real field test

2026-06-18 16:55:30 +08:00
commit 55aea83cbe
5 changed files with 671 additions and 0 deletions
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@ -0,0 +1,4 @@
+{
+    "python-envs.defaultEnvManager": "ms-python.python:system",
+    "python-envs.defaultPackageManager": "ms-python.python:pip"
+}
--- a/main.py
+++ b/main.py
@ -0,0 +1,344 @@
+from machine import Pin, UART
+import struct
+import time
+import sys
+import select
+
+
+# ============================================================
+# ESP32 + IMU + USB binary bridge
+#
+# Wiring:
+#   IMU TX yellow -> ESP32 GPIO16 / RX2
+#   IMU RX green  -> ESP32 GPIO17 / TX2
+#   IMU GND       -> ESP32 GND
+#
+# UART2: IMU
+# USB stdout/stdin: PC
+#
+# Important:
+#   - Output uses sys.stdout, because this is the stable path.
+#   - Command input uses sys.stdin, ASCII only: o / c / s.
+#   - First test with USE_REAL_DOUT = False.
+# ============================================================
+
+
+# ---------------- PIN CONFIG ----------------
+
+IMU_RX_PIN = 16
+IMU_TX_PIN = 17
+
+DIN_PINS = (25, 26, 27, 32)
+DOUT_PINS = (18, 19)
+
+digital_inputs = [Pin(pin, Pin.IN, Pin.PULL_UP) for pin in DIN_PINS]
+digital_outputs = [Pin(pin, Pin.OUT, value=0) for pin in DOUT_PINS]
+
+
+# ---------------- SERIAL CONFIG ----------------
+
+# PC side uses MicroPython stdout/stdin.
+# PC reader should use:
+#   python3 pc_reader.py /dev/ttyUSB0 --baud 115200
+PC_BAUD_NOTE = 115200
+
+# IMU side confirmed working.
+IMU_BAUD = 921600
+
+SEND_PERIOD_MS = 20      # 50 Hz
+STARTUP_DELAY_MS = 3000  # quiet window after reset
+
+
+# ---------------- IMU FRAME CONFIG ----------------
+
+FRAME_LEN = 11
+HEADER = 0x55
+
+TYPE_ACC = 0x51
+TYPE_GYRO = 0x52
+TYPE_ANGLE = 0x53
+
+# raw_values:
+# acc x y z, gyro x y z, angle x y z, temperature
+raw_values = [0] * 10
+
+
+# ---------------- DOUT TEST MODE ----------------
+
+# False:
+#   Only update software DOUT state in outgoing packet.
+#   GPIO18/GPIO19 will NOT really change.
+#
+# True:
+#   Actually drive GPIO18/GPIO19.
+#
+# Start with False. If o/c/s changes DOUT in pc_reader output,
+# then set it to True and test real hardware.
+USE_REAL_DOUT = True
+
+# bit0 = DOUT0 / GPIO18
+# bit1 = DOUT1 / GPIO19
+dout_shadow = 0
+
+
+# ---------------- BUFFERS ----------------
+
+rx_buffer = bytearray(2048)
+write_idx = 0
+read_idx = 0
+
+
+# ---------------- USB STDOUT / STDIN ----------------
+
+try:
+    usb_out = sys.stdout.buffer
+except AttributeError:
+    usb_out = sys.stdout
+
+poller = select.poll()
+poller.register(sys.stdin, select.POLLIN)
+
+
+# ============================================================
+# DOUT / gripper
+# ============================================================
+
+def clear_douts():
+    global dout_shadow
+
+    dout_shadow = 0
+
+    for pin in digital_outputs:
+        pin.value(0)
+
+
+def set_gripper(mode):
+    global dout_shadow
+
+    # mode:
+    #   0 = STOP
+    #   1 = OPEN
+    #   2 = CLOSE
+    #
+    # DOUT[0] = GPIO18
+    # DOUT[1] = GPIO19
+
+    if mode == 1:
+        # OPEN -> DOUT=[0, 1]
+        dout_shadow = 0b10
+
+    elif mode == 2:
+        # CLOSE -> DOUT=[1, 0]
+        dout_shadow = 0b01
+
+    else:
+        # STOP -> DOUT=[0, 0]
+        dout_shadow = 0b00
+
+    # Shadow test mode: do not touch real GPIO pins.
