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	modified:   README.md
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	new file:   src/example.py
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	new file:   u2can/DM_CAN.py
	new file:   u2can/DM_Motor_Test.py
	new file:   u2can/LICENSE
	new file:   u2can/README.md
	new file:   u2can/__pycache__/DM_CAN.cpython-310.pyc
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	new file:   ui.log

.vscode/settings.json

@@ -0,0 +1,3 @@
+{
+    "cmake.sourceDirectory": "/home/allenyuan/balance/pybind_imu"
+}

Legs_controller.py

@@ -0,0 +1,94 @@
+import math
+import time
+import serial
+from u2can.DM_CAN import (
+    Motor, MotorControl,
+    DM_Motor_Type, Control_Type, DM_variable
+)
+
+class LegsController:
+    """
+    简单的达妙腿部/轮子控制类，只实现基本的初始化、使能、
+    失能、扭矩读取以及位置控制。
+    """
+
+    def __init__(self, port="/dev/dm-u2can", baudrate=921600, timeout=0.5):
+        """打开串口、创建 MotorControl、实例化并注册所有电机。"""
+        self.serial_device = serial.Serial(port, baudrate, timeout=timeout)
+        self.mc = MotorControl(self.serial_device)
+
+        # 四条腿电机（DM4340）
+        self.motor1 = Motor(DM_Motor_Type.DM4340, 0x01, 0x11)
+        self.motor2 = Motor(DM_Motor_Type.DM4340, 0x02, 0x12)
+        self.motor3 = Motor(DM_Motor_Type.DM4340, 0x03, 0x13)
+        self.motor4 = Motor(DM_Motor_Type.DM4340, 0x04, 0x14)
+
+        # 四个轮子电机（DMH6215）
+        self.wheel1 = Motor(DM_Motor_Type.DMH6215, 0x05, 0x15)
+        self.wheel2 = Motor(DM_Motor_Type.DMH6215, 0x06, 0x16)
+        self.wheel3 = Motor(DM_Motor_Type.DMH6215, 0x07, 0x17)
+        self.wheel4 = Motor(DM_Motor_Type.DMH6215, 0x08, 0x18)
+
+        # 注册所有电机
+        for m in (self.motor1, self.motor2, self.motor3, self.motor4,
+                  self.wheel1, self.wheel2, self.wheel3, self.wheel4):
+            self.mc.addMotor(m)
+
+    # ---------- 串口管理 ----------
+    def open_serial(self):
+        """重新打开已关闭的串口（如果需要）。"""
+        if not self.serial_device.is_open:
+            self.serial_device.open()
+
+    def close_serial(self):
+        """关闭串口，释放资源。"""
+        if self.serial_device.is_open:
+            self.serial_device.close()
+
+    # ---------- 使能 ----------
+    def enable_legs(self):
+        """使能四条腿电机。"""
+        for m in (self.motor1, self.motor2, self.motor3, self.motor4):
+            self.mc.enable(m)
+
+    def enable_wheels(self):
+        """使能四个轮子电机。"""
+        for w in (self.wheel1, self.wheel2, self.wheel3, self.wheel4):
+            self.mc.enable(w)
+
+    def disable_all(self):
+        """一次性失能所有电机（腿+轮子）。"""
+        for m in (self.motor1, self.motor2, self.motor3, self.motor4,
+                  self.wheel1, self.wheel2, self.wheel3, self.wheel4):
+            self.mc.disable(m)
+
+    # ---------- 状态读取 ----------
+    def get_legs_torque(self):
+        """刷新四条腿的状态并返回它们的扭矩列表。"""
+        for m in (self.motor1, self.motor2, self.motor3, self.motor4):
+            self.mc.refresh_motor_status(m)
+        return [
+            self.motor1.getTorque(),
+            self.motor2.getTorque(),
+            self.motor3.getTorque(),
+            self.motor4.getTorque(),
+        ]
+
+    # ---------- 位置控制 ----------
+    def control_legs_pos(self, pos1, pos2, pos3, pos4, vel=0.5):
+        """
+        使用位置‑速度模式控制四条腿。
+        参数:
+            pos1‑pos4: 目标位置（单位依据电机规格）
+            vel:      速度比例，默认 0.5
+        """
+        self.mc.control_Pos_Vel(self.motor1, -pos1, vel)
+        self.mc.control_Pos_Vel(self.motor2,  pos2, vel)
+        self.mc.control_Pos_Vel(self.motor3,  pos3, vel)
+        self.mc.control_Pos_Vel(self.motor4, -pos4, vel)
+    
+    def control_wheels_vel(self,vel,of_vel):
+        self.mc.control_Vel(self.wheel1,vel+of_vel)
+        self.mc.control_Vel(self.wheel2,vel-of_vel)
+        self.mc.control_Vel(self.wheel3,vel-of_vel)
+        self.mc.control_Vel(self.wheel4,vel+of_vel)

README.md

@@ -1,2 +1,111 @@
-# balance
-A robot balance package for damiao.
+# DM‑IMU USB 驱动库
+
+## 项目简介
+`dm_imu` 目录下实现了一个 **纯 C++ 的 USB IMU 驱动库**，原始代码基于 ROS，但已完全去除 ROS 依赖，使用 POSIX 串口 API 与 IMU 通信。库提供：
+
+- 串口初始化、波特率配置
+- IMU 启动、停止以及配置指令（加速度、陀螺仪、欧拉角等）
+- 线程安全的数据采集（`IMU_Data` 结构体）
+- 简单的 C++ 接口 `DmImu`，无需任何 ROS 环境即可使用
+
+## 目录结构
+```
+dm_imu/
+├─ bsp_crc.cpp / bsp_crc.h      # CRC 校验实现
+├─ imu_driver.cpp / imu_driver.h# 主驱动实现（已去除 ROS）
+├─ test_imu.cpp                # 示例程序，演示如何使用库
+└─ README.md                   # 本文档
+```
+
+## 编译方法
+
+### 依赖
+- **C++17** 编译器（gcc/clang）
+- POSIX 系统（Linux）提供的串口头文件 `<fcntl.h>、<unistd.h>、<termios.h>`
+- 标准库（`<thread>、<mutex>、<atomic>` 等）
+
+### 编译示例
+```bash
+# 进入项目根目录
+cd /home/allenyuan/balance
+
+# 编译库源码（生成目标文件）
+g++ -std=c++17 -c dm_imu/bsp_crc.cpp -o bsp_crc.o
+g++ -std=c++17 -c dm_imu/imu_driver.cpp -o imu_driver.o
+
+# 编译示例程序并链接
+g++ -std=c++17 test_imu.cpp bsp_crc.o imu_driver.o -o test_imu -lpthread
+```
+
+> **说明**：如果你希望将库封装为静态或动态库，只需将 `bsp_crc.o` 与 `imu_driver.o` 打包为 `libdm_imu.a`（或 `libdm_imu.so`），然后在链接时使用 `-L. -ldm_imu`。
+
+## 示例程序 `test_imu.cpp`
+
+```cpp
+// test_imu.cpp
+// 演示如何使用纯 C++ 的 DM‑IMU 驱动库读取数据
+
+#include "imu_driver.h"
+#include <iostream>
+#include <thread>
+#include <chrono>
+
+int main()
+{
+    // 根据实际设备路径与波特率创建对象
+    dmbot_serial::DmImu imu("/dev/ttyACM1", 921600);
+
+    // 启动采集线程
+    if (!imu.start()) {
+        std::cerr << "Failed to start IMU driver." << std::endl;
+        return 1;
+    }
+
+    // 连续读取 1000 次数据（约 10 秒）
+    for (int i = 0; i < 1000; ++i) {
+        IMU_Data d = imu.getData();
+
+        std::cout << "Roll: " << d.roll << "  Pitch: " << d.pitch
+                  << "  Yaw: " << d.yaw << std::endl;
+        std::cout << "Acc  : [" << d.accx << ", " << d.accy << ", " << d.accz << "]"
+                  << std::endl;
+        std::cout << "Gyro : [" << d.gyrox << ", " << d.gyroy << ", " << d.gyroz << "]"
+                  << std::endl;
+        std::cout << "-----------------------------------------" << std::endl;
+
+        // 10 ms 间隔（约 100 Hz）
+        std::this_thread::sleep_for(std::chrono::milliseconds(10));
+    }
+
+    // 停止采集并关闭串口
+    imu.stop();
+
+    return 0;
+}
+```
+
+### 运行示例
+```bash
+# 编译（参考上面的编译示例）
+g++ -std=c++17 test_imu.cpp bsp_crc.o imu_driver.o -o test_imu -lpthread
+
+# 运行
+./test_imu
+```
+
+运行后，程序会在终端持续打印 IMU 的欧拉角、加速度和陀螺仪数据。若串口未打开或设备路径错误，程序会在初始化阶段输出错误信息并退出。
+
+## 常见问题
+
+| 问题 | 可能原因 | 解决办法 |
+|------|----------|----------|
+| 程序启动后没有数据输出 | 串口未打开或设备路径错误 | 确认 IMU 已正确连接，`/dev/ttyACM1` 是否存在；如有不同，请在 `test_imu.cpp` 中修改构造函数的 `port` 参数 |
+| `write` / `read` 返回错误 | 波特率不匹配 | 检查 IMU 手册，确认波特率是否为 921600；如需修改，请在 `DmImu` 构造函数的 `baud` 参数中传入正确值 |
+| 编译报缺少头文件 | 开发环境缺少 POSIX 串口头文件 | 在 Linux 上默认可用；若使用交叉编译，请确保交叉工具链包含对应头文件 |
+
+## 许可证
+本项目采用 MIT 许可证，详情见 `LICENSE`（若项目中未提供，请自行添加）。
+
+---
+
+**祝你使用愉快！** 如有其他需求（如添加四元数计算、回调机制等），欢迎进一步扩展此库。

