servoMotor/APP/Agent/agent_hyt.c

/// Agent文件
///
/// 指令处理模块、处理外部接收指令
/// @file    Agent.c
/// @author
/// @date    2022-04-22
/// @version v2.0

#include "agent_hyt.h"
#include "includes.h"
#include "gd32f4xx.h"
#include "enet_to_udp.h"
#include "ptz_struct.h"
#include "Usart.h"
#include "device_dac_out.h"
#include "ptz_header_file.h"
#include "device_wdog.h"
#include "service_autoreturn.h"
#include "device_heatresistor.h"
#include "full_bridge.h"

#include "mb85rc64.h"

char tiedian_id[3] = {0};
int ptz_communicaton;

PTZ_DATA_PACK ptz_data_pack;

static BSP_OS_SEM cmd_crc_mutex;
static BSP_OS_SEM pack_process_mutex; // 共享资源锁

static unsigned char angle_error[7] = {0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00};

int ptz_communicaton = PTZ_CONNECT_STATE_DEAD;

/// 向指定的IP地址和端口发送数据
void send_udp_data_aim(u_int8_t *buff, u_int16_t buff_size, struct sockaddr *source, socklen_t sourcelen)
{
	BSP_OS_SemWait(&udp_send_data_mutex, 0u);
	if (ptz_communicaton == PTZ_CONNECT_STATE_SUCCESS)
	{
		int ret = sendto(ptz_sock_fd, buff, buff_size, 0, source, sourcelen);
		if (ret == -1)
		{
			ptz_communicaton = PTZ_CONNECT_STATE_FAILED;
			close(ptz_sock_fd);
		}
	}
	BSP_OS_SemPost(&udp_send_data_mutex);
}
/*******************************************************************************
** 函数名称：uint8_t MotorCalPelcoDSUM(FIFO_DATA_TYPE Data)
** 函数功能：计算派尔高D协议效验码
** 变量:Data，数据头指针
*******************************************************************************/
u_int8_t MotorCalPelcoDSUM(u_int8_t *data, u_int16_t datalen)
{
	BSP_OS_SemWait(&cmd_crc_mutex, 0u);
	uint16_t checksum = 0;
	uint8_t checksum1 = 0;
	data = data + 1;
	datalen = datalen - 2;
	while (datalen--)
	{
		checksum = checksum + (u_int8_t)(*data++);
	}
	checksum1 = (uint8_t)(checksum & 0x00ff);
	BSP_OS_SemPost(&cmd_crc_mutex);
	return checksum1;
}

/// 发送udp数据
void send_udp_data(u_int8_t *buff, u_int16_t buff_size)
{
	BSP_OS_SemWait(&udp_send_data_mutex, 0u);
	if (ptz_communicaton == PTZ_CONNECT_STATE_SUCCESS)
	{
		int ret = sendto(ptz_sock_fd, buff, buff_size, 0, (struct sockaddr *)&ptz_from, ptz_fromlen);
		if (ret == -1)
		{
			ptz_communicaton = PTZ_CONNECT_STATE_FAILED;
			close(ptz_sock_fd);
		}
	}
	BSP_OS_SemPost(&udp_send_data_mutex);
}
/// 发送udp广播数据 INADDR_BROADCAST
void send_udp_data_broadcast(u_int8_t *buff, u_int16_t buff_size)
{
	BSP_OS_SemWait(&udp_send_data_mutex, 0u);
	if (ptz_communicaton == PTZ_CONNECT_STATE_SUCCESS)
	{
		ptz_from.sin_addr.s_addr = INADDR_BROADCAST;
		int ret = sendto(ptz_sock_fd, buff, buff_size, 0,
						 (struct sockaddr *)&ptz_from, ptz_fromlen);
		if (ret == -1)
		{
			ptz_communicaton = PTZ_CONNECT_STATE_FAILED;
			close(ptz_sock_fd);
		}
	}
	BSP_OS_SemPost(&udp_send_data_mutex);
}

/// 云台指令回复,type回复类型
void ptz_reply(char dev, unsigned char type)
{
	// 回复分为3种：
	// 1.指令正确，且执行成功，收到什么回复什么；
	// 2.指令错误，回复错误；
	// 3.指令正确，但执行失败，回复执行失败。
	unsigned char reply_wrong[7] = {0xff, g_ptz.address, 0xff, 0xff, 0xff, 0xff, 0xff};
	unsigned char reply_fail[7] = {0xff, g_ptz.address, 0xee, 0xee, 0xee, 0xee, 0xee};
	unsigned char reply_right[7];
	reply_wrong[6] = MotorCalPelcoDSUM(reply_wrong, sizeof(reply_wrong));
	reply_fail[6] = MotorCalPelcoDSUM(reply_fail, sizeof(reply_fail));
	if (g_ptz.cmd_reply_switch == CMD_REPLY)
	{
		switch (type)
		{
		case CMD_RIGHT: // 指令正确，并执行成功
			memcpy(reply_right, g_ptz.cmd_save.cmd_data, sizeof(reply_right));

			ptz_send_data(dev, reply_right, sizeof(reply_right));

			break;

		case CMD_WRONG: // 指令错误
			ptz_send_data(dev, reply_wrong, sizeof(reply_wrong));

			break;

		case CMD_FAIL: // 指令正确，但执行失败
			ptz_send_data(dev, reply_fail, sizeof(reply_fail));

			break;
		}
	}
}

// 发送数据
void ptz_send_data(char dev, unsigned char *buff, unsigned short int buff_size)
{
	switch (dev)
	{
	case PTZ_UDP:
		send_udp_data(buff, buff_size);
		break;
	case PTZ_UART_485:
		ptz_uart_dev_send(uart_485_handle, buff, buff_size);
		break;
	case PTZ_UART_422:
		ptz_uart_dev_send(uart_422_handle, buff, buff_size);
		break;
	}
}

/// 处理云台接收消息
void ptz_data_pack_process(char dev, PTZ_DATA_PACK *pack)
{

	BSP_OS_SemWait(&pack_process_mutex, 0u);

	int16_t int16_angle;
	PresetBit bit;

	// 保存指令
	memcpy(g_ptz.cmd_save.cmd_data, (u_int8_t *)pack, sizeof(g_ptz.cmd_save.cmd_data));
	g_ptz.cmd_save.cmd_data_flag = 1;

	if (dev == PTZ_UDP)
	{ // 保存指令来源
		memcpy(&g_ptz.cmd_save.cmd_from, &ptz_from, ptz_fromlen);
		g_ptz.cmd_save.cmd_fromlen = ptz_fromlen;
		g_ptz.cmd_save.cmd_data_udp_flag = 1;
	}

	// 首先判断效验码
	if (MotorCalPelcoDSUM((u_int8_t *)pack, sizeof(PTZ_DATA_PACK)) != pack->checksum)
	{
		ptz_reply(dev, CMD_WRONG);
		BSP_OS_SemPost(&pack_process_mutex);
		return;
	}
	// 其次判断云台地址
	if (pack->addr != g_ptz.address)
	{
		ptz_reply(dev, CMD_WRONG);
		BSP_OS_SemPost(&pack_process_mutex);
		return;
	}

	// 云台指令保存预处理功能
#ifdef PTZ_CMD_SAVE_BEFORE
	if (g_ptz.cmd_before_handle_swtich == CMD_BEFORE_SAVE_ON &&
		pack->command[0] != 0xba &&
		pack->command[0] != 0xbb &&
		pack->command[0] != 0xCE &&
		pack->command[0] != 0XDE &&
		pack->command[0] != 0xC0)
	{
		if (cmd_before_count < CMD_BEFORE_AMOUNT)
		{
			// 保存指令
			memcpy(BeforeData[cmd_before_count].cmd_data, (u_int8_t *)pack, sizeof(BeforeData[cmd_before_count].cmd_data));

			if (dev == PTZ_UDP)
			{
				memcpy(&BeforeData[cmd_before_count].cmd_from, &ptz_from, ptz_fromlen);
				BeforeData[cmd_before_count].cmd_fromlen = ptz_fromlen;
			}

			BeforeData[cmd_before_count].cmd_dev = dev;
			BeforeData[cmd_before_count].swtich = CMD_BEFORE_ON;
			cmd_before_count++;
		}
		else
		{
			ptz_reply(dev, CMD_FAIL);
			BSP_OS_SemPost(&pack_process_mutex);
			return;
		}
		ptz_reply(dev, CMD_RIGHT);
		BSP_OS_SemPost(&pack_process_mutex);
		return;
	}
#endif

	/********************************* 云台停止指令 *******************************/

	// 最后判断是否是云台停止指令
	if (pack->command[1] == 0 && pack->command[0] == 0 && pack->data[0] == 0 && pack->data[1] == 0) // 如果指令码和数据码全为0，表示停止
	{
		g_ptz.cameralens.foucs_state = CAMERA_LES_FOCUS_STOP;
		g_ptz.cameralens.zoom_state = CAMERA_LES_ZOOM_STOP;
		if (ptz_cmd_execute_judge().manual_stop == CMD_NOT_ALLOW)
		{
			ptz_reply(dev, CMD_FAIL);
			BSP_OS_SemPost(&pack_process_mutex);
			return;
		}
		g_ptz.vert_rotate_monitor_switch = PTZ_VERT_DEC_BRAKE_A;
		g_ptz.hori_rotate_monitor_switch = PTZ_HORI_DEC_BRAKE_A;

		ptz_reply(dev, CMD_RIGHT);
		BSP_OS_SemPost(&pack_process_mutex);
		return;
	}

	/********************************* 标准PELCO指令 ******************************/

	if (pack->command[1] != 0 && pack->command[0] == 0) // 指令码2不为0,指令码1必须为0
	{
		switch (pack->command[1])
		{
			/********************************** 方位指令 *********************************/
		case HYT_PACK_CMD_1_FUNC_KEEP_UP: // 0x08: //向上
			if (ptz_cmd_execute_judge().manual_control == CMD_NOT_ALLOW)
			{
				ptz_reply(dev, CMD_FAIL);
				BSP_OS_SemPost(&pack_process_mutex);
				return;
			}
			//        read_mb_id((uint8_t*)&tiedian_id);//读取铁电ID
			g_ptz.vert_speed_control = pack->data[1] / 10.0;
			ptz_vert_rotate_plan(PTZ_VERT_UP_KEEP);
			g_ptz.vert_rotate_monitor_switch = PTZ_VERT_UP_KEEP;
			ptz_reply(dev, CMD_RIGHT);
			break;

		case HYT_PACK_CMD_1_FUNC_KEEP_DUWN: // 0x10://向下
			if (ptz_cmd_execute_judge().manual_control == CMD_NOT_ALLOW)
			{
				ptz_reply(dev, CMD_FAIL);
				BSP_OS_SemPost(&pack_process_mutex);
				return;
			}
			g_ptz.vert_speed_control = pack->data[1] / 10.0;
			ptz_vert_rotate_plan(PTZ_VERT_DOWN_KEEP);
			g_ptz.vert_rotate_monitor_switch = PTZ_VERT_DOWN_KEEP;
			ptz_reply(dev, CMD_RIGHT);
			break;

		case HYT_PACK_CMD_1_FUNC_KEEP_LEFT: // 0x04://向左
			if (ptz_cmd_execute_judge().manual_control == CMD_NOT_ALLOW)
			{
				ptz_reply(dev, CMD_FAIL);
				BSP_OS_SemPost(&pack_process_mutex);
				return;
			}
			g_ptz.hori_speed_control = pack->data[0] / 10.0;
			ptz_hori_rotate_plan(PTZ_HORI_LEFT_KEEP);
			g_ptz.hori_rotate_monitor_switch = PTZ_HORI_LEFT_KEEP;
			ptz_reply(dev, CMD_RIGHT);
			break;

		case HYT_PACK_CMD_1_FUNC_KEEP_RIGHT: // 0x02: //向右
			if (ptz_cmd_execute_judge().manual_control == CMD_NOT_ALLOW)
			{
				ptz_reply(dev, CMD_FAIL);
				BSP_OS_SemPost(&pack_process_mutex);
				return;
			}
			g_ptz.hori_speed_control = pack->data[0] / 10.0;
			ptz_hori_rotate_plan(PTZ_HORI_RIGHT_KEEP);
			g_ptz.hori_rotate_monitor_switch = PTZ_HORI_RIGHT_KEEP;
			ptz_reply(dev, CMD_RIGHT);
			break;

