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#include "serial.h"
int fd; // 轮子的串口文件描述符
char *portname; // 串口设备名
struct termios tty;
bool whellInit() {
// portname = findUSBDev("wheel");
portname = "/dev/ttyUSB1"; // "/dev/ttyUSB1
if (portname == NULL) {
fprintf(stderr, "Error: Failed to find wheel serial port\n");
return false;
}
printf("Wheel serial port: %s\n", portname);
// 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;
// TODO: 速度转换
int temp = ((int)a_v + 2);
a_v = (byte)temp;
////////////////////////
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;
}
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