_TRANSMISSION          = 0x10000804,           //TTS正在接收
+    JZ_INSCODE_5AFRAME_TTS_TRANS_STOP                  = 0x10000805,           //TTS发送完毕
+
+    JZ_INSCODE_5AFRAME_OPUS_TRANS_START                = 0x10000900,         //opus传输开始
+    JZ_INSCODE_5AFRAME_OPUS_TRANS_TRANSMISSION         = 0x10000901,    //opus传输中
+    JZ_INSCODE_5AFRAME_OPUS_TRANS_STOP                 = 0x10000902,         //opus传输结束
+    JZ_INSCODE_5AFRAME_OPUS_PLAY                       = 0x10000910,           //opus播放
+
+    JZ_INSCODE_5AFRAME_OPUS_REALTIMEVOICE_START                   = 0x10000A00,         //开启opus实时语音
+    JZ_INSCODE_5AFRAME_OPUS_REALTIMEVOICE_TRANSMISSION            = 0x10000A01,         //传输opus实时语音
+    JZ_INSCODE_5AFRAME_OPUS_REALTIMEVOICE_STOP                    = 0x10000A02,         //结束opus实时语音
+
+    JZ_INSCODE_5AFRAME_GIMBAL_PITCH_CONTROL            = 0x10000B00,          //云台俯仰控制
+    JZ_INSCODE_5AFRAME_GIMBAL_YAW_CONTROL              = 0x10000B01,          //云台朝向控制
+    JZ_INSCODE_5AFRAME_GIMBAL_ROLL_CONTROL             = 0x10000B02,          //云台旋转控制
+    JZ_INSCODE_5AFRAME_GIMBAL_PITCH_FINETUNING_CONTROL         = 0x10000B04,          //云台俯仰微调
+    JZ_INSCODE_5AFRAME_GIMBAL_YAW_FINETUNING_CONTROL         = 0x10000B05,            //云台朝向微调
+    JZ_INSCODE_5AFRAME_GIMBAL_ROLL_FINETUNING_CONTROL         = 0x10000B06,           //云台旋转微调
+
+
+    JZ_INSCODE_5AFRAME_LASER_CONTROL                   = 0x10000C00,          //激光控制
+
+    JZ_INSCODE_5AFRAME_SEARCHLIGHT_CONTROL             = 0x10000E00,          //探照灯开光
+    JZ_INSCODE_5AFRAME_SEARCHLIGHT_SET_LUMEN           = 0x10000E10,          //设置探照灯亮度
+    JZ_INSCODE_5AFRAME_SEARCHLIGHT_SET_FREQUENCY       = 0x10000E20,          //设置把爆闪频率
+    JZ_INSCODE_5AFRAME_SEARCHLIGHT_MESSAGE_SUBSCRIPTION_CONTROL = 0x10000E21,//探照灯消息订阅控制
+
+    JZ_INSCODE_5AFRAME_WARNINGLIGHT_CONTROL            = 0x10000F00,          //警示灯模式控制
+    JZ_INSCODE_5AFRAME_WARNINGLIGHT_COLOUR             = 0x10000F10,          //警示灯颜色控制
+
+
+//5B类帧
+    JZ_INSCODE_5BFRAME_FRAME                         = 0x10004000,         //发送帧
+
+    JZ_INSCODE_5BFRAME_INITIATECONNECT               = 0x10004101,         //主动连接
+
+    JZ_INSCODE_5BFRAME_SUCESS                        = 0x10004200,          //操作成功
+    JZ_INSCODE_5BFRAME_DEFEAT                        = 0x10004201,          //操作失败
+
+    JZ_INSCODE_5BFRAME_MUSICLIST_START               = 0x10004300,          //开启发送音乐列表帧
+    JZ_INSCODE_5BFRAME_MUSICLIST_TRANS               = 0x10004301,          //发送音乐列表帧
+    JZ_INSCODE_5BFRAME_MUSICLIST_STOP                = 0x10004302,          //结束发送音乐列表帧
+
+    JZ_INSCODE_5BFRAME_AUDIO_PLAYSTATUS              = 0x10004310,         //音频播放状态返回帧
+    JZ_INSCODE_5BFRAME_AUDIO_PLAYSTATUS_END          = 0x10004311,               //音频播放状态结束帧
+
+    JZ_INSCODE_5BFRAME_VOLUME                        = 0x10004400,             //音量返回帧
+    JZ_INSCODE_5BFRAME_AUDIO_PLAYLOOPSTATUS          = 0x10004401,             //发送音频循环播放状态
+    JZ_INSCODE_5BFRAME_TTS_TONE                      = 0x10004402,             //发送tts音色
+    JZ_INSCODE_5BFRAME_TTS_SPEED                     = 0x10004403,             //发送tts语速
+    JZ_INSCODE_5BFRAME_AUDIO_PLAYFILENAME            = 0x10004404,             //当前播放的音频名字
+
+
+    JZ_INSCODE_5BFRAME_GIMBAL_PITCH                  = 0x10004500,               //云台俯仰角度
+    JZ_INSCODE_5BFRAME_GIMBAL_YAW                    = 0x10004501,               //云台航向角度
+    JZ_INSCODE_5BFRAME_GIMBAL_ROLL                    = 0x10004502,               //
+
+    JZ_INSCODE_5BFRAME_GIMBAL_PITCH_FINETUNING                  = 0x10004510,               //云台俯仰微调值
+
+
+    JZ_INSCODE_5BFRAME_CHECKSTATUS_SEARCHLIGHT_TEMPERATURE      = 0x10004600,          //查询探照灯温度
+    JZ_INSCODE_5BFRAME_CHECKSTATUS_LASER_STATUS                 = 0x10004601,                         //查询激光状态
+    JZ_INSCODE_5BFRAME_CHECKSTATUS_SEARCHLIGHT_FREQUENCY         = 0x10004602,             //查询探照灯频率
+    JZ_INSCODE_5BFRAME_CHECKSTATUS_SEARCHLIGHT_MODE              = 0x10004603,             //查询探照灯模式
+    JZ_INSCODE_5BFRAME_CHECKSTATUS_SEARCHLIGHT_LUMEN             = 0x10004604,             //查询探照灯流明
+
+    JZ_INSCODE_5BFRAME_CHECKSTATUS_WARNINGLIGHT_STATUS            =  0x10004700,          //警示灯模式控制
+    JZ_INSCODE_5BFRAME_CHECKSTATUS_WARNINGLIGHT_COLOR             = 0x10004701,          //警示灯颜色控制
+
+
+    JZ_INSCODE_5BFRAME_SORTWAREVERSION               = 0x10004800,               //发送软件版本号
+    JZ_INSCODE_5BFRAME_HARDWAREVERSION               = 0x10004801,                //发送硬件版本号
+    JZ_INSCODE_5BFRAME_CHECKSTATUS_SERIALNUMBER         = 0x10004802,          //回复序列号
+
+//6A类
+    JZ_INSCODE_6AFRAME_FRAME                         = 0x10008000,         //发送帧
+
+    JZ_INSCODE_6AFRAME_SET_GIMBAL_ORIGIN             = 0x10008101,          //设置坐标0值
+    JZ_INSCODE_6AFRAME_SET_GIMBAL_MAXMIN_RANGE       = 0x10008102,          //设置云台范围最大最小值
+    JZ_INSCODE_6AFRAME_SET_LUMEN_MAXMIN_RANGE        = 0x10008103,          //设置灯光范围最大最小值
+    JZ_INSCODE_6AFRAME_SET_SERIALNUMBER              = 0x10008104,          //设置序列号
+    JZ_INSCODE_6AFRAME_SERVO_SELFCHECK               = 0x10008105,          //舵机自检
+    JZ_INSCODE_6AFRAME_GIMBAL_LINKAGE_CONTROL        = 0x10008106,          //开关云台联动
+
+    JZ_INSCODE_6AFRAME_CHECKSTATUS_SECONDARY_DEVICE_NAME =              0x10008400,                     //查询从设备设备名
+    JZ_INSCODE_6AFRAME_CHECKSTATUS_GIMBAL_LINKAGE =                     0x10008401,                     //查询云台联动
+
+//6B类 
+    JZ_INSCODE_6BFRAME_CHECKSTATUS_SECONDARY_DEVICE_NAME =              0x1000C400,                     //回复从设备名
+    JZ_INSCODE_6BFRAME_CHECKSTATUS_GIMBAL_LINKAGE =                     0x1000C401,                     //回复云台联动
+
+
+
+} JZ_InsCode;
+
+
+/* Exported types ------------------------------------------------------------*/
+
+
+/* Exported functions --------------------------------------------------------*/
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif 

+#include <stdint.h>
+#include <stdbool.h>
+#include <stddef.h>
+#include <string.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include <string.h>
+
+#include "./JZsdk_Code.h"
+
+
+
+//获取返回码的信息
+const char* JZsdk_GetReturnCodeMessage(T_JZsdkReturnCode ReturnCode) 
+{
+    switch (ReturnCode) {
+        case JZ_ERRORCODE_REALTIMEVOICE_HAS_BEEN_ON:
+            return "实时语音被开启,该操作失败";
+
+        default:
+            return "未知错误:Unknown error.";
+    }
+}

+
+
+/**
+ ********************************************************************
+ * @file   JZsdk_ReturnCode.h
+ *          用于记录各类码的表
+ *
+ *********************************************************************
+ */
+
+/* Define to prevent recursive inclusion 避免重定义 -------------------------------------*/
+#ifndef JZSDK_RETURNCODE_H
+#define JZSDK_RETURNCODE_H
+
+/* Includes ------------------------------------------------------------------*/
+#include <stdint.h>
+#include "JZsdk_ErrorCode.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+/* 常亮定义*/
+
+
+
+
+
+
+
+/* Exported types ------------------------------------------------------------*/
+//重定义一个返回码
+typedef uint64_t T_JZsdkReturnCode;
+
+/* Exported functions --------------------------------------------------------*/
+const char* JZsdk_GetReturnCodeMessage(T_JZsdkReturnCode ReturnCode); 
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif 

+#include <stdio.h>
+#include "JZsdk_Delay.h"
+#include <unistd.h>
+/*
+*       用于延时（粗略）
+*       需要优化
+*/
+int delayMs(unsigned long msec)
+{
+    usleep(msec * 1000);
+}
+
+/*
+*       用于延时（粗略）
+*       需要优化
+*/
+int delayS(unsigned long sec)
+{
+    delayMs(sec * 1000);
+}

+/**
+ ********************************************************************
+ * @file   JZsdk_FileSystem.h
+ *          用于文件系统操作
+ *
+ *********************************************************************
+ */
+
+/* Define to prevent recursive inclusion 避免重定义 -------------------------------------*/
+#ifndef JZSDK_DELAY_H
+#define JZSDK_DELAY_H
+
+/* Includes ------------------------------------------------------------------*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+/* 常亮定义*/
+
+
+/* Exported types ------------------------------------------------------------*/
+
+
+/* Exported functions --------------------------------------------------------*/
+int delayMs(unsigned long  msec);
+int delayS(unsigned long sec);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif 
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

+#include <stdio.h>
+#include "./JZsdk_FrameComparsion.h"
+#include "../JZsdk_Code/JZsdk_Code.h"
+
+/*************************
+ * 
+ *  获取帧的序列号
+ * 
+ * ***************************/
+int JZsdk_Get_FrameSequence(char *DealBuf)
+{
+    return DealBuf[6];
+}
+
+/***************************
+ * 、
+ * 
+ *  帧校对 获取功能
+ * 
+ * 
+ * ***********************/
+int JZsdk_FrameComparsion(char *getdata, int len)
+{
+    //1、判断是否是5A帧
+	if (getdata[0] == 0x5A && getdata[1] == 0x5A && getdata[2] == 0x77)
+	{
+		printf("JZsdk_FrameComparsion:5A帧\n");
+		return JZsdk_5AFrameComparsion(getdata, len);
+	}
+
+	//2、判断是否是5B帧
+	if (getdata[0] == 0x5b && getdata[1] == 0x5b && getdata[2] == 0x77)
+	{
+		printf("JZsdk_FrameComparsion:5B帧\n");
+		return JZsdk_5BFrameComparsion(getdata, len);
+	}
+
+	//3、判断是否是6A帧
+	if (getdata[0] == 0x6A && getdata[1] == 0x6A && getdata[2] == 0x77)
+	{
+		printf("JZsdk_FrameComparsion:6A帧\n");
+		return JZsdk_6AFrameComparsion(getdata, len);
+	}
+
+	//4、判断是否是6B帧
+	if (getdata[0] == 0x6b && getdata[1] == 0x6b && getdata[2] == 0x77)
+	{
+		printf("JZsdk_FrameComparsion:6B帧\n");
+		return JZsdk_6BFrameComparsion(getdata, len);
+	}
+
+	//判断帧头帧尾
+	if ( 
+		( (getdata[0]!= 0x5a) && (getdata[1] != 0x5a) && (getdata[2]!=0x77) ) 
+		|| 	( (getdata[len -2]!= 0x00) && (getdata[ len -1] != 0x23) ) 
+	)
+	{
+		printf("接受到的帧,没有帧头或者帧尾,退出recv帧判断函数\n");
+		return JZ_ERROR_SYSTEM_FRAME_ERROR;
+	}
+}

+/**
+ ********************************************************************
+ * @file   JZsdk_FrameComparsion.h
+ *          用于帧对比的头文件
+ *
+ *********************************************************************
+ */
+
+/* Define to prevent recursive inclusion 避免重定义 -------------------------------------*/
+#ifndef JZSDK_FRAMECOMPARSION_H
+#define JZSDK_FRAMECOMPARSION_H
+
+/* Includes ------------------------------------------------------------------*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+/* 常亮定义*/
+#include "JZsdk_FrameComparsion_5Aframe.h"
+#include "JZsdk_FrameComparsion_5Bframe.h"
+#include "JZsdk_FrameComparsion_6Aframe.h"
+#include "JZsdk_FrameComparsion_6Bframe.h"
+#include "JZsdk_GetFrameTemplate.h"
+
+/* Exported types ------------------------------------------------------------*/
+
+
+/* Exported functions --------------------------------------------------------*/
+int JZsdk_Get_FrameSequence(char *DealBuf);
+int JZsdk_FrameComparsion(char *getdata, int len);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif 