app_ui.py

@@ -0,0 +1,231 @@
+import gradio as gr
+from balance import BalanceController
+import logging
+import threading
+import time
+import os
+
+# -------------------------------------------------
+# 全局配置 & 日志系统（写入磁盘文件 ui.log）
+# -------------------------------------------------
+LOG_PATH = "ui.log"
+logging.basicConfig(
+    filename=LOG_PATH,
+    level=logging.INFO,
+    format="%(asctime)s - %(levelname)s - %(message)s",
+)
+logger = logging.getLogger("ui")
+
+def log(msg: str) -> None:
+    """统一写入日志的函数，同时打印到控制台（方便调试）。"""
+    logger.info(msg)
+    for h in logger.handlers:
+        h.flush()
+    print(msg)  # optional, 可删除
+
+# -------------------------------------------------
+# 全局状态
+# -------------------------------------------------
+controller: BalanceController | None = None   # 单例
+
+# -------------------------------------------------
+# 安全创建 BalanceController（带重试）
+# -------------------------------------------------
+def create_controller(retries: int = 3, delay: float = 1.0) -> BalanceController | None:
+    """尝试实例化 BalanceController，失败则记录日志并返回 None。"""
+    for attempt in range(1, retries + 1):
+        try:
+            log(f"尝试创建 BalanceController（第 {attempt} 次）")
+            return BalanceController()
+        except Exception as e:
+            log(f"创建 BalanceController 失败: {e}")
+            if attempt < retries:
+                time.sleep(delay)
+    log("全部重试结束，仍未能创建 BalanceController")
+    return None
+
+# -------------------------------------------------
+# UI 操作函数（统一异常捕获、日志记录、返回状态文字）
+# -------------------------------------------------
+def open_port() -> tuple:
+    """创建 BalanceController 实例并打开串口（不自动使能）。"""
+    global controller
+    if controller is None:
+        controller = create_controller()
+        if controller is None:
+            msg = "打开串口失败：无法创建 BalanceController"
+            log(msg)
+            return (msg, msg)
+        msg = "串口已打开"
+        log(msg)
+        return (msg, msg)
+    msg = "串口已打开（已存在实例）"
+    log(msg)
+    return (msg, msg)
+
+def enable_all() -> tuple:
+    """使能所有电机（腿部+轮子）。"""
+    global motors_enabled
+    if controller is None:
+        msg = "请先打开串口"
+        return (msg, msg)
+    try:
+        controller.enable_all()
+        motors_enabled = True
+        msg = "电机已全部使能"
+        log(msg)
+        return (msg, msg)
+    except Exception as e:
+        msg = f"使能电机异常: {e}"
+        log(msg)
+        return (msg, msg)
+
+def disable_all() -> tuple:
+    """失能所有电机。"""
+    global motors_enabled
+    if controller is None:
+        msg = "请先打开串口"
+        return (msg, msg)
+    try:
+        controller.disable_all()
+        motors_enabled = False
+        msg = "所有电机已失能"
+        log(msg)
+        return (msg, msg)
+    except Exception as e:
+        msg = f"失能电机异常: {e}"
+        log(msg)
+        return (msg, msg)
+
+def set_position(pos1, pos2, pos3, pos4, vel) -> tuple:
+    """设置四条腿的位置与速度比例。"""
+    if controller is None:
+        msg = "请先打开串口"
+        return (msg, msg)
+    try:
+        controller.control_legs_pos(pos1, pos2, pos3, pos4, vel)
+        msg = f"已设置位置: {pos1}, {pos2}, {pos3}, {pos4}（速度比例 {vel}）"
+        log(msg)
+        return (msg, msg)
+    except Exception as e:
+        msg = f"设置位置异常: {e}"
+        log(msg)
+        return (msg, msg)
+
+def get_torque() -> tuple:
+    """读取四条腿的扭矩，返回字符串列表。"""
+    if controller is None:
+        msg = "未打开串口"
+        log(msg)
+        return (["未打开串口"] * 4, msg)
+    try:
+        torques = controller.get_legs_torque()
+        msg = f"读取扭矩: {torques}"
+        log(msg)
+        return ([f"{t:.2f}" if t is not None else "N/A" for t in torques], msg)
+    except Exception as e:
+        msg = f"读取扭矩异常: {e}"
+        log(msg)
+        return (["错误"] * 4, msg)
+
+# -------------------------------------------------
+# 后台平衡循环（守护线程）
+# -------------------------------------------------
+def _balance_thread(ctrl: BalanceController) -> None:
+    """后台线程入口，运行平衡循环并确保资源安全释放。"""
+    try:
+        ctrl.enable_all()
+        log("平衡循环启动")
+        ctrl.run_balance_loop()
+    except Exception as e:
+        log(f"平衡循环异常: {e}")
+    finally:
+        ctrl.shutdown()
+        log("平衡循环已结束，资源已清理")
+
+def start_balance_thread() -> None:
+    """在守护线程中启动平衡循环。"""
+    global controller
+    if controller is None:
+        controller = create_controller()
+        if controller is None:
+            log("启动平衡控制失败：无法创建 BalanceController")
+            return
+    thread = threading.Thread(target=_balance_thread, args=(controller,), daemon=True)
+    thread.start()
+    log("平衡控制线程已启动")
+
+def start_balance() -> tuple:
+    """检查电机是否已使能后启动平衡控制。"""
+    if not motors_enabled:
+        msg = "启动平衡控制失败：电机未使能"
+        log(msg)
+        return (msg, msg)
+    start_balance_thread()
+    msg = "平衡控制已启动"
+    log(msg)
+    return (msg, msg)
+
+# -------------------------------------------------
+# 日志刷新（用于 UI 按钮）
+# -------------------------------------------------
+def refresh_log() -> str:
+    """读取最新的日志文件内容返回给 UI。"""
+    if not os.path.exists(LOG_PATH):
+        return ""
+    with open(LOG_PATH, "r", encoding="utf-8") as f:
+        return f.read()
+
+# -------------------------------------------------
+# 自动打开串口并初始化 UI
+# -------------------------------------------------
+init_status, _ = open_port()  # 自动打开串口
+
+# -------------------------------------------------
+# Gradio UI
+# -------------------------------------------------
+with gr.Blocks() as demo:
+    # 日志显示区
+    log_box = gr.Textbox(label="运行日志", lines=15, interactive=False)
+    refresh_btn = gr.Button("刷新日志")
+    refresh_btn.click(fn=refresh_log, inputs=None, outputs=log_box)
+
+    gr.Markdown("# 🤖 四足机器人控制面板")
+
+    with gr.Row():
+        # 左侧：电机控制
+        with gr.Column():
+            gr.Markdown("## 电机控制")
+            # 已移除 “打开串口” 按钮，串口在启动时已自动打开
+            enable_btn  = gr.Button("✅ 使能全部")
+            disable_btn = gr.Button("❌ 失能全部")
+            start_btn   = gr.Button("▶️ 启动平衡控制")
+            status_box  = gr.Textbox(label="状态", value=init_status, interactive=False)
+
+            enable_btn.click(fn=enable_all, inputs=None, outputs=[status_box, log_box])
+            disable_btn.click(fn=disable_all, inputs=None, outputs=[status_box, log_box])
+            start_btn.click(fn=start_balance, inputs=None, outputs=[status_box, log_box])
+
+        # 中间：位置控制
+        with gr.Column():
+            gr.Markdown("## 位置控制")
+            pos1 = gr.Slider(0, 0.85, label="腿 1 位置")
+            pos2 = gr.Slider(0, 0.85, label="腿 2 位置")
+            pos3 = gr.Slider(0, 0.85, label="腿 3 位置")
+            pos4 = gr.Slider(0, 0.85, label="腿 4 位置")
+            vel = gr.Slider(0.1, 1.0, value=0.5, step=0.1, label="速度比例")
+            set_btn = gr.Button("📍 设置位置")
+            pos_status = gr.Textbox(label="位置设置结果", interactive=False)
+
+            set_btn.click(fn=set_position,
+                          inputs=[pos1, pos2, pos3, pos4, vel],
+                          outputs=[pos_status, log_box])
+
+        # 右侧：扭矩读取
+        with gr.Column():
+            gr.Markdown("## 扭矩读取")
+            torque_output = gr.Textbox(label="腿部扭矩 (N/m)", interactive=False)
+            read_btn = gr.Button("🔍 读取扭矩")
+            read_btn.click(fn=get_torque, inputs=None, outputs=[torque_output, log_box])
+
+    demo.launch(server_name="0.0.0.0", server_port=7860, debug=True)

balance.py

@@ -0,0 +1,157 @@
+import time
+import imu_py
+from Legs_controller import LegsController
+
+class BalanceController:
+    """
+    BalanceController 将原 balance.py 的平衡控制逻辑封装为类，
+    复用 LegsController 中已实现的电机初始化、使能、失能、扭矩读取
+    与位置控制等接口，保持脚本仍可直接运行。
+    """
+
+    def __init__(self, imu_port="/dev/dm-imu", imu_baud=921600, leg_port="/dev/dm-u2can"):
+        # 实例化 LegsController（内部完成串口、MotorControl、所有电机的注册）
+        # 若实际硬件不存在，LegsController 会在内部捕获异常，仍可安全实例化
+        try:
+            self.legs = LegsController(port=leg_port)
+        except Exception as e:
+            print(f"初始化 LegsController 失败: {e}")
+            # 创建一个空对象，后续通过 getattr 检查其是否拥有 mc 属性
+            self.legs = type('DummyLegs', (), {})()
+        # 初始化 IMU（若硬件不可用则使用模拟对象）
+        try:
+            self.imu = imu_py.DmImu(imu_port, imu_baud)
+            self.imu.start()
+        except Exception as e:
+            print(f"初始化 IMU 失败: {e}")
+            class DummyImu:
+                def getData(self):
+                    # 返回零姿态以便算法继续运行
+                    return {'roll': 0.0, 'pitch': 0.0, 'yaw': 0.0}
+            self.imu = DummyImu()
+        # 运行标志，控制主循环的退出
+        self._running = False
+
+    # ---------- 电机管理 ----------
+    def enable_all(self):
+        """使能四条腿和四个轮子电机。"""
+        if getattr(self.legs, "mc", None):
+            self.legs.enable_legs()
+            self.legs.enable_wheels()
+        else:
+            print("警告: LegsController 未成功初始化串口，跳过使能步骤。")
+
+    def disable_all(self):
+        """一次性失能所有电机（腿+轮子）。"""
+        if getattr(self.legs, "mc", None):
+            self.legs.disable_all()
+        else:
+            print("警告: LegsController 未成功初始化串口，跳过失能步骤。")
+
+    # ---------- 状态读取 ----------
+    def get_legs_torque(self):
+        """返回四条腿电机的扭矩列表。"""
+        if getattr(self.legs, "mc", None):
+            return self.legs.get_legs_torque()
+        else:
+            print("警告: LegsController 未成功初始化串口，返回空列表。")
+            return []
+
+    # ---------- 位置控制 ----------
+    def control_legs_pos(self, pos1, pos2, pos3, pos4, vel=0.5):
+        """使用 LegsController 的位置‑速度控制四条腿。"""
+        if getattr(self.legs, "mc", None):
+            self.legs.control_legs_pos(pos1, pos2, pos3, pos4, vel)
+        else:
+            print("警告: LegsController 未成功初始化串口，跳过位置控制。")
+
+    # ---------- 私有工具 ----------
+    def _limit_offsets(self, offs):
+        """将偏置限制在 0~0.5 之间。"""
+        return min(max(offs, 0.0), 0.5)
+
+    def _update_offsets(self, data, dt):
+        offs=[0.0,0.0,0.0,0.0]
+        if data['pitch']>0.2:
+            offs[0]=offs[0]+0.0001*(data['pitch'])*pow(data['pitch'],0.1)
+            offs[1]=offs[1]+0.0001*(data['pitch'])*pow(data['pitch'],0.1)
+        if data['pitch']<-0.2:
+            offs[2]=offs[2]+0.0001*(-data['pitch'])*pow(-data['pitch'],0.1)
+            offs[3]=offs[3]+0.0001*(-data['pitch'])*pow(-data['pitch'],0.1)
+        if data['roll']<-0.2:
+            offs[0]=offs[0]+0.0001*(-data['roll'])*pow(-data['roll'],0.1)
+            offs[3]=offs[3]+0.0001*(-data['roll'])*pow(-data['roll'],0.1)
+        if data['roll']>0.2:
+            offs[1]=offs[1]+0.0001*(data['roll'])*pow(data['roll'],0.1)
+            offs[2]=offs[2]+0.0001*(data['roll'])*pow(data['roll'],0.1)
+		
+        # 归一化到 0~0.5 区间
+        min_off = min(offs)
+        offs = [o - min_off for o in offs]
+        offs = [self._limit_offsets(o) for o in offs]
+
+        return offs
+
+    # ---------- 主循环 ----------
+    def run_balance_loop(self, max_vel=1.0):
+        self._running = True
+        offs = [0.0, 0.0, 0.0, 0.0]
+        prev_time = time.time()
+
+        while self._running:
+            try:
+                cur_time = time.time()
+                dt = cur_time - prev_time
+                if dt <= 0:
+                    # 防止除以零或极小 dt 导致的异常
+                    dt = 1e-6
+                prev_time = cur_time
+
+                data = self.imu.getData()
+                offs = self._update_offsets(data, dt)
+
+                if getattr(self.legs, "mc", None):
+                    vel = min(1.0, max_vel)
+                    self.control_legs_pos(
+                        0.85 - offs[0],
+                        0.85 - offs[1],
+                        0.85 - offs[2],
+                        0.85 - offs[3],
+                        vel=vel,
+                    )
+                else:
+                    print("调试: 偏置计算结果", offs)
+
+                #print(f"euler: (roll={data['roll']:.2f}, pitch={data['pitch']:.2f}, yaw={data['yaw']:.2f})")
+                time.sleep(0.001)
+            except Exception as e:
+                print(f"平衡循环内部异常, 退出循环: {e}")
+                break
+
+    # ---------- 收尾 ----------
+    def shutdown(self):
+        """关闭所有资源：失能电机、关闭串口、停止 IMU。"""
+        # 先停止循环
+        self._running = False
+        self.disable_all()
+        # 若 LegsController 成功初始化串口则关闭，否则跳过
+        if getattr(self.legs, "close_serial", None):
+            try:
+                self.legs.close_serial()
+            except Exception as e:
+                print(f"关闭串口时出现异常: {e}")
+        # 若 imu_py 提供 stop 方法，可取消注释以下行
+        # self.imu.stop()
+
+
+if __name__ == "__main__":
+    # 直接运行脚本时的入口
+    controller = BalanceController()
+    controller.enable_all()
+    # 初始位置设置（与原脚本保持一致）
+    controller.control_legs_pos(0.85, 0.85, 0.85, 0.85, vel=0.5)
+    time.sleep(5)  # 与原脚本的延时保持一致
+    # 进入平衡控制循环
+    controller.run_balance_loop()
+    # 结束后清理资源
+    controller.shutdown()

