请在这里粘贴代码import sensor, image, time
import json
from machine import UART, Pin
import struct

# 硬件初始化
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QQVGA)
sensor.skip_frames(2000)
sensor.set_auto_gain(False)
sensor.set_auto_whitebal(False)

# 颜色阈值 (LAB格式)
red_threshold = (56, 14, 70, 37, -30, 46)    # 红色
yellow_threshold = (46, 100, -68, 72, 58, 92) # 黄色

# 外设初始化
uart = UART(1, baudrate=115200, timeout_char=100)
led = Pin("LED_RED", Pin.OUT)  # 使用板载LED作为传输指示灯

# 传输统计变量
success_count = 0
fail_count = 0
last_status = None

def send_to_stm32(obj_type, x, y):
    """发送协议帧并返回状态"""
    global success_count, fail_count, last_status
    
    try:
        # 数据打包（小端格式）
        packet = struct.pack('<BiiB', 
                            obj_type,  # 1字节类型 
                            int(x),    # 4字节X坐标
                            int(y),    # 4字节Y坐标
                            0xAA)      # 结束符
        
        # 清空缓冲区
        while uart.any():
            uart.read()
            
        # 发送数据（LED亮起）
        led.on()
        uart.write(packet)
        
        # 等待确认（300ms超时）
        start = time.ticks_ms()
        while time.ticks_diff(time.ticks_ms(), start) < 300:
            if uart.any() and uart.read(1) == b'\x55':
                success_count += 1
                last_status = True
                led.off()
                return True
                
        # 发送失败处理
        fail_count += 1
        last_status = False
        led.off()
        return False
        
    except Exception as e:
        print("Send error:", e)
        fail_count += 1
        last_status = False
        led.off()
        return False

def display_status(img):
    """在图像上显示传输状态"""
    # 状态文字颜色
    color = (0, 255, 0) if last_status else (255, 0, 0)
    
    # 绘制状态信息
    img.draw_string(0, 0, f"TX: {'OK' if last_status else 'FAIL'}", 
                   color=color, scale=2)
    img.draw_string(0, 20, f"Success: {success_count}", 
                   color=(0, 255, 0), scale=1)
    img.draw_string(0, 40, f"Fail: {fail_count}", 
                   color=(255, 0, 0), scale=1)
    img.draw_string(0, 60, f"FPS: {clock.fps():.1f}", 
                   color=(255, 255, 0), scale=1)

clock = time.clock()
while True:
    clock.tick()
    img = sensor.snapshot().lens_corr(1.8)
    
    # 红色圆形检测与发送
    red_sent = False
    for c in img.find_circles(threshold=3500, r_min=2, r_max=100):
        area = (c.x()-c.r(), c.y()-c.r(), 2*c.r(), 2*c.r())
        stats = img.get_statistics(roi=area)
        
        if (0 < stats.l_mode() < 100 and 
            0 < stats.a_mode() < 127 and 
            0 < stats.b_mode() < 127):
            img.draw_circle(c.x(), c.y(), c.r(), color=(255,0,0))
            if not red_sent:  # 避免重复发送
                send_to_stm32(0x01, c.x(), c.y())
                red_sent = True
    
    # 黄色块检测与发送
    yellow_sent = False
    for b in img.find_blobs([yellow_threshold]): 
        img.draw_rectangle(b.rect(), color=(255,255,0))
        img.draw_cross(b.cx(), b.cy(), color=(255,255,0))
        if not yellow_sent:
            send_to_stm32(0x02, b.cx(), b.cy())
            yellow_sent = True
    
    # 显示传输状态
    display_status(img)
    
    # 调试输出
    if clock.fps() > 10:  # 控制打印频率
        status = "Success" if last_status else "Fail"
        print(f"{status} | Success: {success_count} Fail: {fail_count} FPS: {clock.fps():.1f}")