代码我写的_uart sent error-CSDN博客

本文链接：https://blog.csdn.net/m0_60098592/article/details/120216712

#include <termios.h>

#include <unistd.h>

#include <stdlib.h>

#include <fcntl.h>

#include <linux/kernel.h>

#include <stdio.h>

#include <pthread.h>

#include <string.h>

#include <sys/select.h>

#include <sys/time.h>

char rev_buf[256];

char databuf[30] = {0};

int uart_fd;

static int send_flag = 0;

#define DEV_NAME "/dev/ttyUSB1"

//pthread_mutex_t mutex;

static unsigned char auchCRCHi[] = {

0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0,

0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,

0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0,

0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,

0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1,

0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,

0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1,

0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,

0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0,

0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40,

0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1,

0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,

0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0,

0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40,

0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0,

0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,

0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0,

0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,

0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0,

0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,

0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0,

0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40,

0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1,

0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,

0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0,

0x80, 0x41, 0x00, 0xC1, 0x81, 0x40

};

static unsigned char auchCRCLo[] = {

0x00, 0xC0, 0xC1, 0x01, 0xC3, 0x03, 0x02, 0xC2, 0xC6, 0x06,

0x07, 0xC7, 0x05, 0xC5, 0xC4, 0x04, 0xCC, 0x0C, 0x0D, 0xCD,

0x0F, 0xCF, 0xCE, 0x0E, 0x0A, 0xCA, 0xCB, 0x0B, 0xC9, 0x09,

0x08, 0xC8, 0xD8, 0x18, 0x19, 0xD9, 0x1B, 0xDB, 0xDA, 0x1A,

0x1E, 0xDE, 0xDF, 0x1F, 0xDD, 0x1D, 0x1C, 0xDC, 0x14, 0xD4,

0xD5, 0x15, 0xD7, 0x17, 0x16, 0xD6, 0xD2, 0x12, 0x13, 0xD3,

0x11, 0xD1, 0xD0, 0x10, 0xF0, 0x30, 0x31, 0xF1, 0x33, 0xF3,

0xF2, 0x32, 0x36, 0xF6, 0xF7, 0x37, 0xF5, 0x35, 0x34, 0xF4,

0x3C, 0xFC, 0xFD, 0x3D, 0xFF, 0x3F, 0x3E, 0xFE, 0xFA, 0x3A,

0x3B, 0xFB, 0x39, 0xF9, 0xF8, 0x38, 0x28, 0xE8, 0xE9, 0x29,

0xEB, 0x2B, 0x2A, 0xEA, 0xEE, 0x2E, 0x2F, 0xEF, 0x2D, 0xED,

0xEC, 0x2C, 0xE4, 0x24, 0x25, 0xE5, 0x27, 0xE7, 0xE6, 0x26,

0x22, 0xE2, 0xE3, 0x23, 0xE1, 0x21, 0x20, 0xE0, 0xA0, 0x60,

0x61, 0xA1, 0x63, 0xA3, 0xA2, 0x62, 0x66, 0xA6, 0xA7, 0x67,

0xA5, 0x65, 0x64, 0xA4, 0x6C, 0xAC, 0xAD, 0x6D, 0xAF, 0x6F,

0x6E, 0xAE, 0xAA, 0x6A, 0x6B, 0xAB, 0x69, 0xA9, 0xA8, 0x68,

0x78, 0xB8, 0xB9, 0x79, 0xBB, 0x7B, 0x7A, 0xBA, 0xBE, 0x7E,

0x7F, 0xBF, 0x7D, 0xBD, 0xBC, 0x7C, 0xB4, 0x74, 0x75, 0xB5,

0x77, 0xB7, 0xB6, 0x76, 0x72, 0xB2, 0xB3, 0x73, 0xB1, 0x71,

0x70, 0xB0, 0x50, 0x90, 0x91, 0x51, 0x93, 0x53, 0x52, 0x92,

0x96, 0x56, 0x57, 0x97, 0x55, 0x95, 0x94, 0x54, 0x9C, 0x5C,

0x5D, 0x9D, 0x5F, 0x9F, 0x9E, 0x5E, 0x5A, 0x9A, 0x9B, 0x5B,

0x99, 0x59, 0x58, 0x98, 0x88, 0x48, 0x49, 0x89, 0x4B, 0x8B,

0x8A, 0x4A, 0x4E, 0x8E, 0x8F, 0x4F, 0x8D, 0x4D, 0x4C, 0x8C,

0x44, 0x84, 0x85, 0x45, 0x87, 0x47, 0x46, 0x86, 0x82, 0x42,

0x43, 0x83, 0x41, 0x81, 0x80, 0x40

};

unsigned short CRC16(unsigned char * puchMsg,unsigned short usDataLen);

void Uart_Send_cmd(unsigned char cmd, short int angle, unsigned int Absolutecount);

int Set_Com_Config(int fd, int baud_rate, int data_bits, char parity, int stop_bits)

