refactor(package): rename to dm_imu and restructure directories

Renamed package from dm_imu_pkg to dm_imu across PKG-INFO, egg-info files, and directories. Updated CMakeLists.txt, __init__.py, and top_level.txt to reflect new structure. Bumped gradio version from <5.0 to <6.0 in dependencies. This refactoring improves naming consistency and streamlines the package layout for better maintainability.
2025-12-10 19:32:28 +08:00
parent e2287178fa
commit ced3669fac
64 changed files with 30 additions and 3304 deletions
--- a/dm_imu/CMakeLists.txt
+++ b/dm_imu/CMakeLists.txt
@@ -0,0 +1,21 @@
+cmake_minimum_required(VERSION 3.14)
+project(imu_py LANGUAGES CXX)
+
+# 使用 C++17
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+# 查找 pybind11（已通过 pip 安装）
+execute_process(COMMAND ${PYTHON_EXECUTABLE} -c "import pybind11; print(pybind11.get_cmake_dir())" OUTPUT_VARIABLE PYBIND11_CMAKE_DIR OUTPUT_STRIP_TRAILING_WHITESPACE)
+set(CMAKE_PREFIX_PATH "${PYBIND11_CMAKE_DIR}" ${CMAKE_PREFIX_PATH})
+
+include_directories(
+    ${CMAKE_CURRENT_SOURCE_DIR}/src
+)
+
+find_package(pybind11 REQUIRED)
+
+pybind11_add_module(imu_py
+    pybind_imu.cpp
+    src/imu_driver.cpp
+    src/bsp_crc.cpp)
--- a/dm_imu/README.md
+++ b/dm_imu/README.md
@@ -0,0 +1,113 @@
+# Pybind11 Wrapper for DM‑IMU Driver
+
+## Overview
+This project provides a **Python module** that wraps the `DmImu` class from the `dm_imu` driver library using **pybind11**.  
+After building, you obtain a shared object (`imu_py*.so`) that can be imported in Python to control the IMU, start data acquisition, and retrieve sensor readings as a Python `dict`.
+
+## Prerequisites
+| Requirement | Version / Notes |
+|------------|-----------------|
+| **C++ compiler** | GCC 11 (or newer) |
+| **CMake** | ≥ 3.14 |
+| **Python** | 3.8 – 3.12 (the build uses the interpreter found by CMake) |
+| **pybind11** | Installed via `pip install pybind11` (the package provides the CMake config) |
+| **Serial port access** | The user must have read/write permission for the device (e.g., `/dev/ttyACM1`). See *Serial Port Permissions* below. |
+
+## Build Steps
+```bash
+# 1. Install pybind11 (if not already installed)
+pip install --user pybind11
+
+# 2. Clone / copy this repository (already present in /home/allenyuan/balance)
+
+# 3. Build the Python extension
+cd pybind_imu
+rm -rf build
+mkdir build && cd build
+cmake ..          # CMake will locate pybind11 automatically
+make -j$(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.
--- a/dm_imu/init.py
+++ b/dm_imu/init.py
@@ -0,0 +1,47 @@
+import pathlib
+import importlib.util
+import sys
+
+def _load_imu_module():
+    """
+    Load the compiled pybind11 module ``imu_py``.
+    The shared object should be placed in the ``build`` directory next to this ``__init__.py``.
+    """
+    # 1. Try to import if the .so is already in the package directory.
+    try:
+        from . import imu_py  # type: ignore  # pylint: disable=import-error
+        return imu_py
+    except Exception:
+        pass
+
+    # 2. Fallback: locate the build output relative to the package root.
+    possible_paths = [
+        pathlib.Path(__file__).parent / "build" / "imu_py.cpython-310-darwin.so",
+        pathlib.Path(__file__).parent / "build" / "imu_py.cpython-312-darwin.so",
+        # Generic pattern for other Python versions / architectures
+        pathlib.Path(__file__).parent / "build" / "imu_py.*.so",
+    ]
+
+    for p in possible_paths:
+        # glob pattern handling for the generic case
+        if "*" in str(p):
+            matches = list(p.parent.glob(p.name))
+            if matches:
+                p = matches[0]
+            else:
+                continue
+        if p.is_file():
+            spec = importlib.util.spec_from_file_location("imu_py", p)
+            imu_py = importlib.util.module_from_spec(spec)
+            spec.loader.exec_module(imu_py)  # type: ignore
+            return imu_py
+
+    raise ImportError(
+        "Unable to locate the compiled 'imu_py' module. "
+        "Make sure the package is installed with the compiled extension "
+        "or run the build step before importing."