+#include <stdio.h>
+#include "../JZsdk_Code/JZsdk_Code.h"
+
+/******************************************************
+
+	接收一级功能码区
+
+/******************************************************/
+//一级功能码是连接功能
+static int Comparison_5AFRAME_FirstLevelCode_0x50(char *getdata)
+{
+	//二级功能位
+	switch (getdata[8])
+	{
+		//开启连接
+		case 0x51:
+			return JZ_INSCODE_5AFRAME_ASKFORCONNECT;
+		break;
+
+		default:
+			return JZ_ERROR_SYSTEM_FRAME_ERROR;
+		break;
+	}
+}
+//一级功能码是语音 或是 文件功能
+static int Comparison_5AFRAME_FirstLevelCode_0x51(char *getdata)
+{
+	//二级功能位
+	switch (getdata[8])
+	{
+		//开启语音
+		case 0xb1:
+			return JZ_INSCODE_5AFRAME_REALTIMEMP2_START;
+		break;
+
+		//结束语音
+		case 0xb2:
+			return JZ_INSCODE_5AFRAME_REALTIMEMP2_STOP;
+		break;
+
+		//打开音频文件上传
+		case 0x01:
+			return JZ_INSCODE_5AFRAME_AUDIOFILE_TRANS_START;
+		break;
+
+		//关闭音频文件上传
+		case 0x03:
+			return JZ_INSCODE_5AFRAME_AUDIOFILE_TRANS_STOP;
+		break;
+
+		default:
+			return JZ_ERROR_SYSTEM_FRAME_ERROR;
+		break;
+	}
+}
+//一级功能码是音频/功放/音量调节
+static int Comparison_5AFRAME_FirstLevelCode_0x52(char *getdata)
+{
+	//二级功能位
+	switch (getdata[8])
+	{
+		//播放指定音频
+		case 0x02:
+			return JZ_INSCODE_5AFRAME_AUDIO_PLAYFILE;
+		break;
+
+		//音频继续播放
+		case 0x04:
+			return JZ_INSCODE_5AFRAME_AUDIO_CONTINUE;
+		break;
+
+		//音频暂停播放
+		case 0x05:
+			return JZ_INSCODE_5AFRAME_AUDIO_PAUSE;
+		break;
+
+		//音频停止播放
+		case 0x06:
+			return JZ_INSCODE_5AFRAME_AUDIO_STOP;
+		break;
+
+		//音频上一曲
+		case 0x07:
+			return JZ_INSCODE_5AFRAME_AUDIO_LASTSONG;
+		break;
+
+		//音频下一曲
+		case 0x08:
+			return JZ_INSCODE_5AFRAME_AUDIO_NEXTSONG;
+		break;
+
+		//强制关闭功放
+		case 0x20:
+			return JZ_INSCODE_5AFRAME_AMPLIFIER_STOP;
+		break;
+		
+		//强制开启功放
+		case 0x21:
+			return JZ_INSCODE_5AFRAME_AMPLIFIER_OPEN;
+		break;
+		
+		//恢复自动功放
+		case 0x22:
+			return JZ_INSCODE_5AFRAME_AMPLIFIER_AUTO;
+		break;
+		
+		//调节音量
+		case 0x10:
+			return JZ_INSCODE_5AFRAME_VOLUME;
+		break;
+
+		default:
+			return JZ_ERROR_SYSTEM_FRAME_ERROR;
+		break;
+	}
+}
+//一级功能码是查询状态
+static int Comparison_5AFRAME_FirstLevelCode_0x53(char *getdata)
+{
+	//二级功能位
+	switch (getdata[8])
+	{
+		//查询音量
+		case 0x01:
+			return JZ_INSCODE_5AFRAME_CHECKSTATUS_VOLUME;
+		break;
+	
+		//查询播放状态
+		case 0x02:
+			return JZ_INSCODE_5AFRAME_CHECKSTATUS_PLAY;
+		break;
+
+		//查询云台角度(已舍弃)
+		case 0x03:
+			return JZ_INSCODE_5AFRAME_CHECKSTATUS_GIMBAL;
+		break;
+
+		//查询播放文件名
+		case 0x04:
+			return JZ_INSCODE_5AFRAME_CHECKSTATUS_PLAYFILENAME;
+		break;
+
+		//查询是否打开循环
+		case 0x05:
+			return JZ_INSCODE_5AFRAME_CHECKSTATUS_LOOPPLAY;
+		break;
+
+		//查询音色
+		case 0x06:
+			return JZ_INSCODE_5AFRAME_CHECKSTATUS_TTSTONE;
+		break;
+
+		//查询语速
+		case 0x07:
+			return JZ_INSCODE_5AFRAME_CHECKSTATUS_TTSSPEED;
+		break;
+		
+
+		//查询软件版本号
+		case 0xf1:
+			return JZ_INSCODE_5AFRAME_CHECKSTATUS_SOFTWAREVERSION;
+		break;
+
+		default:
+			return JZ_ERROR_SYSTEM_FRAME_ERROR;
+		break;
+	}
+
+}
+//一级功能码是删除
+static int Comparison_5AFRAME_FirstLevelCode_0x54(char *getdata)
+{
+	//二级功能位
+	switch (getdata[8])
+	{
+		//删除音频
+		case 0x02:
+			return JZ_INSCODE_5AFRAME_DELETE_AUDIO;
+		break;
+
+		//删除录音
+		case 0x03:
+			return JZ_INSCODE_5AFRAME_DELETE_VOICE_RECORD;
+		break;
+
+		// //删除视频
+		// case 0x02:
+		// 	return JZ_INSCODE_DELETE_VIDEO_RECORD;
+		// break;
+
+		default:
+			return JZ_ERROR_SYSTEM_FRAME_ERROR;
+		break;
+	}
+}
+//一级功能码开启关闭循环
+static int Comparison_5AFRAME_FirstLevelCode_0x55(char *getdata)
+{
+	//二级功能位
+	switch (getdata[8])
+	{
+		//开启关闭循环
+		case 0x00:
+			return JZ_INSCODE_5AFRAME_PLAY_LOOP;
+		break;
+
+		default:
+			return JZ_ERROR_SYSTEM_FRAME_ERROR;
+		break;
+	}
+}
+//一级功能码
+static int Comparison_5AFRAME_FirstLevelCode_0x56(char *getdata)
+{
+	//二级功能位
+	switch (getdata[8])
+	{
+		default:
+			return JZ_ERROR_SYSTEM_FRAME_ERROR;
+		break;
+	}
+}
+//一级功能码是 文本播放
+static int Comparison_5AFRAME_FirstLevelCode_0x57(char *getdata)
+{
+	//二级功能位
+	switch (getdata[8])
+	{
+		//设置音色
+		case 0x01:
+			return JZ_INSCODE_5AFRAME_TTS_SET_TONE;
+			break;
+
+		//设置语速
+		case 0x02:
+			return JZ_INSCODE_5AFRAME_TTS_SET_SPEED;
+			break;
+
+		//开始发送TTS
+		case 0x03:
+			return JZ_INSCODE_5AFRAME_TTS_TRANS_START;
+			break;
+
+		case 0x04:
+			return JZ_INSCODE_5AFRAME_TTS_TRANS_STOP;
+			break;
+		
+		default:
+			break;
+	}
+}
+//一级功能 查询列表
+static int Comparison_5AFRAME_FirstLevelCode_0x58(char *getdata)
+{
+	//二级功能位
+	switch (getdata[8])
+	{
+		//设置音色
+		case 0x01:
+			return JZ_INSCODE_5AFRAME_AUDIO_GETMUSICLIST;
+			break;
+		
+		default:
+			break;
+	}
+}
+//一级功能码opus功能
+static int Comparison_5AFRAME_FirstLevelCode_0x59(char *getdata)
+{
+	//二级功能位
+	switch (getdata[8])
+	{
+		//opus录音传输
+		//opus传输开始
+		case 0xF1:
+			return JZ_INSCODE_5AFRAME_OPUS_TRANS_START;
+		break;
+
+		//opus传输结束
+		case 0xF2:
+			return JZ_INSCODE_5AFRAME_OPUS_TRANS_STOP;
+		break;
+
+		//opus播放
+		case 0x01:
+			return JZ_INSCODE_5AFRAME_OPUS_PLAY;
+		break;
+
+		//opus实时语音开始
+		case 0xE1:
+			return JZ_INSCODE_5AFRAME_OPUS_REALTIMEVOICE_START;
+		break;
+
+		case 0xE2:
+			return JZ_INSCODE_5AFRAME_OPUS_REALTIMEVOICE_STOP;
+		break;
+
+		default:
+			return JZ_ERROR_SYSTEM_FRAME_ERROR;
+		break;
+	}
+}
+
+
+//一级功能码 激光控制
+static int Comparison_5AFRAME_FirstLevelCode_0x60(char *getdata)
+{
+	//二级功能位
+	switch (getdata[8])
+	{
+		//激光控制
+		case 0x51:
+			return JZ_INSCODE_5AFRAME_LASER_CONTROL;
+		break;
+
+		default:
+			return JZ_ERROR_SYSTEM_FRAME_ERROR;
+		break;
+	}
+}
+
+//一级功能码 爆闪频率
+static int Comparison_5AFRAME_FirstLevelCode_0x61(char *getdata)
+{
+	//二级功能位
+	switch (getdata[8])
+	{
+		//爆闪频率
+		case 0x51:
+			return JZ_INSCODE_5AFRAME_SEARCHLIGHT_SET_FREQUENCY;
+		break;
+
+		default:
+			return JZ_ERROR_SYSTEM_FRAME_ERROR;
+		break;
+	}
+}
+
+//一级功能码 灯光控制
+static int Comparison_5AFRAME_FirstLevelCode_0x62(char *getdata)
+{
+	//二级功能位
+	switch (getdata[8])
+	{
+		//灯光模式
+		case 0x51:
+			return JZ_INSCODE_5AFRAME_SEARCHLIGHT_CONTROL;
+		break;
+
+		default:
+			return JZ_ERROR_SYSTEM_FRAME_ERROR;
+		break;
+	}
+}
+
+//一级功能码 灯光亮度
+static int Comparison_5AFRAME_FirstLevelCode_0x63(char *getdata)
+{
+	//二级功能位
+	switch (getdata[8])
+	{
+		//灯光亮度
+		case 0x51:
+			return JZ_INSCODE_5AFRAME_SEARCHLIGHT_SET_LUMEN;
+		break;
+
+		default:
+			return JZ_ERROR_SYSTEM_FRAME_ERROR;
+		break;
+	}
+}
+
+//一级功能码云台功能
+static int Comparison_5AFRAME_FirstLevelCode_0x64(char *getdata)
+{
+	//二级功能位
+	switch (getdata[8])
+	{
+		//云台俯仰控制
+		case 0x51:
+			return JZ_INSCODE_5AFRAME_GIMBAL_PITCH_CONTROL;
+		break;
+
+		//云台俯仰微调控制
+		case 0x52:
+			return JZ_INSCODE_5AFRAME_GIMBAL_PITCH_FINETUNING_CONTROL;
+		break;
+
+		default:
+			return JZ_ERROR_SYSTEM_FRAME_ERROR;
+		break;
+	}
+}
+
+//一级功能码 云台航向
+static int Comparison_5AFRAME_FirstLevelCode_0x65(char *getdata)
+{
+
+}
+
+//一级功能码 警灯模式控制
+static int Comparison_5AFRAME_FirstLevelCode_0x66(char *getdata)
+{
+	switch (getdata[8])
+	{
+		//警灯模式控制
+		case 0x51:
+			return JZ_INSCODE_5AFRAME_WARNINGLIGHT_CONTROL;
+		break;
+
+		default:
+			return JZ_ERROR_SYSTEM_FRAME_ERROR;
+		break;
+	}
+}
+
+//一级功能码 警灯眼色选择
+static int Comparison_5AFRAME_FirstLevelCode_0x67(char *getdata)
+{
+	switch (getdata[8])
+	{
+		//警灯颜色选择
+		case 0x51:
+			return JZ_INSCODE_5AFRAME_WARNINGLIGHT_COLOUR;
+		break;
+
+		default:
+			return JZ_ERROR_SYSTEM_FRAME_ERROR;
+		break;
+	}
+}
+
+//一级功能码 探照灯消息订阅
+static int Comparison_5AFRAME_FirstLevelCode_0x68(char *getdata)
+{	
+	switch (getdata[8])
+	{
+		//探照灯消息订阅
+		case 0x51:
+			return JZ_INSCODE_5AFRAME_SEARCHLIGHT_MESSAGE_SUBSCRIPTION_CONTROL;
+		break;
+
+		default:
+			return JZ_ERROR_SYSTEM_FRAME_ERROR;
+		break;
+	}
+
+}
+
+//一级功能码 私有协议
+static int Comparison_5AFRAME_FirstLevelCode_0x69(char *getdata)
+{
+
+}
+
+//一级功能码 6F查询帧
+static int Comparison_5AFRAME_FirstLevelCode_0x6F(char *getdata)
+{
+	//二级功能位
+	switch (getdata[8])
+	{
+		//灯光查询
+		case 0x51:
+			return JZ_INSCODE_5AFRAME_CHECKSTATUS_SEARCHLIGHT_LIGHTATTRIBUTE;
+		break;
+
+		//温度查询
+		case 0x52:
+			return JZ_INSCODE_5AFRAME_CHECKSTATUS_SEARCHLIGHT_TEMPERATURE;
+		break;
+
+		//激光查询
+		case 0x53:
+			return JZ_ERROR_SYSTEM_FRAME_ERROR;
+		break;
+
+		//云台角度查询
+		case 0x54:
+			return JZ_INSCODE_5AFRAME_CHECKSTATUS_GIMBAL;
+		break;
+
+		//警灯状态查询
+		case 0x55:
+			return JZ_INSCODE_5AFRAME_CHECKSTATUS_WARNINGLIGHT_STATUS;
+		break;
+
+		//警灯颜色查询
+		case 0x56:
+			return JZ_INSCODE_5AFRAME_CHECKSTATUS_WARNINGLIGHT_COLOR;
+		break;
+
+		//产品序列号查询
+		case 0x57:
+			return JZ_INSCODE_5AFRAME_CHECKSTATUS_SERIALNUMBER;
+		break;
+
+		//云台微调值查询
+		case 0x58:
+			return JZ_INSCODE_5AFRAME_CHECKSTATUS_GIMBAL_FINETUNING;
+		break;
+
+		default:
+			return JZ_ERROR_SYSTEM_FRAME_ERROR;
+		break;
+	}
+}
+
+/******************************************************************
+
+	回复帧对比
+	成功返回帧类型  无对比数据返回 JZ_ERROR_SYSTEM_FRAME_ERROR
+
+******************************************************************/
+int JZsdk_5AFrameComparsion(char *getdata, int len)
+{
+	//1、判断帧头帧尾
+	if ( 
+		( (getdata[0]!= 0x5a) && (getdata[1] != 0x5a) && (getdata[2]!=0x77) ) 
+		|| 	( (getdata[len -2]!= 0x00) && (getdata[ len -1] != 0x23) ) 
+	)
+	{
+		printf("接受到的帧,没有帧头或者帧尾,退出JZsdk_5AFrameComparsion函数\n");
+		return JZ_ERROR_SYSTEM_FRAME_ERROR;
+	}
+
+	//一级功能码
+	switch (getdata[7])
+	{
+/*********************************************************************************************************************************************************
+ * 
+ * 						连接请求码
+ * 
+*********************************************************************************************************************************************************/
+		//一级功能码是连接请求
+		case 0x50:
+			return Comparison_5AFRAME_FirstLevelCode_0x50(getdata);
+		break;
+
+/*********************************************************************************************************************************************************
+ * 
+ * 						喊话器功能码
+ * 
+*********************************************************************************************************************************************************/
+		//一级功能码 语音 / 音频文件功能
+		case 0x51:
+			return Comparison_5AFRAME_FirstLevelCode_0x51(getdata);
+		break;
+
+		//一级功能码 音频/ 功放/ 音量调节
+		case 0x52:
+			return Comparison_5AFRAME_FirstLevelCode_0x52(getdata);
+		break;
+
+		//一级功能码 查询状态
+		case 0x53:
+			return Comparison_5AFRAME_FirstLevelCode_0x53(getdata);
+		break;
+
+		//一级功能码 删除
+		case 0x54:
+			return Comparison_5AFRAME_FirstLevelCode_0x54(getdata);
+		break;
+
+		//一级功能码 开启关闭循环
+		case 0x55:
+			return Comparison_5AFRAME_FirstLevelCode_0x55(getdata);
+		break;
+
+		//一级功能码 
+		case 0x56:
+			return Comparison_5AFRAME_FirstLevelCode_0x56(getdata);
+		break;
+
+		//一级功能码 TTS
+		case 0x57:
+			return Comparison_5AFRAME_FirstLevelCode_0x57(getdata);
+		break;
+
+		//一级功能码 查询列表功能
+		case 0x58:
+			return Comparison_5AFRAME_FirstLevelCode_0x58(getdata);
+		break;
+
+		//一级功能码 opus
+		case 0x59:
+			return Comparison_5AFRAME_FirstLevelCode_0x59(getdata);
+		break;
+
+		//一级功能码 激光控制
+		case 0x60:
+			return Comparison_5AFRAME_FirstLevelCode_0x60(getdata);
+		break;
+
+		//一级功能码 爆闪控制
+		case 0x61:
+			return Comparison_5AFRAME_FirstLevelCode_0x61(getdata);
+		break;
+
+		//一级功能码 灯光控制
+		case 0x62:
+			return Comparison_5AFRAME_FirstLevelCode_0x62(getdata);
+		break;
+
+		//一级功能码 灯光亮度
+		case 0x63:
+			return Comparison_5AFRAME_FirstLevelCode_0x63(getdata);
+		break;
+
+		//一级功能码 云台俯仰
+		case 0x64:
+			return Comparison_5AFRAME_FirstLevelCode_0x64(getdata);
+		break;
+
+		//一级功能码 云台航向
+		case 0x65:
+			return Comparison_5AFRAME_FirstLevelCode_0x65(getdata);
+		break;
+
+		//一级功能码 警灯模式控制
+		case 0x66:
+			return Comparison_5AFRAME_FirstLevelCode_0x66(getdata);
+		break;
+
+		//一级功能码 警灯眼色选择
+		case 0x67:
+			return Comparison_5AFRAME_FirstLevelCode_0x67(getdata);
+		break;
+
+		//一级功能码 探照灯消息订阅
+		case 0x68:
+			return Comparison_5AFRAME_FirstLevelCode_0x68(getdata);
+		break;
+
+		//一级功能码 私有协议
+		case 0x69:
+			return Comparison_5AFRAME_FirstLevelCode_0x69(getdata);
+		break;
+
+		//一级功能码 6f查询帧
+		case 0x6F:
+			return Comparison_5AFRAME_FirstLevelCode_0x6F(getdata);
+		break;
+
+
+		break;
+
+		//一级功能码 
+
+/*********************************************************************************************************************************************************
+ * 
+ * 						
+ * 
+*********************************************************************************************************************************************************/
+		default:
+			return JZ_ERROR_SYSTEM_FRAME_ERROR;
+		break;
+	}
+}
+

+/**********************************************************************
+ * @file   
+ *         
+ *
+ *********************************************************************
+ */
+
+/* Define to prevent recursive inclusion 避免重定义 -------------------------------------*/
+#ifndef JZSDK_FRAMECOMPARSION_5AFRAME_H
+#define JZSDK_FRAMECOMPARSION_5AFRAME_H
+
+/* Includes ------------------------------------------------------------------*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+/* 常亮定义*/
+
+/* Exported types ------------------------------------------------------------*/
+
+/* Exported functions --------------------------------------------------------*/
+
+int JZsdk_5AFrameComparsion(char *getdata, int len);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif 