{

struct termios new_cfg, old_cfg;

int speed;

/*保存并测试现有串口参数设置，在这里如果串口号等出错，会有相关出错信息*/

if(tcgetattr(fd, &old_cfg) != 0) /*该函数得到fd指向的终端配置参数，并将它们保存到old_cfg变量中，成功返回0，否则-1*/

{

perror("tcgetttr");

return -1;

}

/*设置字符大小*/

new_cfg = old_cfg;

cfmakeraw(&new_cfg); /*配置为原始模式*/

new_cfg.c_cflag &= ~CSIZE; /*用位掩码清空数据位的设置*/

/*设置波特率*/

switch(baud_rate)

{

case 2400:

speed = B2400;

break;

case 4800:

speed = B4800;

break;

case 9600:

speed = B9600;

break;

case 19200:

speed = B19200;

break;

case 38400:

speed = B38400;

break;

default:

case 115200:

speed = B115200;

break;

}

cfsetispeed(&new_cfg, speed); //设置输入波特率

cfsetospeed(&new_cfg, speed); //设置输出波特率

/*设置数据长度*/

switch(data_bits)

{

case 5:

new_cfg.c_cflag &= ~CSIZE;//屏蔽其它标志位

new_cfg.c_cflag |= CS5;

break;

case 6:

new_cfg.c_cflag &= ~CSIZE;//屏蔽其它标志位

new_cfg.c_cflag |= CS6;

break;

case 7:

new_cfg.c_cflag &= ~CSIZE;//屏蔽其它标志位

new_cfg.c_cflag |= CS7;

break;

default:

case 8:

new_cfg.c_cflag &= ~CSIZE;//屏蔽其它标志位

new_cfg.c_cflag |= CS8;

break;

}

/*设置奇偶校验位*/

switch(parity)

{

default:

case 'n':

case 'N': //无校验

{

new_cfg.c_cflag &= ~PARENB;

new_cfg.c_iflag &= ~INPCK;

}

break;

case 'o': //奇校验

case 'O':

{

new_cfg.c_cflag |= (PARODD | PARENB);

new_cfg.c_iflag |= INPCK;

}

break;

case 'e': //偶校验

case 'E':

{

new_cfg.c_cflag |= PARENB;

new_cfg.c_cflag &= ~PARODD;

new_cfg.c_iflag |= INPCK;

}

break;

}

/*设置停止位*/

switch(stop_bits)

{

default:

case 1:

new_cfg.c_cflag &= ~CSTOPB;

break;

case 2:

new_cfg.c_cflag |= CSTOPB;

break;

}

/*设置等待时间和最小接收字符*/

new_cfg.c_cc[VTIME] = 1; /* 读取一个字符等待1*(1/10)s */

new_cfg.c_cc[VMIN] = 1; /* 读取字符的最少个数为1 */

/*处理未接收字符*/

tcflush(fd, TCIFLUSH); //溢出数据可以接收，但不读

/* 激活配置 (将修改后的termios数据设置到串口中)

* TCSANOW：所有改变立即生效

if((tcsetattr(fd, TCSANOW, &new_cfg))!= 0)

{

perror("tcsetattr");

return -1;

}

return 0;

}

void Uart_Send_cmd(unsigned char cmd, short int angle, unsigned int Absolutecount)

{

unsigned short len, crc_send;

databuf[0] = 0x3E;

databuf[1] = 0x00;

databuf[2] = 0x01;

databuf[4] = 0x00;

switch(cmd)

{

case 0x0A:

databuf[3] = 0x0A;

crc_send = CRC16(databuf,5);

databuf[5] = crc_send & 0xFF;

databuf[6] = crc_send >> 8;

databuf[7] = '\0';

break;

case 0x0B:

databuf[3] = 0x0B;

crc_send = CRC16(databuf,5);

databuf[5] = crc_send & 0xFF;

databuf[6] = crc_send >> 8;

databuf[7] = '\0';

break;

case 0x56://电机基于当前相对位置转动的角度正为正传负为反转

databuf[3] = 0x56;

databuf[4] = 0x02;

databuf[5] = angle;

databuf[6] = angle >> 8;

crc_send = CRC16(databuf,7);

databuf[7] = crc_send & 0xFF;

databuf[8] = crc_send >> 8;

databuf[9] = '\0';

break;

case 0x55://目标绝对值位置 Count 值

databuf[3] = 0x55;

databuf[4] = 0x04;

databuf[5] = Absolutecount & 0xFF;

databuf[6] = (Absolutecount >> 8) & 0xFF;

databuf[7] = (Absolutecount >> 16) & 0xFF;