+    if not USE_REAL_DOUT:
+        return
+
+    # Real output mode.
+    digital_outputs[0].value(0)
+    digital_outputs[1].value(0)
+    time.sleep_ms(20)
+
+    if mode == 1:
+        # OPEN
+        digital_outputs[1].value(1)
+
+    elif mode == 2:
+        # CLOSE
+        digital_outputs[0].value(1)
+
+    # mode 0 keeps both LOW
+
+
+# ============================================================
+# IMU UART
+# ============================================================
+
+def open_imu_uart():
+    uart = UART(
+        2,
+        baudrate=IMU_BAUD,
+        bits=8,
+        parity=None,
+        stop=1,
+        rx=IMU_RX_PIN,
+        tx=IMU_TX_PIN,
+        timeout=0,
+        rxbuf=4096,
+    )
+
+    time.sleep_ms(300)
+
+    # Flush startup junk.
+    while uart.any():
+        uart.read()
+
+    return uart
+
+
+# ============================================================
+# IMU parser
+# ============================================================
+
+def update_raw_values(frame):
+    frame_type = frame[1]
+    x, y, z, extra = struct.unpack_from("<hhhh", frame, 2)
+
+    if frame_type == TYPE_ACC:
+        raw_values[0:3] = (x, y, z)
+        raw_values[9] = extra
+
+    elif frame_type == TYPE_GYRO:
+        raw_values[3:6] = (x, y, z)
+
+    elif frame_type == TYPE_ANGLE:
+        raw_values[6:9] = (x, y, z)
+        return True
+
+    return False
+
+
+def poll_imu(uart):
+    global write_idx, read_idx
+
+    count = uart.any()
+    if count:
+        data = uart.read(count)
+        if data:
+            for b in data:
+                rx_buffer[write_idx] = b
+                write_idx = (write_idx + 1) % len(rx_buffer)
+
+                # Buffer full: drop oldest byte.
+                if write_idx == read_idx:
+                    read_idx = (read_idx + 1) % len(rx_buffer)
+
+    updated = False
+
+    while True:
+        available = (write_idx - read_idx) % len(rx_buffer)
+        if available < FRAME_LEN:
+            break
+
+        # Resync to 0x55.
+        if rx_buffer[read_idx] != HEADER:
+            read_idx = (read_idx + 1) % len(rx_buffer)
+            continue
+
+        frame = bytearray(FRAME_LEN)
+        for i in range(FRAME_LEN):
+            frame[i] = rx_buffer[(read_idx + i) % len(rx_buffer)]
+
+        # Checksum.
+        if (sum(frame[:10]) & 0xFF) != frame[10]:
+            read_idx = (read_idx + 1) % len(rx_buffer)
+            continue
+
+        read_idx = (read_idx + FRAME_LEN) % len(rx_buffer)
+
+        if update_raw_values(frame):
+            updated = True
+
+    return updated
+
+
+# ============================================================
+# Packet to PC
+# ============================================================
+
+def make_packet():
+    din_mask = 0
+    for index, pin in enumerate(digital_inputs):
+        din_mask |= pin.value() << index
+
+    if USE_REAL_DOUT:
+        dout_mask = 0
+        for index, pin in enumerate(digital_outputs):
+            dout_mask |= pin.value() << index
+    else:
+        dout_mask = dout_shadow
+
+    # Packet layout:
+    # A5 5A | version | DIN | DOUT | ticks_ms | 10 signed int16 | checksum
+    packet = struct.pack(
+        "<2sBBBI10h",
+        b"\xA5\x5A",
+        2,
+        din_mask,
+        dout_mask,
+        time.ticks_ms() & 0xFFFFFFFF,
+        *raw_values,
+    )
+
+    return packet + bytes((sum(packet) & 0xFF,))
+
+
+def usb_write(data):
+    usb_out.write(data)
+
+
+# ============================================================
+# USB command parser
+# ============================================================
+
+def poll_usb_commands():
+    # ASCII only.