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+    0xCB7D, 0xDB5C, 0xEB3F, 0xFB1E, 0x8BF9, 0x9BD8, 0xABBB, 0xBB9A, 0x4A75, 0x5A54, 0x6A37, 0x7A16, 0x0AF1, 0x1AD0, 0x2AB3, 0x3A92,
+    0xFD2E, 0xED0F, 0xDD6C, 0xCD4D, 0xBDAA, 0xAD8B, 0x9DE8, 0x8DC9, 0x7C26, 0x6C07, 0x5C64, 0x4C45, 0x3CA2, 0x2C83, 0x1CE0, 0x0CC1,
+    0xEF1F, 0xFF3E, 0xCF5D, 0xDF7C, 0xAF9B, 0xBFBA, 0x8FD9, 0x9FF8, 0x6E17, 0x7E36, 0x4E55, 0x5E74, 0x2E93, 0x3EB2, 0x0ED1, 0x1EF0
+};
+
+
+/**
+  * @brief          计算CRC8
+	* @param[in]      ess_value: crc初始值
+  * @param[in]      ptr: 数据指针
+  * @param[in]      len: 校验长度
+  * @retval         CRC-8值
+  */
+uint8_t Get_CRC8(uint8_t init_value ,uint8_t *ptr, uint8_t len)
+{
+	uint8_t uc_index;
+	uint8_t ucCRC8 = init_value;
+	while (len--)
+	{
+			uc_index = ucCRC8^(*ptr++);
+			ucCRC8 = CRC8_table[uc_index];
+	}
+  return(ucCRC8);
+}
+
+uint16_t Get_CRC16(uint8_t *ptr, uint16_t len)
+{
+	 // ISO/IEC 13239 的初始值
+	uint16_t crc = 0xFFFF;
+	for (size_t i = 0; i < len; ++i)
+	{
+			uint8_t index = (crc >> 8 ^ ptr[i]);
+			crc = ((crc << 1) ^ CRC16_table[index]);
+	}
+	return crc;
+}

dm_imu/bsp_crc.h

@@ -0,0 +1,10 @@
+#ifndef __BSP_CRC_H
+#define __BSP_CRC_H
+#include <iostream>
+
+
+uint8_t Get_CRC8(uint8_t init_value ,uint8_t *ptr, uint8_t len);
+uint16_t Get_CRC16(uint8_t *ptr, uint16_t len);
+
+
+#endif

dm_imu/imu_driver.cpp

@@ -0,0 +1,311 @@
+#include "imu_driver.h"
+#include <chrono>
+#include <iostream>
+#include <fcntl.h>
+#include <unistd.h>
+#include <termios.h>
+
+namespace dmbot_serial
+{
+
+DmImu::DmImu(const std::string& port, int baud)
+    : imu_serial_port(port), imu_seial_baud(baud), stop_thread_(false)
+{
+    // 初始化串口并完成 IMU 配置
+    init_imu_serial();
+
+    // 进入配置模式并初始化 IMU
+    enter_setting_mode();
+    std::this_thread::sleep_for(std::chrono::milliseconds(10));
+
+    turn_on_accel();
+    std::this_thread::sleep_for(std::chrono::milliseconds(10));
+
+    turn_on_gyro();
+    std::this_thread::sleep_for(std::chrono::milliseconds(10));
+
+    turn_on_euler();
+    std::this_thread::sleep_for(std::chrono::milliseconds(10));
+
+    turn_off_quat();
+    std::this_thread::sleep_for(std::chrono::milliseconds(10));
+
+    set_output_1000HZ();
+    std::this_thread::sleep_for(std::chrono::milliseconds(10));
+
+    save_imu_para();
+    std::this_thread::sleep_for(std::chrono::milliseconds(10));
+
+    exit_setting_mode();
+    std::this_thread::sleep_for(std::chrono::milliseconds(100));
+}
+
+DmImu::~DmImu()
+{
+    stop();
+    if (serial_fd >= 0)
+    {
+        close(serial_fd);
+        serial_fd = -1;
+    }
+}
+
+// -------------------------------
+// Public API
+// -------------------------------
+bool DmImu::start()
+{
+    if (rec_thread.joinable())
+    {
+        // 已经在运行
+        return true;
+    }
+
+    // 确保串口已打开
+    if (serial_fd < 0)
+    {
+        init_imu_serial();
+    }
+
+    stop_thread_ = false;
+    rec_thread = std::thread(&DmImu::get_imu_data_thread, this);
+    return true;
+}
+
+void DmImu::stop()
+{
+    stop_thread_ = true;
+    if (rec_thread.joinable())
+    {
+        rec_thread.join();
+    }
+    if (serial_fd >= 0)
+    {
+        close(serial_fd);
+        serial_fd = -1;
+    }
+}
+
+IMU_Data DmImu::getData() const
+{
+    std::lock_guard<std::mutex> lock(data_mutex);
+    return data;
+}
+
+// -------------------------------
+// Private implementation
+// -------------------------------
+void DmImu::init_imu_serial()
+{
+    // 打开串口
+    serial_fd = open(imu_serial_port.c_str(), O_RDWR | O_NOCTTY | O_SYNC);
+    if (serial_fd < 0)
+    {
+        std::cerr << "Failed to open IMU serial port: " << imu_serial_port << std::endl;
+        std::exit(EXIT_FAILURE);
+    }
+
+    // 配置波特率和串口属性
+    struct termios tty;
+    if (tcgetattr(serial_fd, &tty) != 0)
+    {
+        std::cerr << "Error from tcgetattr" << std::endl;
+        std::exit(EXIT_FAILURE);
+    }
+
+    // 设置波特率
+    speed_t speed;
+    switch (imu_seial_baud)
+    {
+        case 115200: speed = B115200; break;
+        case 230400: speed = B230400; break;
+        case 460800: speed = B460800; break;
+        case 921600: speed = B921600; break;
+        default:
+            std::cerr << "Unsupported baud rate: " << imu_seial_baud << std::endl;
+            std::exit(EXIT_FAILURE);
+    }
+    cfsetospeed(&tty, speed);
+    cfsetispeed(&tty, speed);
+
+    // 8N1, 无硬件流控制
+    tty.c_cflag = (tty.c_cflag & ~CSIZE) | CS8;     // 8 位字符
+    tty.c_iflag &= ~IGNBRK;                         // 禁用 BREAK 处理
+    tty.c_lflag = 0;                                // 无信号字符、回显、规范模式
+    tty.c_oflag = 0;                                // 原始输出
+    tty.c_cc[VMIN]  = 0;                            // 读取不阻塞
+    tty.c_cc[VTIME] = 5;                            // 0.5 秒读取超时
+
+    tty.c_cflag |= (CLOCAL | CREAD);                // 忽略调制解调器控制线，启用接收
+    tty.c_cflag &= ~(PARENB | PARODD);              // 无奇偶校验
+    tty.c_cflag &= ~CSTOPB;                         // 1 位停止位
+    tty.c_cflag &= ~CRTSCTS;                        // 无硬件流控制
+
+    if (tcsetattr(serial_fd, TCSANOW, &tty) != 0)
+    {
+        std::cerr << "Error from tcsetattr" << std::endl;
+        std::exit(EXIT_FAILURE);
+    }
+
+    std::cout << "IMU serial port opened successfully." << std::endl;
+}
+
+// -------------------------------
+// 配置指令（与原始 ROS 代码保持一致，仅去掉 ros::Duration）
+// -------------------------------
+void DmImu::enter_setting_mode()
+{
+    uint8_t txbuf[4] = {0xAA, 0x06, 0x01, 0x0D};
+    for (int i = 0; i < 5; ++i)
+    {
+        write(serial_fd, txbuf, sizeof(txbuf));
+        std::this_thread::sleep_for(std::chrono::milliseconds(10));
+    }
+}
+
+void DmImu::turn_on_accel()
+{
+    uint8_t txbuf[4] = {0xAA, 0x01, 0x14, 0x0D};
+    for (int i = 0; i < 5; ++i)
+    {
+        write(serial_fd, txbuf, sizeof(txbuf));
+        std::this_thread::sleep_for(std::chrono::milliseconds(10));
+    }
+}
+
+void DmImu::turn_on_gyro()
+{
+    uint8_t txbuf[4] = {0xAA, 0x01, 0x15, 0x0D};
+    for (int i = 0; i < 5; ++i)
+    {
+        write(serial_fd, txbuf, sizeof(txbuf));
+        std::this_thread::sleep_for(std::chrono::milliseconds(10));
+    }
+}
+
+void DmImu::turn_on_euler()
+{
+    uint8_t txbuf[4] = {0xAA, 0x01, 0x16, 0x0D};
+    for (int i = 0; i < 5; ++i)
+    {
+        write(serial_fd, txbuf, sizeof(txbuf));
+        std::this_thread::sleep_for(std::chrono::milliseconds(10));
+    }
+}
+
+void DmImu::turn_off_quat()
+{
+    uint8_t txbuf[4] = {0xAA, 0x01, 0x07, 0x0D};
+    for (int i = 0; i < 5; ++i)
+    {
+        write(serial_fd, txbuf, sizeof(txbuf));
+        std::this_thread::sleep_for(std::chrono::milliseconds(10));
+    }
+}
+
+void DmImu::set_output_1000HZ()
+{
+    uint8_t txbuf[5] = {0xAA, 0x02, 0x01, 0x00, 0x0D};
+    for (int i = 0; i < 5; ++i)
+    {
+        write(serial_fd, txbuf, sizeof(txbuf));
+        std::this_thread::sleep_for(std::chrono::milliseconds(10));
+    }
+}
+
+void DmImu::save_imu_para()
+{
+    uint8_t txbuf[4] = {0xAA, 0x03, 0x01, 0x0D};
+    for (int i = 0; i < 5; ++i)
+    {
+        write(serial_fd, txbuf, sizeof(txbuf));
+        std::this_thread::sleep_for(std::chrono::milliseconds(10));
+    }
+}
+
+void DmImu::exit_setting_mode()
+{
+    uint8_t txbuf[4] = {0xAA, 0x06, 0x00, 0x0D};
+    for (int i = 0; i < 5; ++i)
+    {
+        write(serial_fd, txbuf, sizeof(txbuf));
+        std::this_thread::sleep_for(std::chrono::milliseconds(10));
+    }
+}
+
+void DmImu::restart_imu()
+{
+    uint8_t txbuf[4] = {0xAA, 0x00, 0x00, 0x0D};
+    for (int i = 0; i < 5; ++i)
+    {
+        write(serial_fd, txbuf, sizeof(txbuf));
+        std::this_thread::sleep_for(std::chrono::milliseconds(10));
+    }
+}
+
+// -------------------------------
+// 数据采集线程
+// -------------------------------
+void DmImu::get_imu_data_thread()
+{
+    int error_num = 0;
+    while (!stop_thread_)
+    {
+        if (serial_fd < 0)
+        {
+            std::cerr << "IMU serial port not open in data thread." << std::endl;
+            std::this_thread::sleep_for(std::chrono::milliseconds(10));
+            continue;
+        }
+
+        // 读取完整帧（共 57 字节）
+        ssize_t len = read(serial_fd, &receive_data, sizeof(receive_data));
+        if (len != static_cast<ssize_t>(sizeof(receive_data)))
+        {
+            ++error_num;
+            continue;
+        }
+
+        // 验证帧头
+        if (receive_data.FrameHeader1 == 0x55 && receive_data.flag1 == 0xAA &&
+            receive_data.slave_id1 == 0x01 && receive_data.reg_acc == 0x01)
+        {
+            // CRC 校验并提取数据
+            if (Get_CRC16(reinterpret_cast<uint8_t*>(&receive_data.FrameHeader1), 16) == receive_data.crc1)
+            {
+                data.accx = *reinterpret_cast<float*>(&receive_data.accx_u32);
+                data.accy = *reinterpret_cast<float*>(&receive_data.accy_u32);
+                data.accz = *reinterpret_cast<float*>(&receive_data.accz_u32);
+            }
+            if (Get_CRC16(reinterpret_cast<uint8_t*>(&receive_data.FrameHeader2), 16) == receive_data.crc2)
+            {
+                data.gyrox = *reinterpret_cast<float*>(&receive_data.gyrox_u32);
+                data.gyroy = *reinterpret_cast<float*>(&receive_data.gyroy_u32);
+                data.gyroz = *reinterpret_cast<float*>(&receive_data.gyroz_u32);
+            }
+            if (Get_CRC16(reinterpret_cast<uint8_t*>(&receive_data.FrameHeader3), 16) == receive_data.crc3)
+            {
+                data.roll  = *reinterpret_cast<float*>(&receive_data.roll_u32);
+                data.pitch = *reinterpret_cast<float*>(&receive_data.pitch_u32);
+                data.yaw   = *reinterpret_cast<float*>(&receive_data.yaw_u32);
+            }
+
+            // 线程安全更新共享数据
+            {
+                std::lock_guard<std::mutex> lock(data_mutex);
+                // data 已在上面更新，无需额外操作
+            }
+        }
+        else
+        {
+            ++error_num;
+            if (error_num > 1200)
+            {
+                std::cerr << "Failed to find correct IMU frame header (0x55)." << std::endl;
+                error_num = 0;
+            }
+        }
+    }
+}
+
+}

dm_imu/imu_driver.h

@@ -0,0 +1,103 @@
+#ifndef _IMU_DRIVER_H_
+#define _IMU_DRIVER_H_
+#include <iostream>
+#include <thread>
+#include <initializer_list>
+#include <fstream>
+#include <array>
+#include <mutex>
+#include <atomic>
+#include <math.h>
+#include "bsp_crc.h"
+
+namespace dmbot_serial
+{
+#pragma pack(1)
+typedef struct
+{
+    uint8_t FrameHeader1;
+    uint8_t flag1;
+    uint8_t slave_id1;
+    uint8_t reg_acc;
+    uint32_t accx_u32;
+    uint32_t accy_u32;
+    uint32_t accz_u32;
+    uint16_t crc1;
+    uint8_t FrameEnd1;
+
+    uint8_t FrameHeader2;
+    uint8_t flag2;
+    uint8_t slave_id2;
+    uint8_t reg_gyro;
+    uint32_t gyrox_u32;
+    uint32_t gyroy_u32;
+    uint32_t gyroz_u32;
+    uint16_t crc2;
+    uint8_t FrameEnd2;
+
+    uint8_t FrameHeader3;
+    uint8_t flag3;
+    uint8_t slave_id3;
+    uint8_t reg_euler; // r-p-y
+    uint32_t roll_u32;
+    uint32_t pitch_u32;
+    uint32_t yaw_u32;
+    uint16_t crc3;
+    uint8_t FrameEnd3;
+} IMU_Receive_Frame;
+#pragma pack()
+
+typedef struct
+{
+    float accx;
+    float accy;
+    float accz;
+    float gyrox;
+    float gyroy;
+    float gyroz;
+    float roll;
+    float pitch;
+    float yaw;
+} IMU_Data;
+
+class DmImu
+{
+public:
+    DmImu(const std::string& port = "/dev/ttyACM1", int baud = 921600);
+    ~DmImu();
+
+    // Start data acquisition thread; returns true on success
+    bool start();
+    // Stop acquisition and close serial port
+    void stop();
+
+    // Get latest IMU data (thread‑safe copy)
+    IMU_Data getData() const;
+
+private:
+    void init_imu_serial();
+    void get_imu_data_thread();
+
+    void enter_setting_mode();
+    void turn_on_accel();
+    void turn_on_gyro();
+    void turn_on_euler();
+    void turn_off_quat();
+    void set_output_1000HZ();
+    void save_imu_para();
+    void exit_setting_mode();
+    void restart_imu();
+
+    int imu_seial_baud;
+    std::string imu_serial_port;
+    int serial_fd = -1;
+    std::thread rec_thread;
+    mutable std::mutex data_mutex;
+    bool stop_thread_ = false;
+
+    IMU_Receive_Frame receive_data{};
+    IMU_Data data{};
+};
+
+}
+#endif

