- 自定义串口协议
//Protocol.h
#ifndef PROTOCOL_H
#define PROTOCOL_H
#include <iostream>
typedef union
{
float fData;
uint8_t uData[4];
}CovData;
static const uint16_t gMcRctable16[256] =
{
0x0000, 0x8005, 0x800F, 0x000A, 0x801B, 0x001E, 0x0014, 0x8011,
0x8033, 0x0036, 0x003C, 0x8039, 0x0028, 0x802D, 0x8027, 0x0022,
0x8063, 0x0066, 0x006C, 0x8069, 0x0078, 0x807D, 0x8077, 0x0072,
0x0050, 0x8055, 0x805F, 0x005A, 0x804B, 0x004E, 0x0044, 0x8041,
0x80C3, 0x00C6, 0x00CC, 0x80C9, 0x00D8, 0x80DD, 0x80D7, 0x00D2,
0x00F0, 0x80F5, 0x80FF, 0x00FA, 0x80EB, 0x00EE, 0x00E4, 0x80E1,
0x00A0, 0x80A5, 0x80AF, 0x00AA, 0x80BB, 0x00BE, 0x00B4, 0x80B1,
0x8093, 0x0096, 0x009C, 0x8099, 0x0088, 0x808D, 0x8087, 0x0082,
0x8183, 0x0186, 0x018C, 0x8189, 0x0198, 0x819D, 0x8197, 0x0192,
0x01B0, 0x81B5, 0x81BF, 0x01BA, 0x81AB, 0x01AE, 0x01A4, 0x81A1,
0x01E0, 0x81E5, 0x81EF, 0x01EA, 0x81FB, 0x01FE, 0x01F4, 0x81F1,
0x81D3, 0x01D6, 0x01DC, 0x81D9, 0x01C8, 0x81CD, 0x81C7, 0x01C2,
0x0140, 0x8145, 0x814F, 0x014A, 0x815B, 0x015E, 0x0154, 0x8151,
0x8173, 0x0176, 0x017C, 0x8179, 0x0168, 0x816D, 0x8167, 0x0162,
0x8123, 0x0126, 0x012C, 0x8129, 0x0138, 0x813D, 0x8137, 0x0132,
0x0110, 0x8115, 0x811F, 0x011A, 0x810B, 0x010E, 0x0104, 0x8101,
0x8303, 0x0306, 0x030C, 0x8309, 0x0318, 0x831D, 0x8317, 0x0312,
0x0330, 0x8335, 0x833F, 0x033A, 0x832B, 0x032E, 0x0324, 0x8321,
0x0360, 0x8365, 0x836F, 0x036A, 0x837B, 0x037E, 0x0374, 0x8371,
0x8353, 0x0356, 0x035C, 0x8359, 0x0348, 0x834D, 0x8347, 0x0342,
0x03C0, 0x83C5, 0x83CF, 0x03CA, 0x83DB, 0x03DE, 0x03D4, 0x83D1,
0x83F3, 0x03F6, 0x03FC, 0x83F9, 0x03E8, 0x83ED, 0x83E7, 0x03E2,
0x83A3, 0x03A6, 0x03AC, 0x83A9, 0x03B8, 0x83BD, 0x83B7, 0x03B2,
0x0390, 0x8395, 0x839F, 0x039A, 0x838B, 0x038E, 0x0384, 0x8381,
0x0280, 0x8285, 0x828F, 0x028A, 0x829B, 0x029E, 0x0294, 0x8291,
0x82B3, 0x02B6, 0x02BC, 0x82B9, 0x02A8, 0x82AD, 0x82A7, 0x02A2,
0x82E3, 0x02E6, 0x02EC, 0x82E9, 0x02F8, 0x82FD, 0x82F7, 0x02F2,
0x02D0, 0x82D5, 0x82DF, 0x02DA, 0x82CB, 0x02CE, 0x02C4, 0x82C1,
0x8243, 0x0246, 0x024C, 0x8249, 0x0258, 0x825D, 0x8257, 0x0252,
0x0270, 0x8275, 0x827F, 0x027A, 0x826B, 0x026E, 0x0264, 0x8261,
0x0220, 0x8225, 0x822F, 0x022A, 0x823B, 0x023E, 0x0234, 0x8231,
0x8213, 0x0216, 0x021C, 0x8219, 0x0208, 0x820D, 0x8207, 0x0202,
};
uint16_t GetCrc16(uint8_t *pData, int nLen);
#endif // SERIALPROTOCOL_H
//Protocol.cpp
#include "Protocol.h"
uint16_t GetCrc16(uint8_t *pData, int nLen)
{
uint8_t uTemp = 0;
uint16_t uCRC16 = 0x00;
while(nLen-- > 0)
{
uTemp = uCRC16 >> 8;
uCRC16 = (uCRC16 << 8)^gMcRctable16[(uTemp^*pData++)&0xFF];
}
return uCRC16;
}
- Linux串口实例
//Serial.h
#ifndef SERIAL_H
#define SERIAL_H
#include <stdint.h>
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <string.h>
#include <errno.h>
#include <fcntl.h>
#include <time.h>
#include <termios.h>
#include <iostream>
#include "Protocol.h"
#define UART_DEV "/dev/ttyUSB0"
class Serial
{
public:
Serial();
~Serial();
bool OpenSerial(char* usbDev,int nBaud);
int ReadData(void *buf, int len);
int WriteData(void *buf, int len);
void CloseSerial();
void SerialTestProc();
private:
bool bOpened;
static int m_nfd;
static int nBaudFlagArr[];
static int nSpeedArr[];
struct termios stOld;
int SpeedToFlag(int speed);
};
#endif // SERIAL_H
//Serial.cpp
#include "Serial.h"
int Serial::m_nfd = -1;
