{"id":166,"date":"2025-11-18T17:14:19","date_gmt":"2025-11-18T09:14:19","guid":{"rendered":"https:\/\/www.zhihuiren.xyz\/?p=166"},"modified":"2025-12-02T22:50:38","modified_gmt":"2025-12-02T14:50:38","slug":"uart%e5%8d%8f%e8%ae%ae%e5%ae%9e%e7%8e%b0%e5%8f%8cstm32%e5%8d%95%e7%89%87%e6%9c%ba%e9%80%9a%e4%bf%a1","status":"publish","type":"post","link":"https:\/\/www.zhihuiren.xyz\/?p=166","title":{"rendered":"uart\u534f\u8bae\u5b9e\u73b0\u53ccstm32\u5355\u7247\u673a\u901a\u4fe1"},"content":{"rendered":"\t\t<div data-elementor-type=\"wp-post\" data-elementor-id=\"166\" class=\"elementor elementor-166\" data-elementor-post-type=\"post\">\n\t\t\t\t<div class=\"elementor-element elementor-element-dffc13f e-flex e-con-boxed e-con e-parent\" data-id=\"dffc13f\" data-element_type=\"container\">\n\t\t\t\t\t<div class=\"e-con-inner\">\n\t\t\t\t<div class=\"elementor-element elementor-element-34f0909 elementor-widget elementor-widget-heading\" data-id=\"34f0909\" data-element_type=\"widget\" data-widget_type=\"heading.default\">\n\t\t\t\t\t<h2 class=\"elementor-heading-title elementor-size-default\">\/\/\u5f15\u8a00<\/h2>\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-c2df965 elementor-widget elementor-widget-text-editor\" data-id=\"c2df965\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t\t\t\t\t\t<p>\u5b66\u6821robomaster\u6821\u5185\u8d5b\u89c4\u5b9a\u4e3b\u63a7\u9700\u4f7f\u7528c8t6\uff0c\u4f46\u56e0\u7b14\u8005\u60f3\u5c1d\u8bd5\u5f15\u5165\u7f16\u7801\u5668\u7535\u673a\u505a\u7b80\u5355\u7684pid\u7535\u673a\u63a7\u5236\uff0c\u800cc8t6\u53ea\u67094\u4e2a\u5b9a\u65f6\u5668\uff0c\u65e0\u6cd5\u540c\u65f6\u5b9e\u73b04\u8def\u7f16\u7801\u5668\u5747\u7528\u5b9a\u65f6\u5668\u8ba1\u6570\uff08\u7535\u673a\u901f\u5ea6\u5feb\uff0c\u91c7\u7528\u4e2d\u65ad\u6a21\u5f0f\u6709\u963b\u585eCPU\u98ce\u9669\uff09\u548cpwm\u8f93\u51fa\u63a7\u5236\u7535\u673a\u8235\u673a\u7b49\u5916\u8bbe\u3002<\/p><p>\u6545\u601d\u8003\u8bb8\u4e45\u91c7\u7528\u53ccc8t6\u4e3b\u4ece\u63a7\u6a21\u5f0f\uff0c\u4e3b\u63a7\u8d1f\u8d23\u63a5\u6536\u9065\u63a7\u5668\u4fe1\u53f7\u3001\u7535\u673a\u65b9\u5411\u53d1\u9001\u3001\u7f16\u7801\u5668\u901f\u5ea6\u63a5\u6536\u3001pid\u8ba1\u7b97pwm\u8f93\u51fa\uff0c\u4ece\u63a7\u8d1f\u8d23\u7535\u673a\u65b9\u5411\u63a5\u6536\u3001\u7f16\u7801\u5668\u901f\u5ea6\u8bc6\u522b\u4e0e\u53d1\u9001\u3002<\/p><p>\u672c\u6587\u4e3b\u8981\u8bb2\u8ff0uart\u901a\u4fe1\u8fc7\u7a0b\u3002<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t<div class=\"elementor-element elementor-element-775188c e-flex e-con-boxed e-con e-parent\" data-id=\"775188c\" data-element_type=\"container\">\n\t\t\t\t\t<div class=\"e-con-inner\">\n\t\t\t\t<div class=\"elementor-element elementor-element-45b1952 elementor-widget elementor-widget-heading\" data-id=\"45b1952\" data-element_type=\"widget\" data-widget_type=\"heading.default\">\n\t\t\t\t\t<h2 class=\"elementor-heading-title elementor-size-default\">\/\/\u4e3b\u63a7Transmit<\/h2>\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-e78736d