各模块测试代码

4g.py

@@ -0,0 +1,224 @@
+# from maix import app, key, uart, pinmap, time
+# import hashlib
+# import hmac
+# import ujson
+
+# # 配置 UART2（用于 HTTP 上传）
+# pinmap.set_pin_function("A29", "UART2_RX")
+# pinmap.set_pin_function("A28", "UART2_TX")
+# http_serial = uart.UART("/dev/ttyS2", 115200, uart.BITS.BITS_8,
+#                         uart.PARITY.PARITY_NONE, uart.STOP.STOP_1)
+
+# # 按键初始化
+# key_triggered = False
+# def on_key_event(key_id, state):
+#     global key_triggered
+#     if state == key.State.KEY_PRESSED:
+#         key_triggered = True
+# key_obj = key.Key(on_key_event)
+
+# # Token生成
+# def generate_token(device_id):
+#     SALT = "shootMessageFire"
+#     SALT2 = "shoot"
+#     return "Arrow_" + hmac.new((SALT + device_id).encode(), SALT2.encode(), hashlib.sha256).hexdigest()
+
+# # 发送AT命令
+# http_instance_id = -1
+# def send_cmd(cmd_str, expect_create_id=False):
+#     global http_instance_id
+#     print("[AT指令] =>", cmd_str)
+#     http_serial.write((cmd_str + "\r\n").encode())
+#     buffer = b""
+#     start = time.ticks_ms()
+#     while time.ticks_ms() - start < 3000:
+#         data = http_serial.read(128)
+#         if data:
+#             buffer += data
+#             try:
+#                 decoded = buffer.decode()
+#                 print("返回:", decoded.strip())
+#                 if expect_create_id and "+MHTTPCREATE:" in decoded:
+#                     http_instance_id = int(decoded.split(":")[1].split("\r")[0].strip())
+#                 if "OK" in decoded: return True
+#                 if "+CME ERROR" in decoded or "ERROR" in decoded: return False
+#             except:
+#                 print("解码异常")
+#         time.sleep_ms(10)
+#     return False
+
+# def create_http_instance(url):
+#     return send_cmd(f'AT+MHTTPCREATE="{url}"', True) and http_instance_id != -1
+
+# def send_data(instance_id, token, api_path, json_data):
+#     # 设置Header（使用统一的AT+MHTTPCFG="header"）
+#     send_cmd(f'AT+MHTTPCFG="header",{instance_id},"Content-Type: application/json"')
+#     send_cmd(f'AT+MHTTPCFG="header",{instance_id},"Authorization: {token}"')
+#     send_cmd(f'AT+MHTTPCFG="header",{instance_id},"DeviceId: {device_id}"')
+    
+#     # 发送Body数据
+#     json_str = ujson.dumps(json_data)
+#     send_cmd(f'AT+MHTTPCONTENT={instance_id},0,0,"{json_str}"')
+#     send_cmd(f'AT+MHTTPREQUEST={instance_id},2,0,"{api_path}"')
+
+# def read_response(timeout_ms=5000):
+#     start = time.ticks_ms()
+#     while time.ticks_ms() - start < timeout_ms:
+#         data = http_serial.read(128)
+#         if data:
+#             try:
+#                 print("响应:", data.decode("utf-8").strip())
+#             except:
+#                 print("响应(raw):", data)
+#         time.sleep_ms(50)
+
+# # 参数配置
+# device_id = "wZhC7kAZ" #需要根据实际硬件ID来测试
+# url = "http://ws.shelingxingqiu.com"
+# api_path = "/home/shoot/device_fire/arrow/fire"
+# token = generate_token(device_id)
+# print("生成Token:", token)
+
+# # 主循环：仅监听按键并上传模拟数据
+# while not app.need_exit():
+#     if key_triggered:
+#         key_triggered = False
+#         print("按键按下，准备上传...")
+
+#         # 模拟数据（可替换为实际测量值）
+#         timestamp = int(time.time() * 1000)
+#         json_data = {
+#             "id": timestamp,
+#             "DeviceId": device_id,
+#             "x": 12.34,
+#             "y": -5.67,
+#             "rag": 90.0,
+#             "time": timestamp,
+#             "dst": 234.5,
+#             "battery": 80,
+#             "errorCode": 0
+#         }
+
+#         if http_instance_id == -1 and not create_http_instance(url):
