modify(UPbot-Tools): 添加了win/linux测试程序，以及过程记录文档

.gitignore

@@ -4,3 +4,5 @@
 *.crf
 /History/
 /Output/
+.idea/
+__pycache__/

Hardware/UPbot-Tools/test.py

@@ -0,0 +1,188 @@
+# 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

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+# 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

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+## 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。