From dc713149918c980f23bc9405b8ffe7502d5f515e Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期六, 29 十一月 2025 18:57:26 +0800
Subject: [PATCH] IM23数据解析成功，但是硬件仿真有问题，在解决。
---
python/hitl/README.md | 14 +++++++-------
1 files changed, 7 insertions(+), 7 deletions(-)
diff --git a/python/hitl/README.md b/python/hitl/README.md
index 8d2940b..565d521 100644
--- a/python/hitl/README.md
+++ b/python/hitl/README.md
@@ -2,7 +2,7 @@
涓轰簡鍦� STM32H7 涓婇獙璇佽繍鍔ㄦ帶鍒剁畻娉曪紝鍚屾椂閬垮厤鐪熷疄鍓茶崏鐜甯︽潵鐨勯闄╋紝`python/hitl` 瀛愮洰褰曡礋璐ｅ疄鐜扮數鑴戜豢鐪� 鈫� STM32H7 鐨勯棴鐜皟璇曞伐鍏枫�傛牳蹇冪洰鏍囷細
-- **浼犳劅鍣ㄤ豢鐪�**锛歅ython 绔互 GPS 妯″潡鐪熷疄鍗忚杈撳嚭 `$GPFMI`锛�10鈥疕z锛夊拰 `$GPIMU`锛�100鈥疕z锛夋暟鎹紝閫氳繃涓插彛 2 杈撳叆鍒� STM32H7銆�
+- **浼犳劅鍣ㄤ豢鐪�**锛歅ython 绔互 IM23A 浜岃繘鍒跺崗璁緭鍑� `fmin`锛�10鈥疕z锛夊拰 `fmim`锛�100鈥疕z锛夋暟鎹紝閫氳繃涓插彛 2 杈撳叆鍒� STM32H7銆�
- **鎺у埗闂幆**锛歋TM32H7 鍦ㄦ帴鏀跺埌浠跨湡浼犳劅鍣ㄦ暟鎹悗鎵ц鍘熸湁鎺у埗绠楁硶锛屽苟渚濈収 `PythonLink` 鍗忚锛堝墠杩涖�佽浆鍚戜袱涓噺锛夐�氳繃涓插彛 2 鍥炰紶缁� Python锛岄┍鍔ㄤ豢鐪熷櫒鏇存柊杞﹁締鐘舵�併��
- **鏃ュ織閲囬泦**锛歋TM32H7 閫氳繃涓插彛 5锛�921600鈥痓ps锛夎緭鍑鸿皟璇曟棩蹇楋紝Python 绔疄鏃惰В鏋愪笌淇濆瓨锛屼负瀹炶溅璋冭瘯鎻愪緵鍙傝�冦��
@@ -10,7 +10,7 @@
| 鍔熻兘 | STM32H7 涓插彛 | 鏂瑰悜 | 鍗忚/鍐呭 | 棰戠巼 |
| --- | --- | --- | --- | --- |
-| 浼犳劅鍣ㄤ豢鐪熻緭鍏� | UART2 (RX) | Python 鈫� STM32 | `$GPFMI`, `$GPIMU` | 10鈥疕z / 100鈥疕z |
+| 浼犳劅鍣ㄤ豢鐪熻緭鍏� | UART2 (RX) | Python 鈫� STM32 | IM23A `fmin` / `fmim` 浜岃繘鍒跺抚 | 10鈥疕z / 100鈥疕z |
| 鎺у埗杈撳嚭鍥炰紶 | UART2 (TX) | STM32 鈫� Python | `PythonLink` 鎺у埗甯э紙鍓嶈繘/杞悜锛� | 鈮� 鎺у埗棰戠巼 |
| 璋冭瘯鏃ュ織 | UART5 (TX) | STM32 鈫� Python | 绾枃鏈垨鍗忚鏃ュ織 | 瀹炴椂锛�921600鈥痓ps |
@@ -20,8 +20,8 @@
flowchart LR
subgraph PC浠跨湡绔�
Sim[浠跨湡鍣╘n鐘舵�佺Н鍒哴
- GPFMI[GPFMI甯х敓鎴怽n10 Hz]
- GPIMU[GPIMU甯х敓鎴怽n100 Hz]
+ NAVFrame[IM23A fmin 甯х敓鎴怽n10 Hz]
+ IMUFrame[IM23A fmim 甯х敓鎴怽n100 Hz]
CtrlRx[PythonLink鎺у埗甯ф帴鏀禲
LogSink[涓插彛5鏃ュ織瑙ｆ瀽/淇濆瓨]
end
@@ -31,8 +31,8 @@
UART5["UART5\n(921600) 鏃ュ織杈撳嚭"]
end
- Sim --> GPFMI --> |UART2 TX| UART2
- Sim --> GPIMU --> |UART2 TX| UART2
+ Sim --> NAVFrame --> |UART2 TX| UART2
+ Sim --> IMUFrame --> |UART2 TX| UART2
UART2 --> CtrlAlgo
CtrlAlgo --> |鍓嶈繘/杞悜鎺у埗甯 UART2 --> CtrlRx --> Sim
CtrlAlgo --> |杩愯鏃ュ織| UART5 --> |涓插彛5 RX| LogSink
@@ -40,7 +40,7 @@
## 鍚庣画瀹炵幇瑕佺偣
-1. **鍗忚澶嶇敤**锛氫弗鏍煎鐢ㄧ幇鏈� GPS `$GPFMI`/`$GPIMU` 杈撳嚭鏍煎紡涓� `PythonLink` 鎺у埗甯э紝淇濊瘉瀹炶溅涓庝豢鐪熼棿鍙棤缂濆垏鎹€��
+1. **鍗忚澶嶇敤**锛氫弗鏍煎鐢� IM23A `fmin`/`fmim` 杈撳嚭鏍煎紡涓� `PythonLink` 鎺у埗甯э紝淇濊瘉瀹炶溅涓庝豢鐪熼棿鍙棤缂濆垏鎹€��
2. **鏃堕棿鍚屾**锛氫豢鐪熷櫒鍐呴儴闇�缁存姢 UTC 鏃堕棿鎴筹紙Week/ToW 涓� `hhmmss.ss`锛夛紝璁� STM32H7 閫昏緫淇濇寔涓�鑷淬��
3. **楂橀浠诲姟鍒掑垎**锛氬缓璁娇鐢ㄧ嫭绔嬬嚎绋�/寮傛浠诲姟鍒嗗埆鍙戦�� 10鈥疕z 涓� 100鈥疕z 鏁版嵁甯э紝骞跺鎺у埗鍥炰紶銆佹棩蹇楁帴鏀惰繘琛岄潪闃诲澶勭悊銆�
4. **浠跨湡妯″瀷**锛氬悗缁彲鎵╁睍涓鸿鍙栬鍒掕矾寰勶紝鍒╃敤 ENU 鍧愭爣绯昏繘琛岃繍鍔ㄥ绉垎锛屽苟鎶婄粨鏋滄槧灏勫洖缁忕含搴�/鎯閲忋��
--
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