linux串口读取mpu9250数据,二、串口接收MPU9250数据并显示

直接贴代码吧！

两篇文章值得推荐，https://segmentfault.com/a/1190000004619287#articleHeader1

http://www.cnblogs.com/zhangpengshou/archive/2012/03/12/2392068.html

import serial

import time

ser = serial.Serial('/dev/ttyUSB0',baudrate=9600,timeout=1)

#ttyUSB0是插进去的第一个 USBtoTTL 设备，CH340的驱动Ｕｂｕｎｔｕ

print(ser.name)

data = [0,1,2,3,4,5,6,7,8,9]

sum1 = 0

#设置MPU9250仅输出角度，并保存

def set_9250():

ser.write(b'xffxaax02x08x00')

ser.write(b'xffxaax00x00x00')

set_9250()

kk=0

while 1:

kk = kk+1

start1 = time.clock()

while ser.read()[0] != 0x55: #确保数据从0x55开头

pass #空操作

end1 = time.clock()

l = ser.read(10)

end2 = time.clock()

for i in range(0,10):

data[i] = hex(l[i])

#print(type(data[2]))

for i in range(0, 9):

sum1 = sum1 + eval(data[i])

sum1 = sum1 + 0x55

if hex(sum1)[-2:]==eval(data[9]): #校验数据的正确性

break

Roll = ((l[2]<<8)|l[1])/32768*180

Pitch = ((l[4]<<8)|l[3])/32768*180

Yaw = ((l[6]<<8)|l[5])/32768*180

end3 = time.clock()

print('Roll: %.2f'%Roll,

'Pitch: %.2f'%Pitch,

'Yaw: %.2f'%Yaw,

'

'

)

print('1: ',end1-start1,

'2: ',end2-end1,

'3: ',end3-end2,

'Total:',end3-start1,

'count:',kk,

'

')

ser.close()

'''

b = ''

b.encode('utf-8')

print(type(b))

'''