优化PIBot的驱动，解决串口打印导致死机问题

.gitignore

@@ -3,6 +3,4 @@
 *.obj
 *.crf
 /History/
-/Output/
-.idea/
-__pycache__/
+/Output/

Hardware/Pibot驱动底盘/PiRobot_Firmware v1.0/STM32/User/stm32f10x_it.cpp

@@ -160,6 +160,15 @@ void USART3_IRQHandler(void)
     }
 }
 
+void USART1_IRQHandler(void)
+{
+    if (USART_GetITStatus(USART1, USART_IT_RXNE) != RESET)
+    {
+        USART_ReceiveData(USART1);
+        USART_ClearITPendingBit(USART1,USART_IT_RXNE);  //clear interrupt flag
+    }
+}
+
 /******************************************************************************/
 /*                 STM32F10x Peripherals Interrupt Handlers                   */
 /*  Add here the Interrupt Handler for the used peripheral(s) (PPP), for the  */

Hardware/UPbot-Tools/test.py

@@ -1,188 +0,0 @@
-# 调试小车，ubuntu版本代码
-# 可以按格式发送、接受数据
-
-import serial
-import time
-import struct
-import keyboard
-import sys
-import termios
-import tty
-
-
-class SerialPort:
-    def __init__(self, port, baudrate=9600, timeout=1):
-        self.port = port
-        self.baudrate = baudrate
-        self.timeout = timeout
-        self.serial = None
-
-    def open(self):
-        try:
-            self.serial = serial.Serial(self.port, self.baudrate, timeout=self.timeout)
-            print(f"成功打开串口: {self.port}")
-        except serial.SerialException as e:
-            print(f"打开串口失败: {e}")
-            self.serial = None
-
-    def close(self):
-        if self.serial and self.serial.is_open:
-            self.serial.close()
-            print("串口已关闭")
-
-    def write(self, data):
-        if self.serial and self.serial.is_open:
-            if isinstance(data, str):
-                data = data.encode()
-            self.serial.write(data)
-
-    def write_hex(self, data):
-        if self.serial and self.serial.is_open:
-            self.serial.write(data)
-
-    def read(self, size=22):
-        if self.serial and self.serial.is_open:
-            data = self.serial.read(size)
-            hex_data = ', '.join(f'0x{byte:02X}' for byte in data)
-            print(f"接收数据: {hex_data}")
-            return data
-        return None
-
-
-def parse_serial_feedback(data):
-    struct_format = '<HhhhhhhhhHH'
-    struct_size = struct.calcsize(struct_format)
-
-    if len(data) < struct_size:
-        raise ValueError("接收到的数据长度不足，无法解析。")
-
-    parsed_data = struct.unpack(struct_format, data[:struct_size])
-    feedback = {
-        'start': parsed_data[0],
-        'cmd1': parsed_data[1],
-        'cmd2': parsed_data[2],
-        'speedR_meas': parsed_data[3],
-        'speedL_meas': parsed_data[4],
-        'wheelR_cnt': parsed_data[5],
-        'wheelL_cnt': parsed_data[6],
-        'batVoltage': parsed_data[7] / 100.0,
-        'boardTemp': parsed_data[8] / 10.0,
-        'cmdLed': parsed_data[9],
-        'checksum': parsed_data[10]
-    }
-    print(feedback)
-    return feedback
-
-
-def calculate_checksum(data):
-    checksum = sum(data) & 0xFFFF
-    return checksum
-
-