+#include <stdio.h>
+#include "../JZsdk_Code/JZsdk_Code.h"
+
+
+/******************************************************
+
+	接收一级功能码区
+
+/******************************************************/
+//一级功能码是连接功能
+static int Comparison_5BFRAME_FirstLevelCode_0x50(char *getdata)
+{
+	//二级功能位
+	switch (getdata[8])
+	{
+		//回复连接
+		case 0x51:
+			return JZ_INSCODE_5BFRAME_INITIATECONNECT;
+		break;
+
+		default:
+			return JZ_ERROR_SYSTEM_FRAME_ERROR;
+		break;
+	}
+}
+
+//一级功能码是操作功能
+static int Comparison_5BFRAME_FirstLevelCode_0x51(char *getdata)
+{
+	//二级功能位
+	switch (getdata[8])
+	{
+		//回复操作成功
+		case 0x01:
+			return JZ_INSCODE_5BFRAME_SUCESS;
+		break;
+
+		//回复操作失败
+		case 0xff:
+			return JZ_INSCODE_5BFRAME_DEFEAT;
+		break;
+
+		default:
+			return JZ_ERROR_SYSTEM_FRAME_ERROR;
+		break;
+	}
+}
+//一级功能码是音频列表功能
+static int Comparison_5BFRAME_FirstLevelCode_0x53(char *getdata)
+{
+	//二级功能位
+	switch (getdata[8])
+	{
+		//音量返回
+		case 0x01:
+			return JZ_INSCODE_5BFRAME_VOLUME;
+		break;
+
+		//播放状态返回
+		case 0x02:
+			return JZ_INSCODE_5BFRAME_AUDIO_PLAYSTATUS;
+		break;
+
+		//当前播放文件名返回
+		case 0x04:
+			return JZ_INSCODE_5BFRAME_AUDIO_PLAYFILENAME;
+		break;
+
+		//查询是否开启循环
+		case 0x05:
+			return JZ_INSCODE_5BFRAME_AUDIO_PLAYLOOPSTATUS;
+		break;
+
+		//查询音色
+		case 0x06:
+			return JZ_INSCODE_5BFRAME_TTS_TONE;
+		break;
+
+		//查询语速
+		case 0x07:
+			return JZ_INSCODE_5BFRAME_TTS_SPEED;
+		break;
+
+		//版本返回
+		case 0xf1:
+			return JZ_INSCODE_5BFRAME_SORTWAREVERSION;
+		break;
+
+		//播放结束（主动返回）
+		case 0xff:
+			return JZ_INSCODE_5BFRAME_AUDIO_PLAYSTATUS_END;
+		break;
+
+		default:
+			return JZ_ERROR_SYSTEM_FRAME_ERROR;
+		break;
+	}
+}
+
+//一级功能码是音频列表功能
+static int Comparison_5BFRAME_FirstLevelCode_0x58(char *getdata)
+{
+	//二级功能位
+	switch (getdata[8])
+	{
+		//查询列表开始
+		case 0x00:
+			return JZ_INSCODE_5BFRAME_MUSICLIST_START;
+		break;
+
+		//文件列表帧
+		case 0x02:
+			return JZ_INSCODE_5BFRAME_MUSICLIST_TRANS;
+		break;
+
+		//结束列表返回
+		case 0xff:
+			return JZ_INSCODE_5BFRAME_MUSICLIST_STOP;
+		break;
+
+		default:
+			return JZ_ERROR_SYSTEM_FRAME_ERROR;
+		break;
+	}
+}
+
+//一级功能码是激光
+static int Comparison_5BFRAME_FirstLevelCode_0x60(char *getdata)
+{
+	//二级功能位
+	switch (getdata[8])
+	{
+		//回复激光查询
+		case 0x51:
+			return JZ_INSCODE_5BFRAME_CHECKSTATUS_LASER_STATUS;
+		break;
+
+		default:
+			return JZ_ERROR_SYSTEM_FRAME_ERROR;
+		break;
+	}
+}
+
+//一级功能码是回复灯光频率
+static int Comparison_5BFRAME_FirstLevelCode_0x61(char *getdata)
+{
+	//二级功能位
+	switch (getdata[8])
+	{
+		//回复灯光频率
+		case 0x51:
+			return JZ_INSCODE_5BFRAME_CHECKSTATUS_SEARCHLIGHT_FREQUENCY;
+		break;
+
+		default:
+			return JZ_ERROR_SYSTEM_FRAME_ERROR;
+		break;
+	}
+}
+
+//一级功能码是回复灯光模式
+static int Comparison_5BFRAME_FirstLevelCode_0x62(char *getdata)
+{
+	//二级功能位
+	switch (getdata[8])
+	{
+		//回复灯光模式
+		case 0x51:
+			return JZ_INSCODE_5BFRAME_CHECKSTATUS_SEARCHLIGHT_MODE;
+		break;
+
+		default:
+			return JZ_ERROR_SYSTEM_FRAME_ERROR;
+		break;
+	}
+}
+
+//一级功能码是回复灯光亮度
+static int Comparison_5BFRAME_FirstLevelCode_0x63(char *getdata)
+{
+	//二级功能位
+	switch (getdata[8])
+	{
+		//回复灯光亮度
+		case 0x51:
+			return JZ_INSCODE_5BFRAME_CHECKSTATUS_SEARCHLIGHT_LUMEN;
+		break;
+
+		default:
+			return JZ_ERROR_SYSTEM_FRAME_ERROR;
+		break;
+	}
+}
+
+//一级功能码是云台俯仰
+static int Comparison_5BFRAME_FirstLevelCode_0x64(char *getdata)
+{
+	//二级功能位
+	switch (getdata[8])
+	{
+		//回复云台俯仰
+		case 0x51:
+			return JZ_INSCODE_5BFRAME_GIMBAL_PITCH;
+		break;
+
+		//回复云台俯仰微调值
+		case 0x52:
+			return JZ_INSCODE_5BFRAME_GIMBAL_PITCH_FINETUNING;
+		break;
+
+		default:
+			return JZ_ERROR_SYSTEM_FRAME_ERROR;
+		break;
+	}
+}
+//一级功能码是云台航向
+static int Comparison_5BFRAME_FirstLevelCode_0x65(char *getdata)
+{
+	//二级功能位
+	switch (getdata[8])
+	{
+		//回复云台航向
+		case 0x51:
+			return JZ_INSCODE_5BFRAME_GIMBAL_YAW;
+		break;
+
+
+		default:
+			return JZ_ERROR_SYSTEM_FRAME_ERROR;
+		break;
+	}
+}
+//一级功能码是回复警灯状态
+static int Comparison_5BFRAME_FirstLevelCode_0x66(char *getdata)
+{
+	//二级功能位
+	switch (getdata[8])
+	{
+		//回复警灯状态
+		case 0x51:
+			return JZ_INSCODE_5BFRAME_CHECKSTATUS_WARNINGLIGHT_STATUS;
+		break;
+
+
+		default:
+			return JZ_ERROR_SYSTEM_FRAME_ERROR;
+		break;
+	}
+}//一级功能码是回复警灯颜色
+static int Comparison_5BFRAME_FirstLevelCode_0x67(char *getdata)
+{
+	//二级功能位
+	switch (getdata[8])
+	{
+		//回复回复警灯颜色
+		case 0x51:
+			return JZ_INSCODE_5BFRAME_CHECKSTATUS_WARNINGLIGHT_COLOR;
+		break;
+
+
+		default:
+			return JZ_ERROR_SYSTEM_FRAME_ERROR;
+		break;
+	}
+}//一级功能码是回复温度/序列号查询
+static int Comparison_5BFRAME_FirstLevelCode_0x69(char *getdata)
+{
+	//二级功能位
+	switch (getdata[8])
+	{
+		//回复温度查询
+		case 0x51:
+			return JZ_INSCODE_5BFRAME_CHECKSTATUS_SEARCHLIGHT_TEMPERATURE;
+		break;
+
+		//回复产品序列号
+		case 0x54:
+			return JZ_INSCODE_5BFRAME_CHECKSTATUS_SERIALNUMBER;
+		break;
+
+		default:
+			return JZ_ERROR_SYSTEM_FRAME_ERROR;
+		break;
+	}
+}
+/******************************************************************
+
+	回复帧对比
+	成功返回帧类型  无对比数据返回 JZ_ERROR_SYSTEM_FRAME_ERROR
+
+******************************************************************/
+int JZsdk_5BFrameComparsion(char *getdata, int len)
+{
+	//1、判断帧头帧尾
+	if ( 
+		( (getdata[0]!= 0x5B) && (getdata[1] != 0x5B) && (getdata[2]!=0x77) ) 
+		|| 	( (getdata[len -2]!= 0x00) && (getdata[ len -1] != 0x23) ) 
+	)
+	{
+		printf("接受到的帧,没有帧头或者帧尾,退出JZsdk_5BFrameComparsion函数\n");
+		return JZ_ERROR_SYSTEM_FRAME_ERROR;
+	}
+
+	//一级功能码
+	switch (getdata[7])
+	{	
+		case 0x50:
+			return Comparison_5BFRAME_FirstLevelCode_0x50(getdata);
+		break;
+
+		case 0x51:
+			return Comparison_5BFRAME_FirstLevelCode_0x51(getdata);
+		break;	
+
+        case 0x53:
+            return Comparison_5BFRAME_FirstLevelCode_0x53(getdata);
+		break;
+
+        case 0x58:
+            return Comparison_5BFRAME_FirstLevelCode_0x58(getdata);
+		break;
+
+        case 0x60:
+            return Comparison_5BFRAME_FirstLevelCode_0x60(getdata);
+		break;
+
+        case 0x61:
+            return Comparison_5BFRAME_FirstLevelCode_0x61(getdata);
+		break;
+
+        case 0x62:
+            return Comparison_5BFRAME_FirstLevelCode_0x62(getdata);
+		break;
+
+        case 0x63:
+            return Comparison_5BFRAME_FirstLevelCode_0x63(getdata);
+		break;
+
+        case 0x64:
+            return Comparison_5BFRAME_FirstLevelCode_0x64(getdata);
+		break;
+
+		case 0x65:
+            return Comparison_5BFRAME_FirstLevelCode_0x65(getdata);
+		break;
+
+		case 0x66:
+            return Comparison_5BFRAME_FirstLevelCode_0x66(getdata);
+		break;
+
+		case 0x67:
+            return Comparison_5BFRAME_FirstLevelCode_0x67(getdata);
+		break;
+
+		case 0x69:
+            return Comparison_5BFRAME_FirstLevelCode_0x69(getdata);
+		break;
+
+
+		default:
+			return JZ_ERROR_SYSTEM_FRAME_ERROR;
+		break;
+    }
+}

+/**
+ ********************************************************************
+ * @file  
+ *         
+ *
+ *********************************************************************
+ */
+
+/* Define to prevent recursive inclusion 避免重定义 -------------------------------------*/
+#ifndef JZSDK_FRAMECOMPARSION_5BFRAME_H
+#define JZSDK_FRAMECOMPARSION_5BFRAME_H
+
+/* Includes ------------------------------------------------------------------*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+/* 常亮定义*/
+
+/* Exported types ------------------------------------------------------------*/
+
+/* Exported functions --------------------------------------------------------*/
+int JZsdk_5BFrameComparsion(char *getdata, int len);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif 

+#include <stdio.h>
+#include "../JZsdk_Code/JZsdk_Code.h"
+
+
+//一级功能码是私有协议
+static int Comparison_6AFRAME_FirstLevelCode_0x69(char *getdata)
+{
+	//二级功能位
+	switch (getdata[8])
+	{
+		//设置当前为云台零值
+		case 0x51:
+			return JZ_INSCODE_6AFRAME_SET_GIMBAL_ORIGIN;
+		break;
+
+		//设置云台当前为最大最小值
+		case 0x52:
+			return JZ_INSCODE_6AFRAME_SET_GIMBAL_MAXMIN_RANGE;
+		break;
+
+		//设置灯光当前亮度为最大最小值
+		case 0x53:
+			return JZ_INSCODE_6AFRAME_SET_LUMEN_MAXMIN_RANGE;
+		break;
+
+		//设置产品序列号
+		case 0x54:
+			return JZ_INSCODE_6AFRAME_SET_SERIALNUMBER;
+		break;
+
+        //舵机自检
+        case 0x55:
+            return JZ_INSCODE_6AFRAME_SERVO_SELFCHECK;
+        break;
+
+        //开启关闭云台联动
+        case 0x56:
+            return JZ_INSCODE_6AFRAME_GIMBAL_LINKAGE_CONTROL;
+        break;
+
+		default:
+			return JZ_ERROR_SYSTEM_FRAME_ERROR;
+		break;
+	}
+}
+
+/******************************************************************
+
+	回复帧对比
+	成功返回帧类型  无对比数据返回 JZ_ERROR_SYSTEM_FRAME_ERROR
+
+******************************************************************/
+int JZsdk_6AFrameComparsion(char *getdata, int len)
+{
+	//1、判断帧头帧尾
+	if ( 
+		( (getdata[0]!= 0x6A) && (getdata[1] != 0x6A) && (getdata[2]!=0x77) ) 
+		|| 	( (getdata[len -2]!= 0x00) && (getdata[ len -1] != 0x23) ) 
+	)
+	{
+		printf("接受到的帧,没有帧头或者帧尾,退出JZsdk_6AFrameComparsion函数\n");
+		return JZ_ERROR_SYSTEM_FRAME_ERROR;
+	}
+
+	//一级功能码
+	switch (getdata[7])
+	{	
+		case 0x69:
+			return Comparison_6AFRAME_FirstLevelCode_0x69(getdata);
+		break;
+
+
+		default:
+			return JZ_ERROR_SYSTEM_FRAME_ERROR;
+		break;
+    }
+}

+/**
+ ********************************************************************
+ * @file  
+ *         
+ *
+ *********************************************************************
+ */
+
+/* Define to prevent recursive inclusion 避免重定义 -------------------------------------*/
+#ifndef JZSDK_FRAMECOMPARSION_6AFRAME_H
+#define JZSDK_FRAMECOMPARSION_6AFRAME_H
+
+/* Includes ------------------------------------------------------------------*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+/* 常亮定义*/
+
+/* Exported types ------------------------------------------------------------*/
+
+/* Exported functions --------------------------------------------------------*/
+int JZsdk_6AFrameComparsion(char *getdata, int len);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif 
+

+#include <stdio.h>
+#include "../JZsdk_Code/JZsdk_Code.h"
+
+
+//一级功能码是私有协议
+static int Comparison_6BFRAME_FirstLevelCode_0x6F(char *getdata)
+{
+	//二级功能位
+	switch (getdata[8])
+	{
+		//从设备名返回
+		case 0x50:
+			return JZ_INSCODE_6BFRAME_CHECKSTATUS_SECONDARY_DEVICE_NAME;
+		break;
+
+		//查询云台联动返回
+		case 0x51:
+			return JZ_INSCODE_6BFRAME_CHECKSTATUS_GIMBAL_LINKAGE;
+		break;
+
+
+		default:
+			return JZ_ERROR_SYSTEM_FRAME_ERROR;
+		break;
+	}
+}
+
+/******************************************************************
+
+	回复帧对比
+	成功返回帧类型  无对比数据返回 JZ_ERROR_SYSTEM_FRAME_ERROR
+
+******************************************************************/
+int JZsdk_6BFrameComparsion(char *getdata, int len)
+{
+	//1、判断帧头帧尾
+	if ( 
+		( (getdata[0]!= 0x6B) && (getdata[1] != 0x6B) && (getdata[2]!=0x77) ) 
+		|| 	( (getdata[len -2]!= 0x00) && (getdata[ len -1] != 0x23) ) 
+	)
+	{
+		printf("接受到的帧,没有帧头或者帧尾,退出JZsdk_6BFrameComparsion函数\n");
+		return JZ_ERROR_SYSTEM_FRAME_ERROR;
+	}
+
+	//一级功能码
+	switch (getdata[7])
+	{	
+		case 0x6F:
+			return Comparison_6BFRAME_FirstLevelCode_0x6F(getdata);
+		break;
+
+
+		default:
+			return JZ_ERROR_SYSTEM_FRAME_ERROR;
+		break;
+    }
+}

+/**
+ ********************************************************************
+ * @file  
+ *         
+ *
+ *********************************************************************
+ */
+
+/* Define to prevent recursive inclusion 避免重定义 -------------------------------------*/
+
+
+#ifndef JZSDK_FRAMECOMPARSION_6BFRAME_H
+#define JZSDK_FRAMECOMPARSION_6BFRAME_H
+
+/* Includes ------------------------------------------------------------------*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+/* 常亮定义*/
+
+/* Exported types ------------------------------------------------------------*/
+
+/* Exported functions --------------------------------------------------------*/
+int JZsdk_6BFrameComparsion(char *getdata, int len);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif 
+

