初始提交：龙芯2K0300智能车卖家Demo完整代码

2026-05-28 15:24:33 +08:00
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+/*
+ * @Author: Ilikara 3435193369@qq.com
+ * @Date: 2025-01-26 17:00:24
+ * @LastEditors: ilikara 3435193369@qq.com
+ * @LastEditTime: 2025-02-28 08:42:56
+ * @FilePath: /2k300_smartcar/jy62_demo/jy62_demo.cpp
+ * @Description:
+ *
+ * Copyright (c) 2025 by ${git_name_email}, All Rights Reserved.
+ */
+#include <iostream>
+#include <fcntl.h>
+#include <unistd.h>
+#include <cstring>
+#include <vector>
+#include <cstdint>
+#include <termios.h>
+#include <atomic>
+
+const size_t PACKET_LENGTH = 11;
+
+const uint8_t HEADER = 0x55;
+
+std::atomic<int16_t> accel[3], gyro[3], angle[3];
+
+uint8_t calculateChecksum(const std::vector<uint8_t> &data)
+{
+    uint8_t checksum = 0;
+    for (uint8_t byte : data)
+    {
+        checksum += byte;
+    }
+    return checksum;
+}
+
+bool parsePacket(const std::vector<uint8_t> &packet)
+{
+    if (packet[0] != HEADER)
+    {
+        return false;
+    }
+    if (packet[1] > 0x53 || packet[1] < 0x51)
+    {
+        return false;
+    }
+
+    uint8_t receivedChecksum = packet.back();
+    uint8_t calculatedChecksum = calculateChecksum(std::vector<uint8_t>(packet.begin(), packet.end() - 1));
+
+    return receivedChecksum == calculatedChecksum;
+}
+
+bool setupSerialPort(int fd, int baudRate)
+{
+    struct termios tty;
+    memset(&tty, 0, sizeof tty);
+
+    // 获取当前串口配置
+    if (tcgetattr(fd, &tty) != 0)
+    {
+        std::cerr << "Error getting terminal attributes" << std::endl;
+        return false;
+    }
+
+    // 设置输入输出波特率
+    cfsetospeed(&tty, baudRate);
+    cfsetispeed(&tty, baudRate);
+
+    // 设置数据位为 8 位
+    tty.c_cflag &= ~CSIZE;
+    tty.c_cflag |= CS8;
+
+    // 禁用奇偶校验
+    tty.c_cflag &= ~PARENB;
+
+    // 设置停止位为 1 位
+    tty.c_cflag &= ~CSTOPB;
+
+    // 禁用硬件流控制
+    tty.c_cflag &= ~CRTSCTS;
+
+    // 启用接收和本地模式
+    tty.c_cflag |= CREAD | CLOCAL;
+
+    // 禁用软件流控制
+    tty.c_iflag &= ~(IXON | IXOFF | IXANY);
+
+    // 设置原始模式（禁用规范模式）
+    tty.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG);
+
+    // 禁用输出处理
+    tty.c_oflag &= ~OPOST;
+
+    // 设置读取超时和最小读取字符数
+    tty.c_cc[VMIN] = 1;  // 至少读取 1 个字符
+    tty.c_cc[VTIME] = 5; // 等待 0.5 秒
+
+    // 应用配置
+    if (tcsetattr(fd, TCSANOW, &tty) != 0)
+    {
+        std::cerr << "Error setting terminal attributes" << std::endl;
+        return false;
+    }
+
+    return true;
+}
+
+void data_handler(const std::vector<uint8_t> &packet)
+{
+    switch (packet[1])
+    {
+    case 0x51:
+        accel[0].store((int16_t)packet[3] << 8 | packet[2]);
+        accel[1].store((int16_t)packet[5] << 8 | packet[4]);
+        accel[2].store((int16_t)packet[7] << 8 | packet[6]);
+        break;
+    case 0x52:
+        gyro[0].store((int16_t)packet[3] << 8 | packet[2]);
+        gyro[1].store((int16_t)packet[5] << 8 | packet[4]);
+        gyro[2].store((int16_t)packet[7] << 8 | packet[6]);
+        break;
+    case 0x53:
+        angle[0].store((int16_t)packet[3] << 8 | packet[2]);
+        angle[1].store((int16_t)packet[5] << 8 | packet[4]);
+        angle[2].store((int16_t)packet[7] << 8 | packet[6]);
+        break;
+    }
+}
+
+int main()
+{
+    const char *device = "/dev/ttyS2";
+    int fd = open(device, O_RDWR | O_NOCTTY);
+    if (fd < 0)
+    {
+        std::cerr << "Failed to open " << device << std::endl;
+        return 1;
+    }
+
+    if (!setupSerialPort(fd, B115200))
+    {
+        std::cerr << "Failed to setup serial port" << std::endl;
+        close(fd);
+        return 1;
+    }
+
+    std::vector<uint8_t> buffer;
+    while (true)
+    {
+        uint8_t byte;
+        ssize_t n = read(fd, &byte, 1);
+        if (n > 0)
+        {
+            buffer.push_back(byte);
+
+            if (buffer.size() >= PACKET_LENGTH)
+            {
+                if (parsePacket(buffer))
+                {
+                    data_handler(buffer);
+                    buffer.erase(buffer.begin(), buffer.begin() + PACKET_LENGTH);
+                    std::cout << "accel:" << accel[0] << " " << accel[1] << " " << accel[2] << std::endl;
+                    std::cout << "gyro:" << gyro[0] << " " << gyro[1] << " " << gyro[2] << std::endl;
+                    std::cout << "angle:" << angle[0] << " " << angle[1] << " " << angle[2] << std::endl;
+                }
+                else
+                {
+                    std::cerr << "Invalid packet, discarding the first byte." << std::endl;
+                    buffer.erase(buffer.begin());
+                }
+            }
+        }
+        else if (n < 0)
+        {
+            std::cerr << "Error reading from UART." << std::endl;
+            break;
+        }
+    }
+
+    close(fd);
+    return 0;
+}