RS485绝对值编码器Arduino数据读取

用ttl转485接在串口2上，设置波特率9600
预先修改/Applications/Arduino.app/Contents/Java/hardware/arduino/avr/cores里的
HardwareSerial.h
所有buffer都改成128，要大于64

void setup()
{
  Serial.begin(9600);
  Serial2.begin(9600);
  delay(1000);
}
void loop()
{
   GetEncoder();
}
long int GetEncoder() {
  int _i = 0; int _temp = 0; int _crc = 0;
  long int Rotate = 0;
  if (Serial1.available() > 0)
  {
    if (int(Serial1.read()) == 171)
    {
      //报头AB
      if ( (int(Serial1.read()) == 205) && (int(Serial1.read()) == 5))//报头CD和报长5
      {
        //Serial.println("data received!");
        int _recv[6];//接收缓存
        while (int(_temp) != 61)
        {
          _temp = Serial1.read();
          _recv[_i] = _temp;
          //Serial.println(recv[i], HEX);
          //delay(2);
          _i++;
        }
        Serial1.flush(); _i = 0; _temp = 0; //重置
        //Serial.println("xor");
        _crc = (_recv[0] + _recv[1] + _recv[2] + _recv[3] + 5) & 0xff;
        if (int(_recv[4]) == _crc)
        {
          long int _rotatenum = _recv[0]; _rotatenum <<= 8; _rotatenum |= _recv[1];
          long int _rotateangle = _recv[2]; _rotateangle <<= 8; _rotateangle |= _recv[3];
          Rotate = _rotatenum * 4096 + _rotateangle;
          //Serial.println(Rotate/100);
          return  Rotate / 100;
        }
        //delay(10);
      }
    }
  }
}