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我使用Linux Ubuntu並嘗試使串行通信正常工作。 好吧，我在用什麼...Linux下的串行通信ttyUSBX
我使用Raspberry Pi並通過USB /串行適配器連接一個Inserial Measurement Unit（多功能傳感器）。
只是爲了澄清我想要做的事：
建立betwenn樹莓派和IMU的連接。
要運行IMU，我必須遵循以下步驟。
開機順序：
(a) power-on.
(b) Wait 800ms.
(c) Wait until NOT_READY bit goes to 0. NOT_READY is GLOB_CMD[3Eh]'s bit[10].
TXdata={0x3E,0x00,0x0d}. /* GLOB_CMD read command */
TXdata={0x3E,MSByte,LSByte,0x0d}. /* get response */
Confirm NOT_READY bit.
When NOT_READY becomes 0, it ends. Otherwise , please repeat (c).
(d) Confirm HARD_ERR bits. HARD_ERR is DIAG_STAT[3Ch]'s bit[6:5].
TXdata={0x3C,0x00,0x0d}. /* DIAG_STAT read command */
TXdata={0x3C,MSByte,LSByte,0x0d}. /* get response */
Confirm HARD_ERR is 00.
If HARD_ERR is 00, the IMU is OK. Otherwise, the IMU is faulty.
讀寫寄存器：
[Read Example]
To read a 16bit-data from a register(addr=0x38).
TXdata={0x38,0x00,0x0d}. /* command */
RXdata={0x38,0x04,0x04,0x0d} /* response */
0x04 in 2nd byte of RXdata is Configuration mode.
0x04 in 3rd byte of RXdata is TAP=16.
Please note that read data unit is 16bit, and Most Significant Byte first.
-------------------------------------------------------------
[Write Example]
To write a 8bit-data into a register(addr=0x39).
TXdata={0xB9,0x01,0x0d}. /* command */
RXdata= w/o response
By sending this command, the IMU moves to Sampling mode.
Please note that write data unit is 8bit.
在我的Linux操作系統Ubuntu有連接IMU後給予ttyUSB0設備。
所以我試圖設置波特率，數據位，停止位，奇偶校驗，流量控制。 首先通過stty-command，稍後用一個簡單的C++代碼。
我使用這個C++ - 代碼：
#include <stdio.h>
#include <string.h>
#include <fcntl.h>
#include <errno.h>
#include <termios.h>
#include <unistd.h>
#include <stdlib.h>
#include <cstdlib>
void SleepMs(int);
int main(int argc, char** argv)
{
int fd; // port file descriptor
char port[20] = "/dev/ttyUSB0"; // port to connect to
fd = open(port, O_RDWR | O_NOCTTY | O_NDELAY); // connect to port
if(fd == -1)
{
printf("Error while opening the port.\n");
return 1;
}
printf("Port opened successfully.\n");
fcntl(fd, F_SETOWN, getpid());
struct termios settings;
tcgetattr(fd, &settings);
settings.c_cflag &= ~(CBAUD | CSIZE | CREAD);
settings.c_cflag |= B230400;
settings.c_cflag |= CS8;
tcflush(fd, TCIFLUSH);
tcsetattr(fd, TCSANOW, &settings); // apply the settings
int len = 7;
unsigned char bytes[len];
bytes[0] = 0x3E;
bytes[1] = 0x00;
bytes[2] = 0x0D;
bytes[3] = 0x3E;
bytes[4] = 0x00;
bytes[5] = 0x00;
bytes[6] = 0x0D;
int wr = write(fd, bytes, len);
unsigned char answer[32];
SleepMs(350);
int rd = -1;
int i;
while (rd==-1)
{
if(wr != 7)
{
printf("Error while sending!\n");
}
for(i=0; i<len; i++)
{
printf("%X sent\n", (unsigned int)bytes[i]);
SleepMs(350);
}
printf("\n");
printf("%d bytes sent.\n", wr);
printf("\n");
printf("Trying to read...\n");
printf("\n");
rd = read(fd, answer, 32);
SleepMs(350);
printf("%d\n", rd);
for(i=0; i<rd; i++)
{
printf("%X ", (unsigned int)answer[i]);
}
printf("\n\n");
}
close(fd);
return 0;
}
void SleepMs(int ms) {
usleep(ms*1000); //convert to microseconds
return;
}
如果我啓動程序，它告訴我「端口打開成功」和寫入給出的字節數。 但它沒有收到任何數據。
我發送0x3E 0x00 0x0D來激活GLOB_CMD讀命令。 我必須確認「未就緒」 - 位是0，但我沒有得到與我的串行連接的答案。
所以這是我需要你的幫助，也許有人得到了我的提示。 如何使用Linux與我的IMU或串行通信進行通信？