+#             print("创建 HTTP 实例失败")
+#         elif http_instance_id != -1:
+#             send_data(http_instance_id, token, api_path, json_data)
+#             read_response()
+#     else:
+#         time.sleep_ms(100)
+from maix import app, uart, pinmap, time
+import hashlib
+import hmac
+import ujson
+
+# ========== 配置 ==========
+# UART2 for HTTP
+pinmap.set_pin_function("A29", "UART2_RX")
+pinmap.set_pin_function("A28", "UART2_TX")
+http_serial = uart.UART("/dev/ttyS2", 115200, uart.BITS.BITS_8,
+                        uart.PARITY.PARITY_NONE, uart.STOP.STOP_1)
+
+# 设备参数
+device_id = "wZhC7kAZ"
+url = "http://ws.shelingxingqiu.com"
+api_path = "/home/shoot/device_fire/arrow/fire"
+
+# ========== 工具函数 ==========
+def generate_token(device_id):
+    SALT = "shootMessageFire"
+    SALT2 = "shoot"
+    return "Arrow_" + hmac.new((SALT + device_id).encode(), SALT2.encode(), hashlib.sha256).hexdigest()
+
+def send_cmd(cmd_str, timeout_ms=3000):
+    """发送 AT 指令并等待 OK / ERROR"""
+    print("[AT] =>", cmd_str)
+    http_serial.write((cmd_str + "\r\n").encode())
+    buffer = b""
+    start = time.ticks_ms()
+    while time.ticks_ms() - start < timeout_ms:
+        data = http_serial.read(128)
+        if data:
+            buffer += data
+            try:
+                decoded = buffer.decode()
+                print("<= ", decoded.strip())
+                if "OK" in decoded:
+                    return True
+                if "+CME ERROR" in decoded or "ERROR" in decoded:
+                    return False
+            except:
+                pass
+        time.sleep_ms(10)
+    return False
+
+def create_http_instance(url):
+    cmd = f'AT+MHTTPCREATE="{url}"'
+    if send_cmd(cmd):
+        # 尝试提取 instance ID（如果模块返回）
+        # 注意：部分模块不会返回 ID，可忽略，直接用 0 或 1
+        return True
+    return False
+
+def send_http_request(url, api_path, token, device_id, json_data):
+    # 1. 创建 HTTP 实例
+    if not create_http_instance(url):
+        print("❌ 创建 HTTP 实例失败")
+        return False
+
+    # 2. 设置 Headers（假设实例 ID 为 0，或根据模块默认）
+    instance_id = 0  # 大多数模块默认实例为 0；若支持多实例，需解析返回值
+    send_cmd(f'AT+MHTTPCFG="header",{instance_id},"Content-Type: application/json"')
+    send_cmd(f'AT+MHTTPCFG="header",{instance_id},"Authorization: {token}"')
+    send_cmd(f'AT+MHTTPCFG="header",{instance_id},"DeviceId: {device_id}"')
+
+    # 3. 发送 Body
+    json_str = ujson.dumps(json_data)
+    send_cmd(f'AT+MHTTPCONTENT={instance_id},0,0,"{json_str}"')
+
+    # 4. 发起 POST 请求
+    if send_cmd(f'AT+MHTTPREQUEST={instance_id},2,0,"{api_path}"'):
+        print("✅ HTTP 请求已发送")
+        return True
+    else:
+        print("❌ 发送请求失败")
+        return False
+
+def read_response(timeout_ms=5000):
+    print("⏳ 等待响应...")
+    start = time.ticks_ms()
+    while time.ticks_ms() - start < timeout_ms:
+        data = http_serial.read(128)
+        if data:
+            try:
+                print("📡 响应:", data.decode("utf-8").strip())
+            except:
+                print("📡 响应(raw):", data)
+        time.sleep_ms(100)
+
+# ========== 主程序：直接上传 ==========
+print("🚀 启动直接上传流程...")
+
+token = generate_token(device_id)
+print("🔑 Token:", token)
+
+# 构造模拟数据
+timestamp = int(time.time() * 1000)
+json_data = {
+    "id": timestamp,
+    "DeviceId": device_id,
+    "x": 12.34,
+    "y": -5.67,
+    "rag": 90.0,
+    "time": timestamp,
+    "dst": 234.5,
+    "battery": 80,
+    "errorCode": 0
+}
+
+# 执行上传
+if send_http_request(url, api_path, token, device_id, json_data):
+    read_response()
+else:
+    print("💥 上传流程失败")
+
+print("🔚 程序结束")

