[嵌入式]电脑与树莓派与stm32f4串口通信

stm32设置

// 核心代码，不能运行
void M1_PID(float top);
void upmada(void);
typedef  struct 
	{
		struct 
			{
		
			uint16_t ch0;//a
			uint16_t ch1;//b
			uint16_t ch2;//c
			uint16_t ch3;//d
			uint8_t s1;//e
			uint8_t s2;//f
		}rc;
		struct {
			int16_t x;//
			int16_t y;//
			int16_t z;//
			uint8_t press_l;//
			uint8_t press_r;//
		}mouse;
		struct {
			uint16_t v;//
		}key;
	}
	RC_Ctl_t;
static RC_Ctl_t RC_CtrlData;

typedef  struct {
	float p;
	float i;
	float d;
	float e0;
	float e1;
	float e2;
	float zi;
}PID;
	
static PID M1_pid;





uint8_t aTxStartMessages[] = "1203";
volatile  uint8_t aRxBuffer[30];

void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{
  /* Prevent unused argument(s) compilation warning */
  UNUSED(GPIO_Pin);
	
	if(GPIO_Pin  == GPIO_PIN_8){
		//printf("cddc");
		
		HAL_GPIO_TogglePin(GPIOF,GPIO_PIN_9);
	}
}

void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
	if(htim->Instance == TIM10){
		//printf("cddc");
		upmada();
		//HAL_GPIO_TogglePin(GPIOF,GPIO_PIN_9);
	}
	
}

void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
{
	UNUSED(huart);
	//HAL_UART_Transmit(&huart1,(uint8_t*)aRxBuffer,25,0xFFFF);
	//printf("%s",aRxBuffer);
	switch(aRxBuffer[0]){
		case 'a' : 
		RC_CtrlData.rc.ch0 = (uint16_t)(aRxBuffer[1]-'0')*100+(uint16_t)(aRxBuffer[2]-'0')*10+(uint16_t)(aRxBuffer[3]-'0'); printf("%d",RC_CtrlData.rc.ch0);
		RC_CtrlData.rc.ch1 = (uint16_t)(aRxBuffer[4]-'0')*100+(uint16_t)(aRxBuffer[5]-'0')*10+(uint16_t)(aRxBuffer[6]-'0'); printf("%d",RC_CtrlData.rc.ch1);
		RC_CtrlData.rc.ch2 = (uint16_t)(aRxBuffer[7]-'0')*100+(uint16_t)(aRxBuffer[8]-'0')*10+(uint16_t)(aRxBuffer[9]-'0'); printf("%d",RC_CtrlData.rc.ch2);
		RC_CtrlData.rc.ch3 = (uint16_t)(aRxBuffer[10]-'0')*100+(uint16_t)(aRxBuffer[11]-'0')*10+(uint16_t)(aRxBuffer[12]-'0'); printf("%d",RC_CtrlData.rc.ch3);
		RC_CtrlData.rc.s1 = (uint16_t)(aRxBuffer[13]-'0')*100+(uint16_t)(aRxBuffer[14]-'0')*10+(uint16_t)(aRxBuffer[15]-'0'); printf("%d",RC_CtrlData.rc.s1);
		RC_CtrlData.rc.s2 = (uint16_t)(aRxBuffer[16]-'0')*100+(uint16_t)(aRxBuffer[17]-'0')*10+(uint16_t)(aRxBuffer[18]-'0'); printf("%d",RC_CtrlData.rc.s2); printf("ok");break ;
		default: printf(" no word **");
			HAL_UART_DMAStop(&huart1);
			HAL_UART_Receive_DMA(&huart1,(uint8_t*)aRxBuffer,20);
;
	
	}
	

	
	