+    # pc_reader.py should send:
+    #   b"o" = OPEN
+    #   b"c" = CLOSE
+    #   b"s" = STOP
+    #
+    # Do NOT use C3 3C binary command here.
+
+    for _ in range(8):
+        if not poller.poll(0):
+            break
+
+        ch = sys.stdin.read(1)
+
+        if not ch:
+            break
+
+        if ch == "o" or ch == "O":
+            set_gripper(1)
+
+        elif ch == "c" or ch == "C":
+            set_gripper(2)
+
+        elif ch == "s" or ch == "S":
+            set_gripper(0)
+
+        # Ignore Enter/newline and other characters.
+
+
+# ============================================================
+# Main
+# ============================================================
+
+clear_douts()
+
+# Quiet window after reset.
+# During this period there is no binary output.
+time.sleep_ms(STARTUP_DELAY_MS)
+
+imu_uart = open_imu_uart()
+
+last_send_ms = time.ticks_ms()
+
+while True:
+    poll_usb_commands()
+    poll_imu(imu_uart)
+
+    now = time.ticks_ms()
+
+    # Fixed 50 Hz output.
+    if time.ticks_diff(now, last_send_ms) >= SEND_PERIOD_MS:
+        usb_write(make_packet())
+        last_send_ms = now
+
+    time.sleep_ms(0)
--- a/pc_reader.py
+++ b/pc_reader.py
@ -0,0 +1,121 @@
+import argparse
+import struct
+import threading
+
+import serial
+
+
+SYNC = b"\xA5\x5A"
+PACKET_FORMAT = "<2sBBBI10hB"
+PACKET_SIZE = struct.calcsize(PACKET_FORMAT)
+
+
+def decode_packet(packet):
+    fields = struct.unpack(PACKET_FORMAT, packet)
+    _, version, din_mask, dout_mask, time_ms, *rest = fields
+    raw = rest[:-1]
+
+    acc_scale = 16.0 / 32768.0
+    gyro_scale = 2000.0 / 32768.0
+    angle_scale = 180.0 / 32768.0
+
+    return {
+        "version": version,
+        "t_ms": time_ms,
+        "din": [(din_mask >> bit) & 1 for bit in range(4)],
+        "dout": [(dout_mask >> bit) & 1 for bit in range(2)],
+        "acc_g": [round(value * acc_scale, 5) for value in raw[0:3]],
+        "gyro_dps": [round(value * gyro_scale, 4) for value in raw[3:6]],
+        "angle_deg": [round(value * angle_scale, 4) for value in raw[6:9]],
+        "temp_c": round(raw[9] / 100.0, 2),
+    }
+
+
+def send_gripper_command(ser, mode):
+    if mode == 1:
+        ser.write(b"o")
+    elif mode == 2:
+        ser.write(b"c")
+    else:
+        ser.write(b"s")
+
+
+def keyboard_control(ser):
+    print("Commands: o=OPEN, c=CLOSE, s=STOP")
+    while True:
+        text = input().strip().lower()
+        if text == "o":
+            send_gripper_command(ser, 1)
+        elif text == "c":
+            send_gripper_command(ser, 2)
+        elif text == "s":
+            send_gripper_command(ser, 0)
+        else:
+            print("Unknown command. Use o, c, or s.")