+#include <stdio.h>
+#include <string.h>
+#include "../JZsdk_Code/JZsdk_Code.h"
+
+/******************************************************
+
+	用于获取帧模板
+
+/******************************************************/
+int JZsdk_GetFrameTemplate(int InsCode ,char *str, int *str_len)
+{
+    printf("JZsdk_GetFrameTemplate:获取0x%x帧模板\n",InsCode);
+    switch (InsCode)
+    {
+/********************************************************************************************************************************************************
+ * 
+ *      5A帧
+ * 
+********************************************************************************************************************************************************/
+
+        case JZ_INSCODE_5AFRAME_SEARCHLIGHT_SET_FREQUENCY:
+        {
+            char sendbuf[13] = {0x5A	,0x5A	,0x77	,0x00	,0x0D	,0x00	,0x00	,0x61	,0x51	,0x00	,0x00	,0x00	,0x23};
+            memcpy(str, sendbuf, 13);
+            *str_len = 13;
+        }
+        break;
+
+        case JZ_INSCODE_5AFRAME_SEARCHLIGHT_CONTROL:
+        {
+            char sendbuf[13] = {0x5A	,0x5A	,0x77	,0x00	,0x0D	,0x00	,0x00	,0x62	,0x51	,0x00	,0x00	,0x00	,0x23};
+            memcpy(str, sendbuf, 13);
+            *str_len = 13; 
+        }
+        break;
+
+        case JZ_INSCODE_5AFRAME_SEARCHLIGHT_SET_LUMEN:
+        {
+            char sendbuf[13] = {0x5A	,0x5A	,0x77	,0x00	,0x0D	,0x00	,0x00	,0x63	,0x51	,0x00	,0x00	,0x00	,0x23};
+            memcpy(str, sendbuf, 13);
+            *str_len = 13; 
+        }
+        break;
+
+        case JZ_INSCODE_5AFRAME_GIMBAL_PITCH_CONTROL:
+        {
+            char sendbuf[14] = {0x5A	,0x5A	,0x77	,0x00	,0x0E	,0x00	,0x00	,0x64	,0x51	,0x00   ,0x00	,0x00	,0x00	,0x23};
+            memcpy(str, sendbuf, 14);
+            *str_len = 14; 
+        }
+        break;
+
+        case JZ_INSCODE_5AFRAME_GIMBAL_PITCH_FINETUNING_CONTROL:
+        {
+            char sendbuf[13] = {0x5A	,0x5A	,0x77	,0x00	,0x0D	,0x00	,0x00	,0x64	,0x52	,0x00   ,0x00	,0x00	,0x23};
+            memcpy(str, sendbuf, 13);
+            *str_len = 13; 
+        }
+        break;        
+ 
+        case JZ_INSCODE_5AFRAME_WARNINGLIGHT_CONTROL:
+        {
+            char sendbuf[13] = {0x5A	,0x5A	,0x77	,0x00	,0x0D	,0x00	,0x00	,0x66	,0x51	,0x00	,0x00   ,0x00	,0x23};
+            memcpy(str, sendbuf, 13);
+            *str_len = 13; 
+        }
+        break;
+
+        case JZ_INSCODE_5AFRAME_WARNINGLIGHT_COLOUR:
+        {
+            char sendbuf[13] = {0x5A	,0x5A	,0x77	,0x00	,0x0D	,0x00	,0x00	,0x67	,0x51	,0x00	,0x00   ,0x00	,0x23};
+            memcpy(str, sendbuf, 13);
+            *str_len = 13; 
+        }
+        break;
+
+        case JZ_INSCODE_5AFRAME_SEARCHLIGHT_MESSAGE_SUBSCRIPTION_CONTROL:
+        {
+            char sendbuf[13] = {0x5A	,0x5A	,0x77	,0x00	,0x0D	,0x00	,0x00	,0x68	,0x51	,0x00	,0x00   ,0x00	,0x23};
+            memcpy(str, sendbuf, 13);
+            *str_len = 13; 
+        }
+        break;
+
+        case JZ_INSCODE_5AFRAME_CHECKSTATUS_SEARCHLIGHT_LIGHTATTRIBUTE:
+        {
+            char sendbuf[13] = {0x5A	,0x5A	,0x77	,0x00	,0x0D	,0x00	,0x00	,0x6F	,0x51	,0x00	,0x00	,0x00	,0x23};
+            memcpy(str, sendbuf, 13);
+            *str_len = 13; 
+        }
+        break;
+
+        case JZ_INSCODE_5AFRAME_CHECKSTATUS_SEARCHLIGHT_TEMPERATURE:
+        {
+            char sendbuf[13] = {0x5A	,0x5A	,0x77	,0x00	,0x0D	,0x00	,0x00	,0x6F	,0x52	,0x00	,0x00	,0x00	,0x23};
+            memcpy(str, sendbuf, 13);
+            *str_len = 13; 
+        }
+        break;
+
+        case JZ_INSCODE_5AFRAME_CHECKSTATUS_WARNINGLIGHT_STATUS:
+        {
+            char sendbuf[13] = {0x5A	,0x5A	,0x77	,0x00	,0x0D	,0x00	,0x00	,0x6F	,0x55	,0x00	,0x00	,0x00	,0x23};
+            memcpy(str, sendbuf, 13);
+            *str_len = 13; 
+        }
+        break;
+        
+        case JZ_INSCODE_5AFRAME_CHECKSTATUS_WARNINGLIGHT_COLOR:
+        {
+            char sendbuf[13] = {0x5A	,0x5A	,0x77	,0x00	,0x0D	,0x00	,0x00	,0x6F	,0x56	,0x00	,0x00	,0x00	,0x23};
+            memcpy(str, sendbuf, 13);
+            *str_len = 13; 
+        }
+
+        case JZ_INSCODE_5AFRAME_CHECKSTATUS_SERIALNUMBER:
+        {
+            char sendbuf[13] = {0x5A	,0x5A	,0x77	,0x00	,0x0D	,0x00	,0x00	,0x6F	,0x57	,0x00	,0x00	,0x00	,0x23};
+            memcpy(str, sendbuf, 13);
+            *str_len = 13; 
+        }     
+
+        case JZ_INSCODE_5AFRAME_CHECKSTATUS_GIMBAL_FINETUNING:
+        {
+            char sendbuf[13] = {0x5A	,0x5A	,0x77	,0x00	,0x0D	,0x00	,0x00	,0x6F	,0x58	,0x00	,0x00	,0x00	,0x23};
+            memcpy(str, sendbuf, 13);
+            *str_len = 13; 
+        }        
+
+        break;
+/********************************************************************************************************************************************************
+ * 
+ *      5B帧
+ * 
+********************************************************************************************************************************************************/
+        case JZ_INSCODE_5BFRAME_INITIATECONNECT:
+        {
+            char sendbuf[12] = {0x5B	,0x5B	,0x77	,0x00	,0x0c	,0x00	,0x00	,0x50	,0x51	,0x00	,0x00	,0x23};
+            memcpy(str, sendbuf, 12);
+            *str_len = 12;
+        }
+        break;
+
+        case JZ_INSCODE_5BFRAME_SUCESS:
+        {
+            char sendbuf[12] = {0x5B,   0x5B,   0x77,   0x00,	0x0c,   0x00,   0x00,	0x51,	0x01,   0x00,	0x00,	0x23};
+            memcpy(str, sendbuf, 12);
+            *str_len = 12;
+        }
+        break;
+
+        case JZ_INSCODE_5BFRAME_DEFEAT:
+        {
+            char sendbuf[12] = {0x5B,   0x5B,   0x77,   0x00,	0x0c,   0x00,   0x00,	0x51,	0xff,   0x00,	0x00,	0x23};
+            memcpy(str, sendbuf, 12);
+            *str_len = 12; 
+        }   
+        break;
+
+        case JZ_INSCODE_5BFRAME_MUSICLIST_START:
+        {
+            char sendbuf[12] = {  0x5b,   0x5b,   0x77,   0x00,   0x0c,	0x00,   0x00,	0x58,   0x00,   0x00,   0x00,   0x23};
+            memcpy(str, sendbuf, 12);
+            *str_len = 12; 
+        }   
+        break;
+        
+        case JZ_INSCODE_5BFRAME_MUSICLIST_TRANS:
+        {
+            char sendbuf[12] = {0x5B,	0x5B,	0x77,	0x00,	0x0c,	0x00,	0x00,	0x58,   0x02,   0x00,	0x00,	0x23};
+            memcpy(str, sendbuf, 12);
+            *str_len = 12; 
+        }   
+        break;     
+
+        case JZ_INSCODE_5BFRAME_MUSICLIST_STOP:
+        {
+            char sendbuf[12] = {  0x5b,   0x5b,   0x77,   0x00,   0x0c,	0x00,   0x00,	0x58,   0xff,   0x00,   0x00,   0x23};
+            memcpy(str, sendbuf, 12);
+            *str_len = 12; 
+        }   
+        break;
+
+        case JZ_INSCODE_5BFRAME_AUDIO_PLAYSTATUS_END:
+        {
+            char sendbuf[12] = {  0x5b,   0x5b,   0x77,   0x00,   0x0c,	0x00,   0x00,	0x53,   0xff,   0x00,   0x00,   0x23};
+            memcpy(str, sendbuf, 12);
+            *str_len = 12; 
+        }   
+        break;
+
+        case JZ_INSCODE_5BFRAME_AUDIO_PLAYSTATUS:
+        {
+            char sendbuf[12] = {  0x5b,   0x5b,   0x77,   0x00,   0x0c,	0x00,	0x00,   0x53,	0x02,    0x00,    0x00,   0x23};
+            memcpy(str, sendbuf, 12);
+            *str_len = 12; 
+        }   
+        break;
+
+        case JZ_INSCODE_5BFRAME_AUDIO_PLAYFILENAME:
+        {
+            char sendbuf[12] = {0x5B,	0x5B,	0x77,	0x00,	0x0c,	0x00,	0x00,	0x53,   0x04,    0x00,    0x00,   0x23};
+            memcpy(str, sendbuf, 12);
+            *str_len = 12; 
+        }   
+        break;
+
+        case JZ_INSCODE_5BFRAME_VOLUME:
+        {
+            char sendbuf[12] = {  0x5b,   0x5b,   0x77,   0x00,   0x0c,	0x00,	0x00,   0x53,	0x01,    0x00,    0x00,   0x23};
+            memcpy(str, sendbuf, 12);
+            *str_len = 12; 
+        }   
+        break;
+
+    
+
+        case JZ_INSCODE_5BFRAME_SORTWAREVERSION:
+        {
+            char sendbuf[15] = {  0x5b,   0x5b,   0x77,   0x00,   0x0f,	0x00,	0x00,   0x53,	0xf1,    0x00,    0x00,    0x00,    0x00,    0x00,   0x23};
+            memcpy(str, sendbuf, 15);
+            *str_len = 15; 
+        }   
+        break;
+
+        case JZ_INSCODE_5BFRAME_AUDIO_PLAYLOOPSTATUS:
+        {
+            char sendbuf[12] = {  0x5b,   0x5b,   0x77,   0x00,   0x0c,	0x00,	0x00,   0x53,	0x05,    0x00,    0x00,   0x23};
+            memcpy(str, sendbuf, 12);
+            *str_len = 12; 
+        }   
+        break;
+
+        case JZ_INSCODE_5BFRAME_TTS_TONE:
+        {
+            char sendbuf[12] = {  0x5b,   0x5b,   0x77,   0x00,   0x0c,	0x00,	0x00,   0x53,	0x06,    0x00,    0x00,   0x23};
+            memcpy(str, sendbuf, 12);
+            *str_len = 12; 
+        }   
+        break;
+
+        case JZ_INSCODE_5BFRAME_TTS_SPEED:
+        {
+            char sendbuf[12] = {  0x5b,   0x5b,   0x77,   0x00,   0x0c,	0x00,	0x00,   0x53,	0x07,    0x00,    0x00,   0x23};
+            memcpy(str, sendbuf, 12);
+            *str_len = 12; 
+        }   
+        break;
+
+        case JZ_INSCODE_5BFRAME_CHECKSTATUS_SEARCHLIGHT_FREQUENCY:
+        {
+            char sendbuf[13] = {  0x5b,   0x5b,   0x77,   0x00,   0x0D,	0x00,	0x00,   0x61,	0x51,    0x00,    0x00,    0x00,   0x23};
+            memcpy(str, sendbuf, 13);
+            *str_len = 13; 
+        }
+        break;
+
+        case JZ_INSCODE_5BFRAME_CHECKSTATUS_SEARCHLIGHT_MODE:
+        {
+            char sendbuf[13] = {  0x5b,   0x5b,   0x77,   0x00,   0x0D,	0x00,	0x00,   0x62,	0x51,    0x00,    0x00,    0x00,   0x23};
+            memcpy(str, sendbuf, 13);
+            *str_len = 13; 
+        }
+        break;
+
+        case JZ_INSCODE_5BFRAME_CHECKSTATUS_SEARCHLIGHT_LUMEN:
+        {
+            char sendbuf[13] = {  0x5b,   0x5b,   0x77,   0x00,   0x0D,	0x00,	0x00,   0x63,	0x51,    0x00,    0x00,    0x00,   0x23};
+            memcpy(str, sendbuf, 13);
+            *str_len = 13; 
+        }
+        break;
+
+        case JZ_INSCODE_5BFRAME_GIMBAL_PITCH:
+        {
+            char sendbuf[14] = {  0x5b,   0x5b,   0x77,   0x00,   0x0e,	0x00,	0x00,   0x64,	0x51,    0x00,    0x00,    0x00,     0x00,   0x23};
+            memcpy(str, sendbuf, 14);
+            *str_len = 14; 
+        }   
+        break;    
+
+        case JZ_INSCODE_5BFRAME_GIMBAL_PITCH_FINETUNING:
+        {
+            char sendbuf[13] = {  0x5b,   0x5b,   0x77,   0x00,   0x0D,	0x00,	0x00,   0x64,	0x52,    0x00,    0x00,     0x00,   0x23};
+            memcpy(str, sendbuf, 13);
+            *str_len = 13; 
+        }   
+        break;            
+   
+        case JZ_INSCODE_5BFRAME_GIMBAL_YAW:
+        {
+            char sendbuf[14] = {  0x5b,   0x5b,   0x77,   0x00,   0x0e,	0x00,	0x00,   0x65,	0x51,    0x00,    0x00,    0x00,     0x00,   0x23};
+            memcpy(str, sendbuf, 14);
+            *str_len = 14; 
+        }   
+        break;    
+             
+        case JZ_INSCODE_5BFRAME_CHECKSTATUS_WARNINGLIGHT_STATUS:
+        {
+            char sendbuf[13] = {  0x5b,   0x5b,   0x77,   0x00,   0x0D,	0x00,	0x00,   0x66,	0x51,    0x00,    0x00,    0x00,   0x23};
+            memcpy(str, sendbuf, 13);
+            *str_len = 13; 
+        }
+        break;
+        
+        case JZ_INSCODE_5BFRAME_CHECKSTATUS_WARNINGLIGHT_COLOR:
+        {
+            char sendbuf[13] = {  0x5b,   0x5b,   0x77,   0x00,   0x0D,	0x00,	0x00,   0x67,	0x51,    0x00,    0x00,    0x00,   0x23};
+            memcpy(str, sendbuf, 13);
+            *str_len = 13; 
+        }
+        break;
+
+        case JZ_INSCODE_5BFRAME_CHECKSTATUS_SEARCHLIGHT_TEMPERATURE:
+        {
+            char sendbuf[13] = {  0x5b,   0x5b,   0x77,   0x00,   0x0D,	0x00,	0x00,   0x69,	0x51,    0x00,    0x00,    0x00,   0x23};
+            memcpy(str, sendbuf, 13);
+            *str_len = 13; 
+        }
+        break;
+
+        case JZ_INSCODE_5BFRAME_CHECKSTATUS_SERIALNUMBER:
+        {
+            char sendbuf[13] = {  0x5b,   0x5b,   0x77,   0x00,   0x0D,	0x00,	0x00,   0x69,	0x54,    0x00,    0x00,    0x00,   0x23};
+            memcpy(str, sendbuf, 13);
+            *str_len = 13; 
+        }
+        break;
+
+/********************************************************************************************************************************************************
+ * 
+ *      6A帧
+ * 
+********************************************************************************************************************************************************/
+        case JZ_INSCODE_6AFRAME_GIMBAL_LINKAGE_CONTROL:
+        {
+            char sendbuf[13] = {0x6A	,0x6A	,0x77	,0x00	,0x0D	,0x00	,0x00	,0x69	,0x56	,0x00	,0x00	,0x00	,0x23};
+            memcpy(str, sendbuf, 13);
+            *str_len = 13;
+        }
+        break;          
+        
+        case JZ_INSCODE_6AFRAME_CHECKSTATUS_SECONDARY_DEVICE_NAME:
+        {
+            char sendbuf[13] = {0x6A	,0x6A	,0x77	,0x00	,0x0D	,0x00	,0x00	,0x6F	,0x50	,0x00	,0x00	,0x00	,0x23};
+            memcpy(str, sendbuf, 13);
+            *str_len = 13;
+        }
+        break;
+
+        case JZ_INSCODE_6AFRAME_CHECKSTATUS_GIMBAL_LINKAGE:
+        {
+            char sendbuf[13] = {0x6A	,0x6A	,0x77	,0x00	,0x0D	,0x00	,0x00	,0x6F	,0x51	,0x00	,0x00	,0x00	,0x23};
+            memcpy(str, sendbuf, 13);
+            *str_len = 13;
+        }
+        break;      
+
+/********************************************************************************************************************************************************
+ * 
+ *      6B帧
+ * 
+********************************************************************************************************************************************************/
+        case JZ_INSCODE_6BFRAME_CHECKSTATUS_SECONDARY_DEVICE_NAME:
+        {
+            char sendbuf[13] = {0x6B	,0x6B	,0x77	,0x00	,0x0D	,0x00	,0x00	,0x6F	,0x50	,0x00	,0x00	,0x00	,0x23};
+            memcpy(str, sendbuf, 13);
+            *str_len = 13;
+        }
+        break;
+
+        case JZ_INSCODE_6BFRAME_CHECKSTATUS_GIMBAL_LINKAGE:
+        {
+            char sendbuf[13] = {0x6B	,0x6B	,0x77	,0x00	,0x0D	,0x00	,0x00	,0x6F	,0x51	,0x00	,0x00	,0x00	,0x23};
+            memcpy(str, sendbuf, 13);
+            *str_len = 13;
+        }
+        break;
+
+        default:
+        printf("JZsdk_GetFrameTemplate:没有对应的帧模板\n");
+        break;
+    }
+}

+/**
+ ********************************************************************
+ * @file  
+ *         
+ *
+ *********************************************************************
+ */
+
+/* Define to prevent recursive inclusion 避免重定义 -------------------------------------*/
+#ifndef JZSDK_GET_FRAME_TEMPLATE_H
+#define JZSDK_GET_FRAME_TEMPLATE_H
+
+/* Includes ------------------------------------------------------------------*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+/* 常亮定义*/
+
+/* Exported types ------------------------------------------------------------*/
+
+/* Exported functions --------------------------------------------------------*/
+int JZsdk_GetFrameTemplate(int InsCode ,char *str, int *str_len);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif 