		case HYT_PACK_CMD_1_FUNC_KEEP_LEFT_UP: // 0x0c://左上
			if (ptz_cmd_execute_judge().manual_control == CMD_NOT_ALLOW)
			{
				ptz_reply(dev, CMD_FAIL);
				BSP_OS_SemPost(&pack_process_mutex);
				return;
			}
			g_ptz.hori_speed_control = pack->data[0] / 10.0;
			ptz_hori_rotate_plan(PTZ_HORI_LEFT_KEEP);
			g_ptz.hori_rotate_monitor_switch = PTZ_HORI_LEFT_KEEP;
			g_ptz.vert_speed_control = pack->data[1] / 10.0;
			ptz_vert_rotate_plan(PTZ_VERT_UP_KEEP);
			g_ptz.vert_rotate_monitor_switch = PTZ_VERT_UP_KEEP;
			ptz_reply(dev, CMD_RIGHT);
			break;

		case HYT_PACK_CMD_1_FUNC_KEEP_RIGHT_UP: // 0x0a://右上
			if (ptz_cmd_execute_judge().manual_control == CMD_NOT_ALLOW)
			{
				ptz_reply(dev, CMD_FAIL);
				BSP_OS_SemPost(&pack_process_mutex);
				return;
			}
			g_ptz.hori_speed_control = pack->data[0] / 10.0;
			ptz_hori_rotate_plan(PTZ_HORI_RIGHT_KEEP);
			g_ptz.hori_rotate_monitor_switch = PTZ_HORI_RIGHT_KEEP;
			g_ptz.vert_speed_control = pack->data[1] / 10.0;
			ptz_vert_rotate_plan(PTZ_VERT_UP_KEEP);
			g_ptz.vert_rotate_monitor_switch = PTZ_VERT_UP_KEEP;
			ptz_reply(dev, CMD_RIGHT);
			break;

		case HYT_PACK_CMD_1_FUNC_KEEP_LEFT_DUWN: // 0x14://左下
			if (ptz_cmd_execute_judge().manual_control == CMD_NOT_ALLOW)
			{
				ptz_reply(dev, CMD_FAIL);
				BSP_OS_SemPost(&pack_process_mutex);
				return;
			}
			g_ptz.hori_speed_control = pack->data[0] / 10.0;
			ptz_hori_rotate_plan(PTZ_HORI_LEFT_KEEP);
			g_ptz.hori_rotate_monitor_switch = PTZ_HORI_LEFT_KEEP;
			g_ptz.vert_speed_control = pack->data[1] / 10.0;
			ptz_vert_rotate_plan(PTZ_VERT_DOWN_KEEP);
			g_ptz.vert_rotate_monitor_switch = PTZ_VERT_DOWN_KEEP;
			ptz_reply(dev, CMD_RIGHT);
			break;

		case HYT_PACK_CMD_1_FUNC_KEEP_RIGHT_DUWN: // 0x12://右下
			if (ptz_cmd_execute_judge().manual_control == CMD_NOT_ALLOW)
			{
				ptz_reply(dev, CMD_FAIL);
				BSP_OS_SemPost(&pack_process_mutex);
				return;
			}
			g_ptz.hori_speed_control = pack->data[0] / 10.0;
			ptz_hori_rotate_plan(PTZ_HORI_RIGHT_KEEP);
			g_ptz.hori_rotate_monitor_switch = PTZ_HORI_RIGHT_KEEP;
			g_ptz.vert_speed_control = pack->data[1] / 10.0;
			ptz_vert_rotate_plan(PTZ_VERT_DOWN_KEEP);
			g_ptz.vert_rotate_monitor_switch = PTZ_VERT_DOWN_KEEP;
			ptz_reply(dev, CMD_RIGHT);
			break;

			/********************************** 角度定位 *********************************/

		case HYT_PACK_CMD_1_FUNC_LOCATE_VERT_ANGLE: // 0x4d://垂直角度控制
			if (ptz_cmd_execute_judge().manual_control == CMD_NOT_ALLOW)
			{
				ptz_reply(dev, CMD_FAIL);
				BSP_OS_SemPost(&pack_process_mutex);
				return;
			}
			// 云台定位回传
			ptz_location_return_angle_save(LOCATION_VERT, (unsigned char *)pack, dev);
			int16_angle = (pack->data[0] << 8) | pack->data[1];
			g_ptz.vert_angle_control = int16_angle / 100.0;
			g_ptz.vert_speed_control = PTZ_VERT_BEST_SPEED;
			ptz_vert_rotate_plan(PTZ_VERT_ANGLE);
			g_ptz.vert_rotate_monitor_switch = PTZ_VERT_ANGLE;
			ptz_reply(dev, CMD_RIGHT);
			break;

		case HYT_PACK_CMD_1_FUNC_LOCATE_HORI_ANGLE: // 0x4b://水平角度控制
			if (ptz_cmd_execute_judge().manual_control == CMD_NOT_ALLOW)
			{
				ptz_reply(dev, CMD_FAIL);
				BSP_OS_SemPost(&pack_process_mutex);
				return;
			}
			// 云台定位回传
			ptz_location_return_angle_save(LOCATION_HORI, (unsigned char *)pack, dev);
			g_ptz.hori_angle_control =
				((pack->data[0] << 8) | pack->data[1]) / 100.0;
			g_ptz.hori_speed_control = PTZ_HORI_BEST_SPEED;
			ptz_hori_rotate_plan(PTZ_HORI_MIN_DISTANCE);
			g_ptz.hori_rotate_monitor_switch = PTZ_HORI_MIN_DISTANCE;
			ptz_reply(dev, CMD_RIGHT);
			break;

			/********************************** 角度查询 *********************************/

		case HYT_PACK_CMD_1_FUNC_INQUIRE_VERT_ANGLE: // 0X53://查询垂直角度
			ptz_send_angle(dev, PTZ_VERT);
			break;

		case HYT_PACK_CMD_1_FUNC_INQUIRE_HORI_ANGLE: // 0x51://查询水平角度
			ptz_send_angle(dev, PTZ_HORI);
			break;

			/********************************* 预置位设置 ********************************/

		case HYT_PACK_CMD_1_FUNC_SET_PRESET_BIT_V: // 0x03://视频设置预置位
			if (ptz_cmd_execute_judge().preset_bit_set == CMD_NOT_ALLOW ||
				((pack->data[0] << 8) | pack->data[1]) >= PRESET_BIT_AMOUNT)
			{
				ptz_reply(dev, CMD_FAIL);
				BSP_OS_SemPost(&pack_process_mutex);
				return;
			}
			bit.hori_angle = g_ptz.hori_angle_actual;
			bit.vert_angle = g_ptz.vert_angle_actual;
			bit.focus_v = g_ptz.cameralens.focus_v;
			bit.zoom_v = g_ptz.cameralens.zoom_v;
			bit.enable = PRESET_BIT_ENABLE;
			bit.crc =
				ptz_preset_bit_crc(bit);
			ptz_preset_bit_save(bit, ((pack->data[0] << 8) | pack->data[1]));
			ptz_reply(dev, CMD_RIGHT);
			break;

		case HYT_PACK_CMD_1_FUNC_SELECT_PRESET_BIT: // 0x07://召回预置位
			if (ptz_cmd_execute_judge().preset_bit_call == CMD_NOT_ALLOW ||
				((pack->data[0] << 8) | pack->data[1]) >= PRESET_BIT_AMOUNT)
			{
				ptz_reply(dev, CMD_FAIL);
				BSP_OS_SemPost(&pack_process_mutex);
				return;
			}
			// 从FLASH读取预置位参数
			bit = ptz_preset_bit_read(((pack->data[0] << 8) | pack->data[1]));
			// 首先判断预置位编号是否正确,正确
			if ((bit.crc == // 判断效验码是否正确
				 ptz_preset_bit_crc(bit)) &&
				bit.enable == PRESET_BIT_ENABLE) // 判断预置位是否有效,有效
			{
				// 调用预置位
				g_ptz.vert_angle_control = bit.vert_angle;
				g_ptz.vert_speed_control = PTZ_VERT_BEST_SPEED;
				ptz_vert_rotate_plan(PTZ_VERT_ANGLE);
				g_ptz.vert_rotate_monitor_switch = PTZ_VERT_ANGLE;

				g_ptz.hori_angle_control = bit.hori_angle;
				g_ptz.hori_speed_control = PTZ_HORI_BEST_SPEED;
				ptz_hori_rotate_plan(PTZ_HORI_MIN_DISTANCE);
				g_ptz.hori_rotate_monitor_switch = PTZ_HORI_MIN_DISTANCE;

				g_ptz.cameralens.focus_v_bit = bit.focus_v;
				g_ptz.cameralens.zoom_v_bit = bit.zoom_v;
				g_ptz.cameralens.zoom_state = CAMERA_LES_ZOOM_BIT;
				g_ptz.cameralens.foucs_state = CAMERA_LES_FOCUS_BIT;

				ptz_preset_bit_location_return_save(((pack->data[0] << 8) | pack->data[1]), dev);

				ptz_reply(dev, CMD_RIGHT);
			}
			else
			{
				ptz_reply(dev, CMD_FAIL);
			}
			break;

		case HYT_PACK_CMD_1_FUNC_DELETE_PRESET_BIT: // 0x05://删除预置位
			if ((ptz_cmd_execute_judge().preset_bit_del == CMD_NOT_ALLOW ||
				 ((pack->data[0] << 8) | pack->data[1]) >= PRESET_BIT_AMOUNT) &&
				(pack->data[1] != 0xff && pack->data[0] != 0xff))
			{
				ptz_reply(dev, CMD_FAIL);
				BSP_OS_SemPost(&pack_process_mutex);
				return;
			}
			if (pack->data[1] == 0xff && pack->data[0] == 0xff) // 表示删除所有预置位
			{
				ptz_preset_bit_all_erase();
			}
			else // 删除指定预置位
			{
				bit.enable = PRESET_BIT_DISABLE;
				bit.crc =
					ptz_preset_bit_crc(bit);
			}
			ptz_preset_bit_save(bit, ((pack->data[0] << 8) | pack->data[1]));
			ptz_reply(dev, CMD_RIGHT);
			break;

			/******************************** 顶部辅助开关 *******************************/

		case HYT_PACK_CMD_1_FUNC_CONTROL_TOP_POWER_ON: // 0x09://打开辅助开关
			switch (pack->data[1])
			{
			case 3:
				PHOTO_POWER_PHOTO_ON;
				g_ptz.power.aux_switch_3 = POWER_ON;
				break;
			case 4:
				FARIR_POWER_FARIR_ON;
				g_ptz.power.aux_switch_4 = POWER_ON;
				break;
			}
			//            ptz_aux_switch(pack->data[1], POWER_ON);
			ptz_reply(dev, CMD_RIGHT);
			break;

		case HYT_PACK_CMD_1_FUNC_CONTROL_TOP_POWER_OFF: // 0x0b://关闭辅助开关
			switch (pack->data[1])
			{
			case 3:
				PHOTO_POWER_PHOTO_OFF;
				g_ptz.power.aux_switch_3 = POWER_OFF;
				break;
			case 4:
				FARIR_POWER_FARIR_OFF;
				g_ptz.power.aux_switch_4 = POWER_OFF;
				break;
			}
			//            ptz_aux_switch(pack->data[1], POWER_OFF);
			ptz_reply(dev, CMD_RIGHT);
			break;

			/********************************* flash擦除 ********************************/

		case HYT_PACK_CMD_1_FUNC_FLASH_ERASE: // 0x88://擦除flash
			FLASH_BulkErase();				  // FLASH整片擦除
			OSTimeDlyHMSM(0u, 0u, 2u, 0u);
			ptz_reply(dev, CMD_RIGHT);
			OSTimeDlyHMSM(0u, 0u, 1u, 0u);
			GD32_RESET(); // 系统重启
			break;

		case HYT_PACK_CMD_1_HORI_ANGLE_ERROR_SWITCH: // 0x89,,水平角度误差消除开关
			switch (pack->data[0])
			{
			case 0: // 水平角度误差消除关闭
				g_ptz.hori_angle_erro_switch = 0;
				break;
			case 1: // 水平角度误差消除打开
				g_ptz.hori_angle_erro_switch = 1;
				break;
			}
			break;

		case 0x8A: // 误差查询
			//        conut_state = 1;
			//        g_ptz.hori_as5047d.as5047d_state = 0;//数据不可正常使用
			int16_angle = (unsigned short int)(g_ptz.hori_angle_error * 100 + 0.5);
			angle_error[1] = g_ptz.address;
			angle_error[2] = 0x00;
			angle_error[3] = 0x8A;
			angle_error[4] = (unsigned char)(int16_angle >> 8 & 0x00ff);
			angle_error[5] = (unsigned char)(int16_angle & 0x00ff);
			angle_error[6] = MotorCalPelcoDSUM(angle_error, sizeof(angle_error));
			ptz_send_data(dev, angle_error, sizeof(angle_error));
			break;