-def send_speed_command(serial_port, steer, speed):
-    start_frame = 0xABCD
-    # command_format = '<HhhH'
-    command_format = '<HhhH'
-    command_data = struct.pack(command_format, start_frame, steer, speed, 0)
-    # checksum = start_frame^steer^speed
-    checksum = (start_frame ^ steer ^ speed) & 0xFFFF
-    command_data = struct.pack(command_format, start_frame, steer, speed, checksum)
-
-    hex_data = ', '.join(f'0x{byte:02X}' for byte in command_data)
-    print(f"发送: {hex_data}")
-    print(f"发送字节流: {command_data}")
-    serial_port.write_hex(command_data)
-
-
-def set_speed(serial_port, ls, rs):
-    set_speed_l = ls / 0.10472
-    set_speed_r = rs / 0.10472
-
-    print(ls, rs)
-
-    speed = (int)((set_speed_l + set_speed_r) / 2.0)
-    steer = (int)((set_speed_l - speed) * 2.0)
-    # steer = max((int)((set_speed_l - speed) * 2.0),(int)((set_speed_r - speed) * 2.0))
-
-    send_speed_command(serial_port, steer, speed)
-
-
-def get_key():
-    fd = sys.stdin.fileno()
-    old_settings = termios.tcgetattr(fd)
-    try:
-        tty.setraw(fd)
-        ch = sys.stdin.read(1)
-    finally:
-        termios.tcsetattr(fd, termios.TCSADRAIN, old_settings)
-    return ch
-
-
-if __name__ == "__main__":
-    port_name = '/dev/serial/by-path/platform-fc880000.usb-usb-0:1.2:1.0'
-    baudrate = 115200
-
-    serial_port = SerialPort(port=port_name, baudrate=baudrate)
-    serial_port.open()
-
-    ls = 1
-
-    rs = 1
-
-    try:
-        while True:
-            time.sleep(0.1)
-
-            # if keyboard.is_pressed('up'):
-            #     ls += 1
-            #     rs += 1
-            # elif keyboard.is_pressed('down'):
-            #     ls -= 1
-            #     rs -= 1
-            # elif keyboard.is_pressed('left'):
-            #     ls += 1
-            #     rs -= 1
-            # elif keyboard.is_pressed('right'):
-            #     ls -= 1
-            #     rs += 1
-
-            key = get_key()
-
-            # if key == '\x1b':  # 捕捉箭头键
-            #     arrow_key = sys.stdin.read(2)
-            if key == 'w':  # Up arrow
-                ls += 3
-                rs += 3
-            elif key == 's':  # Down arrow
-                ls = 1
-                rs = 1
-
-            elif key == 'a':  # Left arrow
-                ls = 0.5
-                rs += 3
-            elif key == 'd':  # Right arrow
-                ls += 3
-                rs = 0.5
-
-            elif key == 'q':  # 按 'q' 键退出
-                break
-
-            if ls < 0:
-                ls = 0
-
-            if rs < 0:
-                rs = 0
-
-            set_speed(serial_port, ls, rs)
-            received_data = serial_port.read(44)
-            parse_serial_feedback(received_data)
-
-            # 重置速度
-            if not any(keyboard.is_pressed(key) for key in ['up', 'down', 'left', 'right']):
-                ls = 0
-                rs = 0
-
-    except KeyboardInterrupt:
-        print("停止机器人")
-    finally:
-        serial_port.close()

