串口以字符串接收和发送
将传输的数据转化为整数（正负）
stm32发送端
motor_position = Read_Encoder_Angle(Encoder);sensor_position = Get_Adc_Average_Angle(Adc);motor_velocity = Read_Encoder_Speed(Encoder);sensor_velocity = Get_Adc_Average_Speed(); sprintf(data_str, "%-8.4f, %-8.4f, %-8.4f, %-8.4f\n", motor_position , sensor_position , motor_velocity , sensor_velocity );Usart_SendString(USART1, data_str);
stm32接收端
接收数据格式为:\t16900\r\n,其中第一位“\t”为帧头,第二位数据1为奇偶校验位，最后两位数据"\r\n"为帧尾，中间数据为实际传输数据，即“6900”。
void USART1_IRQHandler(void) //串口1中断服务程序{if(USART_GetITStatus(USART1, USART_IT_RXNE) != RESET) //接收中断(接收到的数据必须是0x0d 0x0a结尾){Res = USART_ReceiveData(USART1); //读取接收到的数据 0x2D，0x31，0x30，0x30，0x30，0x0D，0x0Aif((USART_RX_STA&0x8000)==0)//接收未完成{if(USART_RX_STA&0x4000)//接收到了0x0D{if(Res!=0x0A){USART_RX_STA=0;//接收错误,重新开始memset(USART_RX_BUF,0,USART_REC_LEN);}else{USART_RX_STA|=0x8000; //接收完成了check_flag = count_odd_numbers(2);USART_RX_BUF[1] = USART_RX_BUF[1] - '0';if(USART_RX_BUF[0] == '\t'&& USART_RX_BUF[1] == check_flag ) // 判断帧头是否正确、判断奇偶校验位是否正确 || USART_RX_BUF[1] == check_flag{float value = 0;int16_t sign = 1;int a = 2;for (int i = a; i < (USART_RX_STA&0X3FFF); i++) {value = value * 10 + USART_RX_BUF[i] - '0'; }action = sign * value;USART_RX_STA = 0; memset(USART_RX_BUF,0,USART_REC_LEN);}else{USART_RX_STA = 0; memset(USART_RX_BUF,0,USART_REC_LEN);}} }else //还没收到0X0D{ if(Res==0x0D)USART_RX_STA|=0x4000;else{ USART_RX_BUF[USART_RX_STA&0X3FFF]=Res ;USART_RX_STA++;if(USART_RX_STA>(USART_REC_LEN-1)){USART_RX_STA=0;//接收数据错误,重新开始接收memset(USART_RX_BUF,0,USART_REC_LEN);} } }}}
}
将传输的数据转化为浮点数（正负）
stm32发送端
motor_position = Read_Encoder_Angle(Encoder);sensor_position = Get_Adc_Average_Angle(Adc);motor_velocity = Read_Encoder_Speed(Encoder);sensor_velocity = Get_Adc_Average_Speed(); sprintf(data_str, "%-8.4f, %-8.4f, %-8.4f, %-8.4f\n", motor_position , sensor_position , motor_velocity , sensor_velocity );Usart_SendString(USART1, data_str);
stm32接收端
接收数据格式为:\t11.0246\r\n,其中第一位“\t”为帧头,第二位数据1为奇偶校验位，最后两位数据"\r\n"为帧尾，中间数据为实际传输数据，即“1.0246”。
void USART1_IRQHandler(void) //串口1中断服务程序{if(USART_GetITStatus(USART1, USART_IT_RXNE) != RESET) //接收中断(接收到的数据必须是0x0d 0x0a结尾){Res = USART_ReceiveData(USART1); //读取接收到的数据 0x2D，0x31，0x30，0x30，0x30，0x0D，0x0Aif((USART_RX_STA&0x8000)==0)//接收未完成{if(USART_RX_STA&0x4000)//接收到了0x0D{if(Res!=0x0A){USART_RX_STA=0;//接收错误,重新开始memset(USART_RX_BUF,0,USART_REC_LEN);}else{USART_RX_STA|=0x8000; //接收完成了check_flag = count_odd_numbers(2);USART_RX_BUF[1] = USART_RX_BUF[1] - '0'; // 串口接收的是ASCII码，将其与'0'作差，则获得相应的整数。if(USART_RX_BUF[0] == '\t'&& USART_RX_BUF[1] == check_flag ) // 判断帧头是否正确、判断奇偶校验位是否正确 || USART_RX_BUF[1] == check_flag{float value = 0;int16_t sign = 1;int a = 2;if(USART_RX_BUF[2] == '-'){sign = -1;a = 3;}for (int i = a; i < (USART_RX_STA&0X3FFF); i++) {if(USART_RX_BUF[i] != '.'){value = value * 10 + USART_RX_BUF[i] - '0'; value += (USART_RX_BUF[i] - '0') * pow(10, -(i - a));}else{a = a+ 1;}}action = sign * value;USART_RX_STA = 0; memset(USART_RX_BUF,0,USART_REC_LEN);}else{USART_RX_STA = 0; memset(USART_RX_BUF,0,USART_REC_LEN);}} }else //还没收到0X0D{ if(Res==0x0D)USART_RX_STA|=0x4000;else{ USART_RX_BUF[USART_RX_STA&0X3FFF]=Res ;USART_RX_STA++;if(USART_RX_STA>(USART_REC_LEN-1)){USART_RX_STA=0;//接收数据错误,重新开始接收memset(USART_RX_BUF,0,USART_REC_LEN);} } }}}
}