}
void upmada(void){//geng xin hui diao han shu
	
	//printf("%d",RC_CtrlData.rc.ch0);
	if(M1_pid.zi>500){
		__HAL_TIM_SetCompare(&htim3,TIM_CHANNEL_2,0);
		__HAL_TIM_SetCompare(&htim2,TIM_CHANNEL_1,M1_pid.zi-500);
	}
	else if(M1_pid.zi <  500){
		__HAL_TIM_SetCompare(&htim2,TIM_CHANNEL_1,0);
		__HAL_TIM_SetCompare(&htim3,TIM_CHANNEL_2,500-M1_pid.zi);
	}
	else if(M1_pid.zi == 500){
		__HAL_TIM_SetCompare(&htim2,TIM_CHANNEL_1,0);
		__HAL_TIM_SetCompare(&htim3,TIM_CHANNEL_2,0);
	}
	M1_PID(RC_CtrlData.rc.ch0);	

}


void M1_PID(float top){
	float put;
	M1_pid.e0 = (top - M1_pid.zi);
	put = M1_pid.p*(M1_pid.e0-M1_pid.e1)+M1_pid.i*M1_pid.e0+M1_pid.d*(M1_pid.e0-2*M1_pid.e2+M1_pid.e2);
	M1_pid.e2 = M1_pid.e1;
	M1_pid.e1 = M1_pid.e0;
	M1_pid.zi += put;
}

M1_pid.p = 0.1;
	M1_pid.i = 0.1;
	M1_pid.d = 0.007;
	M1_pid.e0 = 0;
	M1_pid.e1 = 0;
	M1_pid.e2 = 0;
	M1_pid.zi = 500;
	RC_CtrlData.rc.ch0 = 500;
	__HAL_TIM_CLEAR_IT(&htim10,TIM_IT_UPDATE);//
	HAL_TIM_Base_Start_IT(&htim10);//
	HAL_TIM_PWM_Start(&htim2,TIM_CHANNEL_1);
	HAL_TIM_PWM_Start(&htim3,TIM_CHANNEL_2);
	__HAL_TIM_SetCompare(&htim3,TIM_CHANNEL_2,0);
	HAL_UART_Transmit_IT(&huart1 ,(uint8_t*)aTxStartMessages,sizeof(aTxStartMessages)); 
	HAL_UART_Receive_DMA(&huart1,(uint8_t*)aRxBuffer,20);

树莓派代码

###  可以用的
import serial
import time
import RPi.GPIO as gpio
import cv2
import numpy as np
import threading
from threading import Lock,Thread



class USARTOR:
    def __init__(self):
        self.com = "/dev/ttyUSB0"
        self.btl = 9600
        self.ts = 'a000123123123123123'
        self.rs = 'a000123123123123123'
    def setup(self):
        self.ser = serial.Serial(self.com ,self.btl)
        if self.ser.isOpen == False:
            self.ser.open()
        #self.ser.write(self.ts.encode())
    def Writer(self):
        self.ser.write(self.ts.encode())
        self.ser.flushInput()
        
Usartor = USARTOR()
Usartor.setup()
def get3(num):
    num = (int)(num)
    Num = str((int(num/100))) + str((int((num/10)%10)) ) + str(int(num%10)) 
    return str(Num)
def callback(object):
    pass

def update():
    img = np.zeros((200, 400, 3), np.uint8)
    cv2.namedWindow('image')
    cv2.createTrackbar('R', 'image', 0, 999, callback)
    while True:
        theta0 = cv2.getTrackbarPos('R', 'image')
        theta0 = get3(theta0)
        Usartor.ts = Usartor.ts[0]+ theta0 + Usartor.ts[4:]
        #Usartor.ts[2:4] = theta0 
        #print(Usartor.ts)
        #print(theta0)
        Usartor.Writer()
        
        if cv2.waitKey(4) & 0xFF == ord('q'):
            break
        cv2.imshow('image', img)
    cv2.destroyAllWindows()
def main():
    update()


            


if __name__ == '__main__':
  
    main()

主要思想：树莓派与电脑客户端（pyqt5制作）通过socket局域网通信（还没有做），树莓派与32通过USB端口进行串口通信（双向），32控制马达转动（PID，PWM，DMA）。
未完待续…