elementor-widget elementor-widget-code-highlight\" data-id=\"e78736d\" data-element_type=\"widget\" data-widget_type=\"code-highlight.default\">\n\t\t\t\t\t\t\t<div class=\"prismjs-default copy-to-clipboard \">\n\t\t\t<pre data-line=\"\" class=\"highlight-height language-c line-numbers\">\n\t\t\t\t<code readonly=\"true\" class=\"language-c\">\n\t\t\t\t\t<xmp>void UART_Main_SendDirection(void)\r\n{\r\n    main_txbuf[0] = 0xAA;\r\n    main_txbuf[1] = 0x55;\r\n\r\n    main_txbuf[2] = Motor_Direction[0];\r\n    main_txbuf[3] = Motor_Direction[1];\r\n    main_txbuf[4] = Motor_Direction[2];\r\n    main_txbuf[5] = Motor_Direction[3];\r\n\r\n    main_txbuf[6] = main_txbuf[2] + main_txbuf[3] + main_txbuf[4] + main_txbuf[5];\r\n\r\n    HAL_UART_Transmit_DMA(&huart3, main_txbuf, 7);\r\n}\r\n<\/xmp>\n\t\t\t\t<\/code>\n\t\t\t<\/pre>\n\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-8798eb8 elementor-widget elementor-widget-text-editor\" data-id=\"8798eb8\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t\t\t\t\t\t<p>\u6b64\u5904\u5728\u53d1\u9001\u7684\u6570\u636e\u5305\u524d\u6dfb\u52a0\u4e86\u5e27\u59340xAA 0x55,\u6570\u636e\u5305\u5c3e\u90e8\u6dfb\u52a0\u4e86\u6c42\u548c\u8ba1\u7b97<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t<div class=\"elementor-element elementor-element-04e2448 e-flex e-con-boxed e-con e-parent\" data-id=\"04e2448\" data-element_type=\"container\">\n\t\t\t\t\t<div class=\"e-con-inner\">\n\t\t\t\t<div class=\"elementor-element elementor-element-1acdaa1 elementor-widget elementor-widget-heading\" data-id=\"1acdaa1\" data-element_type=\"widget\" data-widget_type=\"heading.default\">\n\t\t\t\t\t<h2 class=\"elementor-heading-title elementor-size-default\">\/\/\u4ece\u63a7Receive<\/h2>\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-167c53a elementor-widget elementor-widget-code-highlight\" data-id=\"167c53a\" data-element_type=\"widget\" data-widget_type=\"code-highlight.default\">\n\t\t\t\t\t\t\t<div class=\"prismjs-default copy-to-clipboard \">\n\t\t\t<pre data-line=\"\" class=\"highlight-height language-javascript line-numbers\">\n\t\t\t\t<code readonly=\"true\" class=\"language-javascript\">\n\t\t\t\t\t<xmp>void UART_Sub_RxParse(){\r\n    uint8_t sub_rxbuf_temp[7];\r\n\r\n    for(int i = 0; i < 7; i++)\r\n    {\r\n        if(sub_rxbuf[i] == 0xAA && sub_rxbuf[i+1] == 0x55)\r\n        {\r\n            memcpy(sub_rxbuf_temp, sub_rxbuf, 7);\r\n            for(int k = 0; k < i; k++)\r\n            {\r\n                int temp = sub_rxbuf_temp[0];\r\n                for(int j = 1; j < 7; j++)\r\n                {\r\n                    sub_rxbuf_temp[j-1] = sub_rxbuf_temp[j];\r\n                }\r\n                sub_rxbuf_temp[6] = temp;\r\n            }\r\n        }\r\n\r\n            int8_t sum = sub_rxbuf_temp[2] + sub_rxbuf_temp[3] + sub_rxbuf_temp[4] + sub_rxbuf_temp[5];\r\n            if(sum == sub_rxbuf_temp[6])\r\n            {\r\n                