Raspberry Pi 和 Arduino 之间的简单 2 路串行通信
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【中文标题】Raspberry Pi 和 Arduino 之间的简单 2 路串行通信【英文标题】:Simple 2-way serial communication between Raspberry Pi and Arduino 【发布时间】:2018-07-31 15:10:37 【问题描述】:我想在我的 Raspberry Pi 和我的 Arduino 之间进行简单的 2 路串行通信。这是一个项目,我将用另一个我还没有的串行设备替换 Arduino。
我已经完成了从 Arduino 到 Raspberry Pi 的单向通信 (https://maker.pro/raspberry-pi/tutorial/how-to-connect-and-interface-raspberry-pi-with-arduino),但是在使用 2-way 时遇到了一点麻烦。我使用的 Arduino 代码来自这个例子:https://www.arduino.cc/en/Serial/Read:
int incomingByte = 0; // for incoming serial data
void setup()
Serial.begin(9600); // opens serial port, sets data rate to 9600 bps
void loop()
// send data only when you receive data:
if (Serial.available() > 0)
// read the incoming byte:
incomingByte = Serial.read();
// say what you got:
Serial.print("I received: ");
Serial.println(incomingByte, DEC);
而我使用的 Python 代码是这样的:
import serial
import time
ser = serial.Serial('/dev/ttyACM1',9600)
var1 = "3"
while True:
ser.write(var1.encode())
time.sleep(0.2)
read_serial=ser.readline()
print read_serial
通过网络查看后,我将要发送的值从 ser.write('3') 更改为字符串 'var1' 并在之后放置 '.encode()' 以便编码为字节。没有错误出现,但没有任何事情发生/正在被写出。
这样做的目的是让 Raspberry Pi 向 Arduino 发送一个“3”,而 Arduino 以“我收到:3”作为响应,这应该打印在 Raspberry Pi/Python 的终端窗口中。从那里我想我可以让它更复杂地实现我发送这样一个命令的目标:'0 30 50 100',我没有的设备会响应。
感谢您的帮助。谢谢。
【问题讨论】:
尝试在ser.write
行之后添加延迟
到目前为止,您只显示了 RasPi 代码。但是需要两个人沟通。因此,了解 Arduino 的功能也很重要。 Arduino 如何读取 RasPi 发送给它的内容?它是否在等待 RasPi 未发送的终结符(\r
或 \n
)?
Arduino 代码取自 Arduino 网站链接的示例。
所以,我添加了延迟,但仍然没有任何反应。
【参考方案1】:
我迟到了,但我希望这对其他人有所帮助。 我试图进行双向通信,我可以从双方发送和接收字符串数据,这就是我所做的:- Arduino方面:-
void setup()
Serial.begin(9600); // begin transmission
void loop()
String val;
while (Serial.available() > 0)
val = val + (char)Serial.read(); // read data byte by byte and store it
Serial.print(val); // send the received data back to raspberry pi
在覆盆子方面我有(python):-
import serial
port = "/dev/ttyACM0"#put your port here
baudrate = 9600
ser = serial.Serial(port, baudrate)
def tell(msg):
msg = msg + '\n'
x = msg.encode('ascii') # encode n send
ser.write(x)
def hear():
msg = ser.read_until() # read until a new line
mystring = msg.decode('ascii') # decode n return
return mystring
while True:
val = input() # take user input
tell(val) # send it to arduino
var = hear() # listen to arduino
print(var) #print what arduino sent
我希望很清楚 Arduino 从树莓派收到消息并将同样的信息发送回 Arduino。同样,你可以用它做一些其他的事情。
【讨论】:
【参考方案2】:在我的项目中,我的目标是通过串行接口在 Arduino 和 Raspberry Pi 之间建立双向数据交换。 Raspberry Pi 发送 Arduino 命令执行,Arduino 发送 Raspberry Pi 传感器读数(当前为随机数)。
目前,该项目包括两个用 Python 编写的 Raspberry Pi 脚本和一个 Arduino 程序。 Raspberry Pi 的第一个脚本使用 URWID 库组织图形界面和命令输入,第二个脚本用于与串行端口通信。来源如下。操作的结果中规中矩,但也许是我做错了什么?这个问题的解决方法正确吗?
