odrive环境构筑问题

不识别yaml，no module named yaml	1、pip install pyyaml -i http://mirrors.aliyun.com/pypi/simple --trusted-host mirrors.aliyun.com 2、pip install jinja2 3、pip install jsonschema 4、pip install cantools
Firmware version 0.4.11-dev (fw-v0.4.11-19-g1c947631*)  [     ] 100% Could not init terminal features. Could not init terminal features. Refer to install instructions at http://docs.odriverobotics.com/#downloading-and-installing-tools Traceback (most recent call last):   File "D:\Foc\od\ODrive\tools\create_can_dbc.py", line 15, in <module>     axisError = can.Signal("Axis_Error", 0, 32, receivers=['Master'], choices={error.value: error.name for error in AxisError}) TypeError: __init__() got an unexpected keyword argument 'choices' make: *** [Makefile:37: all] Error 1	解决办法： 一、查询cantools存在版本，pip install cantools== 二、安装指定版本, pip install cantools==38.0.2
编译成功烧录后芯片不启动，PC端检测不到设备。	晶振主频为12MHz,不同于8MHz.修改分频4为6；8/4=12/6=2
Could not init terminal features. Could not init terminal features. Refer to install instructions at http://docs.odriverobotics.com/#downloading-and-installing-tools
PS D:\Foc\od\ODrive\Firmware> python .\lsusb.py Traceback (most recent call last):   File "D:\Foc\od\ODrive\Firmware\lsusb.py", line 9, in <module>     dev =  usb.core.find(idVendor= 0x1209, idProduct= 0x0D32)   File "C:\Users\PC\AppData\Local\Programs\Python\Python39\lib\site-packages\usb\core.py", line 1321, in find     raise NoBackendError('No backend available') usb.core.NoBackendError: No backend available	Windows环境下基于Python的PyUSB库开发USB通讯_notimplementederror: operation not supported or un-CSDN博客 （1）运行时报错：usb.core.NoBackendError: No backend available 点击下面的链接下载libusb-1.0.20的压缩包，解压后将MS64\dll\libusb-1.0.dll复制到C:\Windows\System32。如果还不行的话再将同一目录下的libusb-1.0.lib到Python路径下的lib\site-packages\usb文件夹中。 https://sourceforge.net/projects/libusb/files/libusb-1.0/libusb-1.0.20/libusb-1.0.20.7z/download