Motor_Direction_From_Main[0] = sub_rxbuf_temp[2];\r\n                Motor_Direction_From_Main[1] = sub_rxbuf_temp[3];\r\n                Motor_Direction_From_Main[2] = sub_rxbuf_temp[4];\r\n                Motor_Direction_From_Main[3] = sub_rxbuf_temp[5];\r\n        }\r\n    }\r\n}<\/xmp>\n\t\t\t\t<\/code>\n\t\t\t<\/pre>\n\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t<div class=\"elementor-element elementor-element-2925c9c e-con-full e-flex e-con e-child\" data-id=\"2925c9c\" data-element_type=\"container\">\n\t\t\t\t<div class=\"elementor-element elementor-element-fbac57f elementor-widget elementor-widget-text-editor\" data-id=\"fbac57f\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t\t\t\t\t\t<p>\u4e3a\u9632\u6b62uart\u4f20\u8f93\u4e2d\u7684\u4e0d\u7a33\u5b9a\u5bfc\u81f4\u4e22\u5305\u7b49\u60c5\u51b5\uff0c\u6b64\u5904\u5b9a\u4e49\u4e86\u4e00\u4e2atemp\u6570\u7ec4\u3002\u4f7f\u7528memcpy\u590d\u5236\u5230temp\u4e2d\uff0c\u5e76\u91c7\u7528for\u5faa\u73af\u5904\u7406\u6570\u7ec4\uff0c\u4ee5\u4fdd\u8bc10xAA\u5e27\u5934\u4f4d\u4e8e\u6570\u7ec4\u7b2c\u4e00\u4f4d<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-10455ef elementor-widget elementor-widget-code-highlight\" data-id=\"10455ef\" data-element_type=\"widget\" data-widget_type=\"code-highlight.default\">\n\t\t\t\t\t\t\t<div class=\"prismjs-default copy-to-clipboard \">\n\t\t\t<pre data-line=\"\" class=\"highlight-height language-c line-numbers\">\n\t\t\t\t<code readonly=\"true\" class=\"language-c\">\n\t\t\t\t\t<xmp>if(sub_rxbuf[i] == 0xAA && sub_rxbuf[i+1] == 0x55)\r\n        {\r\n            memcpy(sub_rxbuf_temp, sub_rxbuf, 7);\r\n            for(int k = 0; k < i; k++)\r\n            {\r\n                int temp = sub_rxbuf_temp[0];\r\n                for(int j = 1; j < 7; j++)\r\n                {\r\n                    sub_rxbuf_temp[j-1] = sub_rxbuf_temp[j];\r\n                }\r\n                sub_rxbuf_temp[6] = temp;\r\n            }\r\n        }<\/xmp>\n\t\t\t\t<\/code>\n\t\t\t<\/pre>\n\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t<div class=\"elementor-element elementor-element-212ace5 e-flex e-con-boxed e-con e-parent\" data-id=\"212ace5\" data-element_type=\"container\">\n\t\t\t\t\t<div class=\"e-con-inner\">\n\t\t\t\t<div class=\"elementor-element elementor-element-c5e3e76 elementor-widget elementor-widget-heading\" data-id=\"c5e3e76\" data-element_type=\"widget\" data-widget_type=\"heading.default\">\n\t\t\t\t\t<h2 class=\"elementor-heading-title elementor-size-default\">\/\/\u4ece\u63a7Transmit<\/h2>\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-8e45e34 elementor-widget elementor-widget-code-highlight\" data-id=\"8e45e34\" data-element_type=\"widget\" data-widget_type=\"code-highlight.default\">\n\t\t\t\t\t\t\t<div class=\"prismjs-default copy-to-clipboard \">\n\t\t\t<pre data-line=\"\" class=\"highlight-height language-javascript line-numbers\">\n\t\t\t\t<code readonly=\"true\" class=\"language-javascript\">\n\t\t\t\t\t<xmp>void