+
+
+def main():
+    parser = argparse.ArgumentParser()
+    parser.add_argument("port", help="ESP32 serial port, for example COM5")
+    parser.add_argument("--baud", type=int, default=230400)
+    args = parser.parse_args()
+
+    buffer = bytearray()
+    packet_count = 0
+    last_time_ms = None
+
+    with serial.Serial(args.port, args.baud, timeout=1) as ser:
+        print("Reading {} at {} baud".format(args.port, args.baud))
+        threading.Thread(
+            target=keyboard_control,
+            args=(ser,),
+            daemon=True,
+        ).start()
+
+        while True:
+            chunk = ser.read(ser.in_waiting or 1)
+            if chunk:
+                buffer.extend(chunk)
+
+            while len(buffer) >= PACKET_SIZE:
+                sync_index = buffer.find(SYNC)
+                if sync_index < 0:
+                    del buffer[:-1]
+                    break
+                if sync_index:
+                    del buffer[:sync_index]
+                if len(buffer) < PACKET_SIZE:
+                    break
+
+                packet = bytes(buffer[:PACKET_SIZE])
+                if (sum(packet[:-1]) & 0xFF) != packet[-1]:
+                    del buffer[0]
+                    continue
+
+                del buffer[:PACKET_SIZE]
+                data = decode_packet(packet)
+                packet_count += 1
+
+                if last_time_ms is None:
+                    frequency = 0.0
+                else:
+                    delta = (data["t_ms"] - last_time_ms) & 0xFFFFFFFF
+                    frequency = 1000.0 / delta if delta else 0.0
+                last_time_ms = data["t_ms"]
+
+                print(
+                    "#{:8d} {:6.1f}Hz DIN={} DOUT={} "
+                    "ACC={} GYRO={} ANGLE={}".format(
+                        packet_count,
+                        frequency,
+                        data["din"],
+                        data["dout"],
+                        data["acc_g"],
+                        data["gyro_dps"],
+                        data["angle_deg"],
+                    )
+                )
+
+
+if __name__ == "__main__":
+    main()
--- a/rcd.txt
+++ b/rcd.txt
@ -0,0 +1,135 @@
+     792   50.0Hz DIN=[0, 1, 0, 0] DOUT=[1, 0] ACC=[-0.00195, -0.00781, -1.00977] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5386, 0.0989, -28.9655]
+#     793   50.0Hz DIN=[0, 1, 0, 0] DOUT=[1, 0] ACC=[-0.00244, -0.00781, -1.01025] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5386, 0.0989, -28.9655]
+#     794   50.0Hz DIN=[0, 1, 0, 0] DOUT=[1, 0] ACC=[-0.00146, -0.0083, -1.00879] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5386, 0.1044, -28.9655]
+#     795   50.0Hz DIN=[0, 1, 0, 0] DOUT=[1, 0] ACC=[-0.00146, -0.0083, -1.00977] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5386, 0.1044, -28.9655]
+#     796   50.0Hz DIN=[0, 1, 0, 0] DOUT=[1, 0] ACC=[-0.00146, -0.00781, -1.00879] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5386, 0.0989, -28.9655]
+#     797   50.0Hz DIN=[0, 1, 0, 0] DOUT=[1, 0] ACC=[-0.00195, -0.00781, -1.00879] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5331, 0.0989, -28.9655]
+#     798   50.0Hz DIN=[0, 1, 0, 0] DOUT=[1, 0] ACC=[-0.00244, -0.0083, -1.0083] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5386, 0.1044, -28.9655]
+#     799   50.0Hz DIN=[0, 1, 0, 0] DOUT=[1, 0] ACC=[-0.00146, -0.0083, -1.01025] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5331, 0.1044, -28.9655]
+#     800   50.0Hz DIN=[0, 1, 0, 0] DOUT=[1, 0] ACC=[-0.00195, -0.00732, -1.00879] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5331, 0.1044, -28.9655]
+#     801   50.0Hz DIN=[0, 1, 0, 0] DOUT=[1, 0] ACC=[-0.00195, -0.00879, -1.01025] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5331, 0.1044, -28.9655]
+#     802   50.0Hz DIN=[0, 1, 0, 0] DOUT=[1, 0] ACC=[-0.00146, -0.00732, -1.00732] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5386, 0.1044, -28.9655]
+#     803   50.0Hz DIN=[0, 1, 0, 0] DOUT=[1, 0] ACC=[-0.00244, -0.0083, -1.01025] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5386, 0.1044, -28.9655]
+#     804   50.0Hz DIN=[0, 1, 0, 0] DOUT=[1, 0] ACC=[-0.00195, -0.0083, -1.00781] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5386, 0.1044, -28.9655]
+#     805   50.0Hz DIN=[0, 1, 0, 0] DOUT=[1, 0] ACC=[-0.00195, -0.0083, -1.00879] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5386, 0.1044, -28.9655]
+#     806   50.0Hz DIN=[0, 1, 0, 0] DOUT=[1, 0] ACC=[-0.00098, -0.00781, -1.0083] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5386, 0.1044, -28.9655]
+#     807   50.0Hz DIN=[0, 1, 0, 0] DOUT=[1, 0] ACC=[-0.00146, -0.00732, -1.00977] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5386, 0.1044, -28.9655]
+#     808   50.0Hz DIN=[0, 1, 0, 0] DOUT=[1, 0] ACC=[-0.00146, -0.00781, -1.00781] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5386, 0.1044, -28.9655]
+#     809   50.0Hz DIN=[0, 1, 0, 0] DOUT=[1, 0] ACC=[-0.00146, -0.0083, -1.00781] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5386, 0.0989, -28.9655]
+#     810   50.0Hz DIN=[0, 1, 0, 0] DOUT=[1, 0] ACC=[-0.00244, -0.0083, -1.00977] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5386, 0.1044, -28.9655]
+#     811   50.0Hz DIN=[0, 1, 0, 0] DOUT=[1, 0] ACC=[-0.00146, -0.00781, -1.00928] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5386, 0.1044, -28.9655]
+#     812   50.0Hz DIN=[0, 1, 0, 0] DOUT=[1, 0] ACC=[-0.00195, -0.00879, -1.00879] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5386, 0.1044, -28.9655]
+#     813   50.0Hz DIN=[0, 1, 0, 0] DOUT=[1, 0] ACC=[-0.00146, -0.00781, -1.00879] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5386, 0.1044, -28.9655]
+#     814   50.0Hz DIN=[0, 1, 0, 0] DOUT=[1, 0] ACC=[-0.00146, -0.00781, -1.0083] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5386, 0.1044, -28.9655]
+#     815   50.0Hz DIN=[0, 1, 0, 0] DOUT=[1, 0] ACC=[-0.00195, -0.00781, -1.00977] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5386, 0.1044, -28.9655]
+#     816   50.0Hz DIN=[0, 1, 0, 0] DOUT=[1, 0] ACC=[-0.00195, -0.00781, -1.00879] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5386, 0.1044, -28.9655]
+#     817   50.0Hz DIN=[0, 1, 0, 0] DOUT=[1, 0] ACC=[-0.00146, -0.00928, -1.00781] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5386, 0.1044, -28.9655]
+#     818   50.0Hz DIN=[0, 1, 0, 0] DOUT=[1, 0] ACC=[-0.00146, -0.00879, -1.00879] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5386, 0.1044, -28.9655]
+#     819   50.0Hz DIN=[0, 1, 0, 0] DOUT=[1, 0] ACC=[-0.00195, -0.0083, -1.0083] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5386, 0.0989, -28.9655]
+#     820   50.0Hz DIN=[0, 1, 0, 0] DOUT=[1, 0] ACC=[-0.00146, -0.00781, -1.00879] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5386, 0.0989, -28.9655]
+#     821   50.0Hz DIN=[0, 1, 0, 0] DOUT=[1, 0] ACC=[-0.00098, -0.00732, -1.0083] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5386, 0.0989, -28.9655]
+#     822   50.0Hz DIN=[0, 1, 0, 0] DOUT=[1, 0] ACC=[-0.00098, -0.00879, -1.00781] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5386, 0.0989, -28.9655]
+#     823   50.0Hz DIN=[0, 1, 0, 0] DOUT=[1, 0] ACC=[-0.00195, -0.0083, -1.0083] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5386, 0.0989, -28.9655]
+#     824   50.0Hz DIN=[0, 1, 0, 0] DOUT=[1, 0] ACC=[-0.00244, -0.0083, -1.00879] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5386, 0.0989, -28.9655]
+#     825   50.0Hz DIN=[0, 1, 0, 0] DOUT=[1, 0] ACC=[-0.00146, -0.0083, -1.00732] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5386, 0.0989, -28.9655]
+
+#     826   50.0Hz DIN=[0, 1, 0, 0] DOUT=[1, 0] ACC=[-0.00098, -0.0083, -1.00928] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5386, 0.0989, -28.9655]
+#     827   40.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00195, -0.00781, -1.01172] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5386, 0.0989, -28.9655]
+#     828   52.6Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00098, -0.00879, -1.00732] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5386, 0.0989, -28.9655]
+#     829   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00244, -0.00781, -1.0127] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5331, 0.0989, -28.9655]
+#     830   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00146, -0.00928, -1.00781] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5331, 0.0989, -28.9655]
+#     831   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00195, -0.00879, -1.00879] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5331, 0.0989, -28.9655]
+#     832   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00098, -0.00732, -1.00537] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5331, 0.0989, -28.9655]
+#     833   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00098, -0.00879, -1.00928] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5331, 0.0989, -28.9655]
+#     834   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00146, -0.00781, -1.00879] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5331, 0.0989, -28.9655]
+#     835   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00195, -0.00879, -1.00977] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5331, 0.0989, -28.9655]
+#     836   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00146, -0.0083, -1.00928] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5331, 0.0989, -28.9655]
+#     837   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00195, -0.00781, -1.00781] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5331, 0.0989, -28.9655]
+#     838   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00195, -0.00781, -1.00977] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5331, 0.0989, -28.9655]
+#     839   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00146, -0.00781, -1.00928] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5331, 0.0989, -28.9655]
+#     840   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00195, -0.0083, -1.00732] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5331, 0.0989, -28.9655]
+#     841   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00146, -0.00879, -1.00928] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5331, 0.0989, -28.9655]