+    )
+
+# Expose the DmImu class at package level for convenience
+_imu_mod = _load_imu_module()
+DmImu = _imu_mod.DmImu
--- a/dm_imu/pybind_imu.cpp
+++ b/dm_imu/pybind_imu.cpp
@@ -0,0 +1,36 @@
+#include <pybind11/pybind11.h>
+#include <pybind11/stl.h>
+#include "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());
+             });
+}
--- a/dm_imu/src/bsp_crc.cpp
+++ b/dm_imu/src/bsp_crc.cpp
@@ -0,0 +1,73 @@
+#include "bsp_crc.h"
+
+const uint8_t CRC8_table[256] =
+{
+    0x00, 0x5e, 0xbc, 0xe2, 0x61, 0x3f, 0xdd, 0x83, 0xc2, 0x9c, 0x7e, 0x20, 0xa3, 0xfd, 0x1f, 0x41,
+    0x9d, 0xc3, 0x21, 0x7f, 0xfc, 0xa2, 0x40, 0x1e, 0x5f, 0x01, 0xe3, 0xbd, 0x3e, 0x60, 0x82, 0xdc,
+    0x23, 0x7d, 0x9f, 0xc1, 0x42, 0x1c, 0xfe, 0xa0, 0xe1, 0xbf, 0x5d, 0x03, 0x80, 0xde, 0x3c, 0x62,
+    0xbe, 0xe0, 0x02, 0x5c, 0xdf, 0x81, 0x63, 0x3d, 0x7c, 0x22, 0xc0, 0x9e, 0x1d, 0x43, 0xa1, 0xff,
+    0x46, 0x18, 0xfa, 0xa4, 0x27, 0x79, 0x9b, 0xc5, 0x84, 0xda, 0x38, 0x66, 0xe5, 0xbb, 0x59, 0x07,
+    0xdb, 0x85, 0x67, 0x39, 0xba, 0xe4, 0x06, 0x58, 0x19, 0x47, 0xa5, 0xfb, 0x78, 0x26, 0xc4, 0x9a,
+    0x65, 0x3b, 0xd9, 0x87, 0x04, 0x5a, 0xb8, 0xe6, 0xa7, 0xf9, 0x1b, 0x45, 0xc6, 0x98, 0x7a, 0x24,
+    0xf8, 0xa6, 0x44, 0x1a, 0x99, 0xc7, 0x25, 0x7b, 0x3a, 0x64, 0x86, 0xd8, 0x5b, 0x05, 0xe7, 0xb9,
+    0x8c, 0xd2, 0x30, 0x6e, 0xed, 0xb3, 0x51, 0x0f, 0x4e, 0x10, 0xf2, 0xac, 0x2f, 0x71, 0x93, 0xcd,
+    0x11, 0x4f, 0xad, 0xf3, 0x70, 0x2e, 0xcc, 0x92, 0xd3, 0x8d, 0x6f, 0x31, 0xb2, 0xec, 0x0e, 0x50,
+    0xaf, 0xf1, 0x13, 0x4d, 0xce, 0x90, 0x72, 0x2c, 0x6d, 0x33, 0xd1, 0x8f, 0x0c, 0x52, 0xb0, 0xee,
+    0x32, 0x6c, 0x8e, 0xd0, 0x53, 0x0d, 0xef, 0xb1, 0xf0, 0xae, 0x4c, 0x12, 0x91, 0xcf, 0x2d, 0x73,
+    0xca, 0x94, 0x76, 0x28, 0xab, 0xf5, 0x17, 0x49, 0x08, 0x56, 0xb4, 0xea, 0x69, 0x37, 0xd5, 0x8b,
+    0x57, 0x09, 0xeb, 0xb5, 0x36, 0x68, 0x8a, 0xd4, 0x95, 0xcb, 0x29, 0x77, 0xf4, 0xaa, 0x48, 0x16,
+    0xe9, 0xb7, 0x55, 0x0b, 0x88, 0xd6, 0x34, 0x6a, 0x2b, 0x75, 0x97, 0xc9, 0x4a, 0x14, 0xf6, 0xa8,
+    0x74, 0x2a, 0xc8, 0x96, 0x15, 0x4b, 0xa9, 0xf7, 0xb6, 0xe8, 0x0a, 0x54, 0xd7, 0x89, 0x6b, 0x35,
+};
+
+const uint16_t CRC16_table[256] =
+{
+    0x0000, 0x1021, 0x2042, 0x3063, 0x4084, 0x50A5, 0x60C6, 0x70E7, 0x8108, 0x9129, 0xA14A, 0xB16B, 0xC18C, 0xD1AD, 0xE1CE, 0xF1EF,
+    0x1231, 0x0210, 0x3273, 0x2252, 0x52B5, 0x4294, 0x72F7, 0x62D6, 0x9339, 0x8318, 0xB37B, 0xA35A, 0xD3BD, 0xC39C, 0xF3FF, 0xE3DE,