Hardware/UPbot-Tools/win_test.py

@@ -1,162 +0,0 @@
-# 调试小车，windows版本代码
-# 可以按格式发送、接受数据
-
-import serial
-import time
-import struct
-import keyboard
-import sys
-import msvcrt  # Windows 环境下用于捕捉键盘输入
-
-class SerialPort:
-    def __init__(self, port, baudrate=9600, timeout=1):
-        self.port = port
-        self.baudrate = baudrate
-        self.timeout = timeout
-        self.serial = None
-
-    def open(self):
-        try:
-            self.serial = serial.Serial(self.port, self.baudrate, timeout=self.timeout)
-            print(f"成功打开串口: {self.port}")
-        except serial.SerialException as e:
-            print(f"打开串口失败: {e}")
-            self.serial = None
-
-    def close(self):
-        if self.serial and self.serial.is_open:
-            self.serial.close()
-            print("串口已关闭")
-
-    def write(self, data):
-        if self.serial and self.serial.is_open:
-            if isinstance(data, str):
-                data = data.encode()
-            self.serial.write(data)
-
-    def write_hex(self, data):
-        if self.serial and self.serial.is_open:
-            self.serial.write(data)
-
-    def read(self, size=22):
-        if self.serial and self.serial.is_open:
-            data = self.serial.read(size)
-            hex_data = ', '.join(f'0x{byte:02X}' for byte in data)
-            print(f"接收数据: {hex_data}")
-            return data
-        return None
-
-
-def parse_serial_feedback(data):
-    struct_format = '<HhhhhhhhhHH'
-    struct_size = struct.calcsize(struct_format)
-
-    if len(data) < struct_size:
-        raise ValueError("接收到的数据长度不足，无法解析。")
-
-    parsed_data = struct.unpack(struct_format, data[:struct_size])
-    feedback = {
-        'start': parsed_data[0],
-        'cmd1': parsed_data[1],
-        'cmd2': parsed_data[2],
-        'speedR_meas': parsed_data[3],
-        'speedL_meas': parsed_data[4],
-        'wheelR_cnt': parsed_data[5],
-        'wheelL_cnt': parsed_data[6],
-        'batVoltage': parsed_data[7] / 100.0,
-        'boardTemp': parsed_data[8] / 10.0,
-        'cmdLed': parsed_data[9],
-        'checksum': parsed_data[10]
-    }
-    print(feedback)
-    return feedback
-
-
-def calculate_checksum(data):
-    checksum = sum(data) & 0xFFFF
-    return checksum
-
-
-def send_speed_command(serial_port, steer, speed):
-    start_frame = 0xABCD
-    command_format = '<HhhH'
-    command_data = struct.pack(command_format, start_frame, steer, speed, 0)
-    checksum = (start_frame ^ steer ^ speed) & 0xFFFF
-    command_data = struct.pack(command_format, start_frame, steer, speed, checksum)
-
-    hex_data = ', '.join(f'0x{byte:02X}' for byte in command_data)
-    print(f"发送: {hex_data}, {hex(checksum)}")
-    print(f"发送字节流: {command_data}")
-    serial_port.write_hex(command_data)
-
-
-def set_speed(serial_port, ls, rs):
-    set_speed_l = ls / 0.10472
-    set_speed_r = rs / 0.10472
-
-    print(ls, rs)
-
-    speed = (int)((set_speed_l + set_speed_r) / 2.0)
-    steer = (int)((set_speed_l - speed) * 2.0)
-
-    send_speed_command(serial_port, steer, speed)
-
-
-def get_key():
-    """捕捉 Windows 上的键盘输入"""
-    if msvcrt.kbhit():
-        return msvcrt.getch().decode('utf-8')
-    return None
-
-
-if __name__ == "__main__":
-    # 修改为 Windows 上的串口名称，例如 'COM3'
-    port_name = 'COM9'
-    baudrate = 115200
-
-    serial_port = SerialPort(port=port_name, baudrate=baudrate)
-    serial_port.open()
-
-    ls = 3
-    rs = 3
-
-    try:
-        while True:
-            time.sleep(0.1)
-
-            key = get_key()  # 获取按键输入
-
-            if key == 'w':  # Up arrow
-                ls += 3
-                rs += 3
-            elif key == 's':  # Down arrow
-                ls = 1
-                rs = 1
-            elif key == 'a':  # Left arrow
-                ls = 0.5
-                rs += 3
-            elif key == 'd':  # Right arrow
-                ls += 3
-                rs = 0.5
-            elif key == 'q':  # 按 'q' 键退出
-                break
-
-            if ls < 0:
-                ls = 0
-
-            if rs < 0:
-                rs = 0
-
-            set_speed(serial_port, ls, rs)
-            received_data = serial_port.read(44)
-            parse_serial_feedback(received_data)
-
-            # 重置速度
-            if key is None:  # 如果没有按下键，重置速度
-                ls = 0
-                rs = 0
-
-    except KeyboardInterrupt:
-        print("停止机器人")
-    finally:
-        serial_port.close()

Hardware/UPbot-Tools/问题排查.md

@@ -1,24 +0,0 @@
-## 依赖问题
-1. 出现打不开串口或某类没有某个属性的问题，考虑是不是`serial`库装错了，要装的是`pyserial`而不是`serial`
-2. 串口没有写对，如应该是`COM9`，写的却是`COM6`
-![alt text](imgs/image.png)
-
-
-```
-pip install pyserial
-```
-
-## ST-Link 连接
-
-对应接就行（3v3、SWO、SWCLK、GND）
-
-![alt text](imgs/STM_32F103C8T6.jpg)
-
-![alt text](imgs/接线.jpg)
-
-## Keil烧录显示设备不匹配
-可能是`Keil`版本问题，在`5.4.0`上显示的错误，但是`5.2.1`就可以正常烧录
-
-
-## 正常启动但没有IMU数据
-选择界面中IMU型号为`gy87`，再点设置即可。