dm_imu/plot_imu.py

@@ -0,0 +1,119 @@
+#!/usr/bin/env python3
+"""
+绘制 dm_imu/test_imu.cpp 生成的 CSV 数据。
+
+使用方式：
+    1. 确保已安装 matplotlib（pip install matplotlib）。
+    2. 运行 C++ 程序生成 imu_data.csv。
+    3. 执行本脚本：
+           python3 dm_imu/plot_imu.py
+    4. 脚本会在同目录下生成 `imu_plot.png` 并显示图形窗口（如果有可视化环境）。
+"""
+
+import csv
+import os
+import sys
+
+import matplotlib.pyplot as plt
+
+def read_csv(csv_path):
+    """读取 CSV，返回每列的数据列表。"""
+    if not os.path.isfile(csv_path):
+        print(f"错误：未找到 CSV 文件 {csv_path}", file=sys.stderr)
+        sys.exit(1)
+
+    indices = []
+    roll = []
+    pitch = []
+    yaw = []
+    accx = []
+    accy = []
+    accz = []
+    gyrox = []
+    gyroy = []
+    gyroz = []
+
+    with open(csv_path, newline='') as f:
+        reader = csv.DictReader(f)
+        for row in reader:
+            indices.append(int(row['index']))
+            roll.append(float(row['roll']))
+            pitch.append(float(row['pitch']))
+            yaw.append(float(row['yaw']))
+            accx.append(float(row['accx']))
+            accy.append(float(row['accy']))
+            accz.append(float(row['accz']))
+            gyrox.append(float(row['gyrox']))
+            gyroy.append(float(row['gyroy']))
+            gyroz.append(float(row['gyroz']))
+
+    return {
+        'index': indices,
+        'roll': roll,
+        'pitch': pitch,
+        'yaw': yaw,
+        'accx': accx,
+        'accy': accy,
+        'accz': accz,
+        'gyrox': gyrox,
+        'gyroy': gyroy,
+        'gyroz': gyroz,
+    }
+
+def plot_data(data, out_path):
+    """绘制三组曲线（姿态、加速度、陀螺仪）并保存为 PNG。"""
+    idx = data['index']
+
+    plt.figure(figsize=(12, 9))
+
+    # 1. 姿态（Roll, Pitch, Yaw）
+    ax1 = plt.subplot(3, 1, 1)
+    ax1.plot(idx, data['roll'], label='Roll')
+    ax1.plot(idx, data['pitch'], label='Pitch')
+    ax1.plot(idx, data['yaw'], label='Yaw')
+    ax1.set_ylabel('Angle (°)')
+    ax1.set_title('IMU 姿态')
+    ax1.legend()
+    ax1.grid(True)
+
+    # 2. 加速度（X, Y, Z）
+    ax2 = plt.subplot(3, 1, 2)
+    ax2.plot(idx, data['accx'], label='Acc X')
+    ax2.plot(idx, data['accy'], label='Acc Y')
+    ax2.plot(idx, data['accz'], label='Acc Z')
+    ax2.set_ylabel('Acceleration (g)')
+    ax2.set_title('加速度')
+    ax2.legend()
+    ax2.grid(True)
+
+    # 3. 陀螺仪（X, Y, Z）
+    ax3 = plt.subplot(3, 1, 3)
+    ax3.plot(idx, data['gyrox'], label='Gyro X')
+    ax3.plot(idx, data['gyroy'], label='Gyro Y')
+    ax3.plot(idx, data['gyroz'], label='Gyro Z')
+    ax3.set_xlabel('Sample Index')
+    ax3.set_ylabel('Angular Velocity (°/s)')
+    ax3.set_title('陀螺仪')
+    ax3.legend()
+    ax3.grid(True)
+
+    plt.tight_layout()
+    plt.savefig(out_path)
+    print(f"绘图已保存至 {out_path}")
+
+    # 如果当前环境支持图形界面，显示窗口
+    try:
+        plt.show()
+    except Exception:
+        pass
+
+def main():
+    script_dir = os.path.dirname(os.path.abspath(__file__))
+    csv_path = os.path.join(script_dir, 'imu_data.csv')
+    out_path = os.path.join(script_dir, 'imu_plot.png')
+
+    data = read_csv(csv_path)
+    plot_data(data, out_path)
+
+if __name__ == '__main__':
+    main()

dm_imu/test_imu.cpp

@@ -0,0 +1,52 @@
+#include "imu_driver.h"
+#include <iostream>
+#include <thread>
+#include <chrono>
+#include <fstream>
+
+int main()
+{
+    // 根据实际设备路径与波特率创建 IMU 对象
+    dmbot_serial::DmImu imu("/dev/ttyACM0", 921600);
+
+    // 启动采集线程
+    if (!imu.start())
+    {
+        std::cerr << "Failed to start IMU driver." << std::endl;
+        return 1;
+    }
+
+    // 打开 CSV 文件用于保存数据
+    std::ofstream csvFile("dm_imu/imu_data.csv");
+    csvFile << "index,roll,pitch,yaw,accx,accy,accz,gyrox,gyroy,gyroz\n";
+
+    // 示例：读取 1000 次数据（约 10 秒，100 Hz）
+    for (int i = 0; i < 1000; ++i)
+    {
+        dmbot_serial::IMU_Data data = imu.getData();
+
+        std::cout << "Roll: " << data.roll << "  Pitch: " << data.pitch
+                  << "  Yaw: " << data.yaw << std::endl;
+        std::cout << "Acc  : [" << data.accx << ", " << data.accy << ", " << data.accz << "]"
+                  << std::endl;
+        std::cout << "Gyro : [" << data.gyrox << ", " << data.gyroy << ", " << data.gyroz << "]"
+                  << std::endl;
+        std::cout << "----------------------------------------" << std::endl;
+
+        // 写入 CSV
+        csvFile << i << ',' << data.roll << ',' << data.pitch << ',' << data.yaw << ','
+                << data.accx << ',' << data.accy << ',' << data.accz << ','
+                << data.gyrox << ',' << data.gyroy << ',' << data.gyroz << '\n';
+
+        // 10 ms 间隔（约 100 Hz）
+        std::this_thread::sleep_for(std::chrono::milliseconds(10));
+    }
+
+    csvFile.close();
+
+    // 停止采集并关闭串口
+    imu.stop();
+    std::system("python3 dm_imu/plot_imu.py");
+
+    return 0;
+}

pybind_imu/CMakeLists.txt

@@ -0,0 +1,24 @@
+cmake_minimum_required(VERSION 3.14)
+project(imu_py LANGUAGES CXX)
+
+# 使用 C++17
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+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
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+# 添加 CMake 前缀路径，使 CMake 能找到 pybind11 的配置文件
+set(CMAKE_PREFIX_PATH "/home/allenyuan/.local/lib/python3.10/site-packages/pybind11/share/cmake" ${CMAKE_PREFIX_PATH})
+
+include_directories(
+    ${CMAKE_CURRENT_SOURCE_DIR}/..
+    /home/allenyuan/.local/lib/python3.10/site-packages/pybind11/include
+)
+
+find_package(pybind11 REQUIRED)
+
+pybind11_add_module(imu_py
+    pybind_imu.cpp
+    ../dm_imu/imu_driver.cpp
+    ../dm_imu/bsp_crc.cpp)
+
+target_link_libraries(imu_py PRIVATE pthread)

pybind_imu/README.md

@@ -0,0 +1,113 @@
+# Pybind11 Wrapper for DM‑IMU Driver
+
+## Overview
+This project provides a **Python module** that wraps the `DmImu` class from the `dm_imu` driver library using **pybind11**.  
+After building, you obtain a shared object (`imu_py*.so`) that can be imported in Python to control the IMU, start data acquisition, and retrieve sensor readings as a Python `dict`.
+
+## Prerequisites
+| Requirement | Version / Notes |
+|------------|-----------------|
+| **C++ compiler** | GCC 11 (or newer) |
+| **CMake** | ≥ 3.14 |
+| **Python** | 3.8 – 3.12 (the build uses the interpreter found by CMake) |
+| **pybind11** | Installed via `pip install pybind11` (the package provides the CMake config) |
+| **Serial port access** | The user must have read/write permission for the device (e.g., `/dev/ttyACM1`). See *Serial Port Permissions* below. |
+
+## Build Steps
+```bash
+# 1. Install pybind11 (if not already installed)
+pip install --user pybind11
+
+# 2. Clone / copy this repository (already present in /home/allenyuan/balance)
+
+# 3. Build the Python extension
+cd pybind_imu
+rm -rf build
+mkdir build && cd build
+cmake ..          # CMake will locate pybind11 automatically
+make -j$(nproc)   # Builds imu_py.cpython-<ver>-<arch>.so
+```
+
+The compiled shared library will be placed in `pybind_imu/build/`.
+
+## Installing the Module (optional)
+You can copy the generated `.so` file to a location that is on `PYTHONPATH`, for example:
+
+```bash
+cp build/imu_py.cpython-310-aarch64-linux-gnu.so ~/.local/lib/python3.10/site-packages/
+
+cp build/imu_py.cpython-310-aarch64-linux-gnu.so /home/allenyuan/miniconda3/lib/python3.13/site-packages
+```
+
+Or simply import it directly from the `build` directory (see the example below).
+
+## Serial Port Permissions
+If you encounter the error:
+
+```
+Failed to open IMU serial port: /dev/ttyACM1
+```
+
+you have two options:
+
+1. **Run the Python script with sudo** (quick test):
+   ```bash
+   sudo python3 example.py
+   ```
+
+2. **Add your user to the dialout group** (recommended):
+   ```bash
+   sudo usermod -aG dialout $USER
+   # Log out and log back in for the group change to take effect
+   ```
+
+## Usage from Python
+```python
+import pathlib
+import importlib.util
+
+# Load the compiled module (adjust the path if you installed it elsewhere)
+lib_path = pathlib.Path('pybind_imu/build/imu_py.cpython-310-aarch64-linux-gnu.so')
+spec = importlib.util.spec_from_file_location('imu_py', lib_path)
+imu_py = importlib.util.module_from_spec(spec)
+spec.loader.exec_module(imu_py)
+
+# Create an IMU instance (default port and baud rate are shown)
+imu = imu_py.DmImu('/dev/ttyACM1', 921600)
+
+# Start data acquisition (spawns a background thread)
+imu.start()
+
+# Retrieve a single measurement
+data = imu.getData()
+print('IMU data:', data)
+
+# When finished, stop the thread and close the serial port
+imu.stop()
+```
+
+## Example Program
+A ready‑to‑run example is provided as `example.py` in this directory. It demonstrates:
+
+* Loading the module
+* Starting the driver
+* Reading data in a loop
+* Clean shutdown on `KeyboardInterrupt`
+
+Run it with:
+
+```bash
+python3 example.py
+```
+
+## Troubleshooting
+| Symptom | Likely Cause | Fix |
+|---------|--------------|-----|
+| CMake cannot find `pybind11` | `pybind11` not installed or not on `CMAKE_PREFIX_PATH` | `pip install --user pybind11` and ensure `CMAKE_PREFIX_PATH` points to `~/.local/lib/python3.10/site-packages/pybind11/share/cmake` (the CMakeLists already sets this). |
+| Compilation error: `dm_imu/imu_driver.h: No such file or directory` | Include path wrong | The CMake file uses `include_directories(${CMAKE_CURRENT_SOURCE_DIR}/..)` which points to the project root where `dm_imu` resides. |
+| Runtime: “Failed to open IMU serial port” | No permission on the device | Use `sudo` or add user to `dialout` group (see above). |
+| Python import error “module not found” | Wrong path to the `.so` file | Adjust `lib_path` in the Python code to point to the actual location of the compiled shared object. |
+
+---
+
+**Enjoy!** Feel free to adapt the wrapper for additional driver functionality or integrate it into larger Python applications. If you have any questions, open an issue in the repository or contact the maintainer.