+/* 头文件 ------------------------------------------------------------------*/
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <stdarg.h>
+#include <stdio.h>
+
+#include "JZsdk_Logger.h"
+#include <time.h>
+#include "JZsdkLib.h"
+#include <pthread.h>
+#include <sys/time.h>
+
+// 定义全局互斥锁
+static pthread_mutex_t LogWriteMutex = PTHREAD_MUTEX_INITIALIZER;
+
+/* 全局变量 ------------------------------------------------------------------*/
+static struct timeval g_start_time;
+static FILE *logFile;
+static char LogFileName[JZSDK_FILENAME_SIZE];
+
+/* 函数声明 ------------------------------------------------------------------*/
+
+static void *MonitorTask(void *arg)
+{
+    while (1)
+    {
+        delayS(10);
+        USER_LOG_DEBUG("Monitor");
+    }
+}
+
+
+
+static int Log_Monitor()
+{
+    pthread_t work_mode_task;
+	pthread_attr_t task_attribute; //线程属性
+	pthread_attr_init(&task_attribute);  //初始化线程属性
+	pthread_attr_setdetachstate(&task_attribute, PTHREAD_CREATE_DETACHED);      //设置线程属性
+	int timer = pthread_create(&work_mode_task,&task_attribute,MonitorTask,NULL);		//线程
+    if(timer != 0)
+    {
+        printf("创建计时线程失败！\n");
+    }
+}
+
+void createJZLOGFolder() 
+{
+    const char *path = "/root/sdcard/JZLOG";
+
+    // 使用系统命令检测路径是否存在
+    char command[100];
+    snprintf(command, sizeof(command), "if [ ! -d \"%s\" ]; then mkdir -p \"%s\"; fi", path, path);
+    JZsdk_RunSystemCmd(command);
+}
+
+int ReadLogNumFromFile() 
+{
+    const char *path = "/root/sdcard/JZLOG/thelast";
+    int logNum = 0;
+
+    FILE *file = fopen(path, "r");
+    if (file == NULL) 
+    {
+        // 如果文件不存在，则创建并设置LogNum为0
+        file = fopen(path, "w");
+        fprintf(file, "%d", logNum);
+    } 
+    else 
+    {
+        // 从文件中读取LogNum，并自增1
+        fscanf(file, "%d", &logNum);
+        logNum++;
+        fclose(file);
+
+        // 将新的LogNum写回文件中
+        file = fopen(path, "w");
+        fprintf(file, "%d", logNum);
+    }
+    fclose(file);
+
+    return logNum;
+}
+
+T_JZsdkReturnCode JZsdk_LoggerInit()
+{
+    //1、记录启动时间
+    gettimeofday(&g_start_time, 0);
+
+    //2、检查是否存在log文件,不在则创建
+    createJZLOGFolder();
+
+    //3、获取本地log个数
+    int LogNum = ReadLogNumFromFile();
+
+    //4、获取本地时间，拼接出log文件名
+    time_t current_time;
+    struct tm *info;
+    char timeString[80];
+    time(&current_time);
+    info = localtime(&current_time);
+    strftime(timeString, sizeof(timeString), "%Y-%m-%d-%H-%M-%S", info);
+    snprintf(LogFileName, sizeof(LogFileName), "/root/sdcard/JZLOG/%d-%s", LogNum, timeString);
+
+    printf("LogFileName:%s\n",LogFileName);
+
+    // 在主函数或初始化阶段初始化互斥锁
+    pthread_mutex_init(&LogWriteMutex, NULL);  
+
+    //5、打开记录文件
+    logFile = fopen(LogFileName, "w");
+    if (logFile == NULL) {
+        // 文件打开失败，输出错误消息
+        printf("Failed to open file: %s", LogFileName);
+        return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
+    }
+
+    //6、写入开始时间
+    char logMessage[256];
+    snprintf(logMessage,256,"LOG_FILE:%s\n",LogFileName);
+    fprintf(logFile, "%s", logMessage); 
+
+    fclose(logFile); 
+
+
+    //设立监控
+    Log_Monitor();
+}
+
+
+T_JZsdkReturnCode writeToLogFile(const char *data) 
+{
+    // 加锁
+    pthread_mutex_lock(&LogWriteMutex);
+
+    logFile = fopen(LogFileName, "a"); // 使用"a"模式打开文件，以在末尾追加数据
+
+    if (logFile == NULL) {
+        // 文件打开失败，输出错误消息
+        printf("Failed to open file: %s", LogFileName);
+        return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
+    }
+
+    fprintf(logFile, "%s", data); // 写入新的数据
+
+    fclose(logFile);
+
+    // 解锁
+    pthread_mutex_unlock(&LogWriteMutex);
+}
+
+void JZsdk_UserLogOutput(E_JZsdkConsoleLogLevel level, const char *fmt, ...)
+{
+    // 将日志级别转换为相应的字符串
+    const char *JZSDK_LOGGER_CONSOLE_LOG_LEVEL = "";
+    switch (level) {
+        case JZSDK_LOGGER_CONSOLE_LOG_LEVEL_DEBUG:
+            JZSDK_LOGGER_CONSOLE_LOG_LEVEL = "DEBUG";
+            break;
+        case JZSDK_LOGGER_CONSOLE_LOG_LEVEL_INFO:
+            JZSDK_LOGGER_CONSOLE_LOG_LEVEL = "INFO";
+            break;
+        case JZSDK_LOGGER_CONSOLE_LOG_LEVEL_WARN:
+            JZSDK_LOGGER_CONSOLE_LOG_LEVEL = "WARNING";
+            break;
+        case JZSDK_LOGGER_CONSOLE_LOG_LEVEL_ERROR:
+            JZSDK_LOGGER_CONSOLE_LOG_LEVEL = "ERROR";
+            break;
+        default:
+            break;
+    }
+
+    // 使用可变参数处理传入的格式化字符串和可变参数
+    va_list args;
+    va_start(args, fmt);
+
+    // 格式化日志消息
+    char logMessage[512];
+    memset(logMessage, 0, sizeof(logMessage));
+    vsprintf(logMessage, fmt, args);
+
+    va_end(args);
+
+    struct timeval current_time;
+    gettimeofday(&current_time, 0);
+
+    long seconds = current_time.tv_sec - g_start_time.tv_sec;
+    long microseconds = current_time.tv_usec - g_start_time.tv_usec;
+    double elapsed = seconds + microseconds*1e-6;
+
+    // 执行具体的日志输出操作
+    char finalLogMessage[512];
+    snprintf(finalLogMessage, 512, "[%s][%.4f]%s\n", JZSDK_LOGGER_CONSOLE_LOG_LEVEL, elapsed, logMessage);
+
+    printf("%s",finalLogMessage);
+
+
+    //写入日志
+    writeToLogFile(finalLogMessage);
+}

+/**
+ ********************************************************************
+ * @file   JZsdk_Logger.h
+ *          用于给h150s logger显示文件
+ *
+ *********************************************************************
+ */
+
+/* Define to prevent recursive inclusion 避免重定义 -------------------------------------*/
+#ifndef JZSDK_LOGGER_H
+#define JZSDK_LOGGER_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "JZsdk_Base/JZsdk_Code/JZsdk_Code.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+/* 常亮定义*/
+
+
+typedef enum {
+    JZSDK_LOGGER_CONSOLE_LOG_LEVEL_ERROR = 0, /*!< Logger console error level. The method and level of the console are
+                                                  associated with each other. If the level of the registered console
+                                                  method is lower than this level, the level interface will not be
+                                                  printed successfully. */
+    JZSDK_LOGGER_CONSOLE_LOG_LEVEL_WARN = 1, /*!< Logger console warning level.The method and level of the console are
+                                                    associated with each other. If the level of the registered console
+                                                    method is lower than this level, the level interface will not be
+                                                    printed successfully. */
+    JZSDK_LOGGER_CONSOLE_LOG_LEVEL_INFO = 2, /*!< Logger console info level. The method and level of the console are
+                                                 associated with each other. If the level of the registered console
+                                                 method is lower than this level, the level interface will not be
+                                                 printed successfully. */
+    JZSDK_LOGGER_CONSOLE_LOG_LEVEL_DEBUG = 3, /*!< Logger console debug level. The method and level of the console are
+                                                  associated with each other. If the level of the registered console
+                                                  method is lower than this level, the level interface will not be
+                                                  printed successfully. */
+} E_JZsdkConsoleLogLevel;
+/* Exported types ------------------------------------------------------------*/
+
+
+/* Exported functions --------------------------------------------------------*/
+void JZsdk_UserLogOutput(E_JZsdkConsoleLogLevel level, const char *fmt, ...);
+T_JZsdkReturnCode JZsdk_LoggerInit();
+
+/* Exported constants --------------------------------------------------------*/
+#define USER_LOG_DEBUG(fmt, ...)    \
+        JZsdk_UserLogOutput(JZSDK_LOGGER_CONSOLE_LOG_LEVEL_DEBUG, "[%s:%d) " fmt, __FUNCTION__, __LINE__ , ##__VA_ARGS__)
+#define USER_LOG_INFO(fmt, ...)     \
+        JZsdk_UserLogOutput(JZSDK_LOGGER_CONSOLE_LOG_LEVEL_INFO, "[%s:%d) " fmt, __FUNCTION__, __LINE__ , ##__VA_ARGS__)
+#define USER_LOG_WARN(fmt, ...)     \
+        JZsdk_UserLogOutput(JZSDK_LOGGER_CONSOLE_LOG_LEVEL_WARN, "[%s:%d) " fmt, __FUNCTION__, __LINE__ , ##__VA_ARGS__)
+#define USER_LOG_ERROR(fmt, ...)    \
+        JZsdk_UserLogOutput(JZSDK_LOGGER_CONSOLE_LOG_LEVEL_ERROR, "[%s:%d) " fmt, __FUNCTION__, __LINE__ , ##__VA_ARGS__)
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif 
+/************************ (C) COPYRIGHT JZSDK Innovations *******END OF FILE******/

+#include <stdio.h>
+#include "JZsdk_FileSystm.h"
+#include <stdlib.h>
+#include <stdbool.h>
+/*
+*       用于运行指令
+*
+*/
+int JZsdk_RunSystemCmd(char *systemCmd)
+{
+    //FILE *fp;
+
+    //printf("JZsdk_RunSystemCmd:%s\n",systemCmd);
+
+    // fp = popen(systemCmd, "r");
+    // if (fp == NULL) {
+    //     return -1;
+    // }
+
+    int status = system(systemCmd);
+    if (status == -1 || WIFEXITED(status) == false) {
+        printf("Call %s error, status = %d\n", systemCmd, status);
+        return -1;
+    }
+
+    if (WEXITSTATUS(status) == 0) {
+        printf("指令执行成功%s\n",systemCmd);
+        return 0;
+    } else {
+        printf("Exit status is = %d", WEXITSTATUS(status));
+        return -2;
+    }
+    //pclose(fp);
+
+    return 0;
+}
+
+/*
+
+    运行命令 并读取返回值
+
+*/
+// FILE* JZsdk_RunSystemCmd_ReturnFilePointer(char *systemCmd)
+// {
+//     FILE *fp;
+
+//     fp = popen(systemCmd, "r");
+
+//     pclose(fp);
+
+//     return fp;
+// }
+
+
+int JZsdk_Socket()
+{
+    
+}

+/**
+ ********************************************************************
+ * @file   JZsdk_FileSystem.h
+ *          用于文件系统操作
+ *
+ *********************************************************************
+ */
+
+/* Define to prevent recursive inclusion 避免重定义 -------------------------------------*/
+#ifndef JZSDK_FILESYSTEM_H
+#define JZSDK_FILESYSTEM_H
+
+/* Includes ------------------------------------------------------------------*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+/* 常亮定义*/
+#define JZSDK_FILENAME_SIZE 128
+
+/* Exported types ------------------------------------------------------------*/
+
+
+/* Exported functions --------------------------------------------------------*/
+int JZsdk_RunSystemCmd(char *systemCmd);
+//FILE* JZsdk_RunSystemCmd_ReturnFilePointer(char *systemCmd);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif 
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

+/**
+ ********************************************************************
+ * @file   JZsdkCommonFuntion.h
+ *         JZsdk常用函数库的头文件
+ *
+ *********************************************************************
+ */
+
+/* Define to prevent recursive inclusion 避免重定义 -------------------------------------*/
+#ifndef JZSDKCOMMONFUNTION_H
+#define JZSDKCOMMONFUNTION_H
+
+/* Includes ------------------------------------------------------------------*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+/* 常亮定义*/
+#include "JZsdk_string/JZsdk_string.h"
+
+/* Exported types ------------------------------------------------------------*/
+
+
+/* Exported functions --------------------------------------------------------*/
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif 

+#include <stdio.h>
+#include "JZsdk_string.h"
+
+/*
+*       用于字符串转int型
+*/
+int JZsdk_String_str_to_int(const char *str)
+{
+    int temp = 0;
+    const char *ptr = str;  //ptr保存str字符串开头
+
+    if (*str == '-' || *str == '+')  //如果第一个字符是正负号，
+    {                      //则移到下一个字符
+        str++;
+    }
+    while(*str != 0)
+    {
+        if ((*str < '0') || (*str > '9'))  //如果当前字符不是数字
+        {                       //则退出循环
+            break;
+        }
+        temp = temp * 10 + (*str - '0'); //如果当前字符是数字则计算数值
+        str++;      //移到下一个字符
+    }  
+    if (*ptr == '-')     //如果字符串是以“-”开头，则转换成其相反数
+    {
+        temp = -temp;
+    }
+
+    return temp;
+}
+
+ 
+/*
+*      int型转字符串
+*/
+void JZsdk_String_int_to_str(int n, char *str)
+{
+    char buf[10] = "";
+    int i = 0;
+    int len = 0;
+    int temp = n < 0 ? -n: n;  // temp为n的绝对值
+
+    if (str == NULL)
+    {
+        return;
+    }
+    while(temp)
+    {
+        buf[i++] = (temp % 10) + '0';  //把temp的每一位上的数存入buf
+        temp = temp / 10;
+    }
+
+    len = n < 0 ? ++i: i;  //如果n是负数，则多需要一位来存储负号
+    str[i] = 0;            //末尾是结束符0
+    while(1)
+    {
+        i--;
+        if (buf[len-i-1] ==0)
+        {
+            break;
+        }
+        str[i] = buf[len-i-1];  //把buf数组里的字符拷到字符串
+    }
+    if (i == 0 )
+    {
+        str[i] = '-';          //如果是负数，添加一个负号
+    }
+}
+
+/*
+*      longlong型转字符串型
+*/
+size_t JZsdk_String_longlong_to_str(char *s, long long value,int radix)
+{
+    char *p, aux;
+    unsigned long long v;
+    size_t l;
+ 
+    /* Generate the string representation, this method produces
+     * an reversed string. */
+    v = (value < 0) ? -value : value;
+    p = s;
+    do {
+        *p++ = '0' + (v % radix); // 2 
+        v /= radix; // 2
+    } while (v);
+    if (value < 0) *p++ = '-';
+ 
+    /* Compute length and add null term. */
+    l = p - s;
+    *p = '\0';
+ 
+    /* Reverse the string. */
+    p--;
+    while (s < p) {
+        aux = *s;
+        *s = *p;
+        *p = aux;
+        s++;
+        p--;
+    }
+    return l;
+}

+/**
+ ********************************************************************
+ * @file   JZsdk_string.h
+ *          用于文件系统操作
+ *
+ *********************************************************************
+ */
+
+/* Define to prevent recursive inclusion 避免重定义 -------------------------------------*/
+#ifndef JZSDK_STRING_H
+#define JZSDK_STRING_H
+
+/* Includes ------------------------------------------------------------------*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+/* 常亮定义*/
+
+
+/* Exported types ------------------------------------------------------------*/
+
+
+/* Exported functions --------------------------------------------------------*/
+int  JZsdk_String_str_to_int(const char *str);
+void JZsdk_String_int_to_str(int n, char *str);
+size_t JZsdk_String_longlong_to_str(char *s, long long value,int radix);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif 

+为方便在多个板子之间移植
+sdk包被我分成了多个部分
+1、Base文件
+不需要依赖任何第三方环境，只需要在linux上跑，同时为其他地方,如module提供延时函数等
+2、JZsdk_Normal_Module
+功能模组合集，为了移植时不依赖第三方文件或板子环境，使用JZsdk_module_inport.c进行参数提供
+当你需要使用第三方参数给module时，你应该把接口写在Module_InPort,后Module内的模块调用Module_Inport
+
+当你需要给第三方参数时
+同样应该使用 JZsdk_Module_OutPort.c进行提供

