帧定义实现，串口工具更新

tool/99-usb-serial.rules

@@ -0,0 +1,5 @@
+# CH340 串口模块 (ttyUSB0 -> ttyCH340)
+SUBSYSTEM=="tty", ATTRS{idVendor}=="1a86", ATTRS{idProduct}=="7523", SYMLINK+="ttyCH340", MODE="0666", GROUP="dialout"
+
+# IMU 串口模块 (ttyUSB1 -> ttyIMU) 
+SUBSYSTEM=="tty", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", SYMLINK+="ttyIMU", MODE="0666", GROUP="dialout"

tool/setup_usb_permissions.sh

@@ -0,0 +1,38 @@
+#!/bin/bash
+# USB 串口设备权限和固定名称设置脚本
+
+set -e
+
+echo "=================================="
+echo "USB 串口设备权限设置"
+echo "=================================="
+
+# 1. 检查当前设备
+echo ""
+echo "当前连接的 USB 串口设备："
+ls -la /dev/ttyUSB* 2>/dev/null || echo "未发现 ttyUSB 设备"
+
+echo ""
+echo "设备详细信息："
+for dev in /dev/ttyUSB*; do
+    if [ -e "$dev" ]; then
+        echo "--- $dev ---"
+        udevadm info -a -n "$dev" | grep -E "(idVendor|idProduct|serial)" | head -5
+    fi
+done
+
+# 2. 安装规则文件
+echo ""
+echo "安装 udev 规则"
+sudo cp 99-usb-serial.rules /etc/udev/rules.d/
+
+# 3. 重新加载 udev 规则
+echo "重新加载 udev 规则"
+sudo udevadm control --reload-rules
+sudo udevadm trigger
+
+# 4. 添加用户到 dialout 组
+echo "将当前用户添加到 dialout 组"
+sudo usermod -aG dialout $USER
+
+echo "设置完成，请重新插拔设备"