Arduino 软件:
#define SERIAL_SPEED 19200 // the speed of the serial port
#define READ_SENSOR_INTERVAL 1000UL // frequency of output to the serial port
int IN1 = 7;
int IN2 = 6;
int IN3 = 5;
int IN4 = 4;
int ENA = 9;
int ENB = 3;
char command = 'S';
char prevCommand = 'A';
int velocity = (4 + 1) * 10 + 100; // the fill factor of the PWM
unsigned long timer0 = 2000;
unsigned long timer1 = 0;
long randNumber;
long myflag = 0;
void setup()
Serial.begin(SERIAL_SPEED);
pinMode (ENA, OUTPUT);
pinMode (IN1, OUTPUT);
pinMode (IN2, OUTPUT);
pinMode (ENB, OUTPUT);
pinMode (IN4, OUTPUT);
pinMode (IN3, OUTPUT);
void loop()
static unsigned long prevSensorTime = 0;
if (millis() - prevSensorTime > READ_SENSOR_INTERVAL)
prevSensorTime = millis();
if (myflag == 1)
randNumber = random(300);
Serial.print(command);
Serial.println(randNumber);
if (Serial.available() > 0)
timer1 = millis();
prevCommand = command;
command = Serial.read();
myflag = 1;
if (command != prevCommand)
switch (command)
case 'W':
// Вперёд
analogWrite(ENA, 0);
analogWrite(ENB, 0);
delay(20);
digitalWrite (IN2, LOW);
digitalWrite (IN1, HIGH);
digitalWrite (IN4, LOW);
digitalWrite (IN3, HIGH);
analogWrite(ENA, velocity);
analogWrite(ENB, velocity);
break;
case 'A':
analogWrite(ENA, 0);
analogWrite(ENB, 0);
delay(20);
digitalWrite (IN2, LOW);
digitalWrite (IN1, HIGH);
digitalWrite (IN4, HIGH);
digitalWrite (IN3, LOW);
analogWrite(ENA, velocity);
analogWrite(ENB, velocity);
break;
case 'S':
analogWrite(ENA, 0);
analogWrite(ENB, 0);
delay(20);
digitalWrite (IN2, HIGH);
digitalWrite (IN1, LOW);
digitalWrite (IN4, HIGH);
digitalWrite (IN3, LOW);
analogWrite(ENA, velocity);
analogWrite(ENB, velocity);
break;
case 'D':
analogWrite(ENA, 0);
analogWrite(ENB, 0);
delay(20);
// A
digitalWrite (IN2, HIGH);
digitalWrite (IN1, LOW);
// B
digitalWrite (IN4, LOW);
digitalWrite (IN3, HIGH);
analogWrite(ENA, velocity);
analogWrite(ENB, velocity);
break;
case ' ':
//velocity = 0;
analogWrite(ENA, 0);
analogWrite(ENB, 0);
break;
default:
if ((command >= 48) && (command <= 57))
if (command == 48)
velocity = 0;
else
velocity = (command - 48 + 1) * 10 + 100;
else
timer0 = millis(); // Получение текущего времени
if ((unsigned long)(timer0 - timer1) > 20000)
analogWrite(ENA, 0);
analogWrite(ENB, 0);
prevCommand = ' ';
Python GUI 脚本
from __future__ import print_function, absolute_import, division
import subprocess
import urwid
import serial
from subprocess import Popen, PIPE
from time import sleep
def exit_on_q(key):
global power
global ser
global spower
global p
global currc
if key in ('q', 'Q'):
p.stdin.write(b'Q\n')
p.stdin.flush()
sleep(1)
raise urwid.ExitMainLoop()
if key in ('w', 'W'):
# forward
currc = 'W - Forward'
p.stdin.write(b'W\n')
p.stdin.flush()
if key in ('a', 'A'):
# Left
currc = 'A - Left'
p.stdin.write(b'A\n')
p.stdin.flush()
if key in ('s', 'S'):
# Backward
currc = 'S - Backward'
p.stdin.write(b'S\n')
p.stdin.flush()