+#include <stdio.h>
+#include <string.h>
+#include <stdlib.h>
+
+#include "UartConnection/UartConnection.h"
+#include "Megaphone_InputAndOutput.h"
+#include "BaseConfig.h"
+#include "version_choose.h"
+
+#include "JZsdk_Uart_UartDeal.h"
+#include "Gimbal_InAndOut.h"
+#include "Uart_Config.h"
+#include "JZsdk_Uart_Send/JZsdk_Uart_Send.h"
+
+// 记录串口是否有被使用，方便ui_contrl进行信息反馈
+struct UartDev_UseFlag
+{
+    int UartDev_DEV1 ;
+    int UartDev_DEV2 ;   
+    int UartDev_4G   ;
+};
+static struct UartDev_UseFlag UartDevUseFlag = {JZ_FLAGCODE_OFF, JZ_FLAGCODE_OFF, JZ_FLAGCODE_OFF};
+
+
+/****************
+ * 
+ *  回复串口是否有被调用
+ * 
+ * *************/
+int JZsdk_Get_UartDev_UseFlag(int UART_DEV_NAME)
+{
+    if (UART_DEV_NAME  == UART_DEV_1)
+    {
+        return UartDevUseFlag.UartDev_DEV1;
+    }
+    if (UART_DEV_NAME  == UART_DEV_2)
+    {
+        return UartDevUseFlag.UartDev_DEV2;
+    }
+    if (UART_DEV_NAME  == UART_4G)
+    {
+        return UartDevUseFlag.UartDev_4G;
+    }
+}
+
+/**************
+ * 
+ *  串口部分初始化
+ * 
+ * *********/
+int JZsdk_Uart_Init(int UART_DEV_NAME)
+{
+    int Uart_fd = 0;
+
+    //初始化的是一号设备
+    if (UART_DEV_NAME == UART_DEV_1)
+    {
+        //1、串口初始化
+        Uart_fd = UartConnection_UartEnabled(UART_DEV1_NUM, UART_DEV1_BITRATE);
+
+        //2、串口接收初始化
+        JZsdk_Uart_UartDeal_Receive(Uart_fd, UART_DEV_1);
+
+        //3、将使用标识打开
+        UartDevUseFlag.UartDev_DEV1 = JZ_FLAGCODE_ON;
+    }
+
+    //初始化的是二号设备
+    if (UART_DEV_NAME == UART_DEV_2)
+    {
+        //1、串口初始化
+        Uart_fd = UartConnection_UartEnabled(UART_DEV2_NUM, UART_DEV2_BITRATE);
+
+        //2、串口接收初始化
+        JZsdk_Uart_UartDeal_Receive(Uart_fd, UART_DEV_2);
+
+        //3、将使用标识打开
+        UartDevUseFlag.UartDev_DEV2 = JZ_FLAGCODE_ON;
+    }
+    
+    if (UART_DEV_NAME == UART_4G)
+    {
+        //1、串口初始化
+        Uart_fd = UartConnection_UartEnabled(COMM_4G_UART_NUM, COMM_4G_UART_BITRATE);
+
+        //2、串口接收初始化
+        JZsdk_Uart_UartDeal_Receive(Uart_fd, UART_4G);
+
+        //3、将使用标识打开
+        UartDevUseFlag.UartDev_4G = JZ_FLAGCODE_ON;
+    }
+
+    printf("%x串口初始化完成\n", UART_DEV_NAME);
+}  
+
+
+/*
+*
+*   发送播放结束状态帧
+*
+*/
+int JZsdk_Uart_Reply_PlayStatus_end(int PortNum)
+{
+    //发送播放状态结束帧
+    JZsdk_Uart_SendDeal_Send_PlayStatus_end(PortNum);
+}
+
+/**************
+ * 
+ * 发送发送播放状态帧
+ * 
+ * ***********/
+int JZsdk_Uart_Send_PlayStatus(int Uartport ,int num)
+{
+    JZsdk_Uart_SendDeal_Send_PlayStatus(Uartport,  num);
+}
+
+/**************
+ * 
+ * 发送音量
+ * 
+ * ***********/
+int JZsdk_Uart_Reply_Volume(int Uartport,int volume)
+{
+    JZsdk_Uart_SendDeal_Reply_Volume(Uartport, volume);
+}
+
+/**************
+ * 
+ * 发送音色
+ * 
+ * ***********/
+int JZsdk_Uart_Reply_TTS_tone(int Uartport,int tone)
+{
+    JZsdk_Uart_SendDeal_Reply_TTS_tone(Uartport, tone);
+}
+
+/**************
+ * 
+ * 发送语速
+ * 
+ * ***********/
+int JZsdk_Uart_Reply_TTS_speed(int Uartport,int speed)
+{
+    JZsdk_Uart_SendDeal_Reply_TTS_speed(Uartport, speed);
+}
+
+/**************
+ * 
+ * 发送循环状态
+ * 
+ * ***********/
+int JZsdk_Uart_Reply_AudioPlayLoopStatus(int Uartport,int speed)
+{
+    JZsdk_Uart_SendDeal_Reply_LoopPlayStatus(Uartport, speed);
+}
+
+
+/**************
+ * 
+ * 发送云台俯仰角度查询值
+ * 
+ * ***********/
+int JZsdk_Uart_Reply_GimbalPitchAngle(int Uartport,int angle)
+{
+    JZsdk_Uart_SendDeal_Reply_GimbalPitchAngle(Uartport, angle);
+}
+
+/*************
+ * 
+ *  设置云台俯仰角度
+ * 
+ * **************/
+int JZsdk_Uart_Send_SetGimbalPitch(int Uartport,int angle)
+{
+    JZsdk_Uart_SendDeal_Set_GimbalPitchAngle(Uartport, angle);
+}
+
+/*************
+ * 
+ *  设置云台俯仰角度微调
+ * 
+ * **************/
+int JZsdk_Uart_Send_SetGimbalFineTuningPitch(int Uartport,int angle)
+{
+    JZsdk_Uart_SendDeal_Set_GimbalFineTuningPitch(Uartport, angle);
+}
+
+/*************
+ * 
+ *  查询云台微调角度
+ * 
+ * **************/
+int JZsdk_Uart_Send_CheckStatus_GimbalFineTuningPitch(int Uartport,int FrameSequence)
+{
+    JZsdk_Uart_SendDeal_CheckStatus_GimbalFineTuningPitch(Uartport,FrameSequence);
+}
+
+/*************
+ * 
+ *  发送云台俯仰微调值
+ * 
+ * **************/
+int JZsdk_Uart_Send_GimbalFineTuningPitch(int Uartport,int FrameSequence, int Pitch)
+{
+    JZsdk_Uart_SendDeal_Reply_GimbalFineTuningPitch(Uartport,FrameSequence, Pitch);
+}
+
+/*************
+ * 
+ *  设置云台联动
+ * 
+ * **************/
+int JZsdk_Uart_Send_Set_GimbalLinkageControl(int Uartport,int FrameSequence, int value)
+{
+    JZsdk_Uart_SendDeal_Set_GimbalLinkageControl(Uartport,FrameSequence, value);
+}
+
+/*************
+ * 
+ *  查询云台联动值
+ * 
+ * **************/
+int JZsdk_Uart_Send_CheckStatus_GimbalLinkage(int Uartport,int FrameSequence)
+{
+    JZsdk_Uart_SendDeal_CheckStatus_GimbalLinkage(Uartport,FrameSequence);
+}
+
+/*************
+ * 
+ *  发送云台联动值
+ * 
+ * **************/
+int JZsdk_Uart_Send_GimbalLinkageControl(int Uartport,int FrameSequence, int value)
+{
+    JZsdk_Uart_SendDeal_GimbalLinkageControl(Uartport,FrameSequence,value);
+}
+
+/*******************************************************************************************************************************
+ * 
+ *           探照灯部分
+ * 
+ * *******************************************************************************************************************************/
+
+/*************
+ * 
+ *  设置探照灯爆闪频率
+ * 
+ * **************/
+int JZsdk_Uart_Send_SearchLight_SetFrequency(int Uartport,int Frequency)
+{
+    JZsdk_Uart_SendDeal_Set_SearchLightFrequency(Uartport ,Frequency);
+}
+
+/*************
+ * 
+ *  探照灯控制
+ * 
+ * **************/
+int JZsdk_Uart_Send_SearchLight_Control(int Uartport,int mode)
+{
+    JZsdk_Uart_SendDeal_SearchLight_Control(Uartport, mode);
+}
+
+/*************
+ * 
+ *  探照灯亮度
+ * 
+ * **************/
+int JZsdk_Uart_Send_SearchLight_SetLumen(int Uartport,  int LeftLumen,  int RightLumen)
+{
+    JZsdk_Uart_SendDeal_SearchLight_SetLumen(Uartport, LeftLumen, RightLumen);
+}
+
+/*************
+ * 
+ *  查询爆闪频率
+ * 
+ * **************/
+int JZsdk_Uart_Send_SearchLight_CheckStatus_Frequency(int Uartport)
+{
+    JZsdk_Uart_SendDeal_Set_SearchLight_CheckStatus_Frequency(Uartport);
+}
+
+/*************
+ * 
+ *  查询探照灯亮度
+ * 
+ * **************/
+int JZsdk_Uart_Send_SearchLight_CheckStatus_Lumen(int Uartport)
+{
+    JZsdk_Uart_SendDeal_Set_SearchLight_CheckStatus_Lumen(Uartport);
+}
+
+/*************
+ * 
+ *  查询探照灯模式
+ * 
+ * **************/
+int JZsdk_Uart_Send_SearchLight_CheckStatus_Mode(int Uartport)
+{
+    JZsdk_Uart_SendDeal_Set_SearchLight_CheckStatus_Mode(Uartport);
+}
+
+/*************
+ * 
+ *  查询探照灯属性
+ * 
+ * **************/
+int JZsdk_Uart_Send_SearchLight_CheckStatus_LightAttribute(int Uartport)
+{
+    JZsdk_Uart_SendDeal_CheckStatus_LightAttribute(Uartport);
+}
+
+/*************
+ * 
+ *  查询探照灯温度
+ * 
+ * **************/
+int JZsdk_Uart_Send_SearchLight_CheckStatus_SearchLightTemperture(int Uartport)
+{
+    JZsdk_Uart_SendDeal_CheckStatus_SearchLightTemperture(Uartport);
+}
+
+
+/*************
+ * 
+ *  探照灯消息订阅
+ * 
+ * **************/
+int JZsdk_Uart_Send_MessageSubcription_Control(int Uartport,int value)
+{
+    JZsdk_Uart_SendDeal_MessageSubcription_Control(Uartport, value);
+}
+/*******************************************************************************************************************************
+ * 
+ *           警灯部分
+ * 
+ * *******************************************************************************************************************************/
+
+/*************
+ * 
+ *  设置警灯状态
+ * 
+ * **************/
+int JZsdk_Uart_Send_Set_WarningLight_Status(int Uartport,int status, int mode)
+{
+    JZsdk_Uart_SendDeal_Set_WarningLight_Status(Uartport, status, mode);
+}
+/*************
+ * 
+ *  设置警灯颜色
+ * 
+ * **************/
+int JZsdk_Uart_Send_Set_WarningLight_Color(int Uartport,int color1, int color2)
+{
+    JZsdk_Uart_SendDeal_Set_WarningLight_Color(Uartport, color1, color2);
+}
+
+/*******************************************************************************************************************************
+ * 
+ *          5B类部分
+ * 
+ * *******************************************************************************************************************************/
+/*************
+ * 
+ *  发送探照灯爆闪频率
+ * 
+ * **************/
+int JZsdk_Uart_Send_SearchLight_Frequency(int Uartport,int value)
+{
+    JZsdk_Uart_SendDeal_SearchLight_Frequency(Uartport, value);
+}
+
+/*************
+ * 
+ *  发送探照灯模式
+ * 
+ * **************/
+int JZsdk_Uart_Send_SearchLight_Mode(int Uartport,int value)
+{
+    JZsdk_Uart_SendDeal_SearchLight_Mode(Uartport, value);
+}
+
+/*************
+ * 
+ *  发送探照灯亮度
+ * 
+ * **************/
+int JZsdk_Uart_Send_SearchLight_Lumen(int Uartport,int LeftLumen, int RightLumen)
+{
+    JZsdk_Uart_SendDeal_SearchLight_Lumen(Uartport, LeftLumen, RightLumen);
+}
+
+/*************
+ * 
+ *  发送探照灯温度
+ * 
+ * **************/
+int JZsdk_Uart_Send_SearchLight_Temperature(int Uartport,int LeftTemperature, int RightTemperature)
+{
+    JZsdk_Uart_SendDeal_SearchLight_Temperature(Uartport, LeftTemperature, RightTemperature);
+}
+
+/*******************************************************************************************************************************
+ * 
+ *           警灯部分
+ * 
+ * *******************************************************************************************************************************/
+/*************
+ * 
+ *  发送警灯状态
+ * 
+ * **************/
+int JZsdk_Uart_Send_WarningLight_Status(int Uartport, int status, int mode)
+{
+    JZsdk_Uart_SendDeal_WarningLight_Status(Uartport, status, mode);
+}
+
+/*************
+ * 
+ *  发送警灯颜色
+ * 
+ * **************/
+int JZsdk_Uart_Send_WarningLight_Color(int Uartport, int color1, int color2)
+{
+    JZsdk_Uart_SendDeal_WarningLight_Color(Uartport, color1, color2);
+}
+
+
+/*************
+ * 
+ *  查询警灯状态
+ * 
+ * **************/
+int JZsdk_Uart_Send_CheckStatus_WarningLightStatus(int Uartport)
+{
+    JZsdk_Uart_SendDeal_CheckStatus_WarningLightStatus(Uartport);
+}
+
+
+/*************
+ * 
+ *  查询警灯颜色
+ * 
+ * **************/
+int JZsdk_Uart_Send_CheckStatus_WarningLightColor(int Uartport)
+{
+    JZsdk_Uart_SendDeal_CheckStatus_WarningLightColor(Uartport);
+}

+/**
+ ********************************************************************
+ * @file   JZsdk_Uart_Input.h
+ *         JZsdk_Uart_Input
+ *
+ *********************************************************************
+ */
+
+/* Define to prevent recursive inclusion 避免重定义 -------------------------------------*/
+#ifndef JZSDK_UART_INPUT_H
+#define JZSDK_UART_INPUT_H
+
+/* Includes ------------------------------------------------------------------*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+/* Exported constants --------------------------------------------------------*/
+/* 常亮定义*/
+
+/* Exported types ------------------------------------------------------------*/
+
+/* Exported functions --------------------------------------------------------*/
+int JZsdk_Uart_Init(int UART_DEV_NAME);
+int JZsdk_Get_UartDev_UseFlag(int UART_DEV_NAME);
+
+int JZsdk_Uart_Reply_PlayStatus_end(int PortNum);
+int JZsdk_Uart_Send_PlayStatus(int Uartport ,int num);
+int JZsdk_Uart_Reply_Volume(int Uartport,int volume);
+int JZsdk_Uart_Reply_TTS_tone(int Uartport,int tone);
+int JZsdk_Uart_Reply_TTS_speed(int Uartport,int speed);
+int JZsdk_Uart_Reply_AudioPlayLoopStatus(int Uartport,int speed);
+
+
+int JZsdk_Uart_Reply_GimbalPitchAngle(int Uartport,int angle);
+int JZsdk_Uart_Send_SetGimbalPitch(int Uartport,int angle);
+int JZsdk_Uart_Send_SetGimbalFineTuningPitch(int Uartport,int angle);
+int JZsdk_Uart_Send_Gimbal_Pitch(int Uartport, int pitch);
+int JZsdk_Uart_Send_CheckStatus_GimbalFineTuningPitch(int Uartport,int FrameSequence);
+int JZsdk_Uart_Send_GimbalFineTuningPitch(int Uartport,int FrameSequence, int Pitch);
+int JZsdk_Uart_Send_Set_GimbalLinkageControl(int Uartport,int FrameSequence, int value);
+int JZsdk_Uart_Send_CheckStatus_GimbalLinkage(int Uartport,int FrameSequence);
+int JZsdk_Uart_Send_GimbalLinkageControl(int Uartport,int FrameSequence, int value);
+
+int JZsdk_Uart_Send_SearchLight_SetFrequency(int Uartport,int Frequency);
+int JZsdk_Uart_Send_SearchLight_Control(int Uartport,int mode);
+int JZsdk_Uart_Send_SearchLight_SetLumen(int Uartport,  int LeftLumen,  int RightLumen);
+
+int JZsdk_Uart_Send_MessageSubcription_Control(int Uartport,int value);
+
+int JZsdk_Uart_Send_Set_WarningLight_Status(int Uartport,int status, int mode);
+int JZsdk_Uart_Send_Set_WarningLight_Color(int Uartport,int color1, int color2);
+
+int JZsdk_Uart_Send_SearchLight_CheckStatus_Frequency(int Uartport);
+int JZsdk_Uart_Send_SearchLight_CheckStatus_Lumen(int Uartport);
+int JZsdk_Uart_Send_SearchLight_CheckStatus_Mode(int Uartport);
+int JZsdk_Uart_Send_SearchLight_CheckStatus_LightAttribute(int Uartport);
+int JZsdk_Uart_Send_SearchLight_CheckStatus_SearchLightTemperture(int Uartport);
+
+int JZsdk_Uart_Send_SearchLight_Frequency(int Uartport,int value);
+int JZsdk_Uart_Send_SearchLight_Mode(int Uartport,int value);
+int JZsdk_Uart_Send_SearchLight_Lumen(int Uartport,int LeftLumen, int RightLumen);
+int JZsdk_Uart_Send_SearchLight_Temperature(int Uartport,int LeftTemperature, int RightTemperature);
+
+
+int JZsdk_Uart_Send_WarningLight_Status(int Uartport, int status, int mode);
+int JZsdk_Uart_Send_WarningLight_Color(int Uartport, int color1, int color2);
+int JZsdk_Uart_Send_CheckStatus_WarningLightStatus(int Uartport);
+int JZsdk_Uart_Send_CheckStatus_WarningLightColor(int Uartport);
+
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif 