			//      case 0x8B://误差放大系数
			//        Amplification_factor = pack->data[0];
			//        ptz_reply(dev, CMD_RIGHT);
			//        break;

		case 0x8c: // 上位机打印输出开关 ff01008c01008e
			switch (pack->data[0])
			{
			case 1: // 打开
				switch (dev)
				{
				case PTZ_UDP:
					g_ptz.ptz_printf.printf_fromlen = ptz_fromlen;
					memcpy(&g_ptz.ptz_printf.printf_from, &ptz_from, ptz_fromlen);
					g_ptz.ptz_printf.net_udp_printf_switch = LOCATION_RETURN_ON;
					break;

				case PTZ_UART_422:
					g_ptz.ptz_printf.uart_422_printf_switch = LOCATION_RETURN_ON;
					break;

				case PTZ_UART_485:
					g_ptz.ptz_printf.uart_485_printf_switch = LOCATION_RETURN_ON;
					break;
				}
				ptz_reply(dev, CMD_RIGHT);
				break;

			default: // 关闭
				switch (dev)
				{
				case PTZ_UDP:
					g_ptz.ptz_printf.net_udp_printf_switch = LOCATION_RETURN_OFF;
					break;

				case PTZ_UART_422:
					g_ptz.ptz_printf.uart_422_printf_switch = LOCATION_RETURN_OFF;
					break;

				case PTZ_UART_485:
					g_ptz.ptz_printf.uart_485_printf_switch = LOCATION_RETURN_OFF;
					break;
				}
				ptz_reply(dev, CMD_RIGHT);
				break;
			}
			break;
		}
	}

	/********************************** 自定义协议 ********************************/

	if (pack->command[0] != 0)
	{
		switch (pack->command[0])
		{

			/******************************** 角度定位（速度） ***************************/
		case HYT_PACK_CMD_0_FUNC_LOCATE_HORI_ANGLE_SPEED: // 0x4b:以设定的速度到达指定水平位置
			if (ptz_cmd_execute_judge().manual_control == CMD_NOT_ALLOW)
			{
				ptz_reply(dev, CMD_FAIL);
				BSP_OS_SemPost(&pack_process_mutex);
				return;
			}
			// 云台定位回传
			ptz_location_return_angle_save(LOCATION_HORI, (unsigned char *)pack, dev);
			g_ptz.hori_speed_control = pack->command[1] / 10.0;
			g_ptz.hori_angle_control = ((pack->data[0] << 8) | pack->data[1]) / 100.0;
			ptz_hori_rotate_plan(PTZ_HORI_MIN_DISTANCE);
			g_ptz.hori_rotate_monitor_switch = PTZ_HORI_MIN_DISTANCE;
			ptz_reply(dev, CMD_RIGHT);
			break;

		case HYT_PACK_CMD_0_FUNC_LOCATE_VERT_ANGLE_SPEED: // 0x4d:以设定的速度到达指定垂直位置
			if (ptz_cmd_execute_judge().manual_control == CMD_NOT_ALLOW)
			{
				ptz_reply(dev, CMD_FAIL);
				BSP_OS_SemPost(&pack_process_mutex);
				return;
			}
			// 云台定位回传
			ptz_location_return_angle_save(LOCATION_VERT, (unsigned char *)pack, dev);
			int16_angle = (pack->data[0] << 8) | pack->data[1];
			g_ptz.vert_angle_control = int16_angle / 100.0;
			g_ptz.vert_speed_control = pack->command[1] / 10.0;
			ptz_vert_rotate_plan(PTZ_VERT_ANGLE);
			g_ptz.vert_rotate_monitor_switch = PTZ_VERT_ANGLE;
			ptz_reply(dev, CMD_RIGHT);
			break;

		case HYT_PACK_CMD_0_FUNC_CONTROL_HORI_ANGLE: // 0xbd:水平角度方向定位控制
			if (ptz_cmd_execute_judge().manual_control == CMD_NOT_ALLOW)
			{
				ptz_reply(dev, CMD_FAIL);
				BSP_OS_SemPost(&pack_process_mutex);
				return;
			}
			// 云台定位回传
			ptz_location_return_angle_save(LOCATION_HORI, (unsigned char *)pack, dev);
			switch (pack->command[1])
			{
			case 0x00: // 向右转动到指定角度
				g_ptz.hori_angle_control = ((pack->data[0] << 8) | pack->data[1]) / 100.0;
				g_ptz.hori_speed_control = PTZ_HORI_BEST_SPEED;
				ptz_hori_rotate_plan(PTZ_HORI_RIGHT_ANGLE);
				g_ptz.hori_rotate_monitor_switch = PTZ_HORI_RIGHT_ANGLE;
				break;

			case 0x01: // 向左转动到指定角度
				g_ptz.hori_angle_control = ((pack->data[0] << 8) | pack->data[1]) / 100.0;
				g_ptz.hori_speed_control = PTZ_HORI_BEST_SPEED;
				ptz_hori_rotate_plan(PTZ_HORI_LEFT_ANGLE);
				g_ptz.hori_rotate_monitor_switch = PTZ_HORI_LEFT_ANGLE;
				break;

			case 0x02: // 向右转动一整圈
				g_ptz.hori_angle_control = g_ptz.hori_angle_actual;
				g_ptz.hori_speed_control = PTZ_HORI_BEST_SPEED;
				ptz_hori_rotate_plan(PTZ_HORI_RIGHT_CYCLE);
				g_ptz.hori_rotate_monitor_switch = PTZ_HORI_RIGHT_CYCLE;
				break;

			case 0x03: // 向左转动一整圈
				g_ptz.hori_angle_control = g_ptz.hori_angle_actual;
				g_ptz.hori_speed_control = PTZ_HORI_BEST_SPEED;
				ptz_hori_rotate_plan(PTZ_HORI_LEFT_CYCLE);
				g_ptz.hori_rotate_monitor_switch = PTZ_HORI_LEFT_CYCLE;
				break;
			}
			ptz_reply(dev, CMD_RIGHT);
			break;

		case HYT_PACK_CMD_0_FUNC_ANGLE_LOCATION_RETURN_SWITCH: // 0xc5:角度定位回传打开/关闭
			switch (pack->command[1])
			{
			case LOCATION_RETURN_ON: // 打开
				switch (dev)
				{
				case PTZ_UDP:
					g_ptz.location_return.hori_cmd_fromlen = ptz_fromlen;
					memcpy(&g_ptz.location_return.hori_cmd_from, &ptz_from, ptz_fromlen);
					g_ptz.location_return.vert_cmd_fromlen = ptz_fromlen;
					memcpy(&g_ptz.location_return.vert_cmd_from, &ptz_from, ptz_fromlen);

					g_ptz.location_return.net_udp_location_switch = LOCATION_RETURN_ON;
					break;

				case PTZ_UART_422:
					g_ptz.location_return.uart_422_location_switch = LOCATION_RETURN_ON;
					break;

				case PTZ_UART_485:
					g_ptz.location_return.uart_485_location_switch = LOCATION_RETURN_ON;
					break;
				}
				ptz_reply(dev, CMD_RIGHT);
				break;

			default: // 关闭
				switch (dev)
				{
				case PTZ_UDP:
					g_ptz.location_return.net_udp_location_switch = LOCATION_RETURN_OFF;
					break;

				case PTZ_UART_422:
					g_ptz.location_return.uart_422_location_switch = LOCATION_RETURN_OFF;
					break;

				case PTZ_UART_485:
					g_ptz.location_return.uart_485_location_switch = LOCATION_RETURN_OFF;
					break;
				}
				ptz_reply(dev, CMD_RIGHT);
				break;
			}
			break;

			/**************************预置位设置、控制指令********************************/

		case HYT_PACK_CMD_0_FUNC_SET_PRESET_BIT_HORI_A: // 0xe4:通过给定角度设置预置位的水平角度
			if (ptz_cmd_execute_judge().preset_bit_set == CMD_NOT_ALLOW ||
				pack->command[1] >= PRESET_BIT_AMOUNT)
			{
				ptz_reply(dev, CMD_FAIL);
				BSP_OS_SemPost(&pack_process_mutex);
				return;
			}
			// 从FLASH读取预置位参数
			bit = ptz_preset_bit_read(pack->command[1]);

			bit.hori_angle =
				((unsigned short int)((pack->data[0] << 8) | pack->data[1])) / 100.0;
			bit.enable = PRESET_BIT_ENABLE;
			bit.crc =
				ptz_preset_bit_crc(bit);
			ptz_preset_bit_save(bit, pack->command[1]);
			ptz_reply(dev, CMD_RIGHT);
			break;

		case HYT_PACK_CMD_0_FUNC_SET_PRESET_BIT_VERT_A: // 0xe5:通过给定角度设置预置位的垂直角度
			if (ptz_cmd_execute_judge().preset_bit_set == CMD_NOT_ALLOW ||
				pack->command[1] >= PRESET_BIT_AMOUNT)
			{
				ptz_reply(dev, CMD_FAIL);
				BSP_OS_SemPost(&pack_process_mutex);
				return;
			}

			// 从FLASH读取预置位参数
			bit = ptz_preset_bit_read(pack->command[1]);

			bit.vert_angle =
				((short int)((pack->data[0] << 8) | pack->data[1])) / 100.0;
			bit.enable = PRESET_BIT_ENABLE;
			bit.crc =
				ptz_preset_bit_crc(bit);
			ptz_preset_bit_save(bit, pack->command[1]);
			ptz_reply(dev, CMD_RIGHT);
			break;

		case HYT_PACK_CMD_0_FUNC_SET_PRESET_BIT_STOP_TIME: // 0xf1:设置预置位停留时间
			if (ptz_cmd_execute_judge().preset_bit_set == CMD_NOT_ALLOW ||
				pack->command[1] >= PRESET_BIT_AMOUNT)
			{
				ptz_reply(dev, CMD_FAIL);
				BSP_OS_SemPost(&pack_process_mutex);
				return;
			}
			// 从FLASH读取预置位参数
			bit = ptz_preset_bit_read(pack->command[1]);
			bit.step_stop_time = (pack->data[0] << 8) | pack->data[1];
			bit.crc =
				ptz_preset_bit_crc(bit);
			ptz_preset_bit_save(bit, pack->command[1]);
			ptz_reply(dev, CMD_RIGHT);
			break;

		case HYT_PACK_CMD_0_FUNC_SET_PRESET_BIT_SPEED: // 0xf2:设置到达预置位的速度
			if (ptz_cmd_execute_judge().preset_bit_set == CMD_NOT_ALLOW ||
				pack->command[1] >= PRESET_BIT_AMOUNT)
			{
				ptz_reply(dev, CMD_FAIL);
				BSP_OS_SemPost(&pack_process_mutex);
				return;
			}
			// 从FLASH读取预置位参数
			bit = ptz_preset_bit_read(pack->command[1]);
			bit.hori_scan_speed = pack->data[0] / 10.0;
			bit.vert_scan_speed = pack->data[1] / 10.0;
			bit.crc = ptz_preset_bit_crc(bit);
			ptz_preset_bit_save(bit, pack->command[1]);
			ptz_reply(dev, CMD_RIGHT);
			break;
		case HYT_PACK_CMD_0_TYPE_SET_PRESET_BIT_MODEL: // 0xf0 打开预置位巡航、暂停预置位巡航、关闭预置位巡航、恢复预置位巡航
			switch (pack->command[1])
			{
			case 0x01: // 打开预置位扫描,预置位循环扫描
				if (ptz_cmd_execute_judge().preset_bit_scan_start == CMD_NOT_ALLOW ||
					pack->data[0] >= PRESET_BIT_AMOUNT ||
					pack->data[1] >= PRESET_BIT_AMOUNT)
				{
					ptz_reply(dev, CMD_FAIL);
					BSP_OS_SemPost(&pack_process_mutex);
					return;
				}
				ptz_return_clear();
				memset(&g_preset_bit_scan, 0, sizeof(g_preset_bit_scan));
				g_preset_bit_scan.start_num = pack->data[0];
				g_preset_bit_scan.end_num = pack->data[1];
				g_preset_bit_scan.state = PRESET_BIT_SCAN_START;
				g_preset_bit_scan.mode = 0;
				ptz_reply(dev, CMD_RIGHT);
				break;

			case 0x02: // 暂停预置位扫描
				if (ptz_cmd_execute_judge().preset_bit_scan_pause == CMD_NOT_ALLOW)
				{
					ptz_reply(dev, CMD_FAIL);
					BSP_OS_SemPost(&pack_process_mutex);
					return;
				}
				g_preset_bit_scan.state = PRESET_BIT_SCAN_PAUSE_A;
				ptz_reply(dev, CMD_RIGHT);
				break;

			case 0x03: // 恢复预置位扫描
				if (ptz_cmd_execute_judge().preset_bit_scan_recovery == CMD_NOT_ALLOW)
				{
					ptz_reply(dev, CMD_FAIL);
					BSP_OS_SemPost(&pack_process_mutex);
					return;
				}
				ptz_return_clear();
				g_preset_bit_scan.state = PRESET_BIT_SCAN_RECOVERY;
				ptz_reply(dev, CMD_RIGHT);
				break;

			case 0x04: // 彻底关闭预置位扫描
				if (ptz_cmd_execute_judge().preset_bit_scan_close == CMD_NOT_ALLOW)
				{
					ptz_reply(dev, CMD_FAIL);
					BSP_OS_SemPost(&pack_process_mutex);
					return;
				}
				g_preset_bit_scan.state = PRESET_BIT_SCAN_CLOSE_A;
				ptz_reply(dev, CMD_RIGHT);
				break;

			case 0x05: // 打开预置位扫描，单次预置位扫描，即从起始预置位扫描到结束预置位就自动关闭扫描
				if (ptz_cmd_execute_judge().preset_bit_scan_start == CMD_NOT_ALLOW ||
					pack->data[0] >= PRESET_BIT_AMOUNT ||
					pack->data[1] >= PRESET_BIT_AMOUNT)
				{
					ptz_reply(dev, CMD_FAIL);
					BSP_OS_SemPost(&pack_process_mutex);
					return;
				}
				ptz_return_clear();
				memset(&g_preset_bit_scan, 0, sizeof(g_preset_bit_scan));
				g_preset_bit_scan.start_num = pack->data[0];
				g_preset_bit_scan.end_num = pack->data[1];
				g_preset_bit_scan.state = PRESET_BIT_SCAN_START;
				g_preset_bit_scan.mode = 1;
				ptz_reply(dev, CMD_RIGHT);
				break;
			}
			break;

		case HYT_PACK_CMD_0_TYPE_RETURN_PRESET_BIT_SWITCH: // 0x9f,预置位回传开关
			switch (pack->command[1])
			{
			case PRESET_BIT_SCAN_END_RETURN_OFF: // 0//关闭预置位扫描结束回传
				switch (dev)
				{
				case PTZ_UDP:
					g_ptz.preset_bit_return.preset_bit_scan_end_udp_switch = PRESET_BIT_RETURN_OFF;
					break;

				case PTZ_UART_422:
					g_ptz.preset_bit_return.preset_bit_scan_end_uart_422_switch = PRESET_BIT_RETURN_OFF;
					break;

				case PTZ_UART_485:
					g_ptz.preset_bit_return.preset_bit_scan_end_uart_485_switch = PRESET_BIT_RETURN_OFF;
					break;
				}
				break;

			case PRESET_BIT_SCAN_END_RETURN_ON: // 1//打开预置位扫描结束回传
				switch (dev)
				{
				case PTZ_UDP:
					g_ptz.preset_bit_return.preset_bit_scan_end_fromlen = ptz_fromlen;
					memcpy(&g_ptz.preset_bit_return.preset_bit_scan_end_from, &ptz_from, ptz_fromlen);

					g_ptz.preset_bit_return.preset_bit_scan_end_udp_switch = PRESET_BIT_RETURN_ON;
					break;

				case PTZ_UART_422:
					g_ptz.preset_bit_return.preset_bit_scan_end_uart_422_switch = PRESET_BIT_RETURN_ON;
					break;

				case PTZ_UART_485:
					g_ptz.preset_bit_return.preset_bit_scan_end_uart_485_switch = PRESET_BIT_RETURN_ON;
					break;
				}
				break;

			case PRESET_BIT_SCAN_LOCATION_RETURN_ON: // 2//打开预置位扫描到位回传
				switch (dev)
				{
				case PTZ_UDP:
					g_ptz.preset_bit_return.preset_bit_scan_location_fromlen = ptz_fromlen;
					memcpy(&g_ptz.preset_bit_return.preset_bit_scan_location_from, &ptz_from, ptz_fromlen);

					g_ptz.preset_bit_return.preset_bit_scan_location_udp_switch = PRESET_BIT_RETURN_ON;
					break;

				case PTZ_UART_422:
					g_ptz.preset_bit_return.preset_bit_scan_location_uart_422_switch = PRESET_BIT_RETURN_ON;
					break;

				case PTZ_UART_485:
					g_ptz.preset_bit_return.preset_bit_scan_location_uart_485_switch = PRESET_BIT_RETURN_ON;
					break;
				}
				break;

			case PRESET_BIT_SCAN_LOCATION_RETURN_OFF: // 3//关闭预置位扫描到位回传
				switch (dev)
				{
				case PTZ_UDP:
					g_ptz.preset_bit_return.preset_bit_scan_location_udp_switch = PRESET_BIT_RETURN_OFF;
					break;

				case PTZ_UART_422:
					g_ptz.preset_bit_return.preset_bit_scan_location_uart_422_switch = PRESET_BIT_RETURN_OFF;
					break;

				case PTZ_UART_485:
					g_ptz.preset_bit_return.preset_bit_scan_location_uart_485_switch = PRESET_BIT_RETURN_OFF;
					break;
				}
				break;

			case PRESET_BIT_LOCATION_RETURN_ON: // 4//打开普通调用预置位到位回传
				switch (dev)
				{
				case PTZ_UDP:
					g_ptz.preset_bit_return.preset_bit_location_fromlen = ptz_fromlen;
					memcpy(&g_ptz.preset_bit_return.preset_bit_location_from, &ptz_from, ptz_fromlen);

					g_ptz.preset_bit_return.preset_bit_location_udp_switch = PRESET_BIT_RETURN_ON;
					break;

				case PTZ_UART_422:
					g_ptz.preset_bit_return.preset_bit_location_uart_422_switch = PRESET_BIT_RETURN_ON;
					break;

				case PTZ_UART_485:
					g_ptz.preset_bit_return.preset_bit_location_uart_485_switch = PRESET_BIT_RETURN_ON;
					break;
				}
				break;

			case PRESET_BIT_LOCATION_RETURN_OFF: // 5//关闭普通调用预置位到位回传
				switch (dev)
				{
				case PTZ_UDP:
					g_ptz.preset_bit_return.preset_bit_location_udp_switch = PRESET_BIT_RETURN_OFF;
					break;

				case PTZ_UART_422:
					g_ptz.preset_bit_return.preset_bit_location_uart_422_switch = PRESET_BIT_RETURN_OFF;
					break;

				case PTZ_UART_485:
					g_ptz.preset_bit_return.preset_bit_location_uart_485_switch = PRESET_BIT_RETURN_OFF;
					break;
				}
				break;
			}
			ptz_reply(dev, CMD_RIGHT);
			break;

		case HYT_PACK_CMD_0_TYPE_INQUIRE_PRESET_SCAN_DATA: // 0xea预置位参数查询
			if (ptz_cmd_execute_judge().preset_bit_set == CMD_NOT_ALLOW)
			{
				ptz_reply(dev, CMD_FAIL);
				BSP_OS_SemPost(&pack_process_mutex);
				return;
			}
			presetbit_data_return(dev, pack->command[1]);
			ptz_reply(dev, CMD_RIGHT);
			break;

			/****************************  区域扫描控制指令  ******************************/

		case HYT_PACK_CMD_0_FUNC_SET_SCAN_HORI_START_BORDER_V: // 0xe6:通过视频设置扫描水平起始边界
			if (ptz_cmd_execute_judge().area_set == CMD_NOT_ALLOW ||
				pack->command[1] >= AREA_AMOUNT)
			{
				ptz_reply(dev, CMD_FAIL);
				BSP_OS_SemPost(&pack_process_mutex);
				return;
			}
			g_area[pack->command[1]].hori_start_angle = g_ptz.hori_angle_actual;
			g_area[pack->command[1]].hsa = 1;
			g_area[pack->command[1]].enable =
				ptz_area_auto_enable(g_area[pack->command[1]]);
			g_area[pack->command[1]].crc = ptz_area_crc(g_area[pack->command[1]]);
			ptz_reply(dev, CMD_RIGHT);
			break;

		case HYT_PACK_CMD_0_FUNC_SET_SCAN_HORI_END_BOTDER_V: // 0xe7:通过视频设置扫描水平结束边界
			if (ptz_cmd_execute_judge().area_set == CMD_NOT_ALLOW ||
				pack->command[1] >= AREA_AMOUNT)
			{
				ptz_reply(dev, CMD_FAIL);
				BSP_OS_SemPost(&pack_process_mutex);
				return;
			}
			g_area[pack->command[1]].hori_end_angle = g_ptz.hori_angle_actual;
			g_area[pack->command[1]].hea = 1;
			g_area[pack->command[1]].enable =
				ptz_area_auto_enable(g_area[pack->command[1]]);
			g_area[pack->command[1]].crc = ptz_area_crc(g_area[pack->command[1]]);
			ptz_reply(dev, CMD_RIGHT);
			break;

		case HYT_PACK_CMD_0_FUNC_SET_SCAN_VERT_START_BORDER_V: // 0xe8:通过视频设置扫描垂直起始边界
			if (ptz_cmd_execute_judge().area_set == CMD_NOT_ALLOW ||
				pack->command[1] >= AREA_AMOUNT)
			{
				ptz_reply(dev, CMD_FAIL);
				BSP_OS_SemPost(&pack_process_mutex);
				return;
			}
			g_area[pack->command[1]].vert_start_angle = g_ptz.vert_angle_actual;
			g_area[pack->command[1]].vsa = 1;
			g_area[pack->command[1]].enable =
				ptz_area_auto_enable(g_area[pack->command[1]]);
			g_area[pack->command[1]].crc = ptz_area_crc(g_area[pack->command[1]]);
			ptz_reply(dev, CMD_RIGHT);
			break;

		case HYT_PACK_CMD_0_FUNC_SET_SCAN_VERT_END_BORDER_V: // 0xe9:通过视频设置扫描垂直结束边界
			if (ptz_cmd_execute_judge().area_set == CMD_NOT_ALLOW ||
				pack->command[1] >= AREA_AMOUNT)
			{
				ptz_reply(dev, CMD_FAIL);
				BSP_OS_SemPost(&pack_process_mutex);
				return;
			}
			g_area[pack->command[1]].vert_end_angle = g_ptz.vert_angle_actual;
			g_area[pack->command[1]].vea = 1;
			g_area[pack->command[1]].enable =
				ptz_area_auto_enable(g_area[pack->command[1]]);
			g_area[pack->command[1]].crc = ptz_area_crc(g_area[pack->command[1]]);
			ptz_reply(dev, CMD_RIGHT);
			break;

		case HYT_PACK_CMD_0_FUNC_SET_SCAN_HORI_VERT_STOP_TIME: // 0xf6:设置区域扫描水平垂直停止时间
			if (ptz_cmd_execute_judge().area_set == CMD_NOT_ALLOW ||
				pack->command[1] >= AREA_AMOUNT)
			{
				ptz_reply(dev, CMD_FAIL);
				BSP_OS_SemPost(&pack_process_mutex);
				return;
			}
			g_area[pack->command[1]].step_stop_time =
				(pack->data[0] << 8) | pack->data[1];
			g_area[pack->command[1]].crc = ptz_area_crc(g_area[pack->command[1]]);
			ptz_reply(dev, CMD_RIGHT);
			break;

		case HYT_PACK_CMD_0_FUNC_SET_SCAN_HORI_START_BORDER_A: // 0xf7:通过角度设置区域扫描水平起始边界
			if (ptz_cmd_execute_judge().area_set == CMD_NOT_ALLOW ||
				pack->command[1] >= AREA_AMOUNT)
			{
				ptz_reply(dev, CMD_FAIL);
				BSP_OS_SemPost(&pack_process_mutex);
				return;
			}
			g_area[pack->command[1]].hori_start_angle =
				((unsigned short int)((pack->data[0] << 8) | pack->data[1])) / 100.0;
			g_area[pack->command[1]].hsa = 1;
			g_area[pack->command[1]].enable =
				ptz_area_auto_enable(g_area[pack->command[1]]);
			g_area[pack->command[1]].crc = ptz_area_crc(g_area[pack->command[1]]);
			ptz_reply(dev, CMD_RIGHT);
			break;