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pybind_imu/example.py

@@ -0,0 +1,70 @@
+#!/usr/bin/env python3
+"""
+example.py – Demonstrates how to use the pybind11‑wrapped DM‑IMU driver.
+
+Prerequisites
+-------------
+* The compiled shared library `imu_py*.so` must exist (see README.md for build steps).
+* The current user must have read/write access to the IMU serial device
+  (e.g. /dev/ttyACM1).  Use `sudo` or add the user to the `dialout` group
+  if necessary.
+
+Usage
+-----
+$ python3 example.py
+"""
+
+import pathlib
+import importlib.util
+import sys
+import signal
+import time
+
+# ----------------------------------------------------------------------
+# Load the compiled extension module.
+# Adjust the path if you installed the .so elsewhere.
+# ----------------------------------------------------------------------
+module_path = pathlib.Path(__file__).parent / "build" / "imu_py.cpython-310-aarch64-linux-gnu.so"
+if not module_path.is_file():
+    sys.stderr.write(f"Error: compiled module not found at {module_path}\n")
+    sys.exit(1)
+
+spec = importlib.util.spec_from_file_location("imu_py", module_path)
+imu_py = importlib.util.module_from_spec(spec)
+spec.loader.exec_module(imu_py)
+
+# ----------------------------------------------------------------------
+# Helper to cleanly stop the IMU thread on SIGINT / SIGTERM.
+# ----------------------------------------------------------------------
+def _signal_handler(sig, frame):
+    print("\nReceived interrupt – stopping IMU...")
+    imu.stop()
+    sys.exit(0)
+
+signal.signal(signal.SIGINT, _signal_handler)
+signal.signal(signal.SIGTERM, _signal_handler)
+
+# ----------------------------------------------------------------------
+# Create an IMU instance.
+# You can change the serial port or baud rate if your hardware differs.
+# ----------------------------------------------------------------------
+imu = imu_py.DmImu("/dev/ttyACM0", 921600)
+
+print("Starting IMU data acquisition...")
+imu.start()
+
+print("Press Ctrl‑C to stop.\n")
+try:
+    while True:
+        data = imu.getData()
+        # Pretty‑print the dictionary; you may replace this with logging, saving, etc.
+        print(
+            f"acc: ({data['accx']:.3f}, {data['accy']:.3f}, {data['accz']:.3f})  "
+            f"gyro: ({data['gyrox']:.3f}, {data['gyroy']:.3f}, {data['gyroz']:.3f})  "
+            f"euler: (roll={data['roll']:.2f}, pitch={data['pitch']:.2f}, yaw={data['yaw']:.2f})"
+        )
+        # Adjust the sleep interval as needed (here we poll at ~10 Hz).
+        time.sleep(0.01)
+except KeyboardInterrupt:
+    # Fallback in case the signal handler missed the interrupt.
+    _signal_handler(None, None)

pybind_imu/pybind_imu.cpp

@@ -0,0 +1,36 @@
+#include <pybind11/pybind11.h>
+#include <pybind11/stl.h>
+#include "dm_imu/imu_driver.h"
+
+namespace py = pybind11;
+using namespace dmbot_serial;
+
+/* Convert IMU_Data to a Python dict */
+py::dict imu_data_to_dict(const IMU_Data &data) {
+    py::dict d;
+    d["accx"]   = data.accx;
+    d["accy"]   = data.accy;
+    d["accz"]   = data.accz;
+    d["gyrox"]  = data.gyrox;
+    d["gyroy"]  = data.gyroy;
+    d["gyroz"]  = data.gyroz;
+    d["roll"]   = data.roll;
+    d["pitch"]  = data.pitch;
+    d["yaw"]    = data.yaw;
+    return d;
+}
+
+PYBIND11_MODULE(imu_py, m) {
+    m.doc() = "Python bindings for DM‑IMU driver";
+
+    py::class_<DmImu>(m, "DmImu")
+        .def(py::init<const std::string&, int>(),
+             py::arg("port") = "/dev/ttyACM1",
+             py::arg("baud") = 921600)
+        .def("start", &DmImu::start)
+        .def("stop",  &DmImu::stop)
+        .def("getData",
+             [](const DmImu &self) {
+                 return imu_data_to_dict(self.getData());
+             });
+}

src/example.py

@@ -0,0 +1,51 @@
+#!/usr/bin/env python3
+"""
+example.py – Demonstrates how to use the pybind11‑wrapped DM‑IMU driver.
+
+Prerequisites
+-------------
+* The compiled shared library `imu_py*.so` must exist (see README.md for build steps).
+* The current user must have read/write access to the IMU serial device
+  (e.g. /dev/ttyACM1).  Use `sudo` or add the user to the `dialout` group
+  if necessary.
+
+Usage
+-----
+$ python3 example.py
+"""
+
+import sys
+import signal
+import time
+import imu_py
+
+def _signal_handler(sig, frame):
+    print("\nReceived interrupt – stopping IMU...")
+    imu.stop()
+    sys.exit(0)
+
+signal.signal(signal.SIGINT, _signal_handler)
+signal.signal(signal.SIGTERM, _signal_handler)
+
+# ----------------------------------------------------------------------
+# Create an IMU instance.
+# You can change the serial port or baud rate if your hardware differs.
+# ----------------------------------------------------------------------
+imu = imu_py.DmImu("/dev/ttyACM0", 921600)
+
+print("Starting IMU data acquisition...")
+imu.start()
+
+print("Press Ctrl‑C to stop.\n")
+try:
+    while True:
+        data = imu.getData()
+        # Pretty‑print the dictionary; you may replace this with logging, saving, etc.
+        print(
+            f"euler: (roll={data['roll']:.2f}, pitch={data['pitch']:.2f}, yaw={data['yaw']:.2f})"
+        )
+        # Adjust the sleep interval as needed (here we poll at ~10 Hz).
+        time.sleep(0.01)
+except KeyboardInterrupt:
+    # Fallback in case the signal handler missed the interrupt.
+    _signal_handler(None, None)

u2can/DM_CAN.py

@@ -0,0 +1,625 @@
+from time import sleep
+import numpy as np
+from enum import IntEnum
+from struct import unpack
+from struct import pack
+
+
+class Motor:
+    def __init__(self, MotorType, SlaveID, MasterID):
+        """
+        define Motor object 定义电机对象
+        :param MotorType: Motor type 电机类型
+        :param SlaveID: CANID 电机ID
+        :param MasterID: MasterID 主机ID 建议不要设为0
+        """
+        self.Pd = float(0)
+        self.Vd = float(0)
+        self.state_q = float(0)
+        self.state_dq = float(0)
+        self.state_tau = float(0)
+        self.SlaveID = SlaveID
+        self.MasterID = MasterID
+        self.MotorType = MotorType
+        self.isEnable = False
+        self.NowControlMode = Control_Type.MIT
+        self.temp_param_dict = {}
+
+    def recv_data(self, q: float, dq: float, tau: float):
+        self.state_q = q
+        self.state_dq = dq
+        self.state_tau = tau
+
+    def getPosition(self):
+        """
+        get the position of the motor 获取电机位置
+        :return: the position of the motor 电机位置
+        """
+        return self.state_q
+
+    def getVelocity(self):
+        """
+        get the velocity of the motor 获取电机速度
+        :return: the velocity of the motor 电机速度
+        """
+        return self.state_dq
+
+    def getTorque(self):
+        """
+        get the torque of the motor 获取电机力矩
+        :return: the torque of the motor 电机力矩
+        """
+        return self.state_tau
+
+    def getParam(self, RID):
+        """
+        get the parameter of the motor 获取电机内部的参数，需要提前读取
+        :param RID: DM_variable 电机参数
+        :return: the parameter of the motor 电机参数
+        """
+        if RID in self.temp_param_dict:
+            return self.temp_param_dict[RID]
+        else:
+            return None
+
+
+class MotorControl:
+    send_data_frame = np.array(
+        [0x55, 0xAA, 0x1e, 0x03, 0x01, 0x00, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0, 0, 0, 0, 0x00, 0x08, 0x00,
+         0x00, 0, 0, 0, 0, 0, 0, 0, 0, 0x00], np.uint8)
+    #                4310           4310_48        4340           4340_48
+    Limit_Param = [[12.5, 30, 10], [12.5, 50, 10], [12.5, 8, 28], [12.5, 10, 28],
+                   # 6006           8006           8009            10010L         10010
+                   [12.5, 45, 20], [12.5, 45, 40], [12.5, 45, 54], [12.5, 25, 200], [12.5, 20, 200],
+                   # H3510            DMG6215      DMH6220
+                   [12.5 , 280 , 1],[12.5 , 45 , 10],[12.5 , 45 , 10]]
+
+    def __init__(self, serial_device):
+        """
+        define MotorControl object 定义电机控制对象
+        :param serial_device: serial object 串口对象
+        """
+        self.serial_ = serial_device
+        self.motors_map = dict()
+        self.data_save = bytes()  # save data
+        if self.serial_.is_open:  # open the serial port
+            print("Serial port is open")
+            serial_device.close()
+        self.serial_.open()
+
+    def controlMIT(self, DM_Motor, kp: float, kd: float, q: float, dq: float, tau: float):
+        """
+        MIT Control Mode Function 达妙电机MIT控制模式函数
+        :param DM_Motor: Motor object 电机对象
+        :param kp: kp
+        :param kd:  kd
+        :param q:  position  期望位置
+        :param dq:  velocity  期望速度
+        :param tau: torque  期望力矩
+        :return: None
+        """
+        if DM_Motor.SlaveID not in self.motors_map:
+            print("controlMIT ERROR : Motor ID not found")
+            return
+        kp_uint = float_to_uint(kp, 0, 500, 12)
+        kd_uint = float_to_uint(kd, 0, 5, 12)
+        MotorType = DM_Motor.MotorType
+        Q_MAX = self.Limit_Param[MotorType][0]
+        DQ_MAX = self.Limit_Param[MotorType][1]
+        TAU_MAX = self.Limit_Param[MotorType][2]
+        q_uint = float_to_uint(q, -Q_MAX, Q_MAX, 16)
+        dq_uint = float_to_uint(dq, -DQ_MAX, DQ_MAX, 12)
+        tau_uint = float_to_uint(tau, -TAU_MAX, TAU_MAX, 12)
+        data_buf = np.array([0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00], np.uint8)
+        data_buf[0] = (q_uint >> 8) & 0xff
+        data_buf[1] = q_uint & 0xff
+        data_buf[2] = dq_uint >> 4
+        data_buf[3] = ((dq_uint & 0xf) << 4) | ((kp_uint >> 8) & 0xf)
+        data_buf[4] = kp_uint & 0xff
+        data_buf[5] = kd_uint >> 4
+        data_buf[6] = ((kd_uint & 0xf) << 4) | ((tau_uint >> 8) & 0xf)
+        data_buf[7] = tau_uint & 0xff
+        self.__send_data(DM_Motor.SlaveID, data_buf)
+        self.recv()  # receive the data from serial port
+
+    def control_delay(self, DM_Motor, kp: float, kd: float, q: float, dq: float, tau: float, delay: float):
+        """
+        MIT Control Mode Function with delay 达妙电机MIT控制模式函数带延迟
+        :param DM_Motor: Motor object 电机对象
+        :param kp: kp
+        :param kd: kd
+        :param q:  position  期望位置
+        :param dq:  velocity  期望速度
+        :param tau: torque  期望力矩
+        :param delay: delay time 延迟时间 单位秒
+        """
+        self.controlMIT(DM_Motor, kp, kd, q, dq, tau)
+        sleep(delay)
+
+    def control_Pos_Vel(self, Motor, P_desired: float, V_desired: float):
+        """
+        control the motor in position and velocity control mode 电机位置速度控制模式
+        :param Motor: Motor object 电机对象
+        :param P_desired: desired position 期望位置
+        :param V_desired: desired velocity 期望速度
+        :return: None
+        """
+        if Motor.SlaveID not in self.motors_map:
+            print("Control Pos_Vel Error : Motor ID not found")
+            return
+        motorid = 0x100 + Motor.SlaveID
+        data_buf = np.array([0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00], np.uint8)
+        P_desired_uint8s = float_to_uint8s(P_desired)
+        V_desired_uint8s = float_to_uint8s(V_desired)
+        data_buf[0:4] = P_desired_uint8s
+        data_buf[4:8] = V_desired_uint8s
+        self.__send_data(motorid, data_buf)
+        # time.sleep(0.001)
+        self.recv()  # receive the data from serial port
+
+    def control_Vel(self, Motor, Vel_desired):
+        """
+        control the motor in velocity control mode 电机速度控制模式
+        :param Motor: Motor object 电机对象
+        :param Vel_desired: desired velocity 期望速度
+        """
+        if Motor.SlaveID not in self.motors_map:
+            print("control_VEL ERROR : Motor ID not found")
+            return
+        motorid = 0x200 + Motor.SlaveID
+        data_buf = np.array([0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00], np.uint8)
+        Vel_desired_uint8s = float_to_uint8s(Vel_desired)
+        data_buf[0:4] = Vel_desired_uint8s
+        self.__send_data(motorid, data_buf)
+        self.recv()  # receive the data from serial port
+
+    def control_pos_force(self, Motor, Pos_des: float, Vel_des, i_des):
+        """
+        control the motor in EMIT control mode 电机力位混合模式
+        :param Pos_des: desired position rad  期望位置 单位为rad
+        :param Vel_des: desired velocity rad/s  期望速度 为放大100倍
+        :param i_des: desired current rang 0-10000 期望电流标幺值放大10000倍
+        电流标幺值：实际电流值除以最大电流值，最大电流见上电打印
+        """
+        if Motor.SlaveID not in self.motors_map:
+            print("control_pos_vel ERROR : Motor ID not found")
+            return
+        motorid = 0x300 + Motor.SlaveID
+        data_buf = np.array([0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00], np.uint8)
+        Pos_desired_uint8s = float_to_uint8s(Pos_des)
+        data_buf[0:4] = Pos_desired_uint8s
+        Vel_uint = np.uint16(Vel_des)
+        ides_uint = np.uint16(i_des)
+        data_buf[4] = Vel_uint & 0xff
+        data_buf[5] = Vel_uint >> 8
+        data_buf[6] = ides_uint & 0xff
+        data_buf[7] = ides_uint >> 8
+        self.__send_data(motorid, data_buf)
+        self.recv()  # receive the data from serial port
+
+    def enable(self, Motor):
+        """
+        enable motor 使能电机
+        最好在上电后几秒后再使能电机
+        :param Motor: Motor object 电机对象
+        """
+        self.__control_cmd(Motor, np.uint8(0xFC))
+        sleep(0.1)
+        self.recv()  # receive the data from serial port
+
+    def enable_old(self, Motor ,ControlMode):
+        """
+        enable motor old firmware 使能电机旧版本固件，这个是为了旧版本电机固件的兼容性
+        可恶的旧版本固件使能需要加上偏移量
+        最好在上电后几秒后再使能电机
+        :param Motor: Motor object 电机对象
+        """
+        data_buf = np.array([0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xfc], np.uint8)
+        enable_id = ((int(ControlMode)-1) << 2) + Motor.SlaveID
+        self.__send_data(enable_id, data_buf)
+        sleep(0.1)
+        self.recv()  # receive the data from serial port
+
+    def disable(self, Motor):
+        """
+        disable motor 失能电机
+        :param Motor: Motor object 电机对象
+        """
+        self.__control_cmd(Motor, np.uint8(0xFD))
+        sleep(0.01)
+
+    def set_zero_position(self, Motor):
+        """
+        set the zero position of the motor 设置电机0位
+        :param Motor: Motor object 电机对象
+        """
+        self.__control_cmd(Motor, np.uint8(0xFE))
+        sleep(0.1)
+        self.recv()  # receive the data from serial port
+
+    def recv(self):
+        # 把上次没有解析完的剩下的也放进来
+        data_recv = b''.join([self.data_save, self.serial_.read_all()])
+        packets = self.__extract_packets(data_recv)
+        for packet in packets:
+            data = packet[7:15]
+            CANID = (packet[6] << 24) | (packet[5] << 16) | (packet[4] << 8) | packet[3]
+            CMD = packet[1]
+            self.__process_packet(data, CANID, CMD)
+
+    def recv_set_param_data(self):
+        data_recv = self.serial_.read_all()
+        packets = self.__extract_packets(data_recv)
+        for packet in packets:
+            data = packet[7:15]
+            CANID = (packet[6] << 24) | (packet[5] << 16) | (packet[4] << 8) | packet[3]
+            CMD = packet[1]
+            self.__process_set_param_packet(data, CANID, CMD)
+
+    def __process_packet(self, data, CANID, CMD):
+        if CMD == 0x11:
+            if CANID != 0x00:
+                if CANID in self.motors_map:
+                    q_uint = np.uint16((np.uint16(data[1]) << 8) | data[2])
+                    dq_uint = np.uint16((np.uint16(data[3]) << 4) | (data[4] >> 4))
+                    tau_uint = np.uint16(((data[4] & 0xf) << 8) | data[5])
+                    MotorType_recv = self.motors_map[CANID].MotorType
+                    Q_MAX = self.Limit_Param[MotorType_recv][0]
+                    DQ_MAX = self.Limit_Param[MotorType_recv][1]
+                    TAU_MAX = self.Limit_Param[MotorType_recv][2]
+                    recv_q = uint_to_float(q_uint, -Q_MAX, Q_MAX, 16)
+                    recv_dq = uint_to_float(dq_uint, -DQ_MAX, DQ_MAX, 12)
+                    recv_tau = uint_to_float(tau_uint, -TAU_MAX, TAU_MAX, 12)
+                    self.motors_map[CANID].recv_data(recv_q, recv_dq, recv_tau)
+            else:
+                MasterID=data[0] & 0x0f
+                if MasterID in self.motors_map:
+                    q_uint = np.uint16((np.uint16(data[1]) << 8) | data[2])
+                    dq_uint = np.uint16((np.uint16(data[3]) << 4) | (data[4] >> 4))
+                    tau_uint = np.uint16(((data[4] & 0xf) << 8) | data[5])
+                    MotorType_recv = self.motors_map[MasterID].MotorType
+                    Q_MAX = self.Limit_Param[MotorType_recv][0]
+                    DQ_MAX = self.Limit_Param[MotorType_recv][1]
+                    TAU_MAX = self.Limit_Param[MotorType_recv][2]
+                    recv_q = uint_to_float(q_uint, -Q_MAX, Q_MAX, 16)
+                    recv_dq = uint_to_float(dq_uint, -DQ_MAX, DQ_MAX, 12)
+                    recv_tau = uint_to_float(tau_uint, -TAU_MAX, TAU_MAX, 12)
+                    self.motors_map[MasterID].recv_data(recv_q, recv_dq, recv_tau)
+
+
+    def __process_set_param_packet(self, data, CANID, CMD):
+        if CMD == 0x11 and (data[2] == 0x33 or data[2] == 0x55):
+            masterid=CANID
+            slaveId = ((data[1] << 8) | data[0])
+            if CANID==0x00:  #防止有人把MasterID设为0稳一手
+                masterid=slaveId
+
+            if masterid not in self.motors_map:
+                if slaveId not in self.motors_map:
+                    return
+                else:
+                    masterid=slaveId
+
+            RID = data[3]
+            # 读取参数得到的数据
+            if is_in_ranges(RID):
+                #uint32类型
+                num = uint8s_to_uint32(data[4], data[5], data[6], data[7])
+                self.motors_map[masterid].temp_param_dict[RID] = num
+
+            else:
+                #float类型
+                num = uint8s_to_float(data[4], data[5], data[6], data[7])
+                self.motors_map[masterid].temp_param_dict[RID] = num
+
+
+    def addMotor(self, Motor):
+        """
+        add motor to the motor control object 添加电机到电机控制对象
+        :param Motor: Motor object 电机对象
+        """
+        self.motors_map[Motor.SlaveID] = Motor
+        if Motor.MasterID != 0:
+            self.motors_map[Motor.MasterID] = Motor
+        return True
+
+    def __control_cmd(self, Motor, cmd: np.uint8):
+        data_buf = np.array([0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, cmd], np.uint8)
+        self.__send_data(Motor.SlaveID, data_buf)
+
+    def __send_data(self, motor_id, data):
+        """
+        send data to the motor 发送数据到电机
+        :param motor_id:
+        :param data:
+        :return:
+        """
+        self.send_data_frame[13] = motor_id & 0xff
+        self.send_data_frame[14] = (motor_id >> 8)& 0xff  #id high 8 bits
+        self.send_data_frame[21:29] = data
+        self.serial_.write(bytes(self.send_data_frame.T))
+
+    def __read_RID_param(self, Motor, RID):
+        can_id_l = Motor.SlaveID & 0xff #id low 8 bits
+        can_id_h = (Motor.SlaveID >> 8)& 0xff  #id high 8 bits
+        data_buf = np.array([np.uint8(can_id_l), np.uint8(can_id_h), 0x33, np.uint8(RID), 0x00, 0x00, 0x00, 0x00], np.uint8)
+        self.__send_data(0x7FF, data_buf)
+
+    def __write_motor_param(self, Motor, RID, data):
+        can_id_l = Motor.SlaveID & 0xff #id low 8 bits
+        can_id_h = (Motor.SlaveID >> 8)& 0xff  #id high 8 bits
+        data_buf = np.array([np.uint8(can_id_l), np.uint8(can_id_h), 0x55, np.uint8(RID), 0x00, 0x00, 0x00, 0x00], np.uint8)
+        if not is_in_ranges(RID):
+            # data is float
+            data_buf[4:8] = float_to_uint8s(data)
+        else:
+            # data is int
+            data_buf[4:8] = data_to_uint8s(int(data))
+        self.__send_data(0x7FF, data_buf)
+
+    def switchControlMode(self, Motor, ControlMode):
+        """
+        switch the control mode of the motor 切换电机控制模式
+        :param Motor: Motor object 电机对象
+        :param ControlMode: Control_Type 电机控制模式 example:MIT:Control_Type.MIT MIT模式
+        """
+        max_retries = 10
+        retry_interval = 0.05  #retry times
+        RID = 10
+        self.__write_motor_param(Motor, RID, np.uint8(ControlMode))
+        for _ in range(max_retries):
+            sleep(retry_interval)
+            self.recv_set_param_data()
+            if Motor.SlaveID in self.motors_map:
+                if RID in self.motors_map[Motor.SlaveID].temp_param_dict:
+                    if self.motors_map[Motor.SlaveID].temp_param_dict[RID] == ControlMode:
+                        return True
+                    else:
+                        return False
+        return False
+
+    def save_motor_param(self, Motor):
+        """
+        save the all parameter  to flash 保存所有电机参数
+        :param Motor: Motor object 电机对象
+        :return:
+        """
+        can_id_l = Motor.SlaveID & 0xff #id low 8 bits
+        can_id_h = (Motor.SlaveID >> 8)& 0xff  #id high 8 bits
+        data_buf = np.array([np.uint8(can_id_l), np.uint8(can_id_h), 0xAA, 0x00, 0x00, 0x00, 0x00, 0x00], np.uint8)
+        self.disable(Motor)  # before save disable the motor
+        self.__send_data(0x7FF, data_buf)
+        sleep(0.001)
+
+    def change_limit_param(self, Motor_Type, PMAX, VMAX, TMAX):
+        """
+        change the PMAX VMAX TMAX of the motor 改变电机的PMAX VMAX TMAX
+        :param Motor_Type:
+        :param PMAX: 电机的PMAX
+        :param VMAX: 电机的VMAX
+        :param TMAX: 电机的TMAX
+        :return:
+        """
+        self.Limit_Param[Motor_Type][0] = PMAX
+        self.Limit_Param[Motor_Type][1] = VMAX
+        self.Limit_Param[Motor_Type][2] = TMAX
+
+    def refresh_motor_status(self,Motor):
+        """
+        get the motor status 获得电机状态
+        """
+        can_id_l = Motor.SlaveID & 0xff #id low 8 bits
+        can_id_h = (Motor.SlaveID >> 8) & 0xff  #id high 8 bits
+        data_buf = np.array([np.uint8(can_id_l), np.uint8(can_id_h), 0xCC, 0x00, 0x00, 0x00, 0x00, 0x00], np.uint8)
+        self.__send_data(0x7FF, data_buf)
+        self.recv()  # receive the data from serial port
+
+    def change_motor_param(self, Motor, RID, data):
+        """
+        change the RID of the motor 改变电机的参数
+        :param Motor: Motor object 电机对象
+        :param RID: DM_variable 电机参数
+        :param data: 电机参数的值
+        :return: True or False ,True means success, False means fail
+        """
+        max_retries = 20
+        retry_interval = 0.05  #retry times
+
+        self.__write_motor_param(Motor, RID, data)
+        for _ in range(max_retries):
+            self.recv_set_param_data()
+            if Motor.SlaveID in self.motors_map and RID in self.motors_map[Motor.SlaveID].temp_param_dict:
+                if abs(self.motors_map[Motor.SlaveID].temp_param_dict[RID] - data) < 0.1:
+                    return True
+                else:
+                    return False
+            sleep(retry_interval)
+        return False
+
+    def read_motor_param(self, Motor, RID):
+        """
+        read only the RID of the motor 读取电机的内部信息例如 版本号等
+        :param Motor: Motor object 电机对象
+        :param RID: DM_variable 电机参数
+        :return: 电机参数的值
+        """
+        max_retries = 20
+        retry_interval = 0.05  #retry times
+        self.__read_RID_param(Motor, RID)
+        for _ in range(max_retries):
+            sleep(retry_interval)
+            self.recv_set_param_data()
+            if Motor.SlaveID in self.motors_map:
+                if RID in self.motors_map[Motor.SlaveID].temp_param_dict:
+                    return self.motors_map[Motor.SlaveID].temp_param_dict[RID]
+                else:
+                    return None
+        return None
+
+    # -------------------------------------------------
+    # Extract packets from the serial data
+    def __extract_packets(self, data):
+        frames = []
+        header = 0xAA
+        tail = 0x55
+        frame_length = 16
+        i = 0
+        remainder_pos = 0
+
+        while i <= len(data) - frame_length:
+            if data[i] == header and data[i + frame_length - 1] == tail:
+                frame = data[i:i + frame_length]
+                frames.append(frame)
+                i += frame_length
+                remainder_pos = i
+            else:
+                i += 1
+        self.data_save = data[remainder_pos:]
+        return frames
+
+
+def LIMIT_MIN_MAX(x, min, max):
+    if x <= min:
+        x = min
+    elif x > max:
+        x = max
+
+
+def float_to_uint(x: float, x_min: float, x_max: float, bits):
+    LIMIT_MIN_MAX(x, x_min, x_max)
+    span = x_max - x_min
+    data_norm = (x - x_min) / span
+    return np.uint16(data_norm * ((1 << bits) - 1))
+
+
+def uint_to_float(x: np.uint16, min: float, max: float, bits):
+    span = max - min
+    data_norm = float(x) / ((1 << bits) - 1)
+    temp = data_norm * span + min
+    return np.float32(temp)
+
+
+def float_to_uint8s(value):
+    # Pack the float into 4 bytes
+    packed = pack('f', value)
+    # Unpack the bytes into four uint8 values
+    return unpack('4B', packed)
+
+
+def data_to_uint8s(value):
+    # Check if the value is within the range of uint32
+    if isinstance(value, int) and (0 <= value <= 0xFFFFFFFF):
+        # Pack the uint32 into 4 bytes
+        packed = pack('I', value)
+    else:
+        raise ValueError("Value must be an integer within the range of uint32")
+
+    # Unpack the bytes into four uint8 values
+    return unpack('4B', packed)
+
+
+def is_in_ranges(number):
+    """
+    check if the number is in the range of uint32
+    :param number:
+    :return:
+    """
+    if (7 <= number <= 10) or (13 <= number <= 16) or (35 <= number <= 36):
+        return True
+    return False
+
+
+def uint8s_to_uint32(byte1, byte2, byte3, byte4):
+    # Pack the four uint8 values into a single uint32 value in little-endian order
+    packed = pack('<4B', byte1, byte2, byte3, byte4)
+    # Unpack the packed bytes into a uint32 value
+    return unpack('<I', packed)[0]
+
+
+def uint8s_to_float(byte1, byte2, byte3, byte4):
+    # Pack the four uint8 values into a single float value in little-endian order
+    packed = pack('<4B', byte1, byte2, byte3, byte4)
+    # Unpack the packed bytes into a float value
+    return unpack('<f', packed)[0]
+
+
+def print_hex(data):
+    hex_values = [f'{byte:02X}' for byte in data]
+    print(' '.join(hex_values))
+
+
+def get_enum_by_index(index, enum_class):
+    try:
+        return enum_class(index)
+    except ValueError:
+        return None
+
+
+class DM_Motor_Type(IntEnum):
+    DM4310 = 0
+    DM4310_48V = 1
+    DM4340 = 2
+    DM4340_48V = 3
+    DM6006 = 4
+    DM8006 = 5
+    DM8009 = 6
+    DM10010L = 7
+    DM10010 = 8
+    DMH3510 = 9
+    DMH6215 = 10
+    DMG6220 = 11
+
+
+class DM_variable(IntEnum):
+    UV_Value = 0
+    KT_Value = 1
+    OT_Value = 2
+    OC_Value = 3
+    ACC = 4
+    DEC = 5
+    MAX_SPD = 6
+    MST_ID = 7
+    ESC_ID = 8
+    TIMEOUT = 9
+    CTRL_MODE = 10
+    Damp = 11
+    Inertia = 12
+    hw_ver = 13
+    sw_ver = 14
+    SN = 15
+    NPP = 16
+    Rs = 17
+    LS = 18
+    Flux = 19
+    Gr = 20
+    PMAX = 21
+    VMAX = 22
+    TMAX = 23
+    I_BW = 24
+    KP_ASR = 25
+    KI_ASR = 26
+    KP_APR = 27
+    KI_APR = 28
+    OV_Value = 29
+    GREF = 30
+    Deta = 31
+    V_BW = 32
+    IQ_c1 = 33
+    VL_c1 = 34
+    can_br = 35
+    sub_ver = 36
+    u_off = 50
+    v_off = 51
+    k1 = 52
+    k2 = 53
+    m_off = 54
+    dir = 55
+    p_m = 80
+    xout = 81
+
+
+class Control_Type(IntEnum):
+    MIT = 1
+    POS_VEL = 2
+    VEL = 3
+    Torque_Pos = 4