+#include <stdio.h>
+#include <string.h>
+#include <stdlib.h>
+
+#include "UartConnection/UartConnection.h"
+#include "Megaphone_InputAndOutput.h"
+#include "BaseConfig.h"
+#include "version_choose.h"
+
+#include "JZsdk_Uart_UartDeal.h"
+#include "Gimbal_InAndOut.h"
+#include "Uart_Config.h"
+#include "JZsdk_Uart_Send/JZsdk_Uart_Send.h"
+
+#include "UI_control.h"
+
+static int SecondaryDeviceName = 0x00; //从设备名，用于多设备相连时通知控制端 从机设备名
+
+
+/******
+ * 
+ * 开关功放
+ * 
+ * *******/
+int JZsdk_Uart_Set_Amplifier(int status)
+{
+    Megaphone_set_amplifier(status);
+}
+
+/******
+ * 
+ * 调节音量
+ * 
+ * *******/
+T_JZsdkReturnCode JZsdk_Uart_Set_Volume(int DeviceName, int value)
+{
+    return UIcontrol_SetVolume(DeviceName, value);
+}
+
+
+/*********
+ * 
+ *  1、TTS播放
+ * 
+ * *********/
+T_JZsdkReturnCode JZsdk_Uart_TTS_Play(int DeviceName, char *data ,int len)
+{
+	return UIcontrol_TTS_Play(DeviceName, data, len);
+}
+
+/*********
+ * 
+ *  2、TTS设置音色
+ * 
+ * *********/
+T_JZsdkReturnCode JZsdk_Uart_TTS_SetTone(int DeviceName, int tone)
+{
+	return UIcontrol_Set_TTS_tone(DeviceName, tone);
+}
+
+/*********
+ * 
+ *  3、TTS设置语速
+ * 
+ * *********/
+T_JZsdkReturnCode JZsdk_Uart_TTS_SetSpeed(int DeviceName, int speed)
+{
+	return UIcontrol_Set_TTS_speed(DeviceName, speed);
+}
+
+
+/*********
+ * 
+ *  刷新歌曲列表
+ * 
+ * 
+**********/
+int JZsdk_Uart_Flush_MusicList()
+{
+    Megaphone_Flush_MusicList();
+}
+/*********
+ * 
+ *  获取音乐总数
+ * 
+ * 
+**********/
+int JZsdk_Uart_get_music_list_sum()
+{
+   return Megaphone_get_music_list_sum();
+}
+/*********
+ * 
+ *  获取音乐名
+ * 
+ * 
+**********/
+int JZsdk_Uart_get_music_list_name(int num, char *music_name, int *music_name_length)
+{
+    return Megaphone_get_music_list_name(num, music_name, music_name_length);
+}
+
+
+/*********
+ * 
+ *  查询音量
+ * 
+ * 
+**********/
+int JZsdk_Uart_CheckStatus_volume()
+{
+    return Megaphone_get_music_volume();
+}
+/*********
+ * 
+ *  查询播放状态
+ * 
+ * 
+**********/
+int JZsdk_Uart_CheckStatus_play()
+{
+    return Megaphone_get_play_status();
+}
+/*********
+ * 
+ *  查询云台角度
+ * 
+ * 
+**********/
+int JZsdk_Uart_CheckStatus_gimbal()
+{
+    int AngleType = 1;
+
+    if (AngleType == 1)
+    {
+        return Gimbal_Get_PitchAngle();
+    }
+    
+    
+}
+/*********
+ * 
+ *  查询云台微调值
+ * 
+ * 
+**********/
+T_JZsdkReturnCode JZsdk_Uart_CheckStatus_GimbalFineTuning(int DeviceName, int FrameSequence)
+{
+    //查询云台微调
+    printf("查询云台微调值\n");
+
+    //1、查询本地云台微调
+    int FineTunigPitch, FineTunigYaw;
+    int ret = UIcontrol_CheckStatus_GimbalPitchFineTuning(&FineTunigPitch, &FineTunigYaw);
+    if (ret != JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
+    {
+        //回复操作失败
+        JZsdk_Uart_SendDeal_Reply_Failure(DeviceName, FrameSequence);   
+        return ret;
+    }
+    
+    //2、发送本地云台微调
+    JZsdk_Uart_SendDeal_Reply_GimbalFineTuningPitch(DeviceName, FrameSequence, FineTunigPitch);
+}
+
+
+/*********
+ * 
+ *  查询播放文件名
+ * 
+ * 
+**********/
+int JZsdk_Uart_CheckStatus_PlayFileName(char *music_name, int *music_name_len)
+{
+    Megaphone_get_play_FileName(music_name, music_name_len);
+}
+/*********
+ * 
+ *  查询软件版本号
+ * 
+ * 
+**********/
+int JZsdk_Uart_CheckStatus_SoftwareVersion(char *majorVersion, char *minorVersion, char *modifyVersion, char *debugVersion)
+{
+    *majorVersion = MAJOR_VERSION;
+    *minorVersion = MINOR_VERSION;
+    *modifyVersion = MODIFY_VERSION;
+    *debugVersion = DEBUG_VERSION;
+}
+/*********
+ * 
+ *  查询是否打开循环
+ * 
+ * 
+**********/
+int JZsdk_Uart_CheckStatus_LoopPlay()
+{
+
+    return Megaphone_Get_LoopPlay();
+    
+}
+/*********
+ * 
+ *  查询音色
+ * 
+ * 
+**********/
+int JZsdk_Uart_CheckStatus_TTS_tone()
+{
+
+    return Megaphone_Get_TTS_tone();
+
+}
+/*********
+ * 
+ *  查询语速
+ * 
+ * 
+**********/
+int JZsdk_Uart_CheckStatus_TTS_speed()
+{
+
+    return Megaphone_Get_TTS_speed();
+
+}
+
+/***
+ * 
+ * 
+ *  播放歌曲
+ * 
+ * ***/
+T_JZsdkReturnCode JZsdk_Uart_PlayMusic(int DeviceName, char *music_name, int datasize)
+{
+    return UIcontrol_PlayAudioFile(DeviceName, music_name, datasize);
+}
+
+/*********
+ * 
+ *  音频继续播放
+ * 
+ * 
+**********/
+T_JZsdkReturnCode JZsdk_Uart_audio_PlayContinue(int DeviceName)
+{
+    return UIcontrol_ContinuePlayAudio(DeviceName);
+}
+/*********
+ * 
+ *  音频暂停播放
+ * 
+ * 
+**********/
+T_JZsdkReturnCode JZsdk_Uart_audio_PlayPause(int DeviceName)
+{
+    return UIcontrol_PausePlayAudio(DeviceName);
+}
+/*********
+ * 
+ *  音频停止播放
+ * 
+ * 
+**********/
+T_JZsdkReturnCode JZsdk_Uart_audio_PlayStop(int DeviceName)
+{
+    return UIcontrol_StopPlayAudio(DeviceName);
+}
+
+/*********
+ * 
+ *  音频上一曲
+ * 
+ * 
+**********/
+T_JZsdkReturnCode JZsdk_Uart_audio_LastSong(int DeviceName)
+{
+    return UIcontrol_LastSong(DeviceName);
+}
+
+/*********
+ * 
+ *  音频下一曲
+ * 
+ * 
+**********/
+T_JZsdkReturnCode JZsdk_Uart_audio_NextSong(int DeviceName)
+{
+    return UIcontrol_NextSong(DeviceName);
+}
+
+/*********
+ * 
+ *  12、循环播放
+ * 
+ * 
+**********/
+T_JZsdkReturnCode JZsdk_Uart_audio_PlayLoop(int DeviceName, int mode)
+{
+    return UIcontrol_Set_AudioPlayLoop(DeviceName, mode);
+}
+
+/****************************************************************************************************************************************************
+*
+*           录音opus 接口部分
+*
+****************************************************************************************************************************************************/
+
+/*********
+ * 
+ *  播放固定位置的opus音频
+ * 
+ * 
+**********/
+T_JZsdkReturnCode JZsdk_Uart_Opus_PlayFixedFile(int DeviceName)
+{
+    return UIcontrol_Opus_PlayFixedFile(DeviceName);
+}
+
+
+/*
+*
+*      存储opus文件开始
+*
+*/
+int JZsdk_Uart_SaveOpusStart(int decode_rate)
+{
+    Megaphone_SaveOpusStart(decode_rate);
+}
+
+/*
+*
+*      存储opus文件中
+*
+*/
+int JZsdk_Uart_SaveOpusTrans(char *SaveData, int size)
+{
+    Megaphone_SaveOpusTrans(SaveData, size);
+}
+
+/*
+*
+*      存储opus文件结束
+*
+*/
+int JZsdk_Uart_SaveOpusStop()
+{
+    Megaphone_SaveOpusStop();
+}
+
+
+/****************************************************************************************************************************************************
+*
+*           实时喊话opus 接口部分
+*
+****************************************************************************************************************************************************/
+int JZsdk_Uart_RealTimeVoiceStart(int decode_rate)
+{
+    Megaphone_RealTimeVoice_Start(decode_rate);
+}
+
+
+int JZsdk_Uart_RealTimeVoiceTrans(char *data, int length)
+{
+    Megaphone_RealTimeVoice_Trans(data, length);
+}
+
+
+int JZsdk_Uart_RealTimeVoiceClose()
+{
+    Megaphone_RealTimeVoice_Close();
+}
+
+/****************************************************************************************************************************************************
+*
+*           实时MP2 接口部分
+*
+****************************************************************************************************************************************************/
+T_JZsdkReturnCode JZsdk_Uart_RealTimeMP2_start(int decode_rate)
+{
+    return Megaphone_RealTimeMP2_start();
+}
+
+T_JZsdkReturnCode JZsdk_Uart_RealTimeMP2_Trans(unsigned char *data, int length)
+{
+    return Megaphone_RealTimeMP2_trans(data, length);
+}
+
+
+T_JZsdkReturnCode JZsdk_Uart_RealTimeMP2_Close()
+{
+    Megaphone_RealTimeMP2_stop();
+}
+
+
+
+
+
+
+/****************************************************************************************************************************************************
+*
+*           云台部分
+*
+****************************************************************************************************************************************************/
+
+/*********
+ * 
+ *  云台俯仰控制
+ * 
+ * 
+**********/
+T_JZsdkReturnCode JZsdk_Uart_Gimbal_PitchControl(int DeviceName, int Gimbal_angle)
+{  
+    return UIcontrol_Set_GimbalPitchAngle(DeviceName, Gimbal_angle);
+}
+
+/*********
+ * 
+ *  云台俯仰微调角度
+ * 
+ * 
+**********/
+T_JZsdkReturnCode JZsdk_Uart_Gimbal_PitchFineTuningControl(int DeviceName, int FrameSequence,int Gimbal_angle)
+{  
+    T_JZsdkReturnCode ret = UIcontrol_Set_GimbalPitchFineTuning(DeviceName, Gimbal_angle);
+    if (ret == JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
+    {
+        //回复操作成功
+        JZsdk_Uart_SendDeal_Reply_Sucesss(DeviceName, FrameSequence); 
+    }
+    else
+    {
+        //回复操作失败
+        JZsdk_Uart_SendDeal_Reply_Failure(DeviceName, FrameSequence); 
+    }
+}
+
+
+/****************************************************************************************************************************************************
+*
+*           探照灯部分
+*
+****************************************************************************************************************************************************/
+/*********
+ * 
+ *  探照灯爆闪频率控制
+ * 
+ * 
+**********/
+T_JZsdkReturnCode JZsdk_Uart_Lighting_SetSearchLightFrequency(int DeviceName, int Frequency)
+{  
+    return UIcontrol_Set_SearchLightFrequency(DeviceName, Frequency);
+}
+
+/*********
+ * 
+ *  灯光模式控制
+ * 
+**********/
+T_JZsdkReturnCode JZsdk_Uart_SearchLight_Control(int DeviceName, int mode)
+{
+    return UIcontrol_SearchLightControl(DeviceName, mode);   
+}
+
+/*********
+ * 
+ *  灯光亮度
+ * 
+**********/
+T_JZsdkReturnCode JZsdk_Uart_SearchLight_Lumen(int DeviceName, int LeftLumen, int RightLumen)
+{
+    return UIcontrol_Set_SearchLightLumen(DeviceName, LeftLumen, RightLumen); 
+}
+
+/*********
+ * 
+ *  灯光属性查询
+ * 
+**********/
+T_JZsdkReturnCode JZsdk_Uart_CheckStatus_SearchLightLightAttribute(int DeviceName, int FrameSequence)
+{
+    //1、查询灯光属性
+    int Light_Frequency;
+    int Light_Mode;
+    int Light_LeftLumen;
+    int Light_RightLumen;
+    T_JZsdkReturnCode ret = UIcontrol_CheckStatus_SearchLightLightAttribute(&Light_Frequency, &Light_Mode, &Light_LeftLumen, &Light_RightLumen);
+
+    //2、回复灯光属性
+    JZsdk_Uart_SendDeal_SearchLight_Frequency(DeviceName, Light_Frequency);
+    JZsdk_Uart_SendDeal_SearchLight_Mode(DeviceName, Light_Mode);
+    JZsdk_Uart_SendDeal_SearchLight_Lumen(DeviceName,Light_LeftLumen, Light_RightLumen);
+}
+
+/*********
+ * 
+ *  灯光温度查询
+ * 
+**********/
+T_JZsdkReturnCode JZsdk_Uart_CheckStatus_SearchLightTemperture(int DeviceName, int FrameSequence)
+{
+    //1、查询灯光温度
+    int Light_LeftTemperature;
+    int Light_RightTemperature;
+    T_JZsdkReturnCode ret = UIcontrol_CheckStatus_SearchLightTemperture(&Light_LeftTemperature, &Light_RightTemperature);
+
+    //2、回复灯光温度
+    JZsdk_Uart_SendDeal_SearchLight_Temperature(DeviceName, Light_LeftTemperature, Light_RightTemperature);
+
+}
+
+/*********
+ * 
+ *  灯光消息订阅控制
+ * 
+**********/
+T_JZsdkReturnCode JZsdk_Uart_SearchLight_SubscriptionControl(int DeviceName, int value)
+{
+    if (DeviceName == UART_DEV_2)
+    {
+        JZsdk_Uart_SendDeal_MessageSubcription_Control(UART_DEV_1, value);
+    }
+    else if (DeviceName == UART_DEV_1)
+    {
+        JZsdk_Uart_SendDeal_MessageSubcription_Control(UART_DEV_2, value);
+    }
+    
+    return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+/*********
+ * 
+ *  警灯模式控制
+ * 
+**********/
+T_JZsdkReturnCode JZsdk_Uart_WarningLight_ModeControl(int DeviceName, int status, int mode)
+{
+    return UIcontrol_Set_WarningLight_ModeControl(DeviceName, status, mode);
+}
+
+/*********
+ * 
+ *  警灯颜色控制
+ * 
+**********/
+T_JZsdkReturnCode JZsdk_Uart_WarningLight_SetColor(int DeviceName, int color1, int color2)
+{
+    return UIcontrol_Set_WarningLight_Color(DeviceName, color1, color2);
+}
+
+/*********
+ * 
+ *  警灯状态查询
+ * 
+**********/
+T_JZsdkReturnCode JZsdk_Uart_CheckStatus_WarningLightStatus(int DeviceName, int FrameSequence)
+{
+    //1、查询警灯状态查询
+    int status;
+    int Mode;
+    T_JZsdkReturnCode ret = UIcontrol_CheckStatus_WarningLightStatus(&status, &Mode);
+
+    //2、回复警灯状态查询
+    JZsdk_Uart_SendDeal_WarningLight_Status(DeviceName, status, Mode);
+
+}
+
+/*********
+ * 
+ *  警灯颜色查询
+ * 
+**********/
+T_JZsdkReturnCode JZsdk_Uart_CheckStatus_WarningLightColor(int DeviceName, int FrameSequence)
+{
+    //1、查询灯光温度
+    int color1;
+    int color2;
+
+    T_JZsdkReturnCode ret = UIcontrol_CheckStatus_WarningLightColor(&color1, &color2);
+
+    //2、回复警灯颜色
+    JZsdk_Uart_SendDeal_WarningLight_Color(DeviceName, color1, color2);
+
+}
+
+/*
+*
+*      获取本地主设备名
+*
+*/
+int JZsdk_Uart_GetVersionReplay()
+{
+    switch (DEVICE_VERSION)
+    {
+        case JZ_H1E:
+            return 0x11;
+            break;
+
+        case JZ_H150S:
+            return 0x13;
+            break;
+
+        case JZ_H150T:
+            return 0x15;
+            break;
+            
+        case JZ_H10:
+            return 0x12;
+            break;
+        case JZ_H10T:
+            return 0x14;
+            break;
+
+        case JZ_H1T:
+            return 0x16;
+            break;   
+
+        case JZ_U3:
+            return 0x17;
+            break;
+
+        default:
+            return 0x00;
+            break;
+    };
+    
+}
+
+
+/*
+*
+*       设置工作模式
+*
+*/
+int JZsdk_Uart_SetMainWorkMode(int mode)
+{
+    Main_WorkModeSet(mode);
+}
+
+/****************************************************************************************************************************************************
+*
+*           AudioFile 接口部分
+*
+****************************************************************************************************************************************************/
+/*
+1、开始传输的音频文件保存
+2、存储音频文件中
+3、存储音频文件结束
+*/
+/*********
+ * 
+ *  1、开始传输的音频文件保存
+ * 
+ * 
+**********/
+T_JZsdkReturnCode JZsdk_Uart_SaveAudioFileStart(char *FileName)
+{
+    return Megaphone_SaveAudioFileStart(FileName);
+}
+
+/*
+*
+*   2、存储音频文件中
+*
+*/
+int JZsdk_Uart_SaveAudioFileTrans(char *SaveData, int size)
+{
+    Megaphone_SaveAudioFileTrans(SaveData, size);
+}
+
+/*
+*
+*   3、存储音频文件结束
+*
+*/
+int JZsdk_Uart_SaveAudioFileStop()
+{
+    Megaphone_SaveAudioFileStop();
+}
+
+/********************************************************************************************************
+*********                                                                                        ********|
+*********                                                                                        ********|
+*********                                                                                        ********|
+*********                                                                                        ********|
+*********                                                                                        ********|
+*********           5B类部分                                                                     ********|
+*********                                                                                        ********|
+*********                                                                                        ********|
+*********                                                                                        ********|
+*********                                                                                        ********|
+*********                                                                                        ********|
+*********************************************************************************************************/
+
+/*******************************************************************************************************************************
+ * 
+ *          灯光部分
+ * 
+ * *****************************************************************************************************************************/
+/*********
+ * 
+ *  收到灯光频率
+ * 
+**********/
+T_JZsdkReturnCode JZsdl_Uart_ObtainSearchLight_Frequency(int DeviceName, int Frequency)
+{
+    UIcontrol_ObtainSearchLight_Frequency(DeviceName, Frequency);
+}   
+
+/*********
+ * 
+ *  收到灯光模式
+ * 
+**********/
+T_JZsdkReturnCode JZsdl_Uart_ObtainSearchLight_Mode(int DeviceName, int mode)
+{
+    UIcontrol_ObtainSearchLight_Mode(DeviceName, mode);
+}   
+
+/*********
+ * 
+ *  收到灯光亮度
+ * 
+**********/
+T_JZsdkReturnCode JZsdl_Uart_ObtainSearchLight_Lumen(int DeviceName, int LeftLumen, int RightLumen)
+{
+    UIcontrol_ObtainSearchLight_Lumen(DeviceName, LeftLumen, RightLumen);
+}   
+
+/*********
+ * 
+ *  收到探照灯温度
+ * 
+**********/
+T_JZsdkReturnCode JZsdl_Uart_ObtainSearchLight_Temperature(int DeviceName, int LeftTemperature, int RightTemperature)
+{
+    UIcontrol_ObtainSearchLight_Temperature(DeviceName, LeftTemperature, RightTemperature);
+}
+
+/*******************************************************************************************************************************
+ * 
+ *          云台部分
+ * 
+ * *****************************************************************************************************************************/
+/*********
+ * 
+ *  收到云台俯仰
+ * 
+**********/
+T_JZsdkReturnCode JZsdl_Uart_RecvDeal_ObtainGimbal_Pitch(int DeviceName, int pitch)
+{
+    UIcontrol_ObtainGimbal_Pitch(DeviceName, pitch);
+}
+
+/*********
+ * 
+ *  收到云台航向
+ * 
+**********/
+T_JZsdkReturnCode JZsdl_Uart_RecvDeal_ObtainGimbal_Yaw(int DeviceName, int yaw)
+{
+
+}
+
+/*********
+ * 
+ *  收到云台俯仰微调值
+ * 
+**********/
+T_JZsdkReturnCode JZsdl_Uart_ObtainGimbalPitchFineTuning(int DeviceName, int FrameSequence,int pitch)
+{
+    printf("收到云台俯仰微调值\n");
+
+    //2、发送到本地处理
+    UIcontrol_Obtain_GimbalPitchFineTuninng(DeviceName, pitch); 
+
+    //3、回复操作成功
+    JZsdk_Uart_SendDeal_Reply_Sucesss(DeviceName, FrameSequence);  
+}
+
+
+/*******************************************************************************************************************************
+ * 
+ *          警灯部分
+ * 
+ * *****************************************************************************************************************************/
+/*********
+ * 
+ *  收到警灯状态
+ * 
+**********/
+T_JZsdkReturnCode JZsdl_Uart_RecvDeal_ObtainWaringlight_Status(int DeviceName, int status, int mode)
+{
+    UIcontrol_ObtainWarningLight_Status(DeviceName, status, mode);
+}
+
+/*********
+ * 
+ *  收到警灯颜色
+ * 
+**********/
+T_JZsdkReturnCode JZsdl_Uart_RecvDeal_ObtainWaringlight_Color(int DeviceName, int color1, int color2)
+{
+    UIcontrol_Set_SearchLightLumen(DeviceName, color1, color2);
+}
+
+/*********
+ * 
+ *  收到产品序列号
+ * 
+**********/
+T_JZsdkReturnCode JZsdl_Uart_RecvDeal_ObtainSerialNumber(int DeviceName, int SerialNumber)
+{
+
+}
+
+
+/********************************************************************************************************
+*********                                                                                        ********|
+*********                                                                                        ********|
+*********                                                                                        ********|
+*********                                                                                        ********|
+*********                                                                                        ********|
+*********           6A类部分                                                                     ********|
+*********                                                                                        ********|
+*********                                                                                        ********|
+*********                                                                                        ********|
+*********                                                                                        ********|
+*********                                                                                        ********|
+*********************************************************************************************************/
+
+/*********
+ * 
+ *  设置云台最大值最小值
+ * 
+**********/
+T_JZsdkReturnCode JZsdk_Uart_SetGimbalRange(int DeviceName, int value)
+{
+    return UIcontrol_SetGimbalRange(DeviceName, value);
+}
+
+/*********
+ * 
+ *  设置云台联动
+ * 
+**********/
+T_JZsdkReturnCode JZsdk_Uart_GimbalLinkageControl(int DeviceName, int FrameSequence, int value)
+{
+    //1、设置本地的云台联动
+    int ret = UIcontrol_Set_GimbalLinkageControl(DeviceName, value);
+    if (ret == JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
+    {
+        //回复操作成功
+        JZsdk_Uart_SendDeal_Reply_Sucesss(DeviceName, FrameSequence); 
+    }
+    else
+    {
+        //回复操作失败
+        JZsdk_Uart_SendDeal_Reply_Failure(DeviceName, FrameSequence); 
+    }
+}
+
+/*********
+ * 
+ *  查询云台联动
+ * 
+**********/
+T_JZsdkReturnCode JZsdk_Uart_Checkstatus_GimbalLinkage(int DeviceName, int FrameSequence)
+{
+    int LinkageValue;
+
+    T_JZsdkReturnCode ret = UIcontrol_CheckStatus_GimbalLinkage(&LinkageValue);
+    if (ret != JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
+    {
+        //回复操作失败
+        JZsdk_Uart_SendDeal_Reply_Failure(DeviceName, FrameSequence); 
+    }
+
+    //成功则发送云台联动值
+    JZsdk_Uart_SendDeal_GimbalLinkageControl(DeviceName, FrameSequence, LinkageValue);
+}
+
+/*
+*
+*      设置本地从设备名
+*
+*/
+T_JZsdkReturnCode JZsdk_Uart_SetSecondaryDeviceName(int DeviceName)
+{
+    printf("设置本地从设备名%x\n",DeviceName);
+
+    SecondaryDeviceName = DeviceName;
+
+    return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+
+/*
+*
+*      获取本地从设备名
+*
+*/
+int JZsdk_Uart_GetSecondaryDeviceName()
+{
+    return SecondaryDeviceName;
+}
+
+
+/********************************************************************************************************
+*********                                                                                        ********|
+*********                                                                                        ********|
+*********                                                                                        ********|
+*********                                                                                        ********|
+*********                                                                                        ********|
+*********           6B类部分                                                                     ********|
+*********                                                                                        ********|
+*********                                                                                        ********|
+*********                                                                                        ********|
+*********                                                                                        ********|
+*********                                                                                        ********|
+*********************************************************************************************************/
+
+/**
+ * 
+ *      查询从设备名
+ * 
+*/
+int JZsdk_Uart_QuerySecondaryDeviceName(int FrameSequence)
+{
+    //1、发送查询一遍从设备名, 通常位于 串口1
+    JZsdk_Uart_SendDeal_QuerySecondaryDeviceName(UART_DEV_1, FrameSequence);
+}
+
+/*********
+ * 
+ *  收到云台联动值
+ * 
+**********/
+T_JZsdkReturnCode JZsdk_Uart_ObtainGimbalLinkage(int DeviceName,int FrameSequence, int value)
+{
+    T_JZsdkReturnCode ret = UIcontrol_Obtain_GimbalLinkage(DeviceName, value);
+    if (ret == JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
+    {
+        //回复操作成功
+        JZsdk_Uart_SendDeal_Reply_Sucesss(UART_DEV_1, FrameSequence); 
+    }
+    else
+    {
+        //回复操作失败
+        JZsdk_Uart_SendDeal_Reply_Failure(UART_DEV_1, FrameSequence); 
+    }
+}