		case HYT_PACK_CMD_0_FUNC_SET_SCAN_HORI_END_BOTDER_A: // 0xf8:通过角度设置区域扫描水平结束边界
			if (ptz_cmd_execute_judge().area_set == CMD_NOT_ALLOW ||
				pack->command[1] >= AREA_AMOUNT)
			{
				ptz_reply(dev, CMD_FAIL);
				BSP_OS_SemPost(&pack_process_mutex);
				return;
			}
			g_area[pack->command[1]].hori_end_angle =
				((unsigned short int)((pack->data[0] << 8) | pack->data[1])) / 100.0;
			g_area[pack->command[1]].hea = 1;
			g_area[pack->command[1]].enable =
				ptz_area_auto_enable(g_area[pack->command[1]]);
			g_area[pack->command[1]].crc = ptz_area_crc(g_area[pack->command[1]]);
			ptz_reply(dev, CMD_RIGHT);
			break;

		case HYT_PACK_CMD_0_FUNC_SET_SCAN_VERT_START_BORDER_A: // 0xf9通过角度设置区域扫描垂直起始边界
			if (ptz_cmd_execute_judge().area_set == CMD_NOT_ALLOW ||
				pack->command[1] >= AREA_AMOUNT)
			{
				ptz_reply(dev, CMD_FAIL);
				BSP_OS_SemPost(&pack_process_mutex);
				return;
			}
			g_area[pack->command[1]].vert_start_angle =
				((short int)((pack->data[0] << 8) | pack->data[1])) / 100.0;
			// 防止角度超出界限
			if (g_area[pack->command[1]].vert_start_angle > g_ptz.vert_angleP.angle_allow_max)
			{
				g_area[pack->command[1]].vert_start_angle = g_ptz.vert_angleP.angle_allow_max;
			}
			if (g_area[pack->command[1]].vert_start_angle < g_ptz.vert_angleP.angle_allow_min)
			{
				g_area[pack->command[1]].vert_start_angle = g_ptz.vert_angleP.angle_allow_min;
			}

			g_area[pack->command[1]].vsa = 1;
			g_area[pack->command[1]].enable =
				ptz_area_auto_enable(g_area[pack->command[1]]);
			g_area[pack->command[1]].crc = ptz_area_crc(g_area[pack->command[1]]);
			ptz_reply(dev, CMD_RIGHT);
			break;

		case HYT_PACK_CMD_0_FUNC_SET_SCAN_VERT_END_BORDER_A: // 0xfa:通过角度设置区域扫描垂直结束边界
			if (ptz_cmd_execute_judge().area_set == CMD_NOT_ALLOW ||
				pack->command[1] >= AREA_AMOUNT)
			{
				ptz_reply(dev, CMD_FAIL);
				BSP_OS_SemPost(&pack_process_mutex);
				return;
			}
			g_area[pack->command[1]].vert_end_angle =
				((short int)((pack->data[0] << 8) | pack->data[1])) / 100.0;
			// 防止角度超出界限
			if (g_area[pack->command[1]].vert_end_angle > g_ptz.vert_angleP.angle_allow_max)
			{
				g_area[pack->command[1]].vert_end_angle = g_ptz.vert_angleP.angle_allow_max;
			}
			if (g_area[pack->command[1]].vert_end_angle < g_ptz.vert_angleP.angle_allow_min)
			{
				g_area[pack->command[1]].vert_end_angle = g_ptz.vert_angleP.angle_allow_min;
			}

			g_area[pack->command[1]].vea = 1;
			g_area[pack->command[1]].enable =
				ptz_area_auto_enable(g_area[pack->command[1]]);
			g_area[pack->command[1]].crc = ptz_area_crc(g_area[pack->command[1]]);
			ptz_reply(dev, CMD_RIGHT);
			break;

		case HYT_PACK_CMD_0_FUNC_SET_SCAN_HORI_GAP_ANGLE: // 0xfb通过发送角度设置水平扫描间隔角度
			if (ptz_cmd_execute_judge().area_set == CMD_NOT_ALLOW ||
				pack->command[1] >= AREA_AMOUNT)
			{
				ptz_reply(dev, CMD_FAIL);
				BSP_OS_SemPost(&pack_process_mutex);
				return;
			}
			g_area[pack->command[1]].hori_step_angle =
				((unsigned short int)((pack->data[0] << 8) | pack->data[1])) / 100.0;
			g_area[pack->command[1]].h_step = 1;
			g_area[pack->command[1]].enable =
				ptz_area_auto_enable(g_area[pack->command[1]]);
			g_area[pack->command[1]].crc = ptz_area_crc(g_area[pack->command[1]]);
			ptz_reply(dev, CMD_RIGHT);
			break;

		case HYT_PACK_CMD_0_FUNC_SET_SCAN_VERT_GAP_ANGLE: // 0xfc:通过发送角度设置垂直扫描间隔角度
			if (ptz_cmd_execute_judge().area_set == CMD_NOT_ALLOW ||
				pack->command[1] >= AREA_AMOUNT)
			{
				ptz_reply(dev, CMD_FAIL);
				BSP_OS_SemPost(&pack_process_mutex);
				return;
			}
			g_area[pack->command[1]].vert_step_angle =
				((unsigned short int)((pack->data[0] << 8) | pack->data[1])) / 100.0;
			g_area[pack->command[1]].v_step = 1;
			g_area[pack->command[1]].enable =
				ptz_area_auto_enable(g_area[pack->command[1]]);
			g_area[pack->command[1]].crc = ptz_area_crc(g_area[pack->command[1]]);
			ptz_reply(dev, CMD_RIGHT);
			break;

		case HYT_PACK_CMD_0_FUNC_SET_SCAN_HORI_VERT_SPEED: // 0xfd:设置区域扫描水平垂直扫描速度
			if (ptz_cmd_execute_judge().area_set == CMD_NOT_ALLOW ||
				pack->command[1] >= AREA_AMOUNT)
			{
				ptz_reply(dev, CMD_FAIL);
				BSP_OS_SemPost(&pack_process_mutex);
				return;
			}
			g_area[pack->command[1]].hori_scan_speed = pack->data[0] / 10.0;
			g_area[pack->command[1]].vert_scan_speed = pack->data[1] / 10.0;
			g_area[pack->command[1]].crc = ptz_area_crc(g_area[pack->command[1]]);
			ptz_reply(dev, CMD_RIGHT);
			break;

		case HYT_PACK_CMD_0_FUNC_SAVE_AREA_SCAN_DATA: // 0xf3:保存区域扫描参数
			ptz_area_save();
			ptz_reply(dev, CMD_RIGHT);
			break;

		case HYT_PACK_CMD_0_TYPE_SET_SCAN_STATE: // 0xf4:区域扫描状态，使能或不使能某个扫描区域
			if (ptz_cmd_execute_judge().area_set == CMD_NOT_ALLOW ||
				pack->command[1] >= AREA_AMOUNT)
			{
				ptz_reply(dev, CMD_FAIL);
				BSP_OS_SemPost(&pack_process_mutex);
				return;
			}
			if (pack->data[1] == 0xff) // 删除所有扫描区域
			{
				memset(g_area, 0, sizeof(g_area));
			}
			else // 使能和不使能某个扫描区域
			{
				if (pack->data[0] == AREA_ENABLE)
				{
					g_area[pack->command[1]].enable = AREA_ENABLE;
				}
				else
				{
					g_area[pack->command[1]].enable = AREA_DISABLE;
				}
			}
			ptz_reply(dev, CMD_RIGHT);
			break;

		case HYT_PACK_CMD_0_TYPE_SET_AREA_SCAN_FUNC: // 0xf5:设置区域扫描扫描模式
			switch (pack->command[1])
			{
			case 1: // 启动单个区域扫描
			case 0:
				if (ptz_cmd_execute_judge().area_scan_start == CMD_NOT_ALLOW ||
					pack->data[0] >= AREA_AMOUNT)
				{
					ptz_reply(dev, CMD_FAIL);
					BSP_OS_SemPost(&pack_process_mutex);
					return;
				}
				ptz_return_clear();
				g_area_scan.start_num = pack->data[0];
				g_area_scan.sin_mul_mode = AREA_SIN_SCAN;
				g_area_scan.state = AREA_SCAN_START;
				ptz_reply(dev, CMD_RIGHT);
				break;

			case 2: // 启动多个区域扫描
				if (ptz_cmd_execute_judge().area_scan_start == CMD_NOT_ALLOW ||
					pack->data[0] >= AREA_AMOUNT ||
					pack->data[1] >= AREA_AMOUNT)
				{
					ptz_reply(dev, CMD_FAIL);
					BSP_OS_SemPost(&pack_process_mutex);
					return;
				}
				ptz_return_clear();
				g_area_scan.start_num = pack->data[0];
				g_area_scan.end_num = pack->data[1];
				g_area_scan.sin_mul_mode = AREA_MUL_SCAN;
				g_area_scan.state = AREA_SCAN_START;
				ptz_reply(dev, CMD_RIGHT);
				break;

			case 3: // 暂停扫描
				if (ptz_cmd_execute_judge().area_scan_pause == CMD_NOT_ALLOW ||
					pack->data[0] >= AREA_AMOUNT ||
					pack->data[1] >= AREA_AMOUNT)
				{
					ptz_reply(dev, CMD_FAIL);
					BSP_OS_SemPost(&pack_process_mutex);
					return;
				}
				g_area_scan.state = AREA_SCAN_PAUSE_A;
				ptz_reply(dev, CMD_RIGHT);
				break;

			case 4: // 恢复扫描
				if (ptz_cmd_execute_judge().area_scan_recovery == CMD_NOT_ALLOW ||
					pack->data[0] >= AREA_AMOUNT ||
					pack->data[1] >= AREA_AMOUNT)
				{
					ptz_reply(dev, CMD_FAIL);
					BSP_OS_SemPost(&pack_process_mutex);
					return;
				}
				ptz_return_clear();
				g_area_scan.state = AREA_SCAN_RECOVERY;
				ptz_reply(dev, CMD_RIGHT);
				break;

			case 5: // 彻底关闭扫描
				if (ptz_cmd_execute_judge().area_scan_close == CMD_NOT_ALLOW ||
					pack->data[0] >= AREA_AMOUNT)
				{
					ptz_reply(dev, CMD_FAIL);
					BSP_OS_SemPost(&pack_process_mutex);
					return;
				}
				g_area_scan.state = AREA_SCAN_CLOSE_A;
				ptz_reply(dev, CMD_RIGHT);
				break;

			case 6: // 设置某个区域的扫描模式
				if (ptz_cmd_execute_judge().area_set == CMD_NOT_ALLOW ||
					pack->data[0] >= AREA_AMOUNT)
				{
					ptz_reply(dev, CMD_FAIL);
					BSP_OS_SemPost(&pack_process_mutex);
					return;
				}
				if (pack->data[1] == AREA_SCAN_MODE_STEP)
				{
					g_area[pack->data[0]].scan_mode = AREA_SCAN_MODE_STEP;
				}
				else // AREA_SCAN_MODE_CONT
				{
					g_area[pack->data[0]].scan_mode = AREA_SCAN_MODE_CONT;
				}
				g_area[pack->data[0]].crc = ptz_area_crc(g_area[pack->data[0]]);
				ptz_reply(dev, CMD_RIGHT);
				break;
			}
			break;

		case HYT_PACK_CMD_0_TYPE_AREA_SCAN_RETURN_SWITCH: // 0xc4:设置区域扫描回传开关
			switch (pack->command[1])
			{
			case AREA_SCAN_END_RETURN_ON: // 打开
				switch (dev)
				{
				case PTZ_UDP:
					ptz_area_scan_end_return_save(dev);
					g_ptz.area_scan_return.area_scan_end_udp_switch = AREA_SCAN_RETURN_ON;
					break;

				case PTZ_UART_422:
					g_ptz.area_scan_return.area_scan_end_uart_422_switch = AREA_SCAN_RETURN_ON;
					break;

				case PTZ_UART_485:
					g_ptz.area_scan_return.area_scan_end_uart_485_switch = AREA_SCAN_RETURN_ON;
					break;
				}
				break;

			case AREA_SCAN_END_RETURN_OFF: // 关闭
				switch (dev)
				{
				case PTZ_UDP:
					g_ptz.area_scan_return.area_scan_end_udp_switch = AREA_SCAN_RETURN_OFF;
					break;

				case PTZ_UART_422:
					g_ptz.area_scan_return.area_scan_end_uart_422_switch = AREA_SCAN_RETURN_OFF;
					break;

				case PTZ_UART_485:
					g_ptz.area_scan_return.area_scan_end_uart_485_switch = AREA_SCAN_RETURN_OFF;
					break;
				}
				break;

			case AREA_STEP_SCAN_LOCATION_RETURN_ON: // 打开
				switch (dev)
				{
				case PTZ_UDP:
					ptz_area_step_scan_location_return_save(dev);
					g_ptz.area_scan_return.area_step_scan_location_udp_switch = AREA_SCAN_RETURN_ON;
					break;

				case PTZ_UART_422:
					g_ptz.area_scan_return.area_step_scan_location_uart_422_switch = AREA_SCAN_RETURN_ON;
					break;

				case PTZ_UART_485:
					g_ptz.area_scan_return.area_step_scan_location_uart_485_switch = AREA_SCAN_RETURN_ON;
					break;
				}
				break;

			case AREA_STEP_SCAN_LOCATION_RETURN_OFF: // 关闭
				switch (dev)
				{
				case PTZ_UDP:
					g_ptz.area_scan_return.area_step_scan_location_udp_switch = AREA_SCAN_RETURN_OFF;
					break;

				case PTZ_UART_422:
					g_ptz.area_scan_return.area_step_scan_location_uart_422_switch = AREA_SCAN_RETURN_OFF;
					break;

				case PTZ_UART_485:
					g_ptz.area_scan_return.area_step_scan_location_uart_485_switch = AREA_SCAN_RETURN_OFF;
					break;
				}
				break;
			}
			ptz_reply(dev, CMD_RIGHT);
			break;

		case HYT_PACK_CMD_0_TYPE_INQUIRE_AREA_SCAN_DATA: // 0xca:查询区域扫描参数
			if (ptz_cmd_execute_judge().area_set == CMD_NOT_ALLOW ||
				pack->command[1] >= AREA_AMOUNT)
			{
				ptz_reply(dev, CMD_FAIL);
				BSP_OS_SemPost(&pack_process_mutex);
				return;
			}
			ptz_send_area_data(dev, pack->command[1]);
			ptz_reply(dev, CMD_RIGHT);
			break;

			/***********************云台状态参数查询及实时回传开关 ************************/

		case HYT_PACK_CMD_0_TYPE_INQUIRE_CURRENT: // 0xc8:电流查询与回复
			ptz_send_current(dev);
			break;

		case HYT_PACK_CMD_0_TYPE_INQUIRE_VOLTAGE: // 0xcd:电压查询与回复
			ptz_send_voltage(dev);
			break;

		case HYT_PACK_CMD_0_FUNC_INQUIRE_TEMP: // 0xd6:温度查询与回复
			// ptz_send_temperature(dev);
			break;

		case HYT_PACK_CMD_0_BRIDGE_TEMP: // 0xd7:水平垂直侧驱动电路温度查询
			// ptz_send_bridge_temperature(dev);
			break;

			//      case HYT_PACK_CMD_0_VERT_BRIDGE_TEMP:  //0xd8:垂直侧驱动电路温度查询
			//        ptz_send_v_bridge_temperature(dev);
			//        break;

		case HYT_PACK_CMD_0_TYPE_INQUIRE_SPEED: // 0xd0:速度查询与回复
			ptz_send_speed(dev, pack->command[1]);
			break;

		case HYT_PACK_CMD_0_TYPE_INQUIRE_WORK_MODEL: // 0xe0:查询工作模式
			ptz_send_work_mode(dev);
			break;

		case HYT_PACK_CMD_0_TYPE_INQUIRE_WORK_STATE: // 0xdd:查询工作状态
			ptz_send_fault_state(dev, ALL_FAULT_STATE);
			break;

		case HYT_PACK_CMD_0_FUNC_INQUIRE_ANGLE_STATE: // 0x9d:查询角度状态
			ptz_send_sw_angle_state(dev);
			break;

		case HYT_PACK_CMD_0_FUNC_AUTO_RETURN_SPEED_SWITCH:	 // 0xdc:转速自动回传开关
		case HYT_PACK_CMD_0_FUNC_AUTO_RETURN_ANGLE_SWITCH:	 // 0xe1:云台角度自动回传开关
		case HYT_PACK_CMD_0_FUNC_AUTO_RETURN_VERF_SWITCH:	 // 0xbf:云台电机驱动芯片模拟电压输入等级回传
		case HYT_PACK_CMD_0_FUNC_AUTO_RETURN_CURRENT_SWITCH: // 0xc1:云台工作电流实时回传开关
		case HYT_PACK_CMD_0_FUNC_AUTO_RETURN_VOLTAGE_SWITCH: // 0xcc:云台工作电压实时回传开关
		case HYT_PACK_CMD_0_FUNC_AUTO_RETURN_TEMP_SWITCH:	 // 0xd4:云台工作温度实时回传开关
		case HYT_PACK_CMD_0_FUNC_AUTO_RETURN_CPU_SWITCH:	 // 0xb0:云台CPU占有率实时回传开关
			ptz_auto_return_off_on(dev, pack);
			if (dev == PTZ_UART_485)
			{
				ptz_reply(dev, CMD_FAIL);
			}
			else
			{
				ptz_reply(dev, CMD_RIGHT);
			}
			break;

			/********************************设置云台基准0位 *****************************/

		case HYT_PACK_CMD_0_TYPE_SET_ZERO_POSITION: // 0xe3零位设置
			if (ptz_cmd_execute_judge().set_zero == CMD_NOT_ALLOW)
			{
				ptz_reply(dev, CMD_FAIL);
				BSP_OS_SemPost(&pack_process_mutex);
				return;
			}
			ptz_zero_offset_angle_set(dev, pack);
			break;

		case HYT_PACK_CMD_0_TYPE_INQUIRE_ZERO_POSITION: // 0x3e查询基准零位
			ptz_zero_offset_angle_return(dev);
			break;

			/********************************云台重启&自检指令 *****************************/

		case HYT_PACK_CMD_0_FUNC_REBOOT: // 0xde云台重启
			ptz_hori_stop(0);
			ptz_vert_stop(0);
			ptz_reply(dev, CMD_RIGHT);
#ifdef PTZ_NO_SELF_CHECK
			g_ptz.no_self_check_force_save = 1;
			OSTimeDlyHMSM(0u, 0u, 2u, 0u);
#endif
			GD32_RESET();
			break;

		case HYT_PACK_CMD_0_FUNC_COMPLETE_CHECK_AGAIN: // 0xce清除自检数据重新进行全范围自检
			ptz_hori_stop(0);
			ptz_vert_stop(0);
			ptz_self_check_data_erase();
#ifdef PTZ_NO_SELF_CHECK
			// 强制擦除保存的掉电位置数据
			g_ptz.no_self_check_force_erase = 1;
			OSTimeDlyHMSM(0u, 0u, 2u, 0u);
#endif
			ptz_reply(dev, CMD_RIGHT);
			GD32_RESET();
			break;

		case HYT_PACK_CMD_0_FUNC_SIMPLY_CHECK_AGAIN: // 0xbb清除掉电数据重新进行简易自检
#ifdef PTZ_NO_SELF_CHECK
			ptz_reply(dev, CMD_RIGHT);
			switch (pack->command[1])
			{
			case 0x01:
				ptz_hori_stop(0);
				ptz_vert_stop(0);
				g_ptz.no_self_check_force_erase = 1;
				OSTimeDlyHMSM(0u, 0u, 2u, 0u);
				GD32_RESET();

				//          mb85rc64_page_write(PTZ_MB85RC64_ADD_A, (unsigned char *)&test_data, sizeof(test_data));
				break;

			case 0x02:
				// 强制保存当前位置数据
				g_ptz.no_self_check_force_save = 1;
				//          mb85rc64_add_read(PTZ_MB85RC64_ADD_A, (unsigned char *)&test_bata, sizeof(test_bata));
				break;
			}
#endif
			break;

			/***********************************指令回复开关 ******************************/

		case HYT_PACK_CMD_0_TYPE_SET_CMD_REPLY_SWITCH: // 0xdf开启或关闭指令回复开关
			ptz_reply(dev, CMD_RIGHT);
			if (pack->data[0] == CMD_REPLY)
			{
				g_ptz.cmd_reply_switch = CMD_REPLY;
			}
			else
			{
				g_ptz.cmd_reply_switch = CMD_NO_REPLY;
			}
			break;

			/********************************** 加热电阻开关 ******************************/

		case HYT_PACK_CMD_0_TYPE_HEAT_RESISTANCE_SWITCH: // 0xcf加热电阻开关
			ptz_heat_resistor_switch(pack);
			ptz_reply(dev, CMD_RIGHT);
			break;

			/****************************** 指令保存预处理功能 ****************************/

		case HYT_PACK_CMD_0_FUNC_CMD_SAVE_BEFORE: // 0xba指令保存预处理功能
#ifdef PTZ_CMD_SAVE_BEFORE
			if (ptz_cmd_before_mode(dev, pack) == 1)
			{
				ptz_reply(dev, CMD_RIGHT);
			}
			else
			{
				ptz_reply(dev, CMD_FAIL);
			}
#endif
			break;

			/********************************* 继电器开关 ********************************/

		case HYT_PACK_CMD_0_TYPE_MOTOR_RELAY_SWITCH: // 0xc0继电器开关
			switch (pack->command[1])
			{
			case PTZ_RELAY_ON: // 打开
				ptz_motor_relay_on();
				break;

			default: // 关闭
				ptz_motor_relay_off();
				break;
			}
			ptz_reply(dev, CMD_RIGHT);
			break;

/********************************** ***其他*** ********************************/
/***************************步进电机专用0x50-0x5f******************************/
#ifdef PTZ_STEP_MOTOR

#ifdef TMC2160
		case 0x50: // 查询步进电机TMC2160的状态
			tmc2160_state_return(dev);
			break;

		case 0x51:
		case 0x52:
			tmc2160_parameter_process(dev, pack);
			break;

		case 0x53: // 数据处理
			tmc2160_parameter_process(dev, pack);
			ptz_reply(dev, CMD_RIGHT);
			break;

		case 0x54: // 水平驱动器电源开关
			if (pack->command[1] == 0)
			{
				TMC2160_H_POWER_OFF; // 驱动器电源关
			}
			if (pack->command[1] == 1)
			{
				TMC2160_H_POWER_ON; // 驱动器电源开
			}
			ptz_reply(dev, CMD_RIGHT);
			break;

		case 0x55: // 垂直驱动器电源开关
			if (pack->command[1] == 0)
			{
				TMC2160_V_POWER_OFF; // 驱动器电源关
			}
			if (pack->command[1] == 1)
			{
				TMC2160_V_POWER_ON; // 驱动器电源开
			}
			ptz_reply(dev, CMD_RIGHT);
			break;
#endif

#endif

#ifdef PTZ_BLDC_MOTOR
		case 0x54: // 水平驱动器电源开关
			if (pack->command[1] == 0)
			{
				ptz_hori_stop(PTZ_HORI_STOP_TIME);
				OSTimeDlyHMSM(0u, 0u, 0u, 2u);
				H_BRIDGE_POWER_OFF; // 驱动器电源关
			}
			if (pack->command[1] == 1)
			{
				// 驱动器电源开
				H_BRIDGE_POWER_ON;
			}
			ptz_reply(dev, CMD_RIGHT);
			break;

		case 0x55: // 垂直驱动器电源开关
			if (pack->command[1] == 0)
			{
				ptz_vert_stop(PTZ_VERT_STOP_TIME);
				OSTimeDlyHMSM(0u, 0u, 0u, 2u);
				V_BRIDGE_POWER_OFF; // 驱动器电源关
			}
			if (pack->command[1] == 1)
			{
				// 驱动器电源开
				V_BRIDGE_POWER_ON;
			}
			ptz_reply(dev, CMD_RIGHT);
			break;
#endif
			/******************************************************************************/
		}
	}

	BSP_OS_SemPost(&pack_process_mutex);
}

/*

*************************** 不定长协议 ******************************************

*/

static char send_buff[1500];
static char net_rece_buff[1500] = {0x00};
#define PACK_A_R_MAX_LEN 80	 // 接收数据的最大长度
#define PACK_A_S_MAX_LEN 500 // 发送数据的最大长度

// 不定长协议包头校验码计算
unsigned int ptz_data_pack_a_head_crc(PTZ_DATA_PACK_A *pack)
{
	unsigned short int len = 0, len_count = 0;
	unsigned int crc = 0;
	len = sizeof(PTZ_DATA_PACK_A) - sizeof(unsigned int) - sizeof(unsigned char);
	for (len_count = 0; len_count < len; len_count++)
	{
		crc = crc + *(((unsigned char *)pack) + len_count);
	}
	return crc;
}

// 云台不定长协议总效验码计算
unsigned int ptz_data_pack_a_crc(PTZ_DATA_PACK_A *pack)
{
	unsigned short int len = 0, len_count = 0;
	unsigned int crc = 0;

	len = sizeof(PTZ_DATA_PACK_A) - 1 + pack->cmd_len;
	for (len_count = 0; len_count < len; len_count++)
	{
		crc = crc + *(((unsigned char *)pack) + len_count);
	}
	return crc;
}