databuf[8] = (Absolutecount >> 24) & 0xFF;

crc_send = CRC16(databuf,9);

databuf[9] = crc_send & 0xFF;

databuf[10] = crc_send >> 8;

databuf[11] = '\0';

break;

case 0x51://电机根据当前多圈绝对值角度，回到设定的原点；【0x51】

databuf[3] = 0x51;

crc_send = CRC16(databuf,5);

databuf[5] = crc_send & 0xFF;

databuf[6] = crc_send >> 8;

databuf[7] = '\0';

break;

case 0x52://电机按照最短的距离回到设定的原点，旋转的角度不大于 180 度；【0x52】

databuf[3] = 0x52;

crc_send = CRC16(databuf,5);

databuf[5] = crc_send & 0xFF;

databuf[6] = crc_send >> 8;

databuf[7] = '\0';

break;

case 0x50://关闭电机，电机进入关闭模式，并处于自由态不受控制；电机上电后为该模式。【0x50】

databuf[3] = 0x50;

crc_send = CRC16(databuf,5);

databuf[5] = crc_send & 0xFF;

databuf[6] = crc_send >> 8;

databuf[7] = '\0';

break;

}

send_flag = 1;

}

int Uart_Send(int fd, char *data, int data_len)

{

int len = 0;

len = write(fd, data, data_len);

// printf("aaaaaaaaaaaaaaa%d\n",len);

// printf("bbbbbbbbbbbbbbb%d\n",data_len);

if(len == data_len)

{

return len;

}

else

{

tcflush(fd, TCOFLUSH); //TCOFLUSH刷新写入的数据但不传送

return -1;

}

int Uart_Recv(int fd, char *rev_buf, int data_len)

{

int len, fs_sel;

fd_set fs_read;

struct timeval tv_timeout;

FD_ZERO(&fs_read); //清空集合

FD_SET(fd,&fs_read); // 将一个给定的文件描述符加入集合之中

tv_timeout.tv_sec = 500;

tv_timeout.tv_usec = 0;

//使用select实现串口的多路通信

fs_sel = select(fd + 1, &fs_read, NULL, NULL, &tv_timeout); //如果select返回值大于0，说明文件描述符发生了变化

//printf("fs_sel = %d\n",fs_sel); //如果返回0，代表在描述符状态改变前已超过timeout时间,错误返回-1

if(fs_sel)

{

len = read(fd, rev_buf, data_len);

printf("len = %d, fs_sel = %d\n", len, fs_sel);

return len;

}

else

{

return 0;

}

int Uart_Init(int fd, int speed, int databits, int parity, int stopbits)

{

//设置串口数据帧格式

if (Set_Com_Config(fd, speed, databits, parity, stopbits) == 0)

{

return 0;

}

else

{

return -1;

}

int Uart_Receive_thread(void)

{

int i, Multiturnabsolutevalueangle;

unsigned short r_count, crc_val, crc_rec, motormodel, Absolutevalueofsinglelap, Mechanicalspeed, Targetspeed;

unsigned char Hardwareversionnumber, voltage, Systemcurrent, Systemtemperature, Systemfaultcode, Motorrunningstatus;

while(1)

{

// pthread_mutex_lock(&mutex);

printf("This is Uart_rec_thread.\n");

// sleep(1);

if(send_flag == 2)

{

r_count = Uart_Recv(uart_fd, rev_buf, sizeof(rev_buf));

if(r_count)

{

for(i = 0; i < r_count; i++)

{

printf("rev_buf[%d] = 0x%x\n", i, rev_buf[i]);

}

crc_val = rev_buf[r_count-1];

crc_val = crc_val << 8 | rev_buf[r_count-2];

printf("%x\n",crc_val);

crc_rec = CRC16(rev_buf, r_count-2);

if(crc_val == crc_rec)

{

switch(rev_buf[3])

{

case 0x0A:

motormodel = rev_buf[6] << 8 | rev_buf[5];

printf("电机型号%d\n",motormodel);

Hardwareversionnumber = rev_buf[7];

printf("[Bit4:0]: 硬件副版本号 [Bit7:5]: 硬件主版本号%d\n",Hardwareversionnumber);

break;

case 0x0B:

Absolutevalueofsinglelap = rev_buf[6];

Absolutevalueofsinglelap = Absolutevalueofsinglelap << 8 | rev_buf[5];

printf("电机单圈绝对值角度%d\n",Absolutevalueofsinglelap);

Multiturnabsolutevalueangle = rev_buf[10];

Multiturnabsolutevalueangle = Multiturnabsolutevalueangle << 8 | rev_buf[9];

Multiturnabsolutevalueangle = Multiturnabsolutevalueangle << 8 | rev_buf[8];

Multiturnabsolutevalueangle = Multiturnabsolutevalueangle << 8 | rev_buf[7];

printf("电机多圈绝对值角度%d\n",Multiturnabsolutevalueangle);