+/**
+ ********************************************************************
+ * @file   JZsdk_Uart_Output.h
+ *         JZsdk_Uart_Output的头文件
+ *
+ *********************************************************************
+ */
+
+/* Define to prevent recursive inclusion 避免重定义 -------------------------------------*/
+#ifndef JZSDK_UART_OUTPUT_H
+#define JZSDK_UART_OUTPUT_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "JZsdk_Base/JZsdk_Code/JZsdk_Code.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "Uart_Config.h"
+
+
+/* Exported constants --------------------------------------------------------*/
+/* 常亮定义*/
+
+/* Exported types ------------------------------------------------------------*/
+
+/* Exported functions --------------------------------------------------------*/
+int JZsdk_Uart_Init(int UART_DEV_NAME);
+int JZsdk_Get_UartDev_UseFlag(int UART_DEV_NAME);
+
+int JZsdk_Uart_Set_Amplifier(int status);
+T_JZsdkReturnCode JZsdk_Uart_Set_Volume(int DeviceName, int value);
+
+T_JZsdkReturnCode JZsdk_Uart_TTS_Play(int DeviceName, char *data ,int len);
+T_JZsdkReturnCode JZsdk_Uart_TTS_SetTone(int DeviceName, int tone);
+T_JZsdkReturnCode JZsdk_Uart_TTS_SetSpeed(int DeviceName, int speed);
+
+
+int JZsdk_Uart_Flush_MusicList();
+int JZsdk_Uart_get_music_list_sum();
+int JZsdk_Uart_get_music_list_name(int num, char *music_name, int *music_name_length);
+
+T_JZsdkReturnCode JZsdk_Uart_PlayMusic(int DeviceName, char *music_name, int datasize);
+
+T_JZsdkReturnCode JZsdk_Uart_audio_PlayContinue(int DeviceName);
+T_JZsdkReturnCode JZsdk_Uart_audio_PlayPause(int DeviceName);
+T_JZsdkReturnCode JZsdk_Uart_audio_PlayStop(int DeviceName);
+T_JZsdkReturnCode JZsdk_Uart_audio_LastSong(int DeviceName);
+T_JZsdkReturnCode JZsdk_Uart_audio_NextSong(int DeviceName);
+
+int JZsdk_Uart_CheckStatus_volume();
+int JZsdk_Uart_CheckStatus_play();
+int JZsdk_Uart_CheckStatus_gimbal();
+int JZsdk_Uart_CheckStatus_PlayFileName(char *music_name, int *music_name_len);
+int JZsdk_Uart_CheckStatus_SoftwareVersion(char *majorVersion, char *minorVersion, char *modifyVersion, char *debugVersion);
+int JZsdk_Uart_CheckStatus_LoopPlay();
+int JZsdk_Uart_CheckStatus_TTS_tone();
+int JZsdk_Uart_CheckStatus_TTS_speed();
+
+T_JZsdkReturnCode JZsdk_Uart_audio_PlayLoop(int DeviceName, int mode);
+
+T_JZsdkReturnCode JZsdk_Uart_Opus_PlayFixedFile(int DeviceName);
+
+
+
+
+int JZsdk_Uart_SaveOpusStart(int decode_rate);
+int JZsdk_Uart_SaveOpusTrans(char *SaveData, int size);
+int JZsdk_Uart_SaveOpusStop();
+
+int JZsdk_Uart_GetVersionReplay();
+
+int JZsdk_Uart_SetMainWorkMode(int mode);
+
+
+//1、开始传输的音频文件保存
+T_JZsdkReturnCode JZsdk_Uart_SaveAudioFileStart(char *FileName);
+//2、存储opus文件中
+int JZsdk_Uart_SaveAudioFileTrans(char *SaveData, int size);
+//3、存储opus文件结束
+int JZsdk_Uart_SaveAudioFileStop();
+
+int JZsdk_Uart_RealTimeVoiceStart(int decode_rate);
+int JZsdk_Uart_RealTimeVoiceTrans(char *data, int length);
+int JZsdk_Uart_RealTimeVoiceClose();
+
+//实时MP2语音实时喊话
+int JZsdk_Uart_RealTimeMP2_start(int decode_rate);
+int JZsdk_Uart_RealTimeMP2_Trans(unsigned char *data, int length);
+int JZsdk_Uart_RealTimeMP2_Close();
+
+//云台部分
+T_JZsdkReturnCode JZsdk_Uart_Gimbal_PitchControl(int DeviceName, int Gimbal_angle);
+T_JZsdkReturnCode JZsdk_Uart_SetGimbalRange(int DeviceName, int value);
+T_JZsdkReturnCode JZsdk_Uart_CheckStatus_GimbalFineTuning(int DeviceName, int FrameSequence);
+T_JZsdkReturnCode JZsdk_Uart_Gimbal_PitchFineTuningControl(int DeviceName, int FrameSequence,int Gimbal_angle);
+T_JZsdkReturnCode JZsdl_Uart_ObtainGimbalPitchFineTuning(int DeviceName, int FrameSequence,int pitch);
+T_JZsdkReturnCode JZsdk_Uart_GimbalLinkageControl(int DeviceName, int FrameSequence, int value);
+T_JZsdkReturnCode JZsdk_Uart_Checkstatus_GimbalLinkage(int DeviceName, int FrameSequence);
+T_JZsdkReturnCode JZsdk_Uart_ObtainGimbalLinkage(int DeviceName,int FrameSequence, int value);
+
+//探照灯部分
+T_JZsdkReturnCode JZsdk_Uart_Lighting_SetSearchLightFrequency(int DeviceName, int Frequency);
+T_JZsdkReturnCode JZsdk_Uart_SearchLight_Control(int DeviceName, int mode);
+T_JZsdkReturnCode JZsdk_Uart_SearchLight_Lumen(int DeviceName, int LeftLumen, int RightLumen);
+T_JZsdkReturnCode JZsdk_Uart_SearchLight_SubscriptionControl(int DeviceName, int value);
+T_JZsdkReturnCode JZsdk_Uart_CheckStatus_SearchLightLightAttribute(int DeviceName, int FrameSequence);
+T_JZsdkReturnCode JZsdk_Uart_CheckStatus_SearchLightTemperture(int DeviceName, int FrameSequence);
+
+//警灯部分
+T_JZsdkReturnCode JZsdk_Uart_WarningLight_ModeControl(int DeviceName, int status, int mode);
+T_JZsdkReturnCode JZsdk_Uart_WarningLight_SetColor(int DeviceName, int color1, int color2);
+T_JZsdkReturnCode JZsdk_Uart_CheckStatus_WarningLightStatus(int DeviceName, int FrameSequence);
+T_JZsdkReturnCode JZsdk_Uart_CheckStatus_WarningLightColor(int DeviceName, int FrameSequence);
+
+
+//5B部分
+T_JZsdkReturnCode JZsdl_Uart_ObtainSearchLight_Frequency(int DeviceName, int Frequency);
+T_JZsdkReturnCode JZsdl_Uart_ObtainSearchLight_Mode(int DeviceName, int mode);
+T_JZsdkReturnCode JZsdl_Uart_ObtainSearchLight_Lumen(int DeviceName, int LeftLumen, int RightLumen);
+T_JZsdkReturnCode JZsdl_Uart_ObtainSearchLight_Temperature(int DeviceName, int LeftTemperature, int RightTemperature);
+T_JZsdkReturnCode JZsdl_Uart_RecvDeal_ObtainGimbal_Pitch(int DeviceName, int pitch);
+T_JZsdkReturnCode JZsdl_Uart_RecvDeal_ObtainGimbal_Yaw(int DeviceName, int yaw);
+T_JZsdkReturnCode JZsdl_Uart_RecvDeal_ObtainWaringlight_Status(int DeviceName, int status, int mode);
+T_JZsdkReturnCode JZsdl_Uart_RecvDeal_ObtainWaringlight_Color(int DeviceName, int color1, int color2);
+T_JZsdkReturnCode JZsdl_Uart_RecvDeal_ObtainSerialNumber(int DeviceName, int SerialNumber);
+
+//获取本地从设备名
+int JZsdk_Uart_GetSecondaryDeviceName();
+//设置本地从设备名
+T_JZsdkReturnCode JZsdk_Uart_SetSecondaryDeviceName(int DeviceName);
+int JZsdk_Uart_QuerySecondaryDeviceName(int FrameSequence);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif 

+/**
+ ********************************************************************
+ * @file   JZsdk_Uart_RecvDeal.h
+ *         JZsdk_Uart_RecvDeal的头文件
+ *
+ *********************************************************************
+ */
+
+/* Define to prevent recursive inclusion 避免重定义 -------------------------------------*/
+#ifndef JZSDK_UART_RECVDEAL_H
+#define JZSDK_UART_RECVDEAL_H
+
+/* Includes ------------------------------------------------------------------*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+/* 常亮定义*/
+
+/* Exported types ------------------------------------------------------------*/
+
+/* Exported functions --------------------------------------------------------*/
+int JZsdk_Uart_RecvDeal_CharmDeal_Uart_4G(unsigned char  *getbuf, int len);
+int JZsdk_Uart_RecvDeal_CharmDeal_Uart_DEV1(unsigned char  *getbuf, int len);
+int JZsdk_Uart_RecvDeal_CharmDeal_Uart_DEV2(unsigned char  *getbuf, int len);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif