From 8a48be5fd98f66f3f3657294c180e2e062022318 Mon Sep 17 00:00:00 2001 From: liu <23818977793@qq.com> Date: Wed, 15 Jul 2026 18:30:21 +0800 Subject: [PATCH 1/5] feat: add batch burner script, engineering docs, and pre-compiled release firmware --- .gitignore | 17 ++- README.md | 76 +++++++++++ tools/batch_burner.py | 140 +++++++++++++++++++++ tools/firmware/base_control.ino.merged.bin | Bin 0 -> 4194304 bytes 4 files changed, 232 insertions(+), 1 deletion(-) create mode 100644 README.md create mode 100755 tools/batch_burner.py create mode 100644 tools/firmware/base_control.ino.merged.bin diff --git a/.gitignore b/.gitignore index 723ef36..517a439 100644 --- a/.gitignore +++ b/.gitignore @@ -1 +1,16 @@ -.idea \ No newline at end of file +.idea +# Python 缓存 +__pycache__/ +*.pyc + +# 固件与二进制文件（量产固件建议通过 GitHub Release 发布，而非直接塞进源码仓库） +tools/firmware/*.bin + +# Arduino 编译临时目录 +build/ +.build/ + +.gitignore~ +..gitignore.un~ +*.un~ +*~ diff --git a/README.md b/README.md new file mode 100644 index 0000000..a1f12b7 --- /dev/null +++ b/README.md @@ -0,0 +1,76 @@ + +# ESP32 底盘控制程序 (esp32_base_control) + +本项目基于 ESP32-C3（支持 Geekble Mini ESP32-C3 开发板）开发，用于移动机器人底盘的底层核心控制。项目包含完整的 Arduino 源码工程以及面向工厂/团队的高效批量自动烧录工具。 + +--- + +## 🛠 场景一：源码开发与环境配置 (开发者适用) + +如果你需要修改底层控制逻辑或调试传感器，请使用图形化 IDE 进行开发。 + +### 1. 环境变量配置 (国内加速) +为避免国内网络环境下下载乐鑫依赖链极易卡死的问题，请在系统环境变量中添加加速源： +- **Windows**: 右键「此电脑」→「属性」→「高级系统设置」→「环境变量」，在用户变量中新建： + - 变量名：`IDF_GITHUB_ASSETS` + - 变量值：`dl.espressif.com/github_assets` +- **macOS / Linux**: 在终端配置文件（如 `~/.zshrc` 或 `~/.bash_profile`）中追加： + ```bash + export IDF_GITHUB_ASSETS="[dl.espressif.com/github_assets](https://dl.espressif.com/github_assets)" + ``` + + +### 2. Arduino IDE 配置 + +1. 打开 Arduino IDE，进入 `Preferences` (偏好设置)。 +2. 在 `Additional boards manager URLs` 中填入国内第三方加速索引源： +```text +[https://arduino.me/packages/esp32.json](https://arduino.me/packages/esp32.json) + +``` + +3. 进入 `Boards Manager` (开发板管理器)，搜索 `esp32` 并安装由 **Espressif Systems** 发布的开发板核心库。 + + +### 3. 编译与烧录 + +1. 用 Arduino IDE 打开工程主文件：`arduino/base_control/base_control.ino`。 +2. 在开发板选择中搜索并选中 `Geekble Mini ESP32-C3`。 +3. 选择对应的物理 USB 串口（macOS 通常为 `/dev/cu.usbmodemXXXX`，Windows 通常为 `COMX`）。 +4. 点击 **Upload (上传)** 开始编译并烧录。 + +--- + +## ⚡ 场景二：流水线流水式批量烧录 (生产/量产适用) + +当底盘控制程序验证完毕、需要进行多台设备批量固件写入时，**严禁使用 Arduino IDE**。请使用项目内置的自动化量产工具，可实现“插线即烧、拔线即换”的无人值守流水线操作。 + +### 1. 准备合并固件 + +在第一次使用 Arduino IDE 成功烧录后，从本地编译缓存中捞出合并好的单体固件 `base_control.ino.merged.bin`，并将其放置到本仓库的 `tools/firmware/` 目录下。 + +### 2. 安装量产依赖 + +确保本地安装了 Python 3 环境，在终端执行以下命令安装乐鑫官方烧录核心驱动： + +```bash +pip3 install esptool + +``` + +### 3. 启动批量烧录系统 + +进入工具链目录并启动监听脚本： + +```bash +cd tools +python3 batch_burner.py + +``` + +### 4. 流水线实操规程 + +1. **接入硬件**：使用 USB 数据线将新的底盘主控板接入电脑。 +2. **自动闪存**：脚本将自动捕获新端口并以最高稳定波特率（`921600`）执行顺序写入，耗时通常在 5~8 秒。 +3. **断开换板**：终端打印出绿色 `[成功]` 提示后，直接拔掉数据线，换下一块板子插入，全程无需触碰键盘鼠标。 + diff --git a/tools/batch_burner.py b/tools/batch_burner.py new file mode 100755 index 0000000..0e132af --- /dev/null +++ b/tools/batch_burner.py @@ -0,0 +1,140 @@ +#!/usr/bin/env python3 +import os +import sys +import time +import glob +import argparse +import subprocess + +# 确保脚本即使在后台运行也能实时刷新控制台输出 +sys.stdout.reconfigure(line_buffering=True) if hasattr(sys.stdout, 'reconfigure') else None + +def parse_arguments(): + """解析命令行参数，让脚本具备高通用性""" + parser = argparse.ArgumentParser(description="ESP32 批量流水线自动化烧录系统") + + # 默认寻找脚本同级或上级目录下的 firmware/base_control.ino.merged.bin + default_fw = os.path.join(os.path.dirname(os.path.abspath(__file__)), "firmware", "base_control.ino.merged.bin") + + parser.add_argument("--fw", type=str, default=default_fw, help="合并后的固件 (.bin) 路径") + parser.add_argument("--chip", type=str, default="esp32c3", help="目标芯片架构 (如 esp32, esp32c3, esp32s3)") + parser.add_argument("--baud", type=str, default="921600", help="烧录波特率") + + return parser.parse_args() + +def check_env(fw_path): + """检查固件及依赖环境""" + # 1. 检查固件 + if not os.path.exists(fw_path): + print(f"\033[31m[错误] 找不到固件文件，请检查路径：\n{fw_path}\033[0m") + print("\033[33m提示：请在脚本同级目录下创建 'firmware' 文件夹，并将已编译合并的固件命名为 'base_control.ino.merged.bin' 放入其中。\033[0m") + sys.exit(1) + + # 2. 检查 esptool 依赖 + try: + import esptool + except ModuleNotFoundError: + print("\033[31m[错误] 当前 Python 环境中未安装 esptool 库！\033[0m") + print(f"\033[33m请在终端执行以下命令安装后重试：\n {sys.executable} -m pip install esptool\033[0m") + sys.exit(1) + + print(f"\033[32m[环境就绪] 固件载入成功: {os.path.basename(fw_path)} ({os.path.getsize(fw_path) / 1024 / 1024:.2f} MB)\033[0m") + +def get_current_ports(): + """动态获取 macOS 和 Linux 下的常用串口设备""" + patterns = [ + "/dev/cu.usbmodem*", + "/dev/cu.usbserial*", + "/dev/ttyUSB*", + "/dev/ttyACM*" + ] + ports = [] + for pattern in patterns: + ports.extend(glob.glob(pattern)) + return set(ports) + +def burn_firmware(port, args): + """调用当前环境的 esptool 模块执行单次写入""" + print(f"\n\033[34m[开始烧录] 正在向端口发送固件: {port} ...\033[0m") + + # 使用 sys.executable 锁定当前 Python 解释器，使用精确的硬件参数替代 "keep" 以防固件损坏 + cmd = [ + #"python3", "-m", "esptool", + sys.executable, "-m", "esptool", + "--chip", args.chip, + "--port", port, + "--baud", args.baud, + "--before", "default-reset", + "--after", "hard-reset", + "write-flash", + "-z", + "--flash_mode", "dio", + "--flash_freq", "80m", + "--flash_size", "4MB", + "0x0", args.fw + ] + + start_time = time.time() + try: + # 执行烧录并实时透传日志到终端 + result = subprocess.run(cmd, stdout=sys.stdout, stderr=sys.stderr, text=True) + if result.returncode == 0: + elapsed = time.time() - start_time + print(f"\033[32m[成功] ====== 烧录耗时 {elapsed:.1f} 秒。请拔掉当前板子，换下一块 ====== \033[0m") + return True + else: + print("\033[31m[失败] ====== esptool 写入中断，请检查线材供电或重新插拔 ====== \033[0m") + return False + except Exception as e: + print(f"\033[31m[异常] 进程通信失败: {e}\033[0m") + return False + +def main(): + args = parse_arguments() + + print("====================================================") + print(" ESP32 跨平台底盘控制程序流水线烧录系统") + print("====================================================") + + check_env(args.fw) + + # 记录脚本启动时已经插在电脑上的设备，防止误烧录 + last_ports = get_current_ports() + print("\n[循环监听中] 请插入新的 ESP32 底盘主控板...") + + while True: + time.sleep(0.3) + current_ports = get_current_ports() + + # 捕获新插入的端口 + new_ports = current_ports - last_ports + + if new_ports: + active_port = list(new_ports)[0] + print(f"\n\033[33m[检测到新硬件] 端口分配: {active_port}\033[0m") + time.sleep(0.6) # 给予硬件上电并稳定 USB 握手的时间 + + # 执行自动化烧录 + burn_firmware(active_port, args) + + print("\n[等待断开] 请拔出当前已烧录完毕的设备...") + # 阻塞，直到用户安全拔出设备 + while True: + time.sleep(0.3) + if active_port not in get_current_ports(): + print("[状态复位] 设备已安全拔出。") + break + + # 重新捕获当前基准端口状态 + last_ports = get_current_ports() + print("\n[继续监听] 请插入下一块新板子...") + else: + # 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2026 19:22:41 +0800 Subject: [PATCH 2/5] refactor: add dynamic command-line arguments to test_uart.py --- tests/test_uart.py | 26 ++++++++++++++++++++++---- 1 file changed, 22 insertions(+), 4 deletions(-) diff --git a/tests/test_uart.py b/tests/test_uart.py index e0e97d0..f672abc 100644 --- a/tests/test_uart.py +++ b/tests/test_uart.py @@ -8,10 +8,12 @@ import struct import sys import termios +import argparse # ── 配置 ────────────────────────────────────────────── -PORT = "/dev/ttyS1" -BAUD = 115200 +#PORT = "/dev/cu.usbmodem11301" +#PORT = "/dev/ttyS1" +#BAUD = 115200 TIMEOUT = 1.0 # 秒 # ── 命令/响应字 ─────────────────────────────────────── @@ -390,6 +392,16 @@ def test_reset(ser, t): # ── 主程序 ─────────────────────────────────────────── def main(): + + # 动态构建参数解析器 + parser = argparse.ArgumentParser(description="ESP32-C3 电机控制器 UART 协议全面测试") + parser.add_argument("port", type=str, help="物理设备串口路径 (如 Mac 下的 /dev/cu.usbmodem11101)") + parser.add_argument("--baud", type=int, default=115200, help="通讯波特率 (默认: 115200)") + args = parser.parse_args() + + PORT = args.port + BAUD = args.baud + print("="*50) print(" ESP32-C3 电机控制器 UART 协议全面测试") print(f" 端口: {PORT} 波特率: {BAUD}") @@ -419,10 +431,16 @@ def main(): test_unknown_cmd(ser, t) test_reset(ser, t) finally: - # 确保测试结束后电机停止 + # 确保测试结束后电机停止且清除缓冲区：退出前将底盘控制状态机复位，防止电机持续空转 try: - if ser.is_open: + # 在关闭串口前，发送复位信号，确保底盘恢复状态 + # if ser.is_open: + if 'ser' in locals() and ser.is_open: ser.write(build_frame(CMD_RESET)) + time.sleep(0.05) # 给硬件极短的重置反应时间 + ser.reset_input_buffer() + ser.reset_output_buffer() + except Exception: pass # 串口已断开，忽略错误 finally: From 36f0b4236c5ddd25f78d360e1fcd9045eb5b2f35 Mon Sep 17 00:00:00 2001 From: liu <23818977793@qq.com> Date: Wed, 15 Jul 2026 19:40:24 +0800 Subject: [PATCH 3/5] docs: complete PQC testing guide in README.md --- README.md | 45 +++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 45 insertions(+) diff --git a/README.md b/README.md index a1f12b7..f02134c 100644 --- a/README.md +++ b/README.md @@ -74,3 +74,48 @@ python3 batch_burner.py 2. **自动闪存**：脚本将自动捕获新端口并以最高稳定波特率（`921600`）执行顺序写入，耗时通常在 5~8 秒。 3. **断开换板**：终端打印出绿色 `[成功]` 提示后，直接拔掉数据线，换下一块板子插入，全程无需触碰键盘鼠标。 +--- + + +## 🔍 场景三：底盘功能与通信协议全自动质检 (品控适用) + +在固件批量烧录成功后，保持数据线连接，可直接使用项目内置的协议压力测试工具对底盘的底层状态机、双轴控制及编码器反馈进行高精度功能质检： + +### 1. 安装质检依赖 +确保本地安装了 Python 串口通信组件： +```bash +pip3 install pyserial + +``` + +### 2. 查找当前主控板的正确串口号 + +把已经成功烧录好固件的 ESP32 底盘通过数据线连上 Mac/Linux。在终端确认它的端口（假设依然是刚才的通用端口）： +```bash +ls /dev/cu.usb* + +``` +假设获取到的端口号是：/dev/cu.usbmodem11101 + + +### 3. 一键运行自动化品检 + +无需修改脚本源码，直接通过命令行传入当前板子在 Mac/Linux 下分配的动态串口路径： + +```bash +python3 tests/test_uart.py /dev/cu.usbmodem11101 + +``` + +*注：波特率默认对齐底盘源码的 `115200`。如需修改，可追加参数如 `--baud 9600`。* + + +### 4. 出厂判定标准 + +终端将瞬间瀑布式执行 26 项子协议断言测试。 + +* **合格**：结尾显示绿色 `[PASS]` 汇总，且 26/26 项全部通过，底盘准予出厂。 +* **不合格**：若出现红色 `[FAIL]` 或随机时序错乱，请重点排查底盘供电稳定度、编码器接线或芯片物理损坏。 + +--- + From d9c74f9542fe64210b55c76097097ceda0bc3523 Mon Sep 17 00:00:00 2001 From: liu <23818977793@qq.com> Date: Thu, 16 Jul 2026 22:47:26 +0800 Subject: [PATCH 4/5] feat: implement unified auto-flashing with --test flag and update comprehensive README --- README.md | 47 +++++++++++++++++++++++++++++------- tools/batch_burner.py | 56 ++++++++++++++++++++++++++++++++++++++++--- 2 files changed, 92 insertions(+), 11 deletions(-) diff --git a/README.md b/README.md index f02134c..b504b99 100644 --- a/README.md +++ b/README.md @@ -1,7 +1,7 @@ # ESP32 底盘控制程序 (esp32_base_control) -本项目基于 ESP32-C3（支持 Geekble Mini ESP32-C3 开发板）开发，用于移动机器人底盘的底层核心控制。项目包含完整的 Arduino 源码工程以及面向工厂/团队的高效批量自动烧录工具。 +本项目基于 ESP32-C3（支持 Geekble Mini ESP32-C3 开发板）开发，用于移动机器人底盘的底层核心控制。项目包含完整的 Arduino 源码工程，以及面向工厂/团队的高效批量自动烧录与全自动质检工具链。 --- @@ -41,9 +41,9 @@ --- -## ⚡ 场景二：流水线流水式批量烧录 (生产/量产适用) +## ⚡ 场景二：一键式批量自动烧录 (生产/量产适用) -当底盘控制程序验证完毕、需要进行多台设备批量固件写入时，**严禁使用 Arduino IDE**。请使用项目内置的自动化量产工具，可实现“插线即烧、拔线即换”的无人值守流水线操作。 +当底盘控制程序验证完毕、需要进行多台设备批量固件写入时，请使用项目内置的自动化量产工具。 ### 1. 准备合并固件 @@ -51,7 +51,7 @@ ### 2. 安装量产依赖 -确保本地安装了 Python 3 环境，在终端执行以下命令安装乐鑫官方烧录核心驱动： +确保本地已安装 Python 3 环境，在终端执行以下命令安装乐鑫官方烧录核心驱动： ```bash pip3 install esptool @@ -76,10 +76,9 @@ python3 batch_burner.py --- +## 🔍 场景三：底盘功能与通信协议全自动质检 (研发质检/品控适用) -## 🔍 场景三：底盘功能与通信协议全自动质检 (品控适用) - -在固件批量烧录成功后，保持数据线连接，可直接使用项目内置的协议压力测试工具对底盘的底层状态机、双轴控制及编码器反馈进行高精度功能质检： +在固件烧录成功后，保持数据线连接，可直接使用项目内置的协议压力测试工具对底盘的底层状态机、双轴控制及编码器反馈进行高精度功能质检： ### 1. 安装质检依赖 确保本地安装了 Python 串口通信组件： @@ -107,7 +106,7 @@ python3 tests/test_uart.py /dev/cu.usbmodem11101 ``` -*注：波特率默认对齐底盘源码的 `115200`。如需修改，可追加参数如 `--baud 9600`。* +*注：串口路径为必填参数。波特率默认对齐底盘源码的 `115200`。如需修改，可追加参数如 `--baud 9600`。* ### 4. 出厂判定标准 @@ -119,3 +118,35 @@ python3 tests/test_uart.py /dev/cu.usbmodem11101 --- +## 🔍 场景四：烧录 + 26项功能全自动联动质检 (品控质检适用) + +为了确保烧录完成的底盘物理接线、编码器状态和通信状态机 100% 合格，本项目支持“烧录即质检”的流水线联动模式。 + +### 1. 安装质检依赖 +确保本地安装了 Python 串口通信组件： + +```bash +pip3 install pyserial + +``` + +### 2. 启动联动质检流水线 + +在终端中附加 `--test` 参数启动烧录脚本： + +```bash +python3 tools/batch_burner.py --test + +``` + +### 3. 联动流水线 SOP 规范 + +1. **插入新设备**：脚本自动捕获串口，并以最高稳定波特率（`921600`）执行固件烧录。 +2. **自动质检**：固件部署成功后，系统在原地等待 1 秒钟（等待硬件冷启动），随后**自动无缝调用** `tests/test_uart.py` 进行 26 项高精度串口通信与传感器状态校验。 +3. **出厂判定**： +* 若 26/26 项测试全部显示绿色 `[PASS]`，底盘合格。 +* 若出现红色 `[FAIL]` 或串口中断，请重点排查底盘供电、编码器物理接线或芯片损坏。 +4. **换板**：拔掉当前设备，接入下一块，系统自动进入下一轮“烧录+质检”循环。 + +--- + diff --git a/tools/batch_burner.py b/tools/batch_burner.py index 0e132af..2420c55 100755 --- a/tools/batch_burner.py +++ b/tools/batch_burner.py @@ -19,10 +19,13 @@ def parse_arguments(): parser.add_argument("--fw", type=str, default=default_fw, help="合并后的固件 (.bin) 路径") parser.add_argument("--chip", type=str, default="esp32c3", help="目标芯片架构 (如 esp32, esp32c3, esp32s3)") parser.add_argument("--baud", type=str, default="921600", help="烧录波特率") + + # 🌟 新增这一行：添加自动质检的布尔开关选项 + parser.add_argument("--test", action="store_true", help="启用该选项后，每块板子烧录完成后自动执行 26 项协议质检") return parser.parse_args() -def check_env(fw_path): +def check_env(fw_path, run_test): """检查固件及依赖环境""" # 1. 检查固件 if not os.path.exists(fw_path): @@ -40,6 +43,23 @@ def check_env(fw_path): print(f"\033[32m[环境就绪] 固件载入成功: {os.path.basename(fw_path)} ({os.path.getsize(fw_path) / 1024 / 1024:.2f} MB)\033[0m") + # 依赖检查逻辑 + # 如果用户开启了 `--test` 选项，脚本必须在启动时前置检查 `pyserial` 库以及 `test_uart.py` 脚本是否存在，防止烧录完后因找不到测试依赖而崩溃。 + if run_test: + try: + import serial + except ModuleNotFoundError: + print("\033[31m[错误] 启用了自动质检，但当前环境未安装 pyserial 库！\033[0m") + print(f"\033[33m请在终端执行以下命令安装后重试：\n {sys.executable} -m pip install pyserial\033[0m") + sys.exit(1) + + test_script = os.path.abspath(os.path.join(os.path.dirname(__file__), "..", "tests", "test_uart.py")) + if not os.path.exists(test_script): + print(f"\033[31m[错误] 找不到测试脚本，请检查路径是否正确：\n{test_script}\033[0m") + sys.exit(1) + print("\033[35m[联动激活] 已开启“烧录 + 26项高精度功能质检”一体化流水线模式。\033[0m") + + def get_current_ports(): """动态获取 macOS 和 Linux 下的常用串口设备""" patterns = [ @@ -53,6 +73,27 @@ def get_current_ports(): ports.extend(glob.glob(pattern)) return set(ports) + +# 用于在烧录成功后，使用当前 Python 解释器隐式调用test_uart.py 并实时透传 26 项彩色测试日志。 +def run_auto_test(port): + """🌟 新增函数：调用项目的核心质检脚本进行功能核验""" + print(f"\n\033[35m[正在质检] 正在对端口 {port} 发起 26 项高精度协议全自动质检...\033[0m") + + # 动态定位到 tests/test_uart.py 的绝对路径 + test_script = os.path.abspath(os.path.join(os.path.dirname(__file__), "..", "tests", "test_uart.py")) + + # 组合底层命令：python3 tests/test_uart.py /dev/cu.usbmodemXXXX + cmd = [sys.executable, test_script, port] + + try: + # 实时透传标准输出与标准错误，使 26 项全绿的瀑布流直接打在当前终端上 + result = subprocess.run(cmd, stdout=sys.stdout, stderr=sys.stderr, text=True) + return result.returncode == 0 + except Exception as e: + print(f"\033[31m[质检异常] 执行自动质检时发生进程错误: {e}\033[0m") + return False + + def burn_firmware(port, args): """调用当前环境的 esptool 模块执行单次写入""" print(f"\n\033[34m[开始烧录] 正在向端口发送固件: {port} ...\033[0m") @@ -80,7 +121,16 @@ def burn_firmware(port, args): result = subprocess.run(cmd, stdout=sys.stdout, stderr=sys.stderr, text=True) if result.returncode == 0: elapsed = time.time() - start_time - print(f"\033[32m[成功] ====== 烧录耗时 {elapsed:.1f} 秒。请拔掉当前板子，换下一块 ====== \033[0m") + #print(f"\033[32m[成功] ====== 烧录耗时 {elapsed:.1f} 秒。请拔掉当前板子，换下一块 ====== \033[0m") + print(f"\033[32m[成功] 固件部署完毕，耗时 {elapsed:.1f} 秒。\033[0m") + + # 🌟 新增质检联动逻辑 + if args.test: + time.sleep(1.0) # 给予芯片足够的冷启动和 USB 重新握手时间 + run_auto_test(port) + + print(f"\n\033[32m====== 流程结束。请拔掉当前板子，换下一块 ====== \033[0m") + return True else: print("\033[31m[失败] ====== esptool 写入中断，请检查线材供电或重新插拔 ====== \033[0m") @@ -96,7 +146,7 @@ def main(): print(" ESP32 跨平台底盘控制程序流水线烧录系统") print("====================================================") - check_env(args.fw) + check_env(args.fw, args.test) # 记录脚本启动时已经插在电脑上的设备，防止误烧录 last_ports = get_current_ports() From ac8a78f43b7727a220e897bb87a6a6d9efe5ad9e Mon Sep 17 00:00:00 2001 From: liu <23818977793@qq.com> Date: Thu, 16 Jul 2026 23:04:01 +0800 Subject: [PATCH 5/5] docs: fix formatting and spacing in README --- README.md | 25 ++++++++----------------- 1 file changed, 8 insertions(+), 17 deletions(-) diff --git a/README.md b/README.md index b504b99..cdb9a39 100644 --- a/README.md +++ b/README.md @@ -16,7 +16,7 @@ - 变量值：`dl.espressif.com/github_assets` - **macOS / Linux**: 在终端配置文件（如 `~/.zshrc` 或 `~/.bash_profile`）中追加： ```bash - export IDF_GITHUB_ASSETS="[dl.espressif.com/github_assets](https://dl.espressif.com/github_assets)" + export IDF_GITHUB_ASSETS="https://dl.espressif.com/github_assets" ``` @@ -24,11 +24,9 @@ 1. 打开 Arduino IDE，进入 `Preferences` (偏好设置)。 2. 在 `Additional boards manager URLs` 中填入国内第三方加速索引源： -```text -[https://arduino.me/packages/esp32.json](https://arduino.me/packages/esp32.json) - -``` - + ```text + https://arduino.me/packages/esp32.json + ``` 3. 进入 `Boards Manager` (开发板管理器)，搜索 `esp32` 并安装由 **Espressif Systems** 发布的开发板核心库。 @@ -55,7 +53,6 @@ ```bash pip3 install esptool - ``` ### 3. 启动批量烧录系统 @@ -65,7 +62,6 @@ pip3 install esptool ```bash cd tools python3 batch_burner.py - ``` ### 4. 流水线实操规程 @@ -84,7 +80,6 @@ python3 batch_burner.py 确保本地安装了 Python 串口通信组件： ```bash pip3 install pyserial - ``` ### 2. 查找当前主控板的正确串口号 @@ -92,9 +87,8 @@ pip3 install pyserial 把已经成功烧录好固件的 ESP32 底盘通过数据线连上 Mac/Linux。在终端确认它的端口（假设依然是刚才的通用端口）： ```bash ls /dev/cu.usb* - ``` -假设获取到的端口号是：/dev/cu.usbmodem11101 +假设获取到的端口号是：`/dev/cu.usbmodemXXXX` ### 3. 一键运行自动化品检 @@ -102,8 +96,7 @@ ls /dev/cu.usb* 无需修改脚本源码，直接通过命令行传入当前板子在 Mac/Linux 下分配的动态串口路径： ```bash -python3 tests/test_uart.py /dev/cu.usbmodem11101 - +python3 tests/test_uart.py /dev/cu.usbmodemXXXX ``` *注：串口路径为必填参数。波特率默认对齐底盘源码的 `115200`。如需修改，可追加参数如 `--baud 9600`。* @@ -127,7 +120,6 @@ python3 tests/test_uart.py /dev/cu.usbmodem11101 ```bash pip3 install pyserial - ``` ### 2. 启动联动质检流水线 @@ -136,7 +128,6 @@ pip3 install pyserial ```bash python3 tools/batch_burner.py --test - ``` ### 3. 联动流水线 SOP 规范 @@ -144,8 +135,8 @@ python3 tools/batch_burner.py --test 1. **插入新设备**：脚本自动捕获串口，并以最高稳定波特率（`921600`）执行固件烧录。 2. **自动质检**：固件部署成功后，系统在原地等待 1 秒钟（等待硬件冷启动），随后**自动无缝调用** `tests/test_uart.py` 进行 26 项高精度串口通信与传感器状态校验。 3. **出厂判定**： -* 若 26/26 项测试全部显示绿色 `[PASS]`，底盘合格。 -* 若出现红色 `[FAIL]` 或串口中断，请重点排查底盘供电、编码器物理接线或芯片损坏。 + * 若 26/26 项测试全部显示绿色 `[PASS]`，底盘合格。 + * 若出现红色 `[FAIL]` 或串口中断，请重点排查底盘供电、编码器物理接线或芯片损坏。 4. **换板**：拔掉当前设备，接入下一块，系统自动进入下一轮“烧录+质检”循环。 ---