+#     842   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00146, -0.00781, -1.00928] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5331, 0.0989, -28.9655]
+#     843   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00195, -0.00879, -1.00879] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5331, 0.0989, -28.9655]
+#     844   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00195, -0.00781, -1.00684] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5331, 0.0989, -28.9655]
+#     845   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00244, -0.0083, -1.00928] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5331, 0.0989, -28.9655]
+#     846   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00244, -0.0083, -1.0083] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5331, 0.0989, -28.9655]
+#     847   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00195, -0.00879, -1.00928] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5331, 0.0989, -28.9655]
+#     848   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00293, -0.00928, -1.00879] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5276, 0.0989, -28.9655]
+#     849   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00195, -0.00879, -1.00928] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5276, 0.0989, -28.9655]
+#     850   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00146, -0.00879, -1.00732] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5276, 0.0989, -28.9655]
+#     851   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00244, -0.0083, -1.00879] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5276, 0.0989, -28.9655]
+#     852   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00146, -0.0083, -1.00781] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5221, 0.1044, -28.9655]
+#     853   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00146, -0.0083, -1.00879] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5221, 0.1044, -28.9655]
+#     854   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00195, -0.0083, -1.0083] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5221, 0.1044, -28.9655]
+#     855   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00195, -0.00781, -1.00879] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5221, 0.1044, -28.9655]
+#     856   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00195, -0.00781, -1.00879] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5221, 0.1044, -28.9655]
+#     857   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00146, -0.0083, -1.00635] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5221, 0.1044, -28.9655]
+#     858   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00195, -0.00879, -1.0083] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5276, 0.1044, -28.9655]
+#     859   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00195, -0.0083, -1.00879] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5276, 0.1044, -28.9655]
+#     860   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00049, -0.0083, -1.00732] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5276, 0.1044, -28.9655]
+#     861   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00146, -0.00732, -1.01074] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5276, 0.0989, -28.9655]
+#     862   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00146, -0.0083, -1.0083] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5276, 0.0989, -28.9655]
+#     863   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00098, -0.00781, -1.00879] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5276, 0.0989, -28.9655]
+#     864   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00244, -0.00879, -1.00684] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5276, 0.0989, -28.9655]
+#     865   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00244, -0.0083, -1.00977] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5276, 0.0989, -28.9655]
+#     866   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00146, -0.0083, -1.00537] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5276, 0.0989, -28.9655]
+#     867   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00195, -0.00879, -1.01123] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5276, 0.0989, -28.9655]
+#     868   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00195, -0.00879, -1.00781] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5276, 0.0989, -28.9655]
+#     869   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00146, -0.00732, -1.01025] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5276, 0.0989, -28.9655]
+#     870   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00195, -0.0083, -1.00781] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5331, 0.0989, -28.9655]
+#     871   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00244, -0.00928, -1.00977] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5331, 0.0989, -28.9655]
+#     872   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00195, -0.00781, -1.00684] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5331, 0.0989, -28.9655]