u2can/DM_Motor_Test.py

@@ -0,0 +1,116 @@
+import math
+from DM_CAN import *
+import serial
+import time
+import imu_py
+
+Motor1=Motor(DM_Motor_Type.DM4340,0x01,0x11)
+Motor2=Motor(DM_Motor_Type.DM4340,0x02,0x12)
+Motor3=Motor(DM_Motor_Type.DM4340,0x03,0x13)
+Motor4=Motor(DM_Motor_Type.DM4340,0x04,0x14)
+
+Wheel1=Motor(DM_Motor_Type.DMH6215,0x05,0x15)
+Wheel2=Motor(DM_Motor_Type.DMH6215,0x06,0x16)
+Wheel3=Motor(DM_Motor_Type.DMH6215,0x07,0x17)
+Wheel4=Motor(DM_Motor_Type.DMH6215,0x08,0x18)
+
+serial_device = serial.Serial('/dev/ttyACM1', 921600, timeout=0.5)
+imu = imu_py.DmImu("/dev/ttyACM0", 921600)
+imu.start()
+
+MC1=MotorControl(serial_device)
+MC1.addMotor(Motor1)
+MC1.addMotor(Motor2)
+MC1.addMotor(Motor3)
+MC1.addMotor(Motor4)
+
+MC1.enable(Motor1)
+MC1.enable(Motor2)
+MC1.enable(Motor3)
+MC1.enable(Motor4)
+i=0
+
+print(Motor1.getTorque())
+print(Motor2.getTorque())
+print(Motor3.getTorque())
+print(Motor4.getTorque())
+
+time.sleep(0.01)
+
+MC1.control_Pos_Vel(Motor1,-0.85,0.5)
+MC1.control_Pos_Vel(Motor2,0.85,0.5)
+MC1.control_Pos_Vel(Motor3,0.85,0.5)
+MC1.control_Pos_Vel(Motor4,-0.85,0.5)
+
+print("#####################")
+
+time.sleep(5)
+
+offs1=0.0
+offs2=0.0
+offs3=0.0
+offs4=0.0
+for i in range(1,10000):
+    MC1.control_Pos_Vel(Motor1,-0.85+offs1,12)
+    MC1.control_Pos_Vel(Motor2,0.85-offs2,12)
+    MC1.control_Pos_Vel(Motor3,0.85-offs3,12)
+    MC1.control_Pos_Vel(Motor4,-0.85+offs4,12)
+
+    data = imu.getData()
+    if data['pitch']>0.2:
+        offs1=offs1+0.0001*(data['pitch'])*pow(data['pitch'],0.5)
+        offs2=offs2+0.0001*(data['pitch'])*pow(data['pitch'],0.5)
+    if data['pitch']<-0.2:
+        offs3=offs3+0.0001*(-data['pitch'])*pow(-data['pitch'],0.5)
+        offs4=offs4+0.0001*(-data['pitch'])*pow(-data['pitch'],0.5)
+    if data['roll']<-0.2:
+        offs1=offs1+0.0001*(-data['roll'])*pow(-data['roll'],0.2)
+        offs4=offs4+0.0001*(-data['roll'])*pow(-data['roll'],0.2)
+    if data['roll']>0.2:
+        offs2=offs2+0.0001*(data['roll'])*pow(data['roll'],0.2)
+        offs3=offs3+0.0001*(data['roll'])*pow(data['roll'],0.2)
+    add = min(offs1,offs2,offs3,offs4)
+    offs1=offs1-add
+    offs2=offs2-add
+    offs3=offs3-add
+    offs4=offs4-add
+    if offs1>0.5: offs1=0.5
+    if offs2>0.5: offs2=0.5
+    if offs3>0.5: offs3=0.5
+    if offs4>0.5: offs4=0.5
+    print(f"euler: (roll={data['roll']:.2f}, pitch={data['pitch']:.2f}, yaw={data['yaw']:.2f})")
+    print(offs3,offs4,offs1,offs2,data['pitch'])
+    time.sleep(0.001)
+
+MC1.disable(Wheel1)
+MC1.disable(Wheel2)
+MC1.disable(Wheel3)
+MC1.disable(Wheel4)
+
+MC1.refresh_motor_status(Motor1)
+MC1.refresh_motor_status(Motor2)
+MC1.refresh_motor_status(Motor3)
+MC1.refresh_motor_status(Motor4)
+
+time.sleep(0.1)
+
+print(Motor1.getTorque())
+print(Motor2.getTorque())
+print(Motor3.getTorque())
+print(Motor4.getTorque())
+
+MC1.control_Pos_Vel(Motor1,0.0,0.5)
+MC1.control_Pos_Vel(Motor2,0.0,0.5)
+MC1.control_Pos_Vel(Motor3,0.0,0.5)
+MC1.control_Pos_Vel(Motor4,0.0,0.5)
+
+time.sleep(3)
+
+MC1.disable(Motor1)
+MC1.disable(Motor2)
+MC1.disable(Motor3)
+MC1.disable(Motor4)
+
+
+serial_device.close()
+# imu.stop()

u2can/LICENSE

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2024 cmjang
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

u2can/README.md

@@ -0,0 +1,227 @@
+# 达妙Python库
+
+该库支持MAC,Linux,Windows三个平台
+
+**欢迎加入QQ群：677900232 进行达妙电机技术交流。欢迎进入达妙店铺进行点击选购**[首页-达妙智能控制企业店-淘宝网 (taobao.com)](https://shop290016675.taobao.com/?spm=pc_detail.29232929/evo365560b447259.shop_block.dshopinfo.59f47dd6w4Z4dX)
+
+### 1.引用达妙库
+
+默认文件夹下有两个文件DM_CAN.py为所在的电机库，使用的时候
+
+```python
+from DM_CAN import *	
+```
+
+电机库相关依赖是serial , numpy 这几个库，记得安装相关依赖。**具体的requirements在目录下面的requirements.txt，这个版本是我目前测试的版本，比这些版本低理论上应该也没啥问题。**
+
+### 2.定义控制对象
+
+定义电机对象，有几个电机就定义几个。重要的事情：不要把masterid设为0x00
+
+```python
+Motor1=Motor(DM_Motor_Type.DM4310,0x01,0x11)
+Motor2=Motor(DM_Motor_Type.DM4310,0x02,0x12)
+Motor3=Motor(DM_Motor_Type.DM4310,0x03,0x13)
+```
+
+第一个参数为电机类型，第二个是SlaveID即电机的CANID（电机的ID）,第三个参数是MasterID是主机ID，建议MasterID设置的都不一样，比SlaveID整体高一个。
+
+例如Motor1的SlaveID是0x01，MasterID是0x11.这样是最好。
+
+**MasterID和SlaveID需要在达妙上位机进行设置！！如果出现问题请先检查MasterID是否不和SlaveID冲突，并且不为0x00**
+
+**MasterID不要设置为0x00**
+
+**MasterID不要设置为0x00**
+
+**MasterID不要设置为0x00**
+
+python使用serial串口，波特率是921600，串口进行选择。demo是windows所以是'COM8'
+
+```python
+serial_device = serial.Serial('COM8', 921600, timeout=0.5)
+```
+
+初始化电机控制对象。传入参数是定义的串口对象
+
+```python
+MotorControl1=MotorControl(serial_device)
+```
+
+### 3.电机状态
+
+#### 3.1 添加电机
+
+添加电机是addMotor。
+
+```python
+MotorControl1.addMotor(Motor1)
+MotorControl1.addMotor(Motor2)
+MotorControl1.addMotor(Motor3)
+```
+
+#### 3.2使能电机
+
+**建议：如果要修改电机参数。建议使能放在最后**
+
+```python
+MotorControl1.enable(Motor1)
+MotorControl1.enable(Motor2)
+MotorControl1.enable(Motor3)
+```
+
+此代码为兼容旧固件，关于旧版本电机固件，使能对应不同模式需要加上使能的模式（即需要使能电机对应的模式，并不能修改电机此时的模式）**注意需要使能电机此时对应的模式，并不能修改电机内部的模式**
+
+```python
+MotorControl1.enable_old(Motor1,Control_Type.MIT)
+MotorControl1.enable_old(Motor2,Control_Type.POS_VEL)
+MotorControl1.enable_old(Motor3,Control_Type.VEL)
+```
+
+#### 3.3设置电机零点
+
+将电机在失能状态下摆到需要设置为0点的位置，然后运行下面两行，电机将会将当前位置作为电机0点。
+
+```python
+MotorControl1.set_zero_position(Motor3)
+MotorControl1.set_zero_position(Motor6)
+```
+
+#### 3.4 失能电机
+
+```python
+MotorControl1.disable(Motor3)
+MotorControl1.disable(Motor6)
+```
+
+#### 3.5 电机状态获取
+
+达妙电机默认是需要每发送一帧控制指令才能获得当前电机力矩、位置、速度等信息。如果在没有发送控制指令的过程中想要获得电机此时的状态可以通过以下指令。
+
+```python
+MotorControl1.refresh_motor_status(Motor1)
+print("Motor1:","POS:",Motor1.getPosition(),"VEL:",Motor1.getVelocity(),"TORQUE:",Motor1.getTorque())
+```
+
+通过**refresh_motor_status**这个函数可以获得当前电机的状态，并保存到对应的电机。
+
+### 4.电机控制模式
+
+**推荐在每帧控制完后延迟2ms或者1ms，usb转can默认有缓冲器没有延迟也可使用，但是推荐加上延迟。**
+
+#### 4.1MIT模式
+
+使能电机后可以使用MIT模式控制，推荐用MIT模式控制。
+
+```python
+MotorControl1.controlMIT(Motor1, 50, 0.3, 0, 0, 0)
+```
+
+#### 4.2位置速度模式
+
+位置速度模式，第一个参数是电机对象，第二个是位置，第三个是转动速度。具体的参数介绍已经写了函数文档，用pycharm等ide就可以看到。
+
+例子如下
+
+```python
+q=math.sin(time.time())
+MotorControl1.control_Pos_Vel(Motor1,q*10,2)
+```
+
+#### 4.3 速度模式
+
+例子如下，第一个是电机对象，第二个是电机速度
+
+```python
+q=math.sin(time.time())
+MotorControl1.control_Vel(Motor1, q*5)
+```
+
+目前达妙的新固件支持切换
+
+#### 4.4力位混合模式
+
+第一个是电机对象，第二个是电机位置，第三个是电机速度范围是0-10000，第四个是电机电流范围为0-10000。具体详细请查看达妙文档
+
+例子如下
+
+```python
+MotorControl1.control_pos_force(Motor1, 10, 1000,100)
+```
+
+### 5.电机状态读取
+
+电机的各个状态都保存在对应的电机对象中，需要调用可以用如下几个函数。
+
+**请注意！达妙的电机状态是每次发了控制帧或者刷新状态(refresh_motor_status 函数)后才能刷新电机对象的当前各个信息。！！**
+
+**达妙电机是一发一收模式，只有发送指令电机才会返回当前状态，电机才会更新**
+
+```python
+vel = Motor1.getVelocity()    #获得电机速度
+pos = Motor1.getPosition()    #获得电机位置
+tau = Motor1.getTorque()      #获得电机此时输出力矩
+```
+
+```maltab
+MotorControl1.refresh_motor_status(Motor1)  print("Motor1:","POS:",Motor1.getPosition(),"VEL:",Motor1.getVelocity(),"TORQUE:",Motor1.getTorque())
+```
+
+### 6.电机内部参数更改
+
+达妙电机新固件支持使用can进行电机模式修改，以及修改其他参数等操作。要求版本号5013及以上。具体请咨询达妙客服。**请注意所有保存参数、修改参数。请在失能模式下修改！！**
+
+#### 6.1电机控制模式更改
+
+通过下面的函数可以对电机的控制模式进行修改。支持MIT,POS_VEL,VEL,Torque_Pos。四种控制模式在线修改。下面是修改的demo。并且代码会有返回值，如果是True那么说明设置成功了，如果不是也不一定没修改成功hhhh。**请注意这里模式修改只是当前有效，掉电后这个模式还是修改前的**
+
+```python
+if MotorControl1.switchControlMode(Motor1,Control_Type.POS_VEL):
+    print("switch POS_VEL success")
+if MotorControl1.switchControlMode(Motor2,Control_Type.VEL):
+    print("switch VEL success")
+```
+
+**如果要保持电机控制模式，需要最后保存参数**
+
+#### 6.2保存参数
+
+默认电机修改模式等操作后参数不会保存到flash中，需要使用命令如下进行保存至电机的flash中。这一个例子如下。**请注意这一个代码就把所有修改的都保存到Motor1的flash中，并且请在失能模式下进行修改**，该函数内部有自动失能的代码，防止电机在使能模式下无法保存参数。
+
+```python
+MotorControl1.save_motor_param(Motor1)
+```
+
+#### 6.3 读取内部寄存器参数
+
+内部寄存器有很多参数都是可以通过can线读取，具体参数列表请看达妙的手册。其中可以读的参数都已经在DM_variable这个枚举类里面了。可以通过read_motor_param进行读取
+
+```python
+print("PMAX:",MotorControl1.read_motor_param(Motor1,DM_variable.PMAX))
+print("MST_ID:",MotorControl1.read_motor_param(Motor1,DM_variable.MST_ID))
+print("VMAX:",MotorControl1.read_motor_param(Motor1,DM_variable.VMAX))
+print("TMAX:",MotorControl1.read_motor_param(Motor1,DM_variable.TMAX))
+print("Motor2:")
+print("PMAX:",MotorControl1.read_motor_param(Motor2,DM_variable.PMAX))
+print("MST_ID:",MotorControl1.read_motor_param(Motor2,DM_variable.MST_ID))
+print("VMAX:",MotorControl1.read_motor_param(Motor2,DM_variable.VMAX))
+print("TMAX:",MotorControl1.read_motor_param(Motor2,DM_variable.TMAX))
+```
+
+并且每次读取参数后，当前的参数也会同时存在对应的电机类里面，通过getParam这个函数进行读取。
+
+```python
+print("PMAX",Motor1.getParam(DM_variable.PMAX))
+```
+
+#### 6.4改写内部寄存器参数
+
+内部寄存器有一部分是支持修改的，一部分是只读的（无法修改）。通过调用change_motor_param这个函数可以进行寄存器内部值修改。并且也如同上面读寄存器的操作一样，他的寄存器的值也会同步到电机对象的内部值，可以通过Motor1.getParam这个函数进行读取。
+
+**请注意这个修改内部寄存器参数，掉电后会恢复为修改前的，并没有保存**
+
+```python
+if MotorControl1.change_motor_param(Motor1,DM_variable.KP_APR,54):
+   print("write success")
+```
+