UART_Sub_Send_RealSpeed(void)\r\n{\r\n    sub_txbuf[0] = 0xAA;\r\n    sub_txbuf[1] = 0x55;\r\n\r\n    \/\/ \u5c06PID\u8f93\u51fa\u7684 int16_t \u8f6c\u4e3a\u5b57\u8282\u6d41\r\n    int16_t *speed = (int16_t*)Real_Speed;\r\n\r\n    sub_txbuf[2] = speed[0] & 0xFF;\r\n    sub_txbuf[3] = (speed[0] >> 8) & 0xFF;\r\n\r\n    sub_txbuf[4] = speed[1] & 0xFF;\r\n    sub_txbuf[5] = (speed[1] >> 8) & 0xFF;\r\n\r\n    sub_txbuf[6] = speed[2] & 0xFF;\r\n    sub_txbuf[7] = (speed[2] >> 8) & 0xFF;\r\n\r\n    sub_txbuf[8] = speed[3] & 0xFF;\r\n    sub_txbuf[9] = (speed[3] >> 8) & 0xFF;\r\n\r\n    \/\/ \u6821\u9a8c\r\n    uint8_t sum = 0;\r\n    for (int i = 2; i <= 9; i++)\r\n        sum += sub_txbuf[i];\r\n    sub_txbuf[10] = sum;\r\n\r\n    HAL_UART_Transmit_DMA(&huart1, sub_txbuf, 11);\r\n}\r\n<\/xmp>\n\t\t\t\t<\/code>\n\t\t\t<\/pre>\n\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-c770de7 elementor-widget elementor-widget-text-editor\" data-id=\"c770de7\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t\t\t\t\t\t<p>\u6b64\u5904\u4f9d\u65e7\u6dfb\u52a00xAA 0x55\u5e27\u5934\u548c\u5c3e\u90e8\u6c42\u548c\u6821\u9a8c\u3002<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-d87b43f elementor-widget elementor-widget-code-highlight\" data-id=\"d87b43f\" data-element_type=\"widget\" data-widget_type=\"code-highlight.default\">\n\t\t\t\t\t\t\t<div class=\"prismjs-default copy-to-clipboard \">\n\t\t\t<pre data-line=\"\" class=\"highlight-height language-javascript line-numbers\">\n\t\t\t\t<code readonly=\"true\" class=\"language-javascript\">\n\t\t\t\t\t<xmp>int16_t *speed = (int16_t*)Real_Speed;\r\n\r\n    sub_txbuf[2] = speed[0] & 0xFF;\r\n    sub_txbuf[3] = (speed[0] >> 8) & 0xFF;\r\n\r\n    sub_txbuf[4] = speed[1] & 0xFF;\r\n    sub_txbuf[5] = (speed[1] >> 8) & 0xFF;\r\n\r\n    sub_txbuf[6] = speed[2] & 0xFF;\r\n    sub_txbuf[7] = (speed[2] >> 8) & 0xFF;\r\n\r\n    sub_txbuf[8] = speed[3] & 0xFF;\r\n    sub_txbuf[9] = (speed[3] >> 8) & 0xFF;<\/xmp>\n\t\t\t\t<\/code>\n\t\t\t<\/pre>\n\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-abc1e7d elementor-widget elementor-widget-text-editor\" data-id=\"abc1e7d\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t\t\t\t\t\t<p>\u56e0\u7f16\u7801\u5668\u8f93\u51fa\u7684Real_Speed\u5df2\u5305\u542b\u65b9\u5411\uff0c\u4f46\u6211\u4eec\u7684uart\u901a\u4fe1\u534f\u8bae\u53ea\u80fd\u4f20\u8f93uint8_t\u7c7b\u578b\u7684\u6307\u9488\u6570\u636e\uff0c\u6240\u4ee5\u8fd9\u91cc\u91c7\u7528\u5e38\u7528\u7684\u4f4d\u8fd0\u7b97\u628a\u6570\u636e\u5904\u7406\u4e3a\u9ad8\u516b\u4f4d\u548c\u4f4e\u516b\u4f4d\u7684\u683c\u5f0f\u3002<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t<div class=\"elementor-element elementor-element-84fa85e e-flex e-con-boxed e-con e-parent\" data-id=\"84fa85e\" data-element_type=\"container\">\n\t\t\t\t\t<div class=\"e-con-inner\">\n\t\t\t\t<div class=\"elementor-element elementor-element-7ec20fc elementor-widget