+#     873   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00146, -0.0083, -1.00879] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5331, 0.0989, -28.9655]
+#     874   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00146, -0.0083, -1.00928] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5331, 0.0989, -28.9655]
+#     875   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00146, -0.00781, -1.00879] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5331, 0.0989, -28.9655]
+#     876   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00098, -0.00879, -1.00732] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5331, 0.0989, -28.9655]
+#     877   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00195, -0.0083, -1.00879] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5331, 0.0989, -28.9655]
+#     878   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00195, -0.00781, -1.00928] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5331, 0.0989, -28.9655]
+#     879   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00244, -0.00781, -1.00732] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5331, 0.0989, -28.9655]
+#     880   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00146, -0.0083, -1.00977] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5331, 0.0989, -28.9655]
+#     881   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00195, -0.0083, -1.00732] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5331, 0.0989, -28.9655]
+#     882   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00146, -0.0083, -1.00928] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5331, 0.0989, -28.9655]
+#     883   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00146, -0.00879, -1.00879] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5331, 0.0989, -28.9655]
+#     884   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00146, -0.0083, -1.00928] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5331, 0.0989, -28.9655]
+#     885   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00195, -0.00732, -1.00928] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5331, 0.0989, -28.9655]
+#     886   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00195, -0.0083, -1.00879] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5331, 0.0989, -28.9655]
+#     887   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00195, -0.00781, -1.00879] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5331, 0.1044, -28.9655]
+#     888   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00146, -0.00781, -1.00977] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5331, 0.1044, -28.9655]
+#     889   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00195, -0.0083, -1.00879] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5331, 0.1044, -28.9655]
+#     890   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00244, -0.00879, -1.00977] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5331, 0.1044, -28.9655]
+#     891   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00146, -0.00732, -1.00732] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5331, 0.1044, -28.9655]
+#     892   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00146, -0.0083, -1.00977] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5331, 0.1044, -28.9655]
+#     893   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00195, -0.00879, -1.0083] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5331, 0.0989, -28.9655]
+#     894   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00244, -0.0083, -1.00928] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5331, 0.0989, -28.9655]
+#     895   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00146, -0.0083, -1.00732] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5331, 0.0989, -28.9655]
+#     896   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00146, -0.00781, -1.01074] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5331, 0.0989, -28.9655]
+#     897   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00244, -0.00781, -1.00781] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5331, 0.0989, -28.9655]
+#     898   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00195, -0.0083, -1.00977] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5331, 0.0989, -28.9655]
+#     899   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00195, -0.00732, -1.00781] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5331, 0.0989, -28.9655]
+#     900   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00195, -0.00781, -1.0083] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5331, 0.0989, -28.9655]
+#     901   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00098, -0.00781, -1.00879] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5331, 0.0989, -28.9655]
+#     902   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00195, -0.00879, -1.0083] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5331, 0.0989, -28.9655]
+#     903   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00195, -0.00781, -1.0083] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5331, 0.0989, -28.9655]