Mechanicalspeed = rev_buf[12];

Mechanicalspeed = Mechanicalspeed << 8 | rev_buf[11];

printf("机械速度%d 单位:0.1Rpm\n",Multiturnabsolutevalueangle);

voltage = rev_buf[13];

Systemcurrent = rev_buf[14];

Systemtemperature = rev_buf[15];

printf("电源电压%fV 系统电流%fA 系统温度%f℃\n",voltage*0.2,Systemcurrent*0.03,Systemtemperature*0.4);

Systemfaultcode = rev_buf[16];

Motorrunningstatus = rev_buf[17];

printf("电机运行状态%d\n",Motorrunningstatus);

break;

case 0x50:

case 0x51:

case 0x52:

case 0x55:

case 0x56:

Absolutevalueofsinglelap = rev_buf[6];

Absolutevalueofsinglelap = Absolutevalueofsinglelap << 8 | rev_buf[5];

printf("电机单圈绝对值角度%d\n",Absolutevalueofsinglelap);

Multiturnabsolutevalueangle = rev_buf[10];

Multiturnabsolutevalueangle = Multiturnabsolutevalueangle << 8 | rev_buf[9];

Multiturnabsolutevalueangle = Multiturnabsolutevalueangle << 8 | rev_buf[8];

Multiturnabsolutevalueangle = Multiturnabsolutevalueangle << 8 | rev_buf[7];

printf("电机多圈绝对值角度%d\n",Multiturnabsolutevalueangle);

Mechanicalspeed = rev_buf[12];

Mechanicalspeed = Mechanicalspeed << 8 | rev_buf[11];

printf("机械速度%d 单位:0.1Rpm\n",Multiturnabsolutevalueangle);

break;

case 0x57:

Targetspeed = rev_buf[6];

Targetspeed = Targetspeed << 8 | rev_buf[5];

printf("目标速度%d 单位:0.1Rpm\n",Multiturnabsolutevalueangle);

break;

}

send_flag = 1;

}

memset(rev_buf,0,sizeof(rev_buf));

// pthread_mutex_unlock(&mutex);

}

void Uart_Send_thread(void)

{

int s_count;

while(1)

{

// pthread_mutex_lock(&mutex);

// sleep(1);

printf("This is Uart_Send_thread.\n");

if(send_flag == 1)

{

s_count = Uart_Send(uart_fd, databuf, sizeof(databuf));

if(s_count == -1)

{

printf("Uart_Send Error!\n");

}

else

{

printf("Send %d data successfully!\n", s_count);

}

send_flag = 2;

sleep(1);

}

// pthread_mutex_unlock(&mutex);

// Uart_Send_cmd(0x0A,0, 0);

}

int main(int argc, char *argv[])

{

pthread_t id_Uart_Receive, id_Uart_Send;

int ret1, ret2;

// pthread_mutex_init(&mutex, NULL);

uart_fd = open(DEV_NAME, O_RDWR | O_NOCTTY);

if(uart_fd == -1)

{

printf("Uart Open Failed!\n");

exit(EXIT_FAILURE);

}

if(Uart_Init(uart_fd, 115200, 8, 'N', 1) == -1)

{

printf("Uart_Init Failed!\n");

exit(EXIT_FAILURE);

}

ret1 = pthread_create(&id_Uart_Receive, NULL, (void *) Uart_Receive_thread, NULL);

ret2 = pthread_create(&id_Uart_Send, NULL, (void *) Uart_Send_thread, NULL);

if(ret1!=0)

{

printf ("Create Uart_Receive_thread error!\n");

// close(uart_fd);

//exit (1);

}

if(ret2!=0)

{

printf ("Create Uart_Send_thread error!\n");

// close(uart_fd);

// exit (1);

}

while(1)

{

printf("This is the main process.\n");

Uart_Send_cmd(0x0A,0, 0);

usleep(1000000);

}

pthread_join(id_Uart_Receive, NULL);

pthread_join(id_Uart_Send, NULL);

// pthread_mutex_destroy(&mutex);

return 0;

}

unsigned short CRC16(unsigned char * puchMsg,unsigned short usDataLen)

{

unsigned char uchCRCHi = 0xFF; /* 高CRC字节初始化 */

unsigned char uchCRCLo = 0xFF; /* 低CRC 字节初始化 */

unsigned uIndex; /* CRC循环中的索引 */

while(usDataLen--) /* 传输消息缓冲区 */

{

uIndex = uchCRCHi ^ *puchMsg++; /* 计算CRC */

uchCRCHi = uchCRCLo ^ auchCRCHi[uIndex];

uchCRCLo = auchCRCLo[uIndex];

}

return (uchCRCHi << 8 | uchCRCLo);

}