1 files changed, 70 insertions, 0 deletions

diff --git a/serial/wheel.c b/serial/wheel.c
new file mode 100644
index 0000000..936f55c
--- /dev/null
+++ b/serial/wheel.c
@@ -0,0 +1,70 @@
+#include "serial.h"
+
+int fd;                             // 轮子的串口文件描述符
+char portname[50] = "/dev/ttyUSB0"; // 串口设备名
+struct termios tty;
+
+bool whellInit() {
+    // 打开串口
+    fd = open(portname, O_RDWR | O_NOCTTY | O_SYNC);
+    if (fd < 0) {
+        fprintf(stderr, "Error opening %s: %s\n", portname, strerror(errno));
+        return false;
+    }
+
+    // 设置串口参数
+    memset(&tty, 0, sizeof tty);
+    if (tcgetattr(fd, &tty) != 0) {
+        fprintf(stderr, "Error from tcgetattr: %s\n", strerror(errno));
+        return false;
+    }
+
+    cfsetospeed(&tty, B115200); // 设置输出波特率为115200
+    cfsetispeed(&tty, B115200); // 设置输入波特率为115200
+
+    tty.c_cflag = (tty.c_cflag & ~CSIZE) | CS8; // 8-bit chars
+    tty.c_iflag &= ~IGNBRK;                     // ignore break signal
+    tty.c_lflag = 0;                            // no signaling chars, no echo,
+    // no canonical processing
+    tty.c_oflag = 0;     // no remapping, no delays
+    tty.c_cc[VMIN] = 0;  // read doesn't block
+    tty.c_cc[VTIME] = 5; // 0.5 seconds read timeout
+
+    tty.c_iflag &= ~(IXON | IXOFF | IXANY); // shut off xon/xoff ctrl
+    tty.c_cflag |= (CLOCAL | CREAD);        // ignore modem controls,
+    // enable reading
+    tty.c_cflag &= ~(PARENB | PARODD); // shut off parity
+    tty.c_cflag |= 0;
+    tty.c_cflag &= ~CSTOPB;
+    tty.c_cflag &= ~CRTSCTS;
+
+    if (tcsetattr(fd, TCSANOW, &tty) != 0) {
+        fprintf(stderr, "Error from tcsetattr: %s\n", strerror(errno));
+        return false;
+    }
+    return true;
+}
+
+bool wheelSend(byte a, byte a_v, byte b, byte b_v) {
+    unsigned char data[7] = {0x53, 0x05, 0x00, 0x00, 0x00, 0x00, 0x00};
+    byte checksum = 0;
+    data[2] = a;
+    data[3] = a_v;
+    data[4] = b;
+    data[5] = b_v;
+
+    for (int i = 0; i < 6; i++) {
+        checksum ^= data[i];
+    }
+    data[6] = checksum;
+
+    // 发送数据
+    if (write(fd, data, 7) != 7) {
+        fprintf(stderr, "Failed to write to the serial port\n");
+        return false;
+    }
+
+    printf("Data %02X %02X %02X %02X %02X %02X %02X wheelSend successfully!\n",
+           data[0], data[1], data[2], data[3], data[4], data[5], data[6]);
+    return true;
+}
\ No newline at end of file