// 云台不定长协议检查
char ptz_data_pack_a_check(PTZ_DATA_PACK_A *pack)
{
	unsigned int crc, crc_read;
	unsigned short int len = 0, len1 = 0;
	// 判断头效验码
	if (pack->head_crc != ptz_data_pack_a_head_crc(pack))
	{
		return 0;
	}
	// 判断协议头
	if (pack->head != PACK_A_HEAD)
	{
		return 0;
	}
	// 判断地址
	if (pack->addr != g_ptz.address)
	{
		return 0;
	}

	// 判断长度是否正确,长度不能超过接收缓冲区长度
	len1 = sizeof(PTZ_DATA_PACK_A) - 1 + pack->cmd_len + sizeof(unsigned int) + sizeof(unsigned char);
	if (len1 > PACK_A_R_MAX_LEN)
	{
		return 0;
	}

	// 判断总效验码
	len = sizeof(PTZ_DATA_PACK_A) - 1 + pack->cmd_len;
	crc = ptz_data_pack_a_crc(pack);
	crc_read = *((unsigned int *)(((unsigned char *)pack) + len));
	if (crc != crc_read)
	{
		return 0;
	}
	// 判断结束符
	len = len + sizeof(int);
	if (*((unsigned char *)pack + len) != PACK_A_TAIL)
	{
		return 0;
	}
	return 1;
}

// 云台数据封包,返回封包后数据整体长度，并将数据包存放到send_buff中
unsigned short int ptz_data_pack_a_pack(char *data, unsigned short int len,
										unsigned char type, unsigned char func)
{
	unsigned short int len1 = 0, len2 = 0;
	PTZ_DATA_PACK_A *p = (PTZ_DATA_PACK_A *)send_buff;

	memset(send_buff, 0, sizeof(send_buff));
	p->head = PACK_A_HEAD;
	p->addr = g_ptz.address;
	p->cmd_type = type;
	p->cmd_func = func;
	p->cmd_len = len;
	p->head_crc = ptz_data_pack_a_head_crc(p);

	// 判断长度是否正确,长度不能超过发送缓冲区长度
	len2 = sizeof(PTZ_DATA_PACK_A) - 2 + p->cmd_len + sizeof(unsigned int) + sizeof(unsigned char);
	if (len2 > PACK_A_S_MAX_LEN)
	{
		p->cmd_len = 0;
		return 0;
	}

	if (len > 0)
	{
		memcpy(p->cmd_data, data, len);
	}
	len1 = sizeof(PTZ_DATA_PACK_A) - 1 + len;
	*((unsigned int *)(((unsigned char *)p) + len1)) =
		ptz_data_pack_a_crc(p);
	len1 = len1 + sizeof(int);
	*((unsigned char *)p + len1) = PACK_A_TAIL;
	return (len1 + sizeof(char));
}

// 云台不定长数据指令回复
char ptz_data_pack_a_reply(char dev, unsigned char reply)
{
	PTZ_DATA_PACK_A *rece = (PTZ_DATA_PACK_A *)net_rece_buff;
	unsigned int len = 0;
	// #define CMDA_REPLY           0XFF
	switch (reply)
	{
	case CMDA_RIGHT: // 0XEE指令正确
		len = ptz_data_pack_a_pack((char *)(rece->cmd_data), rece->cmd_len,
								   CMDA_REPLY, CMDA_RIGHT);
		ptz_send_data(dev, (unsigned char *)send_buff, len);
		break;

	case CMDA_WRONG: // 0XFF指令错误
		len = ptz_data_pack_a_pack((char *)(rece->cmd_data), 0 /*rece->cmd_len*/,
								   CMDA_REPLY, CMDA_WRONG);
		ptz_send_data(dev, (unsigned char *)send_buff, len);
		break;

	case CMDA_FAIL: // 0XFE指令正确但执行失败
		len = ptz_data_pack_a_pack((char *)(rece->cmd_data), rece->cmd_len,
								   CMDA_REPLY, CMDA_FAIL);
		ptz_send_data(dev, (unsigned char *)send_buff, len);
		break;

	default:
		len = ptz_data_pack_a_pack((char *)(rece->cmd_data), 0 /*rece->cmd_len*/,
								   CMDA_REPLY, CMDA_WRONG);
		ptz_send_data(dev, (unsigned char *)send_buff, len);
		break;
	}
	return 1;
}
// 派尔高D协议数据包
char ptz_data_pack_pelco_d_check(PTZ_DATA_PACK *pack)
{
	// 首先判断效验码
	if (MotorCalPelcoDSUM((u_int8_t *)pack, sizeof(PTZ_DATA_PACK)) != pack->checksum)
	{
		return 0;
	}
	// 其次判断数据头
	if (pack->head != 0xFF)
	{
		return 0;
	}
	// 其次判断云台地址
	if (pack->addr != g_ptz.address)
	{
		return 0;
	}
	return 1;
}

static char process_buff[500];
// 云台不定长协议处理

void ptz_data_pack_a_process(char dev, PTZ_DATA_PACK_A *pack)
{
	unsigned short int len = 0;
	unsigned short int len1 = 0;
	char cfg_str[100] = {0};

	BSP_OS_SemWait(&pack_process_mutex, 0u);

	// 判断协议是否正确
	if (ptz_data_pack_a_check(pack) != 1)
	{ // 回复指令错误
		ptz_data_pack_a_reply(dev, CMDA_WRONG);
		BSP_OS_SemPost(&pack_process_mutex);
		return;
	}

	switch (pack->cmd_type)
	{
	case EDIT_CFG_FILE: // 编辑配置文件
		memset(cfg_str, 0, sizeof(cfg_str));
		memcpy(cfg_str, pack->cmd_data, pack->cmd_len);
		cfg_str[pack->cmd_len] = '\0';
		if (ptz_set_cfg(cfg_str, pack->cmd_func) == TRUE)
		{
			ptz_data_pack_a_reply(dev, CMDA_RIGHT);
		}
		else
		{
			ptz_data_pack_a_reply(dev, CMDA_FAIL);
		}
		break;

	case UPLOAD_CFG_DATA: // 上传配置文件数据
		if (pack->cmd_func == UPLOAD_CFG_DATA_REQUEST)
		{
			ptz_data_pack_a_reply(dev, CMDA_RIGHT);
			memset(process_buff, 0, sizeof(process_buff));
			len = 0;
			len = ptz_read_cfg_data(process_buff);
			if (len > 0)
			{
				len1 = 0;
				len1 = ptz_data_pack_a_pack(process_buff, len,
											UPLOAD_CFG_DATA, UPLOAD_CFG_DATA_RIGHT);
				ptz_send_data(dev, (unsigned char *)send_buff, len1);
			}
			else
			{
				len1 = 0;
				len1 = ptz_data_pack_a_pack(process_buff, len,
											UPLOAD_CFG_DATA, UPLOAD_CFG_DATA_WRONG);
				ptz_send_data(dev, (unsigned char *)send_buff, len1);
			}
		}
		else if (pack->cmd_func == UPLOAD_CFG_DATA_REQUEST_BROADCAST)
		{
			memset(process_buff, 0, sizeof(process_buff));
			len = 0;
			len = ptz_read_cfg_data(process_buff);
			if (len > 0)
			{
				len1 = 0;
				len1 = ptz_data_pack_a_pack(process_buff, len,
											UPLOAD_CFG_DATA, UPLOAD_CFG_DATA_RIGHT);

				if (dev == PTZ_UDP)
				{
					send_udp_data_broadcast((unsigned char *)send_buff, len1);
				}
				else
				{
					ptz_send_data(dev, (unsigned char *)send_buff, len1);
				}
			}
			else
			{
				len1 = 0;
				len1 = ptz_data_pack_a_pack(process_buff, len,
											UPLOAD_CFG_DATA, UPLOAD_CFG_DATA_WRONG);

				if (dev == PTZ_UDP)
				{
					send_udp_data_broadcast((unsigned char *)send_buff, len1);
				}
				else
				{
					ptz_send_data(dev, (unsigned char *)send_buff, len1);
				}
			}
		}
		else
		{
			ptz_data_pack_a_reply(dev, CMDA_FAIL);
		}
		break;

	case CMDA_REPLY: // 指令回复

		break;

	case UPLOAD_VERSION: // 程序版本号回复
		ptz_data_pack_a_reply(dev, CMDA_RIGHT);
		len1 = 0;
		len1 = ptz_data_pack_a_pack((char *)g_program_version_number,
									sizeof(g_program_version_number),
									UPLOAD_VERSION, UPLOAD_VERSION_RIGHT);
		ptz_send_data(dev, (unsigned char *)send_buff, len1);
		OSTimeDlyHMSM(0u, 0u, 0u, 10u);
		len1 = 0;
		len1 = ptz_data_pack_a_pack((char *)g_ptz_type,
									sizeof(g_ptz_type),
									UPLOAD_VERSION, UPLOAD_VERSION_RIGHT);
		ptz_send_data(dev, (unsigned char *)send_buff, len1);
		break;

	default: // 其他

		break;
	}

	BSP_OS_SemPost(&pack_process_mutex);
}

/****************************************************************************/
/***********************监听云台消息：以太网、485、422***********************/
/****************************************************************************/

#define TEST_PORT 6666
/// 以太网通信——UDP
static void task_ptz_udp_server()
{
	while (1)
	{
		if (ptz_communicaton != PTZ_CONNECT_STATE_SUCCESS)
		{
			ptz_sock_fd = CreateUDPClientSock();
			if (ptz_sock_fd != -1)
			{
				// 设置服务器端ip和端口号
				memset(&ptz_from, 0, sizeof(struct sockaddr_in));
				ptz_local.sin_family = PF_INET;
				// 监听端口
				ptz_local.sin_port = htons(TEST_PORT);
				ptz_local.sin_addr.s_addr = INADDR_ANY;
				ptz_fromlen = sizeof(ptz_from);
				if (0 != bind(ptz_sock_fd, (struct sockaddr *)&ptz_local, sizeof(ptz_local)))
				{
					close(ptz_sock_fd);
				}
				else
				{
					ptz_communicaton = PTZ_CONNECT_STATE_SUCCESS;
				}
			}
			else
			{
				ptz_communicaton = PTZ_CONNECT_STATE_FAILED;
				close(ptz_sock_fd);
			}
		}
		if (ptz_communicaton == PTZ_CONNECT_STATE_SUCCESS)
		{
			memset(net_rece_buff, 0x00, sizeof(net_rece_buff)); //'\0'
			int ret_len = recvfrom(ptz_sock_fd, net_rece_buff, sizeof(net_rece_buff), 0, (struct sockaddr *)&ptz_from, &ptz_fromlen);
			if (ret_len <= 7 && ret_len > 0)
			{
				ptz_data_pack_process(PTZ_UDP, (PTZ_DATA_PACK *)net_rece_buff);
			}
			if (ret_len > 7)
			{
				ptz_data_pack_a_process(PTZ_UDP, (PTZ_DATA_PACK_A *)net_rece_buff);
			}
			if (ret_len <= 0)
			{
				ptz_communicaton = PTZ_CONNECT_STATE_FAILED;
				close(ptz_sock_fd);
			}
		}
		OSTimeDlyHMSM(0u, 0u, 0u, 10u);
	}
}

static OS_STK task_listen_ptz_server_stk[TASK_LISTEN_PTZ_SERVER_STK_SIZE];
static void task_create_listen_ptz_server(void)
{

	CPU_INT08U task_err;
	CPU_INT08U name_err;

	task_err = OSTaskCreateExt((void (*)(void *))task_ptz_udp_server,
							   (void *)0,
							   (OS_STK *)&task_listen_ptz_server_stk[TASK_LISTEN_PTZ_SERVER_STK_SIZE - 1],
							   (INT8U)TASK_LISTEN_PTZ_SERVER_PRIO,
							   (INT16U)TASK_LISTEN_PTZ_SERVER_PRIO,
							   (OS_STK *)&task_listen_ptz_server_stk[0],
							   (INT32U)TASK_LISTEN_PTZ_SERVER_STK_SIZE,
							   (void *)0,
							   (INT16U)(OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR));
#if (OS_TASK_NAME_EN > 0)
	OSTaskNameSet(TASK_LISTEN_PTZ_SERVER_PRIO, "task_ptz_udp_server", &name_err);
#endif

	if ((task_err == OS_ERR_NONE) && (name_err == OS_ERR_NONE))
	{
		pdebug(DEBUG_LEVEL_INFO, "create task_ptz_udp_server success\r\n");
	}
	else
	{
		pdebug(DEBUG_LEVEL_FATAL, "create task_ptz_udp_server failed\r\n");
	}
}