I2C.py

@@ -0,0 +1,88 @@
+from maix import i2c, pinmap, time
+
+# 配置 I2C1 引脚（请根据实际连接修改）
+pinmap.set_pin_function("P18", "I2C1_SCL")
+pinmap.set_pin_function("P21", "I2C1_SDA")
+
+bus = i2c.I2C(1, i2c.Mode.MASTER)
+
+INA226_ADDR = 0x40
+
+# 寄存器定义
+REG_CONFIGURATION = 0x00
+REG_BUS_VOLTAGE = 0x02
+REG_CALIBRATION = 0x05
+
+# 校准值（不读取电流/功率时也可以省略）
+CALIBRATION_VALUE = 0x1400
+
+def write_register(reg, value):
+    data = [(value >> 8) & 0xFF, value & 0xFF]
+    bus.writeto_mem(INA226_ADDR, reg, bytes(data))
+
+def read_register(reg):
+    data = bus.readfrom_mem(INA226_ADDR, reg, 2)
+    return (data[0] << 8) | data[1]
+
+def init_ina226():
+    write_register(REG_CONFIGURATION, 0x4527)
+    write_register(REG_CALIBRATION, CALIBRATION_VALUE)
+
+def get_bus_voltage():
+    raw = read_register(REG_BUS_VOLTAGE)
+    return raw * 1.25 / 1000  # 单位 V
+
+def voltage_to_percent(voltage):
+    if voltage >= 4.20:
+        return 100
+    elif voltage >= 4.15:
+        return 95
+    elif voltage >= 4.10:
+        return 90
+    elif voltage >= 4.05:
+        return 85
+    elif voltage >= 4.00:
+        return 80
+    elif voltage >= 3.95:
+        return 75
+    elif voltage >= 3.90:
+        return 70
+    elif voltage >= 3.85:
+        return 65
+    elif voltage >= 3.80:
+        return 60
+    elif voltage >= 3.75:
+        return 55
+    elif voltage >= 3.70:
+        return 50
+    elif voltage >= 3.65:
+        return 45
+    elif voltage >= 3.60:
+        return 40
+    elif voltage >= 3.55:
+        return 35
+    elif voltage >= 3.50:
+        return 30
+    elif voltage >= 3.45:
+        return 25
+    elif voltage >= 3.40:
+        return 20
+    elif voltage >= 3.35:
+        return 15
+    elif voltage >= 3.30:
+        return 10
+    elif voltage >= 3.20:
+        return 5
+    else:
+        return 0
+
+# 初始化 INA226
+init_ina226()
+
+# 主循环，只显示电量百分比
+while True:
+    voltage = get_bus_voltage()
+    battery_percent = voltage_to_percent(voltage)
+    print(f"当前电压: {voltage:.3f} V")
+    print(f"估算电池电量: {battery_percent} %\n")
+    time.sleep(2000)