elementor-widget-heading\" data-id=\"7ec20fc\" data-element_type=\"widget\" data-widget_type=\"heading.default\">\n\t\t\t\t\t<h2 class=\"elementor-heading-title elementor-size-default\">\/\/\u4e3b\u63a7Receive<\/h2>\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-d3f2162 elementor-widget elementor-widget-code-highlight\" data-id=\"d3f2162\" data-element_type=\"widget\" data-widget_type=\"code-highlight.default\">\n\t\t\t\t\t\t\t<div class=\"prismjs-default copy-to-clipboard \">\n\t\t\t<pre data-line=\"\" class=\"highlight-height language-c line-numbers\">\n\t\t\t\t<code readonly=\"true\" class=\"language-c\">\n\t\t\t\t\t<xmp>void UART_Main_RxPrase(void)\r\n{\r\n    uint8_t main_rxbuf_temp[11];\r\n\r\n    for(int i = 0; i < 11; i++)\r\n    {\r\n        if(main_rxbuf[i] == 0xAA && main_rxbuf[i+1] == 0x55)\r\n        {\r\n            memcpy(main_rxbuf_temp, main_rxbuf, 11);\r\n            for(int k = 0; k < i; k++){\r\n                int temp = main_rxbuf_temp[0];\r\n                for (int j = 1; j < 11; j++){\r\n                    main_rxbuf_temp[j-1] = main_rxbuf_temp[j];\r\n                }\r\n                main_rxbuf_temp[10] = temp;\r\n            }\r\n\r\n            uint8_t sum = main_rxbuf_temp[2] + main_rxbuf_temp[3] + main_rxbuf_temp[4] + main_rxbuf_temp[5] + main_rxbuf_temp[6] + main_rxbuf_temp[7] + main_rxbuf_temp[8] + main_rxbuf_temp[9];\r\n            if(sum == main_rxbuf_temp[10])\r\n            {\r\n                Real_Speed_From_Sub[0] = (int16_t)((main_rxbuf_temp[3] << 8) | main_rxbuf_temp[2]);\r\n                Real_Speed_From_Sub[1] = (int16_t)((main_rxbuf_temp[5] << 8) | main_rxbuf_temp[4]);\r\n                Real_Speed_From_Sub[2] = (int16_t)((main_rxbuf_temp[7] << 8) | main_rxbuf_temp[6]);\r\n                Real_Speed_From_Sub[3] = (int16_t)((main_rxbuf_temp[9] << 8) | main_rxbuf_temp[8]);\r\n            }\r\n        }\r\n    }\r\n}<\/xmp>\n\t\t\t\t<\/code>\n\t\t\t<\/pre>\n\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-6aeca4a elementor-widget elementor-widget-text-editor\" data-id=\"6aeca4a\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t\t\t\t\t\t<p>\u6b64\u5904\u539f\u7406\u540c\u4e0a\uff0c\u91c7\u7528for\u5faa\u73af\u5904\u7406\u5e27\u5934\uff0c\u4f7f\u5176\u4fdd\u6301\u5728\u7b2c\u4e00\u4f4d\u3002\u518d\u7528\u6309\u4f4d\u6216\u8fd0\u7b97\u8fd8\u539f\u5e26\u65b9\u5411\u7684Real_Speed\u6570\u636e\u3002<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t<div class=\"elementor-element elementor-element-bae8b6e e-flex e-con-boxed e-con e-parent\" data-id=\"bae8b6e\" data-element_type=\"container\">\n\t\t\t\t\t<div class=\"e-con-inner\">\n\t\t\t\t<div class=\"elementor-element elementor-element-78324e1 elementor-widget elementor-widget-heading\" data-id=\"78324e1\" data-element_type=\"widget\" data-widget_type=\"heading.default\">\n\t\t\t\t\t<h2 class=\"elementor-heading-title elementor-size-default\">\/\/\u603b\u7ed3<\/h2>\t\t\t\t<\/div>\n\t\t\t\t<div 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