+#     904   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00195, -0.00781, -1.00928] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5331, 0.0989, -28.9655]
+#     905   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00146, -0.00732, -1.00879] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5331, 0.0989, -28.9655]
+#     906   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00146, -0.00781, -1.00879] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5386, 0.0989, -28.9655]
+#     907   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00195, -0.00781, -1.00879] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5386, 0.0989, -28.9655]
+#     908   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00195, -0.00732, -1.00928] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5386, 0.0989, -28.9655]
+#     909   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00146, -0.00879, -1.00732] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5386, 0.0989, -28.9655]
+#     910   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00195, -0.0083, -1.0127] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5386, 0.0989, -28.9655]
+#     911   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00293, -0.00879, -1.00537] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5386, 0.0989, -28.9655]
+#     912   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00195, -0.00781, -1.01172] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5386, 0.1044, -28.9655]
+#     913   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00195, -0.00781, -1.00684] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5386, 0.1044, -28.9655]
+#     914   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00195, -0.0083, -1.00781] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5386, 0.1044, -28.9655]
+#     915   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00244, -0.00879, -1.00928] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5386, 0.1044, -28.9655]
+#     916   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00195, -0.00879, -1.00635] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5386, 0.1044, -28.9655]
+#     917   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00244, -0.00781, -1.00781] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5331, 0.1044, -28.9655]
+#     918   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00195, -0.00732, -1.00684] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5331, 0.1044, -28.9655]
+#     919   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00146, -0.00781, -1.00879] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5386, 0.1044, -28.9655]
+#     920   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00146, -0.00732, -1.00879] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5386, 0.1044, -28.9655]
+#     921   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00146, -0.00879, -1.00781] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5386, 0.1044, -28.9655]
+#     922   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00146, -0.0083, -1.01074] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5386, 0.1044, -28.9655]
+#     923   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00146, -0.0083, -1.0083] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5386, 0.1044, -28.9655]
+#     924   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00195, -0.0083, -1.0083] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5331, 0.0989, -28.9655]
+#     925   50.0Hz DIN=[0, 1, 0, 0] DOUT=[0, 0] ACC=[-0.00146, -0.00781, -1.00635] GYRO=[0.0, 0.0, 0.0] ANGLE=[-179.5331, 0.0989, -28.9655]
--- a/test.py
+++ b/test.py
@ -0,0 +1,67 @@
+from machine import UART, Pin
+import time
+
+CANDIDATES = [4, 12, 13, 14, 16, 17, 21, 22, 23, 25, 26, 27, 32, 33]
+
+BAUDRATES = [921600]
+
+HEADER = 0x55  # IMU WIT frame header
+
+def test_uart(rx, tx, baud):
+    try:
+        uart = UART(
+            2,
+            baudrate=baud,
+            rx=Pin(rx),
+            tx=Pin(tx),
+            timeout=100,
+            rxbuf=1024
+        )
+
+        time.sleep(0.1)
+
+        start = time.ticks_ms()
+        samples = []
+
+        while time.ticks_diff(time.ticks_ms(), start) < 1000:
+            if uart.any():
+                data = uart.read()
+                if data:
+                    samples.append(data)
+
+        uart.deinit()
+
+        # 合并所有数据
+        if samples:
+            merged = b''.join(samples)
+
+            print(f"\nRX={rx}, TX={tx}, BAUD={baud}")
+            print("RAW HEX:", merged[:80])  # 前80字节
+            print("HEX:", merged[:80].hex())
+
+            return merged
+        else:
+            return b""
+
+    except Exception as e:
+        return b""
+
+print("=== UART PIN SCAN START ===")
+
+best = (0, None, None, None)
+
+for rx in CANDIDATES:
+    for tx in CANDIDATES:
+        if rx == tx:
+            continue
+
+        for baud in BAUDRATES:
+            c, t = test_uart(rx, tx, baud)
+
+            print(f"RX={rx}, TX={tx}, BAUD={baud} -> 0x55={c}, bytes={t}")
+
+            if c > best[0]:
+                best = (c, rx, tx, baud)
+
+print("\n=== BEST MATCH ===")
+print(best)