adc.py

@@ -0,0 +1,17 @@
+from maix.peripheral import adc
+from maix import time
+
+a = adc.ADC(0, adc.RES_BIT_12)
+
+while True:
+    raw_data = a.read()
+    print(f"ADC raw data:{raw_data}")
+    # if raw_data > 2450:
+    #     print(f"ADC raw data:{raw_data}")
+    # elif raw_data < 2000:
+    #     print(f"ADC raw data:{raw_data}")
+    # time.sleep_ms(50)
+
+    # vol = a.read_vol()
+
+    # print(f"ADC vol:{vol}")

cslaser.py

@@ -0,0 +1,61 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""
+激光模块开关测试脚本
+平台：MaixPy (Sipeed MAIX)
+功能：每2秒循环开启/关闭激光，验证硬件是否正常响应
+作者：ZZH
+"""
+
+from maix import uart, pinmap, time
+
+# === 配置 ===
+UART_PORT = "/dev/ttyS1"   # 激光模块连接的串口（通常是 UART1）
+BAUDRATE = 9600            # 波特率（根据你的模块调整）
+
+# 引脚映射（根据你硬件连接修改）
+pinmap.set_pin_function("A18", "UART1_RX")  # RX
+pinmap.set_pin_function("A19", "UART1_TX")  # TX
+
+# 激光控制指令（根据你的模块协议）
+MODULE_ADDR = 0x00
+LASER_ON_CMD  = bytes([0xAA, MODULE_ADDR, 0x01, 0xBE, 0x00, 0x01, 0x00, 0x01, 0xC1])
+LASER_OFF_CMD = bytes([0xAA, MODULE_ADDR, 0x01, 0xBE, 0x00, 0x01, 0x00, 0x00, 0xC0])
+
+# === 初始化串口 ===
+print("🔧 正在初始化激光串口...")
+laser_uart = uart.UART(UART_PORT, BAUDRATE)
+
+# === 辅助函数 ===
+def send_laser_cmd(cmd, name):
+    """发送激光指令并尝试读取回包"""
+    print(f"➡️ 发送指令: {name}")
+    laser_uart.write(cmd)
+    time.sleep_ms(50)  # 等待模块处理
+    
+    # 尝试读取回包（非必须，部分模块无返回）
+    resp = laser_uart.read(20)
+    if resp:
+        print(f"✅ 收到回包 ({len(resp)}字节): {resp.hex()}")
+    else:
+        print("🔇 无回包（正常或模块不支持）")
+
+# === 主测试循环 ===
+print("\n🚀 开始激光开关测试（按 Ctrl+C 停止）")
+print("周期：开1秒 → 关1秒\n")
+
+try:
+    while True:
+        # 开启激光
+        send_laser_cmd(LASER_ON_CMD, "LASER ON")
+        time.sleep(1.0)  # 持续开启 1 秒
+
+        # 关闭激光
+        send_laser_cmd(LASER_OFF_CMD, "LASER OFF")
+        time.sleep(1.0)  # 关闭 1 秒
+
+except KeyboardInterrupt:
+    print("\n🛑 测试被用户中断")
+    # 最终确保激光关闭
+    laser_uart.write(LASER_OFF_CMD)
+    print("✅ 已发送最终关闭指令")

main.py

@@ -91,7 +91,8 @@ LASER_ON_CMD = bytes([0xAA, MODULE_ADDR, 0x01, 0xBE, 0x00, 0x01, 0x00, 0x01, 0xC
 LASER_OFF_CMD = bytes([0xAA, MODULE_ADDR, 0x01, 0xBE, 0x00, 0x01, 0x00, 0x00, 0xC0])
 
 # 相机标定参数（用于距离估算）
-FOCAL_LENGTH_PIX = 3800.0    # 焦距（像素）
+# FOCAL_LENGTH_PIX = 3800.0    # 焦距（像素）
+FOCAL_LENGTH_PIX = 1900.0    # 焦距（像素）
 REAL_RADIUS_CM = 15          # 靶心实际半径（厘米）
 
 # TCP 连接状态