int Serial::nBaudFlagArr[] =
{
B921600, B460800, B230400, B115200, B57600, B38400,
B19200, B9600, B4800, B2400, B1800, B1200,
B600, B300, B150, B110, B75, B50
};
int Serial::nSpeedArr[] =
{
921600, 460800, 230400, 115200, 57600, 38400,
19200, 9600, 4800, 2400, 1800, 1200,
600, 300, 150, 110, 75, 50
};
Serial::Serial()
{
bOpened = false;
tcflush(m_nfd,TCOFLUSH);//Clear Send Buf
tcflush(m_nfd,TCIFLUSH);//Clear Recv Buf
}
Serial::~Serial()
{
tcflush(m_nfd,TCOFLUSH);//Clear Send Buf
tcflush(m_nfd,TCIFLUSH);//Clear Recv Buf
CloseSerial();
}
int Serial::SpeedToFlag(int speed)
{
for(int i = 0;i < sizeof(nSpeedArr)/sizeof(int);i++)
{
if(speed == nSpeedArr[i])
return nBaudFlagArr[i];
}
fprintf(stderr, "Unsupported baudrate, use 9600 instead!\n");
return B9600;
}
bool Serial::OpenSerial(char* usbDev,int nBaud)
{
m_nfd = open(usbDev, O_RDWR | O_NOCTTY | O_NDELAY);
if(-1 == m_nfd)
{
fprintf(stderr,"open serial port error!\n");
bOpened = false;
return false;
}
if((fcntl(m_nfd, F_SETFL, 0)) < 0)
{
fprintf(stderr,"fcntl F_SETFL error!\n");
bOpened = false;
return false;
}
if(tcgetattr(m_nfd, &stOld) != 0)
{
fprintf(stderr,"tcgetattr error!\n");
bOpened = false;
return false;
}
struct termios options;
tcgetattr(m_nfd, &options);
options.c_cflag = SpeedToFlag(nBaud) | CS8 | CLOCAL | CREAD;
options.c_iflag = IGNPAR;
options.c_oflag = 0;
options.c_lflag = 0;
options.c_cc[VTIME]=1;//指定所要读取字符的最小数量
options.c_cc[VMIN]=1;//指定读取第一个字符的等待时间,时间的单位为n*100ms
tcflush(m_nfd,TCIFLUSH);//清空终端未完成的输入/输出请求及数据
//如果设置VTIME=0,则无字符输入时read()操作无限期的阻塞
tcsetattr(m_nfd,TCSANOW, &options);
printf("Open serial port ok!\n");
bOpened = true;
return true;
}
int Serial::ReadData(void *buf, int len)
{
int count = 0;
int ret = 0;
if(bOpened)
{
ret = read(m_nfd, (char*)buf + count, len);
if (ret < 1)
{
fprintf(stderr, "Read error %s\n", strerror(errno));
return -1;
}
count += ret;
len = len - ret;
*((char*)buf + count) = 0;
return count;
}
else
return -1;
}
int Serial::WriteData(void *buf, int len)
{
int count = 0;
int ret = 0;
if(bOpened)
{
while(len > 0)
{
ret = write(m_nfd, (char*)buf + count, len);
if(ret < 1)
{
fprintf(stderr, "Write error %s\n", strerror(errno));
break;
}
count += ret;
len = len - ret;
}
return count;
}
else
return -1;
}
void Serial::CloseSerial()
{
close(m_nfd);
}
void Serial::SerialTestProc()
{
uint8_t nState = 0;
uint8_t nCmd = 0;
uint16_t nLen = 0;
uint16_t nCnt = 0;
uint8_t nValidBuffer[256];
uint8_t nBuffer[256];
while(1)
{
int nLens = ReadData(nBuffer,256);
for(int i=0;i<nLens;i++)
{
if((0xAA == nBuffer[i])&&(0 == nState))
nState = 1;
switch(nState)
{
case 1:
if(0xBB == nBuffer[i])
nState = 2;
break;
case 2:
nCmd = nBuffer[i];
nState = 3;
break;
case 3:
nLen = nBuffer[i]<<8;
nState = 4;
break;
case 4:
nLen = nLen | nBuffer[i];
nCnt = 0;
nState = 5;
break;
case 5:
nValidBuffer[nCnt] = nBuffer[i];
nCnt++;
if(nCnt>255)
{
nCnt = 0;
break;
}
if(nCnt == nLen+2)
{
nCnt = 0;
nState = 0;
if(0x01 == nCmd)
{
uint16_t nRet = GetCrc16(nValidBuffer,nLen+2);
if(0 == nRet)
{
printf("Crc ok\n");
}
else
{
printf("Crc failed\n");
for(int j=0;j<nLen+2;j++)
printf("%x ",nValidBuffer[j]);
printf("\n");
}
}
}
break;
default:
break;
}
}
}
CloseSerial();
}
注意:struct termios options
的配置非常重要,多次在此处落坑,如果配置不当,读取数据时无法设置为阻塞模式并且有可能出现数据传输错误而引起校验失败; 其次如果使用多个串口注意把三个static干掉!