/// 串口1，485通信
static void ptz_uart_485_data_process_task()
{
	static u_int8_t uart_485_buffer[PTZ_UART_485_BUFF_SIZE];
	static unsigned short int uart_485_data_len;
	static unsigned char uart_485_timer;
	unsigned short int i;
	static unsigned char k;
	PTZ_DATA_PACK_A *pack_a = (PTZ_DATA_PACK_A *)uart_485_buffer;
	PTZ_DATA_PACK *pack_pelco_d = (PTZ_DATA_PACK *)uart_485_buffer;
	while (1)
	{
		// 485串口
		if (ptz_uart_dev_char_present(uart_485_handle) != 0 &&
			(uart_485_state == PTZ_UART_FREE_STATE)) // 来了第一个字节的数据
		{
			switch (k)
			{
			case 0: // 判断每帧数据第一个字节是不是0XFF
				memset(uart_485_buffer, 0, sizeof(uart_485_buffer));
				uart_485_data_len = 0;
				uart_485_timer = 0;
				uart_485_buffer[uart_485_data_len] = ptz_uart_dev_in_char(uart_485_handle);
				if (uart_485_buffer[0] == 0XFF)
				{
					uart_485_data_len++;
					k = 1;
				}
				else
				{
					k = 0;
					uart_485_data_len = 0;
				}
				break;

			case 1: // 判断每帧数据字节头是不是FF ADD的格式
				uart_485_buffer[uart_485_data_len] = ptz_uart_dev_in_char(uart_485_handle);
				uart_485_data_len++;
				k = 0;
				if (uart_485_buffer[0] == 0XFF &&
					uart_485_buffer[1] == g_ptz.address)
				{
					uart_485_state = PTZ_UART_RECV_STATE;
				}
				else
				{
					if (uart_485_buffer[1] == 0XFF)
					{
						memset(uart_485_buffer, 0, sizeof(uart_485_buffer));
						uart_485_data_len = 1;
						uart_485_buffer[0] = 0XFF;
						k = 1;
					}
				}
				break;
			}
		}

		if (uart_485_state == PTZ_UART_RECV_STATE)
		{
			for (i = 0; i < PTZ_UART_485_BUFF_SIZE - 2; i++)
			{
				// 判断有无数据
				if (ptz_uart_dev_char_present(uart_485_handle) == 0)
				{
					OSTimeDlyHMSM(0u, 0u, 0u, 1u); // 等待一段时间
					uart_485_timer++;
					if (uart_485_timer > PTZ_UART_RECV_OVERTIME)
					{ // 接收超时，说明一帧数据接收完成
						break;
					}
				}
				else
				{ // 读取一个字节数据
					uart_485_buffer[uart_485_data_len] = ptz_uart_dev_in_char(uart_485_handle);
					uart_485_data_len++;
					uart_485_timer = 0;
					if (uart_485_data_len % 100 == 0 && uart_485_data_len > 0)
					{
						OSTimeDlyHMSM(0u, 0u, 0u, 2u);
					}
					if (uart_485_data_len >= 7)
					{
						if (ptz_data_pack_pelco_d_check(pack_pelco_d) == 1)
						{ // 成功读取一帧派尔高D协议或者自定义类似派尔高D协议，长度7字节
							break;
						}
					}
					if (uart_485_data_len >= (sizeof(PTZ_DATA_PACK_A) + sizeof(unsigned int)))
					{
						ptz_reply(uart_485_handle, CMD_WRONG);
						if (ptz_data_pack_a_check(pack_a) == 1)
						{ // 成功读取一帧自定义超长度协议
							break;
						}
					}
					if (uart_485_data_len >= PTZ_UART_485_BUFF_SIZE)
					{
						break;
					}
				}
			}
			uart_485_timer = 0;
			uart_485_state = PTZ_UART_HAND_STATE;
		}
		// 处理串口数据
		if (uart_485_state == PTZ_UART_HAND_STATE)
		{
			if (uart_485_data_len > 7)
			{ // 不定长数据处理，该数据每一帧都超过7个字节
				ptz_data_pack_a_process(PTZ_UART_485, (PTZ_DATA_PACK_A *)uart_485_buffer);
				//         ptz_reply(PTZ_UART_485, CMD_WRONG);
			}
			else
			{ // 7个字节的派尔高D数据以及7个字节自定义类派尔高D数据处理
				ptz_data_pack_process(PTZ_UART_485, (PTZ_DATA_PACK *)uart_485_buffer);
			}
			memset(uart_485_buffer, 0, sizeof(uart_485_buffer));
			uart_485_data_len = 0;
			uart_485_timer = 0;
			uart_485_state = PTZ_UART_FREE_STATE;
		}

		OSTimeDlyHMSM(0u, 0u, 0u, 5u);
	}
}

static OS_STK task_uart_485_data_process_stk[TASK_PTZ_UART_485_DATA_PROCESS_STK_SIZE];
static void creat_task_uart_485_data_process(void)
{
	CPU_INT08U task_err;
	CPU_INT08U name_err;

	task_err = OSTaskCreateExt((void (*)(void *))ptz_uart_485_data_process_task,
							   (void *)0,
							   (OS_STK *)&task_uart_485_data_process_stk[TASK_PTZ_UART_485_DATA_PROCESS_STK_SIZE - 1],
							   (INT8U)TASK_PTZ_UART_485_DATA_PROCESS_PRIO,
							   (INT16U)TASK_PTZ_UART_485_DATA_PROCESS_PRIO,
							   (OS_STK *)&task_uart_485_data_process_stk[0],
							   (INT32U)TASK_PTZ_UART_485_DATA_PROCESS_STK_SIZE,
							   (void *)0,
							   (INT16U)(OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR));
#if (OS_TASK_NAME_EN > 0)
	OSTaskNameSet(TASK_PTZ_UART_485_DATA_PROCESS_PRIO, "ptz_uart_485_data_process_task", &name_err);
#endif
	if ((task_err == OS_ERR_NONE) && (name_err == OS_ERR_NONE))
	{
		pdebug(DEBUG_LEVEL_INFO, "create ptz_uart_485_data_process_task success\r\n");
	}
	else
	{
		pdebug(DEBUG_LEVEL_FATAL, "create ptz_uart_485_data_process_task failed\r\n");
	}
}

/// 串口2，422通信
static void ptz_uart_422_data_process_task()
{
	static u_int8_t uart_422_buffer[PTZ_UART_422_BUFF_SIZE];
	static unsigned short int uart_422_data_len;
	static unsigned char uart_422_timer;
	unsigned short int i;
	static unsigned char k;
	PTZ_DATA_PACK_A *pack_a = (PTZ_DATA_PACK_A *)uart_422_buffer;
	PTZ_DATA_PACK *pack_pelco_d = (PTZ_DATA_PACK *)uart_422_buffer;
	while (1)
	{
		// 422串口
		if (ptz_uart_dev_char_present(uart_422_handle) != 0 &&
			(uart_422_state == PTZ_UART_FREE_STATE)) // 来了第一个字节的数据
		{
			switch (k)
			{
			case 0: // 判断每帧数据第一个字节是不是0XFF
				memset(uart_422_buffer, 0, sizeof(uart_422_buffer));
				uart_422_data_len = 0;
				uart_422_timer = 0;
				uart_422_buffer[uart_422_data_len] = ptz_uart_dev_in_char(uart_422_handle);
				if (uart_422_buffer[0] == 0XFF)
				{
					uart_422_data_len++;
					k = 1;
				}
				else
				{
					k = 0;
					uart_422_data_len = 0;
				}
				break;

			case 1: // 判断每帧数据字节头是不是FF ADD的格式
				uart_422_buffer[uart_422_data_len] = ptz_uart_dev_in_char(uart_422_handle);
				uart_422_data_len++;
				k = 0;
				if (uart_422_buffer[0] == 0XFF &&
					uart_422_buffer[1] == g_ptz.address)
				{
					uart_422_state = PTZ_UART_RECV_STATE;
				}
				else
				{
					if (uart_422_buffer[1] == 0XFF)
					{
						memset(uart_422_buffer, 0, sizeof(uart_422_buffer));
						uart_422_data_len = 1;
						uart_422_buffer[0] = 0XFF;
						k = 1;
					}
				}
				break;
			}
		}

		if (uart_422_state == PTZ_UART_RECV_STATE)
		{
			for (i = 0; i < PTZ_UART_422_BUFF_SIZE - 2; i++)
			{
				// 判断有无数据
				if (ptz_uart_dev_char_present(uart_422_handle) == 0)
				{
					OSTimeDlyHMSM(0u, 0u, 0u, 1u); // 等待一段时间
					uart_422_timer++;
					if (uart_422_timer > PTZ_UART_RECV_OVERTIME)
					{ // 接收超时，说明一帧数据接收完成
						break;
					}
				}
				else
				{ // 读取一个字节数据
					uart_422_buffer[uart_422_data_len] = ptz_uart_dev_in_char(uart_422_handle);
					uart_422_data_len++;
					uart_422_timer = 0;
					if (uart_422_data_len % 100 == 0 && uart_422_data_len > 0)
					{
						OSTimeDlyHMSM(0u, 0u, 0u, 2u);
					}
					if (uart_422_data_len >= 7)
					{
						if (ptz_data_pack_pelco_d_check(pack_pelco_d) == 1)
						{ // 成功读取一帧派尔高D协议或者自定义类似派尔高D协议，长度7字节
							break;
						}
					}
					if (uart_422_data_len >= (sizeof(PTZ_DATA_PACK_A) + sizeof(unsigned int)))
					{
						if (ptz_data_pack_a_check(pack_a) == 1)
						{ // 成功读取一帧自定义超长度协议
							break;
						}
					}
					if (uart_422_data_len >= PTZ_UART_422_BUFF_SIZE)
					{
						break;
					}
				}
			}
			uart_422_timer = 0;
			uart_422_state = PTZ_UART_HAND_STATE;
		}
		// 处理串口数据
		if (uart_422_state == PTZ_UART_HAND_STATE)
		{
			if (uart_422_data_len > 7)
			{ // 不定长数据处理，该数据每一帧都超过7个字节
				ptz_data_pack_a_process(PTZ_UART_422, (PTZ_DATA_PACK_A *)uart_422_buffer);
			}
			else
			{ // 7个字节的派尔高D数据以及7个字节自定义类派尔高D数据处理
				ptz_data_pack_process(PTZ_UART_422, (PTZ_DATA_PACK *)uart_422_buffer);
			}

			memset(uart_422_buffer, 0, sizeof(uart_422_buffer));
			uart_422_data_len = 0;
			uart_422_timer = 0;
			uart_422_state = PTZ_UART_FREE_STATE;
		}

		OSTimeDlyHMSM(0u, 0u, 0u, 5u);
	}
}

static OS_STK task_uart_422_data_process_stk[TASK_PTZ_UART_422_DATA_PROCESS_STK_SIZE];
static void creat_task_uart_422_data_process(void)
{
	CPU_INT08U task_err;
	CPU_INT08U name_err;

	task_err = OSTaskCreateExt((void (*)(void *))ptz_uart_422_data_process_task,
							   (void *)0,
							   (OS_STK *)&task_uart_422_data_process_stk[TASK_PTZ_UART_422_DATA_PROCESS_STK_SIZE - 1],
							   (INT8U)TASK_PTZ_UART_422_DATA_PROCESS_PRIO,
							   (INT16U)TASK_PTZ_UART_422_DATA_PROCESS_PRIO,
							   (OS_STK *)&task_uart_422_data_process_stk[0],
							   (INT32U)TASK_PTZ_UART_422_DATA_PROCESS_STK_SIZE,
							   (void *)0,
							   (INT16U)(OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR));
#if (OS_TASK_NAME_EN > 0)
	OSTaskNameSet(TASK_PTZ_UART_422_DATA_PROCESS_PRIO, "ptz_uart_422_data_process_task", &name_err);
#endif

	if ((task_err == OS_ERR_NONE) && (name_err == OS_ERR_NONE))
	{
		pdebug(DEBUG_LEVEL_INFO, "create ptz_uart_422_data_process_task success\r\n");
	}
	else
	{
		pdebug(DEBUG_LEVEL_FATAL, "create ptz_uart_422_data_process_task failed\r\n");
	}
}

//=====代理层初始化=====
void init_agent_module()
{
	Usart_init_module(); // 串口初始化
	BSP_OS_SemCreate(&udp_send_data_mutex, 1u, "udp_send_data_mutex");
	BSP_OS_SemCreate(&pack_process_mutex, 1u, "pack_process_mutex");
	BSP_OS_SemCreate(&cmd_crc_mutex, 1u, "cmd_crc_mutex");
	task_create_listen_ptz_server();
	creat_task_uart_485_data_process();
	creat_task_uart_422_data_process();
}