代码收藏家 学习STM32CubeMX HAL：JY901S串口通信记录
一、配置过程
1、配置RCC、SYS、USART1、时钟84MHz
2、配置TIM6，10ms，允许中断，作为控制周期
3、配置USART3，允许中断，其他默认
二、代码编写
1、移植入jy901s的c与h文件
#include "jy901s.h"
#include <string.h>
#include "usart.h"
struct STime stcTime;
struct SAcc stcAcc;
struct SGyro stcGyro;
struct SAngle stcAngle;
struct SMag stcMag;
struct SDStatus stcDStatus;
struct SPress stcPress;
struct SLonLat stcLonLat;
struct SGPSV stcGPSV;
struct SQ stcQ;
char ACCCALSW[5] = {0XFF,0XAA,0X01,0X01,0X00};//进入加速度校准模式
char SAVACALSW[5]= {0XFF,0XAA,0X00,0X00,0X00};//保存当前配置
char MAGNETICCALAM[5] = {0XFF,0XAA,0X01,0X07,0X00};
char SAVEMAGNETICCALAM[5] = {0XFF,0XAA,0X00,0X00,0X00};
//用串口3给JY模块发送指令
void sendcmd(char cmd[])
{
char i;
for(i=0;i<5;i++)
UART3_send_char(cmd[i]);
}
void uart3_read_data(unsigned char ucData)
{
static unsigned char ucRxBuffer[256];
static unsigned char ucRxCount = 0;
ucRxBuffer[ucRxCount++]=ucData; //将收到的数据存入缓冲区中
if (ucRxBuffer[0]!=0x55) //数据头
{
ucRxCount=0;
return;
}
if (ucRxCount<11) {return;} //数据不满11个，则返回
else
{
switch(ucRxBuffer[1])//判断数据是哪种数据，然后将其拷贝到对应的结构体中，有些数据包需要通过上位机打开对应的输出后，才能接收到这个数据包的数据
{
//memcpy为编译器自带的内存拷贝函数，需引用"string.h"，将接收缓冲区的字符拷贝到数据结构体里面，从而实现数据的解析。
case 0x50: memcpy(&stcTime,&ucRxBuffer[2],8);break;
case 0x51: memcpy(&stcAcc,&ucRxBuffer[2],8);break;
case 0x52: memcpy(&stcGyro,&ucRxBuffer[2],8);break;
case 0x53: memcpy(&stcAngle,&ucRxBuffer[2],8);break;
case 0x54: memcpy(&stcMag,&ucRxBuffer[2],8);break;
case 0x55: memcpy(&stcDStatus,&ucRxBuffer[2],8);break;
case 0x56: memcpy(&stcPress,&ucRxBuffer[2],8);break;
case 0x57: memcpy(&stcLonLat,&ucRxBuffer[2],8);break;
case 0x58: memcpy(&stcGPSV,&ucRxBuffer[2],8);break;
case 0x59: memcpy(&stcQ,&ucRxBuffer[2],8);break;
}
ucRxCount=0; //清空缓存区
}
}#ifndef _JY901S_H
#define _JY901S_H
#include "stm32f4xx_hal.h"
void sendcmd(char cmd[]);
void uart3_read_data(unsigned char ucData);
#define SAVE 0x00
#define CALSW 0x01
#define RSW 0x02
#define RRATE 0x03
#define BAUD 0x04
#define AXOFFSET 0x05
#define AYOFFSET 0x06
#define AZOFFSET 0x07
#define GXOFFSET 0x08
#define GYOFFSET 0x09
#define GZOFFSET 0x0a
#define HXOFFSET 0x0b
#define HYOFFSET 0x0c
#define HZOFFSET 0x0d
#define D0MODE 0x0e
#define D1MODE 0x0f
#define D2MODE 0x10
#define D3MODE 0x11
#define D0PWMH 0x12
#define D1PWMH 0x13
#define D2PWMH 0x14
#define D3PWMH 0x15
#define D0PWMT 0x16
#define D1PWMT 0x17
#define D2PWMT 0x18
#define D3PWMT 0x19
#define IICADDR 0x1a
#define LEDOFF 0x1b
#define GPSBAUD 0x1c
#define YYMM 0x30
#define DDHH 0x31
#define MMSS 0x32
#define MS 0x33
#define AX 0x34
#define AY 0x35
#define AZ 0x36
#define GX 0x37
#define GY 0x38
#define GZ 0x39
#define HX 0x3a
#define HY 0x3b
#define HZ 0x3c
#define Roll 0x3d
#define Pitch 0x3e
#define Yaw 0x3f
#define TEMP 0x40
#define D0Status 0x41
#define D1Status 0x42
#define D2Status 0x43
#define D3Status 0x44
#define PressureL 0x45
#define PressureH 0x46
#define HeightL 0x47
#define HeightH 0x48
#define LonL 0x49
#define LonH 0x4a
#define LatL 0x4b
#define LatH 0x4c
#define GPSHeight 0x4d
#define GPSYAW 0x4e
#define GPSVL 0x4f
#define GPSVH 0x50
#define q0 0x51
#define q1 0x52
#define q2 0x53
#define q3 0x54
#define DIO_MODE_AIN 0
#define DIO_MODE_DIN 1
#define DIO_MODE_DOH 2
#define DIO_MODE_DOL 3
#define DIO_MODE_DOPWM 4
#define DIO_MODE_GPS 5
struct STime
{
unsigned char ucYear;
unsigned char ucMonth;
unsigned char ucDay;
unsigned char ucHour;
unsigned char ucMinute;
unsigned char ucSecond;
unsigned short usMiliSecond;
};
struct SAcc
{
short a[3];
short T;
};
struct SGyro
{
short w[3];
short T;
};
struct SAngle
{
short Angle[3];
short T;
};
struct SMag
{
short h[3];
short T;
};
struct SDStatus
{
short sDStatus[4];
};
struct SPress
{
long lPressure;
long lAltitude;
};
struct SLonLat
{
long lLon;
long lLat;
};
struct SGPSV
{
short sGPSHeight;
short sGPSYaw;
long lGPSVelocity;
};
struct SQ
{ short q[4];
};
#endif
2、串口读取数据代码
static unsigned char TxBuffer[256];
static unsigned char TxCounter=0;
static unsigned char count=0;
void UART3_send_char(unsigned char data)
{
TxBuffer[count++] = data;
}
void UART3_send_string(unsigned char *str)
{
while(*str)
{
if(*str=='\r')UART3_send_char(0x0d);
else if(*str=='\n')UART3_send_char(0x0a);
else UART3_send_char(*str);
str++;
}
}
uint8_t Rxdata;
extern void uart3_read_data(unsigned char ucData);
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
{
if (huart->Instance==USART3)
{
HAL_UART_Receive_IT(&huart3,&Rxdata,1);
uart3_read_data(Rxdata); //处理数据
}
}3、main中代码
extern char ACCCALSW[5];//进入加速度校准模式
extern char SAVACALSW[5];//保存当前配置
extern char MAGNETICCALAM[5]; //磁力计校准
extern char SAVEMAGNETICCALAM[5]; //保存配置
extern uint8_t Rxdata;
HAL_TIM_Base_Start_IT(&htim6);
HAL_UART_Receive_IT(&huart3,&Rxdata,1);
sendcmd(ACCCALSW);HAL_Delay(100); //加速度计校准
sendcmd(SAVACALSW);HAL_Delay(100);//保存当前配置
sendcmd(MAGNETICCALAM); HAL_Delay(100); //磁力计校准
sendcmd(SAVEMAGNETICCALAM);HAL_Delay(100);//保存当前配置4、定时器积分得到航向角