+    0x2462, 0x3443, 0x0420, 0x1401, 0x64E6, 0x74C7, 0x44A4, 0x5485, 0xA56A, 0xB54B, 0x8528, 0x9509, 0xE5EE, 0xF5CF, 0xC5AC, 0xD58D,
+    0x3653, 0x2672, 0x1611, 0x0630, 0x76D7, 0x66F6, 0x5695, 0x46B4, 0xB75B, 0xA77A, 0x9719, 0x8738, 0xF7DF, 0xE7FE, 0xD79D, 0xC7BC,
+    0x48C4, 0x58E5, 0x6886, 0x78A7, 0x0840, 0x1861, 0x2802, 0x3823, 0xC9CC, 0xD9ED, 0xE98E, 0xF9AF, 0x8948, 0x9969, 0xA90A, 0xB92B,
+    0x5AF5, 0x4AD4, 0x7AB7, 0x6A96, 0x1A71, 0x0A50, 0x3A33, 0x2A12, 0xDBFD, 0xCBDC, 0xFBBF, 0xEB9E, 0x9B79, 0x8B58, 0xBB3B, 0xAB1A,
+    0x6CA6, 0x7C87, 0x4CE4, 0x5CC5, 0x2C22, 0x3C03, 0x0C60, 0x1C41, 0xEDAE, 0xFD8F, 0xCDEC, 0xDDCD, 0xAD2A, 0xBD0B, 0x8D68, 0x9D49,
+    0x7E97, 0x6EB6, 0x5ED5, 0x4EF4, 0x3E13, 0x2E32, 0x1E51, 0x0E70, 0xFF9F, 0xEFBE, 0xDFDD, 0xCFFC, 0xBF1B, 0xAF3A, 0x9F59, 0x8F78,
+    0x9188, 0x81A9, 0xB1CA, 0xA1EB, 0xD10C, 0xC12D, 0xF14E, 0xE16F, 0x1080, 0x00A1, 0x30C2, 0x20E3, 0x5004, 0x4025, 0x7046, 0x6067,
+    0x83B9, 0x9398, 0xA3FB, 0xB3DA, 0xC33D, 0xD31C, 0xE37F, 0xF35E, 0x02B1, 0x1290, 0x22F3, 0x32D2, 0x4235, 0x5214, 0x6277, 0x7256,
+    0xB5EA, 0xA5CB, 0x95A8, 0x8589, 0xF56E, 0xE54F, 0xD52C, 0xC50D, 0x34E2, 0x24C3, 0x14A0, 0x0481, 0x7466, 0x6447, 0x5424, 0x4405,
+    0xA7DB, 0xB7FA, 0x8799, 0x97B8, 0xE75F, 0xF77E, 0xC71D, 0xD73C, 0x26D3, 0x36F2, 0x0691, 0x16B0, 0x6657, 0x7676, 0x4615, 0x5634,
+    0xD94C, 0xC96D, 0xF90E, 0xE92F, 0x99C8, 0x89E9, 0xB98A, 0xA9AB, 0x5844, 0x4865, 0x7806, 0x6827, 0x18C0, 0x08E1, 0x3882, 0x28A3,
+    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;
+}
--- a/dm_imu/src/bsp_crc.h
+++ b/dm_imu/src/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
--- a/dm_imu/src/imu_data.csv
+++ b/dm_imu/src/imu_data.csv
--- a/dm_imu/src/imu_driver.cpp
+++ b/dm_imu/src/imu_driver.cpp
@@ -0,0 +1,318 @@
+#include "imu_driver.h"
+#include <chrono>
+#include <iostream>
+#include <fcntl.h>
+#include <unistd.h>
+#include <termios.h>
+
+#ifndef B460800
+#define B460800 460800
+#endif
+#ifndef B921600
+#define B921600 921600
+#endif
+
+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;
+            }
+        }
+    }
+}
+
+}
--- a/dm_imu/src/imu_driver.h
+++ b/dm_imu/src/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
--- a/dm_imu/src/imu_plot.png
+++ b/dm_imu/src/imu_plot.png
--- a/dm_imu/src/plot_imu.py
+++ b/dm_imu/src/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()
--- a/dm_imu/src/test_imu.cpp
+++ b/dm_imu/src/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;
+}