庐山派k230使用串口通信发送数据驱动四个轮子并且实现摄像头画面识别目标检测功能

我使用的是UART1

from machine import UART, FPIOA, Pin
import os
import ujson
import aicube
from media.sensor import *
from media.display import *
from media.media import *
from time import *
import nncase_runtime as nn
import ulab.numpy as np
import utime
import image
import random
import gc
import utime
import time

# 创建FPIOA对象，用于初始化引脚功能配置
fpioa = FPIOA()

# 配置UART引脚
fpioa.set_function(3, FPIOA.UART1_TXD)
fpioa.set_function(4, FPIOA.UART1_RXD)

# 初始化UART1，波特率115200，8位数据位，无校验，1位停止位
ul = UART(UART.UART1, baudrate=115200, bits=UART.EIGHTBITS, parity=UART.PARITY_NONE, stop=UART.STOPBITS_ONE)

# 摄像头模式
display_mode = "hdmi"
if display_mode == "lcd":
    DISPLAY_WIDTH = ALIGN_UP(800, 16)
    DISPLAY_HEIGHT = 480
else:
    DISPLAY_WIDTH = ALIGN_UP(1920, 16)
    DISPLAY_HEIGHT = 1080

OUT_RGB888P_WIDTH = ALIGN_UP(1080, 16)
OUT_RGB888P_HEIGH = 720

# 颜色盘
color_four = [
    (255, 220, 20, 60), (255, 119, 11, 32), (255, 0, 0, 142), (255, 0, 0, 230),
    (255, 106, 0, 228), (255, 0, 60, 100), (255, 0, 80, 100), (255, 0, 0, 70),
    (255, 0, 0, 192), (255, 250, 170, 30), (255, 100, 170, 30), (255, 220, 220, 0),
    (255, 175, 116, 175), (255, 250, 0, 30), (255, 165, 42, 42), (255, 255, 77, 255),
    (255, 0, 226, 252), (255, 182, 182, 255), (255, 0, 82, 0), (255, 120, 166, 157),
    (255, 110, 76, 0), (255, 174, 57, 255), (255, 199, 100, 0), (255, 72, 0, 118),
    (255, 255, 179, 240), (255, 0, 125, 92), (255, 209, 0, 151), (255, 188, 208, 182),
    (255, 0, 220, 176), (255, 255, 99, 164), (255, 92, 0, 73), (255, 133, 129, 255),
    (255, 78, 180, 255), (255, 0, 228, 0), (255, 174, 255, 243), (255, 45, 89, 255),
    (255, 134, 134, 103), (255, 145, 148, 174), (255, 255, 208, 186),
    (255, 197, 226, 255), (255, 171, 134, 1), (255, 109, 63, 54), (255, 207, 138, 255),
    (255, 151, 0, 95), (255, 9, 80, 61), (255, 84, 105, 51), (255, 74, 65, 105),
    (255, 166, 196, 102), (255, 208, 195, 210), (255, 255, 109, 65), (255, 0, 143, 149),
    (255, 179, 0, 194), (255, 209, 99, 106), (255, 5, 121, 0), (255, 227, 255, 205),
    (255, 147, 186, 208), (255, 153, 69, 1), (255, 3, 95, 161), (255, 163, 255, 0),
    (255, 119, 0, 170), (255, 0, 182, 199), (255, 0, 165, 120), (255, 183, 130, 88),
    (255, 95, 32, 0), (255, 130, 114, 135), (255, 110, 129, 133), (255, 166, 74, 118),
    (255, 219, 142, 185), (255, 79, 210, 114), (255, 178, 90, 62), (255, 65, 70, 15),
    (255, 127, 167, 115), (255, 59, 105, 106), (255, 142, 108, 45), (255, 196, 172, 0),
    (255, 95, 54, 80), (255, 128, 76, 255), (255, 201, 57, 1), (255, 246, 0, 122),
    (255, 191, 162, 208)
]

root_path = "/sdcard/mp_deployment_source/"
config_path = root_path + "deploy_config.json"
deploy_conf = {}
debug_mode = 1

class ScopedTiming:
    def __init__(self, info="", enable_profile=True):
  &nb