各模块测试代码
This commit is contained in:
二池一
224
4g.py
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224
4g.py
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# from maix import app, key, uart, pinmap, time
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# import hashlib
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# import hmac
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# import ujson
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# # 配置 UART2（用于 HTTP 上传）
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# pinmap.set_pin_function("A29", "UART2_RX")
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# pinmap.set_pin_function("A28", "UART2_TX")
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# http_serial = uart.UART("/dev/ttyS2", 115200, uart.BITS.BITS_8,
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# uart.PARITY.PARITY_NONE, uart.STOP.STOP_1)
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# # 按键初始化
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# key_triggered = False
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# def on_key_event(key_id, state):
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# global key_triggered
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# if state == key.State.KEY_PRESSED:
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# key_triggered = True
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# key_obj = key.Key(on_key_event)
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# # Token生成
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# def generate_token(device_id):
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# SALT = "shootMessageFire"
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# SALT2 = "shoot"
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# return "Arrow_" + hmac.new((SALT + device_id).encode(), SALT2.encode(), hashlib.sha256).hexdigest()
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# # 发送AT命令
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# http_instance_id = -1
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# def send_cmd(cmd_str, expect_create_id=False):
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# global http_instance_id
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# print("[AT指令] =>", cmd_str)
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# http_serial.write((cmd_str + "\r\n").encode())
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# buffer = b""
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# start = time.ticks_ms()
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# while time.ticks_ms() - start < 3000:
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# data = http_serial.read(128)
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# if data:
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# buffer += data
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# try:
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# decoded = buffer.decode()
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# print("返回:", decoded.strip())
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# if expect_create_id and "+MHTTPCREATE:" in decoded:
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# http_instance_id = int(decoded.split(":")[1].split("\r")[0].strip())
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# if "OK" in decoded: return True
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# if "+CME ERROR" in decoded or "ERROR" in decoded: return False
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# except:
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# print("解码异常")
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# time.sleep_ms(10)
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# return False
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# def create_http_instance(url):
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# return send_cmd(f'AT+MHTTPCREATE="{url}"', True) and http_instance_id != -1
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# def send_data(instance_id, token, api_path, json_data):
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# # 设置Header（使用统一的AT+MHTTPCFG="header"）
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# send_cmd(f'AT+MHTTPCFG="header",{instance_id},"Content-Type: application/json"')
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# send_cmd(f'AT+MHTTPCFG="header",{instance_id},"Authorization: {token}"')
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# send_cmd(f'AT+MHTTPCFG="header",{instance_id},"DeviceId: {device_id}"')
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# # 发送Body数据
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# json_str = ujson.dumps(json_data)
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# send_cmd(f'AT+MHTTPCONTENT={instance_id},0,0,"{json_str}"')
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# send_cmd(f'AT+MHTTPREQUEST={instance_id},2,0,"{api_path}"')
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# def read_response(timeout_ms=5000):
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# start = time.ticks_ms()
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# while time.ticks_ms() - start < timeout_ms:
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# data = http_serial.read(128)
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# if data:
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# try:
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# print("响应:", data.decode("utf-8").strip())
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# except:
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# print("响应(raw):", data)
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# time.sleep_ms(50)
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# # 参数配置
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# device_id = "wZhC7kAZ" #需要根据实际硬件ID来测试
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# url = "http://ws.shelingxingqiu.com"
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# api_path = "/home/shoot/device_fire/arrow/fire"
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# token = generate_token(device_id)
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# print("生成Token:", token)
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# # 主循环：仅监听按键并上传模拟数据
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# while not app.need_exit():
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# if key_triggered:
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# key_triggered = False
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# print("按键按下，准备上传...")
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# # 模拟数据（可替换为实际测量值）
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# timestamp = int(time.time() * 1000)
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# json_data = {
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# "id": timestamp,
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# "DeviceId": device_id,
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# "x": 12.34,
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# "y": -5.67,
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# "rag": 90.0,
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# "time": timestamp,
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# "dst": 234.5,
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# "battery": 80,
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# "errorCode": 0
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# }
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# if http_instance_id == -1 and not create_http_instance(url):
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# print("创建 HTTP 实例失败")
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# elif http_instance_id != -1:
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# send_data(http_instance_id, token, api_path, json_data)
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# read_response()
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# else:
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# time.sleep_ms(100)
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from maix import app, uart, pinmap, time
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import hashlib
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import hmac
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import ujson
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# ========== 配置 ==========
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# UART2 for HTTP
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pinmap.set_pin_function("A29", "UART2_RX")
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pinmap.set_pin_function("A28", "UART2_TX")
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http_serial = uart.UART("/dev/ttyS2", 115200, uart.BITS.BITS_8,
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uart.PARITY.PARITY_NONE, uart.STOP.STOP_1)
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# 设备参数
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device_id = "wZhC7kAZ"
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url = "http://ws.shelingxingqiu.com"
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api_path = "/home/shoot/device_fire/arrow/fire"
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# ========== 工具函数 ==========
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def generate_token(device_id):
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SALT = "shootMessageFire"
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SALT2 = "shoot"
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return "Arrow_" + hmac.new((SALT + device_id).encode(), SALT2.encode(), hashlib.sha256).hexdigest()
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def send_cmd(cmd_str, timeout_ms=3000):
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"""发送 AT 指令并等待 OK / ERROR"""
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print("[AT] =>", cmd_str)
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http_serial.write((cmd_str + "\r\n").encode())
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buffer = b""
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start = time.ticks_ms()
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while time.ticks_ms() - start < timeout_ms:
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data = http_serial.read(128)
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if data:
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buffer += data
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try:
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decoded = buffer.decode()
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print("<= ", decoded.strip())
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if "OK" in decoded:
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return True
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if "+CME ERROR" in decoded or "ERROR" in decoded:
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return False
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except:
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pass
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time.sleep_ms(10)
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return False
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def create_http_instance(url):
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cmd = f'AT+MHTTPCREATE="{url}"'
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if send_cmd(cmd):
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# 尝试提取 instance ID（如果模块返回）
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# 注意：部分模块不会返回 ID，可忽略，直接用 0 或 1
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return True
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return False
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def send_http_request(url, api_path, token, device_id, json_data):
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# 1. 创建 HTTP 实例
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if not create_http_instance(url):
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print("❌ 创建 HTTP 实例失败")
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return False
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# 2. 设置 Headers（假设实例 ID 为 0，或根据模块默认）
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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
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send_cmd(f'AT+MHTTPCFG="header",{instance_id},"Content-Type: application/json"')
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send_cmd(f'AT+MHTTPCFG="header",{instance_id},"Authorization: {token}"')
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send_cmd(f'AT+MHTTPCFG="header",{instance_id},"DeviceId: {device_id}"')
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# 3. 发送 Body
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json_str = ujson.dumps(json_data)
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send_cmd(f'AT+MHTTPCONTENT={instance_id},0,0,"{json_str}"')
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# 4. 发起 POST 请求
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if send_cmd(f'AT+MHTTPREQUEST={instance_id},2,0,"{api_path}"'):
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print("✅ HTTP 请求已发送")
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return True
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else:
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print("❌ 发送请求失败")
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return False
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def read_response(timeout_ms=5000):
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print("⏳ 等待响应...")
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start = time.ticks_ms()
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while time.ticks_ms() - start < timeout_ms:
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data = http_serial.read(128)
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if data:
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try:
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print("📡 响应:", data.decode("utf-8").strip())
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except:
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print("📡 响应(raw):", data)
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time.sleep_ms(100)
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# ========== 主程序：直接上传 ==========
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print("🚀 启动直接上传流程...")
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token = generate_token(device_id)
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print("🔑 Token:", token)
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# 构造模拟数据
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timestamp = int(time.time() * 1000)
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json_data = {
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"id": timestamp,
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"DeviceId": device_id,
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"x": 12.34,
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"y": -5.67,
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"rag": 90.0,
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"time": timestamp,
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"dst": 234.5,
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"battery": 80,
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"errorCode": 0
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}
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# 执行上传
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if send_http_request(url, api_path, token, device_id, json_data):
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read_response()
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else:
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print("💥 上传流程失败")
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print("🔚 程序结束")
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88
I2C.py
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88
I2C.py
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from maix import i2c, pinmap, time
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# 配置 I2C1 引脚（请根据实际连接修改）
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pinmap.set_pin_function("P18", "I2C1_SCL")
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pinmap.set_pin_function("P21", "I2C1_SDA")
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bus = i2c.I2C(1, i2c.Mode.MASTER)
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INA226_ADDR = 0x40
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# 寄存器定义
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REG_CONFIGURATION = 0x00
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REG_BUS_VOLTAGE = 0x02
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REG_CALIBRATION = 0x05
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# 校准值（不读取电流/功率时也可以省略）
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CALIBRATION_VALUE = 0x1400
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def write_register(reg, value):
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data = [(value >> 8) & 0xFF, value & 0xFF]
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bus.writeto_mem(INA226_ADDR, reg, bytes(data))
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def read_register(reg):
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data = bus.readfrom_mem(INA226_ADDR, reg, 2)
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return (data[0] << 8) | data[1]
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def init_ina226():
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write_register(REG_CONFIGURATION, 0x4527)
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write_register(REG_CALIBRATION, CALIBRATION_VALUE)
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def get_bus_voltage():
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raw = read_register(REG_BUS_VOLTAGE)
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return raw * 1.25 / 1000 # 单位 V
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def voltage_to_percent(voltage):
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if voltage >= 4.20:
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return 100
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elif voltage >= 4.15:
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return 95
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elif voltage >= 4.10:
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return 90
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elif voltage >= 4.05:
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return 85
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elif voltage >= 4.00:
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return 80
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elif voltage >= 3.95:
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return 75
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elif voltage >= 3.90:
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return 70
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elif voltage >= 3.85:
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return 65
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elif voltage >= 3.80:
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return 60
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elif voltage >= 3.75:
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return 55
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elif voltage >= 3.70:
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return 50
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elif voltage >= 3.65:
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return 45
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elif voltage >= 3.60:
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return 40
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elif voltage >= 3.55:
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return 35
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elif voltage >= 3.50:
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return 30
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elif voltage >= 3.45:
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return 25
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elif voltage >= 3.40:
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return 20
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elif voltage >= 3.35:
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return 15
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elif voltage >= 3.30:
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return 10
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elif voltage >= 3.20:
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return 5
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else:
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return 0
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# 初始化 INA226
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init_ina226()
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# 主循环，只显示电量百分比
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while True:
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voltage = get_bus_voltage()
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battery_percent = voltage_to_percent(voltage)
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print(f"当前电压: {voltage:.3f} V")
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print(f"估算电池电量: {battery_percent} %\n")
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time.sleep(2000)
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17
adc.py
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17
adc.py
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@@ -0,0 +1,17 @@
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from maix.peripheral import adc
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from maix import time
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a = adc.ADC(0, adc.RES_BIT_12)
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while True:
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raw_data = a.read()
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print(f"ADC raw data:{raw_data}")
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# if raw_data > 2450:
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# print(f"ADC raw data:{raw_data}")
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# elif raw_data < 2000:
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# print(f"ADC raw data:{raw_data}")
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# time.sleep_ms(50)
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# vol = a.read_vol()
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# print(f"ADC vol:{vol}")
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61
cslaser.py
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61
cslaser.py
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@@ -0,0 +1,61 @@
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#!/usr/bin/env python3
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# -*- coding: utf-8 -*-
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"""
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激光模块开关测试脚本
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平台：MaixPy (Sipeed MAIX)
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功能：每2秒循环开启/关闭激光，验证硬件是否正常响应
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作者：ZZH
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"""
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from maix import uart, pinmap, time
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# === 配置 ===
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UART_PORT = "/dev/ttyS1" # 激光模块连接的串口（通常是 UART1）
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BAUDRATE = 9600 # 波特率（根据你的模块调整）
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# 引脚映射（根据你硬件连接修改）
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pinmap.set_pin_function("A18", "UART1_RX") # RX
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pinmap.set_pin_function("A19", "UART1_TX") # TX
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# 激光控制指令（根据你的模块协议）
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MODULE_ADDR = 0x00
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LASER_ON_CMD = bytes([0xAA, MODULE_ADDR, 0x01, 0xBE, 0x00, 0x01, 0x00, 0x01, 0xC1])
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LASER_OFF_CMD = bytes([0xAA, MODULE_ADDR, 0x01, 0xBE, 0x00, 0x01, 0x00, 0x00, 0xC0])
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# === 初始化串口 ===
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print("🔧 正在初始化激光串口...")
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laser_uart = uart.UART(UART_PORT, BAUDRATE)
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# === 辅助函数 ===
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def send_laser_cmd(cmd, name):
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"""发送激光指令并尝试读取回包"""
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print(f"➡️ 发送指令: {name}")
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laser_uart.write(cmd)
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time.sleep_ms(50) # 等待模块处理
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# 尝试读取回包（非必须，部分模块无返回）
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resp = laser_uart.read(20)
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if resp:
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print(f"✅ 收到回包 ({len(resp)}字节): {resp.hex()}")
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else:
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print("🔇 无回包（正常或模块不支持）")
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# === 主测试循环 ===
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print("\n🚀 开始激光开关测试（按 Ctrl+C 停止）")
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print("周期：开1秒 → 关1秒\n")
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try:
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while True:
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# 开启激光
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send_laser_cmd(LASER_ON_CMD, "LASER ON")
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time.sleep(1.0) # 持续开启 1 秒
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# 关闭激光
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send_laser_cmd(LASER_OFF_CMD, "LASER OFF")
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time.sleep(1.0) # 关闭 1 秒
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except KeyboardInterrupt:
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print("\n🛑 测试被用户中断")
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# 最终确保激光关闭
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laser_uart.write(LASER_OFF_CMD)
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print("✅ 已发送最终关闭指令")
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3
main.py
3
main.py
@@ -91,7 +91,8 @@ LASER_ON_CMD = bytes([0xAA, MODULE_ADDR, 0x01, 0xBE, 0x00, 0x01, 0x00, 0x01, 0xC
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LASER_OFF_CMD = bytes([0xAA, MODULE_ADDR, 0x01, 0xBE, 0x00, 0x01, 0x00, 0x00, 0xC0])
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# 相机标定参数（用于距离估算）
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FOCAL_LENGTH_PIX = 3800.0 # 焦距（像素）
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# FOCAL_LENGTH_PIX = 3800.0 # 焦距（像素）
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FOCAL_LENGTH_PIX = 1900.0 # 焦距（像素）
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REAL_RADIUS_CM = 15 # 靶心实际半径（厘米）
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# TCP 连接状态
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