求救啊 arduino 串口读写问题

QQ1641085143 · 发表于 2023-4-23 10:55:33

最近想拿arduino和xbox手柄写一个航模的遥控器
初期很顺利地利用unity写好了桌面端，然后写了一个Arduino，就是把串口里传来的字符串英文中间夹杂的数字取出来转换成整数然后再用舵机writemicrowsecond输出为pwm信号，就这么简单一个程序，却怎么也完不成了
先是买来的si4438模块由于电脑端写入量太大直接死机，我在电脑端修改了发送串口数据的频率，然后Arduino端用readBytesUntil函数读写，却发现这个函数总是读不完便停止了读写，导致后边的验证完整性的函数验证不过去，数据丢失率达到了95%,也就是说电脑端发送100条数据，Arduino端有95条是读错的，读错是因为读成了两端段，这个字符串长度是26，为了让这个函数不提前结束，我还特意加大了读取的范围，结果还是不行，后来我减小了电脑端输出数据的频率，由0.2秒改为1秒，结果这个函数还是都不完整，求大神来帮帮我

阿里电子 · 发表于 2023-4-23 10:56:31

#include<Wire.h>
#include<Servo.h>
#include<SoftwareSerial.h>

#define T 2
#define R 3
#define P 4
#define Y 5

#define A1 6
#define A2 7
#define A3 10
#define A4 11

#define cx 15
#define cy 16

#define RX 8
#define TX 9

Servo tservo;//throttle
Servo rservo;//roll
Servo pservo;//pitch
Servo yservo;//yaw

Servo a1servo;//aux1
Servo a2servo;//aux2
Servo a3servo;//aux3
Servo a4servo;//au4

Servo cxservo;//camerax
Servo cyservo;//cameray

SoftwareSerial sserial(8, 9);

char infostore[26] = {0};

void setup() {
  // put your setup code here, to run once:
  pinMode(T, OUTPUT); //T
  pinMode(R, OUTPUT); //R
  pinMode(P, OUTPUT); //P
  pinMode(Y, OUTPUT); //Y
  pinMode(A1, OUTPUT); //A1
  pinMode(A2, OUTPUT); //A2
  pinMode(A3, OUTPUT); //A3
  pinMode(A4, OUTPUT); //A4
  pinMode(cx, OUTPUT); //X
  pinMode(cy, OUTPUT); //Y

  tservo.attach(T);
  rservo.attach(R);
  pservo.attach(P);
  yservo.attach(Y);

  a1servo.attach(A1);
  a2servo.attach(A2);
  a3servo.attach(A3);
  a4servo.attach(A4);

  Serial.begin(9600);

  sserial.begin(9600);
}

void loop() {
  // put your main code here, to run repeatedly:
  char readbuffer[64];
  char checkbuffer;
  while(Serial.available()!=true)
  {
;
  }
  delay(5);
  //sserial.println("ready");
  checkbuffer = Serial.read();
  for (; checkbuffer != '#';)
  {
checkbuffer = Serial.read();
  }

  Serial.println("get");
  Serial.readBytesUntil('#', readbuffer, 64);
  readbuffer[63] = 0;
  Serial.println(readbuffer);
  if (readbuffer[24] == 'E')
  {
Serial.println("ture");
for (int i = 0; i <= 25; i++)
{
   infostore = readbuffer;
}
memset( readbuffer, 0, sizeof(readbuffer) );
while (Serial.read() >= 0) {};
putout();
delay(2);
  }
}
void putout()
{
  char tpwm[4];
  char rpwm[4];
  char ppwm[4];
  char ypwm[4];
  char a1info;
  char a2info;
  char a3info;
  char a4info;
  char Xinfo;
  char Yinfo;
  int ti, ri, pi, yi;
  int t, r, p, y;
  int a1, a2, a3, a4;

  tpwm[0] = infostore[1];
  tpwm[1] = infostore[2];
  tpwm[2] = infostore[3];
  tpwm[3] = 0;
  //Serial.println(tpwm);

  rpwm[0] = infostore[5];
  rpwm[1] = infostore[6];
  rpwm[2] = infostore[7];
  rpwm[3] = 0;
  //Serial.println(rpwm);

  ppwm[0] = infostore[9];
  ppwm[1] = infostore[10];
  ppwm[2] = infostore[11];
  ppwm[3] = 0;
  //Serial.println(ppwm);

  ypwm[0] = infostore[13];
  ypwm[1] = infostore[14];
  ypwm[2] = infostore[15];
  ypwm[3] = 0;
  //Serial.println(ypwm);

  a1info = infostore[17];
  a2info = infostore[18];
  a3info = infostore[19];
  a4info = infostore[20];

  ti = ctoi(tpwm);
  ri = ctoi(rpwm);
  pi = ctoi(ppwm);
  yi = ctoi(ypwm);

  t = ti * 10;
  r = ri * 10;
  p = pi * 10;
  y = yi * 10;

//  sserial.println(t);
//  sserial.println(r);
//  sserial.println(p);
//  sserial.println(y);
//  Serial.println(t);
//  Serial.println(r);
//  Serial.println(p);
//  Serial.println(y);

  a1 = 0;
  a2 = 0;
  a3 = 0;
  a4 = 0;
  tservo.writeMicroseconds(t);
  rservo.writeMicroseconds(r);
  pservo.writeMicroseconds(p);
  yservo.writeMicroseconds(y);

  a1servo.writeMicroseconds(a1);
  a2servo.writeMicroseconds(a2);
  a3servo.writeMicroseconds(a3);
  a4servo.writeMicroseconds(a4);
  delay(3);
}

int ctoi(char a[3])
{
  if (a[0] != '0' || a[1] != '0' || a[2] != '0')
  {
int b, c, d, e;
b = ((int)a[0]) - 48;
c = ((int)a[1]) - 48;
d = ((int)a[2]) - 48;
e = (b * 100) + (c * 10) + (d);
//Serial.println(e);
return e;
  }
  else {
return 0;
  }
}