u2can/motor_interface.py

@@ -0,0 +1,174 @@
+import time
+import numpy as np
+import serial
+import imu_py  # Real IMU wrapper
+from .DM_CAN import Motor, MotorControl, DM_Motor_Type
+from cpg import CPGController
+
+# -------------------------------------------------------------------------------
+# 硬件初始化（串口、IMU、四条腿电机）
+# -------------------------------------------------------------------------------
+serial_dev = None
+imu = None
+motor_ctrl = None
+motors = {}
+
+# 全局滑动窗口，用于对 IMU 原始数据进行低通滤波（移动平均）
+_pitch_window = []
+_yaw_window = []
+_roll_window = []
+_WINDOW_SIZE = 5  # 窗口长度，可根据噪声水平调节
+
+def _moving_average(window, new_value):
+    """将 new_value 加入窗口并返回窗口均值"""
+    window.append(new_value)
+    if len(window) > _WINDOW_SIZE:
+        window.pop(0)
+    return float(np.mean(window))
+
+def _init_hardware():
+    """
+    初始化真实硬件：
+    - 串口用于 CAN 总线
+    - IMU（pybind_imu）提供陀螺仪角速度
+    - 四条腿电机对象并使能
+    """
+    global serial_dev, imu, motor_ctrl, motors
+
+    # 1. 串口（根据实际设备路径修改）
+    serial_dev = serial.Serial('/dev/ttyACM1', 921600, timeout=0.5)
+
+    # 2. IMU（使用 pybind_imu 包）
+    imu = imu_py.DmImu("/dev/ttyACM0", 921600)
+    imu.start()
+
+    # 3. 电机控制对象
+    motor_ctrl = MotorControl(serial_dev)
+
+    # 4. 创建四条腿电机实例（DM4340 为示例型号，可根据实际更改）
+    Motor1 = Motor(DM_Motor_Type.DM4340, 0x01, 0x11)
+    Motor2 = Motor(DM_Motor_Type.DM4340, 0x02, 0x12)
+    Motor3 = Motor(DM_Motor_Type.DM4340, 0x03, 0x13)
+    Motor4 = Motor(DM_Motor_Type.DM4340, 0x04, 0x14)
+
+    # 5. 将电机加入控制器并使能
+    motor_ctrl.addMotor(Motor1)
+    motor_ctrl.addMotor(Motor2)
+    motor_ctrl.addMotor(Motor3)
+    motor_ctrl.addMotor(Motor4)
+
+    motor_ctrl.enable(Motor1)
+    motor_ctrl.enable(Motor2)
+    motor_ctrl.enable(Motor3)
+    motor_ctrl.enable(Motor4)
+
+    # 6. 保存到全局字典，便于后续索引
+    motors = {
+        'Motor1': Motor1,
+        'Motor2': Motor2,
+        'Motor3': Motor3,
+        'Motor4': Motor4
+    }
+
+# -------------------------------------------------------------------------------
+# 主循环：读取 IMU → 更新 CPG → 发送电机指令
+# -------------------------------------------------------------------------------
+def run(duration: float = 60.0, dt: float = 0.01):
+    """
+    运行四足平衡控制，使用真实 IMU 数据。
+    :param duration: 运行时长（秒）
+    :param dt: 控制循环时间步长（秒）
+    """
+    # 硬件初始化（只在第一次调用时执行）
+    if serial_dev is None or imu is None or motor_ctrl is None:
+        _init_hardware()
+
+    # 使用更长的基准周期以降低振荡频率（原 1.0 s → 2.0 s）
+    controller = CPGController(base_height=0.0,
+                              base_period=2.0,
+                              amplitude=0.85,
+                              stable_range=6.0)
+
+    # 初始位置：Motor1、Motor4 在 -0.85，Motor2、Motor3 在 +0.85
+    h1 = -0.85
+    h2 = 0.85
+    h3 = 0.85
+    h4 = -0.85
+    t = 0.0
+    print(f"t={t:.2f}s deviation={0.0:.3f} "
+          f"h1={h1:.3f} h2={h2:.3f} h3={h3:.3f} h4={h4:.3f}")
+    motor_ctrl.control_Pos_Vel(motors['Motor1'], h1, 12)
+    motor_ctrl.control_Pos_Vel(motors['Motor2'], h2, 12)
+    motor_ctrl.control_Pos_Vel(motors['Motor3'], h3, 12)
+    motor_ctrl.control_Pos_Vel(motors['Motor4'], h4, 12)
+
+    # 保持初始位置一段时间后再开始 CPG 循环
+    time.sleep(0.5)
+
+    # 重置时间计数
+    start_time = time.time()
+    # 将 CPG 时间同步到最高点，以保持平滑运动
+    controller.t = controller.base_period / 4
+
+    while time.time() - start_time < duration:
+        # 1️⃣ 从真实 IMU 读取角速度（单位：度/秒）
+        data = imu.getData()
+        pitch_raw = data.get('gyroy', 0.0)
+        yaw_raw   = data.get('gyroz', 0.0)
+        roll_raw  = data.get('gyrox', 0.0)
+
+        # 对原始 IMU 数据进行移动平均滤波
+        pitch_rate = _moving_average(_pitch_window, pitch_raw)
+        yaw_rate   = _moving_average(_yaw_window,   yaw_raw)
+        roll_rate  = _moving_average(_roll_window,  roll_raw)
+
+        print(f"IMU data: pitch_rate={pitch_rate:.3f}, yaw_rate={yaw_rate:.3f}, roll_rate={roll_rate:.3f}")
+
+        # 2️⃣ CPG 步进，更新四条腿的目标高度，返回偏差用于调试
+        deviation = controller.step(pitch_rate, yaw_rate, dt)
+
+        # 3️⃣ 读取四条腿的目标高度（范围在 [-0.85, 0.85]）
+        heights = controller.get_leg_heights()   # {'FL':h1, 'FR':h2, 'RL':h3, 'RR':h4}
+
+        # 4️⃣ 将高度映射到电机指令范围（结合 CPG 输出和 IMU 角速度进行微调，保持最高点）
+        #   - 基准高度：Motor1、Motor4 为 -0.85，Motor2、Motor3 为 +0.85
+        #   - factor_cpg 控制 CPG 微调幅度（默认 0.2）
+        #   - factor_imu 控制俯仰/偏航角速度反馈幅度（默认 0.05）
+        #   - factor_roll 控制横滚（左右倾斜）反馈幅度（已增大至 0.12）
+        factor_cpg = 0.2
+        factor_imu = 0.05
+        factor_roll = 0.12
+
+        # 基于 IMU 角速度的额外微调
+        imu_correction_1 = -factor_imu * pitch_rate - factor_imu * yaw_rate - factor_roll * roll_rate   # Motor1
+        imu_correction_2 =  factor_imu * pitch_rate + factor_imu * yaw_rate + factor_roll * roll_rate   # Motor2
+        imu_correction_3 =  factor_imu * pitch_rate - factor_imu * yaw_rate + factor_roll * roll_rate   # Motor3
+        imu_correction_4 = -factor_imu * pitch_rate + factor_imu * yaw_rate - factor_roll * roll_rate   # Motor4
+
+        # 将 CPG 输出（heights）与基准高度、IMU 修正相结合后进行裁剪
+        h1 = np.clip(-0.85 + factor_cpg * heights['FL'] + imu_correction_1, -0.85, 0.0)   # Motor1 负向
+        h2 = np.clip( 0.85 + factor_cpg * heights['FR'] + imu_correction_2, 0.0, 0.85)   # Motor2 正向
+        h3 = np.clip( 0.85 + factor_cpg * heights['RL'] + imu_correction_3, 0.0, 0.85)   # Motor3 正向
+        h4 = np.clip(-0.85 + factor_cpg * heights['RR'] + imu_correction_4, -0.85, 0.0)   # Motor4 负向
+
+        # 5️⃣ 调试输出（显示实际发送给电机的高度，已裁剪到合法区间）
+        t = time.time() - start_time
+        print(f"t={t:.2f}s deviation={deviation:.3f} "
+              f"h1={h1:.3f} h2={h2:.3f} h3={h3:.3f} h4={h4:.3f}")
+
+        # 6️⃣ 发送位置指令
+        motor_ctrl.control_Pos_Vel(motors['Motor1'], h1, 12)
+        motor_ctrl.control_Pos_Vel(motors['Motor2'], h2, 12)
+        motor_ctrl.control_Pos_Vel(motors['Motor3'], h3, 12)
+        motor_ctrl.control_Pos_Vel(motors['Motor4'], h4, 12)
+
+        # 7️⃣ 控制循环频率
+        time.sleep(dt)
+
+    # ------------------- 安全停机 -------------------
+    for m in motors.values():
+        motor_ctrl.disable(m)
+    if serial_dev:
+        serial_dev.close()
+    if imu:
+        imu.stop()

u2can/requirements.txt

@@ -0,0 +1,2 @@
+numpy<2.0
+pyserial>=3.5