if key in ('d', 'D'):
# Right
currc = 'D - Right'
p.stdin.write(b'D\n')
p.stdin.flush()
if key in (' '):
# Stop
currc = 'Space - Stop'
p.stdin.write(b' \n')
p.stdin.flush()
if key in ('+'):
if (power < 99):
power = power + 10
spower = spower + 1
txt_CP.set_text(('banner', str(power)))
if key in ('-'):
if (power > 0):
power = power - 10
spower = spower - 1
txt_CP.set_text(('banner', str(power)))
txt_CCV.set_text(('banner', currc))
def enter_idle():
loop.remove_watch_file(pipe.stdout)
def update_text(read_data):
txt_Q.set_text(('banner', read_data))
if __name__ == '__main__':
currc = "No command"
palette = [
('banner', 'black', 'light gray'),
('streak', 'black', 'dark blue'),
('bg', 'black', 'dark blue'),]
# spower = 0..9 (48 .. 57)
spower = 4
power = spower * 10
txt_F = urwid.Text(('banner', u"W - Forward (\u2191)"), align='center')
txt_LRS = urwid.Text(('banner', u"\u2190 A - Left | Space - Stop | D - Right \u2192"), align='center')
txt_B = urwid.Text(('banner', u"S - Backward (\u2193)"), align='center')
txt_P = urwid.Text(('banner', u"'+' Increase motor power | '-' Decrease motor power"), align='center')
txt_C = urwid.Text(('banner', u"Current power:"), align='center')
txt_CP = urwid.Text(('banner', str(power)), align='center')
# current command
txt_CC = urwid.Text(('banner', u"Current command: "), align='center')
txt_CCV = urwid.Text(('banner', u"No command"), align='center')
txt_Log = urwid.Text(('banner', u"Log: "), align='center')
txt_LogV = urwid.Text(('banner', u""), align='center')
txt_Q = urwid.Text(('banner', u"Q - Quit"), align='center')
#empty string
txt_E = urwid.Text(('banner', u""), align='center')
pile = urwid.Pile([txt_F, txt_LRS, txt_B, txt_E, txt_P, txt_C, txt_CP, txt_E, txt_CC, txt_CCV, txt_E, txt_Log, txt_LogV, txt_E, txt_Q ])
top = urwid.Filler(pile, top = 5)
loop = urwid.MainLoop(top, palette, unhandled_input=exit_on_q, handle_mouse=False)
stdout = loop.watch_pipe(update_text)
stderr = loop.watch_pipe(update_text)
p = subprocess.Popen(['python3', 'shell_edt.py'], stdin = PIPE, stdout = stdout, stderr = stdout, shell = False)
loop.run()
Python 通信脚本
import sys
import threading
import serial
from time import sleep
global currcomm
readtimer = 1 #
def read():
global serialport
global currcomm
threading.Timer(readtimer, read).start()
if (currcomm != -1):
data = serialport.read(10);
print(str(data) + " : " + str(len(data)))
sys.stdout.flush();
#sleep(0.5) '''
serialport = serial.Serial("/dev/ttyACM0", 19200, timeout=0.2)
data = serialport.read(100);
currcomm = -1
threading.Timer(readtimer, read).start()
sleep(1)
while True:
currcomm = input()
if (currcomm == 'S') or (currcomm == 'D') or (currcomm == 'W') or (currcomm == 'A') or (currcomm == ' '):
serialport.write(bytes(currcomm, encoding = 'utf-8'));
if (currcomm == 'Q'):
serialport.close() # Only executes once the loop exits
【讨论】:
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