[{"data":1,"prerenderedAt":842},["ShallowReactive",2],{"wiki-page-/zh-hk/wiki/2023-12-30-ros2-tutorial/ch13-1-chuan-kou-tong-xin":3,"wiki-doc-items-/zh-hk/wiki/2023-12-30-ros2-tutorial/ch13-1-chuan-kou-tong-xin":474,"language-switcher-data-/zh-hk/wiki/2023-12-30-ros2-tutorial/ch13-1-chuan-kou-tong-xin":826,"wiki-i18n-paths-/zh-hk/wiki/2023-12-30-ros2-tutorial/ch13-1-chuan-kou-tong-xin":841},{"id":4,"title":5,"body":6,"canonicalPath":454,"chapter":455,"chapterSort":456,"date":457,"description":56,"docI18nKey":458,"docKey":459,"docRoot":460,"docTitle":461,"extension":462,"i18nKey":463,"isBlogPost":464,"isWikiDoc":465,"isWikiIndex":464,"layout":466,"legacyPath":466,"locale":467,"localeSlug":468,"meta":469,"navigation":465,"path":454,"seo":470,"sourcePath":471,"sourceStem":463,"stem":472,"wikiDepth":64,"__hash__":473},"content/_i18n/zh-hk/wiki/2023-12-30-ros2-tutorial/ch13-1-串口通信.md","UART串口通信",{"type":7,"value":8,"toc":444},"minimark",[9,14,18,21,40,43,47,50,81,84,87,162,165,169,172,262,265,268,334,337,340,348,351,374,377,383,387,390,396,399,405,408,411,414,440],[10,11,13],"h2",{"id":12},"linux-串口通信","Linux 串口通信",[15,16,17],"p",{},"串口通信是機器人和嵌入式項目中最常見的底層通信方式之一。",[15,19,20],{},"在實際項目中，上位機經常需要通過串口和 STM32、ESP32、Arduino、傳感器模塊、調試板等設備進行數據交互。例如：",[22,23,24,28,31,34,37],"ul",{},[25,26,27],"li",{},"上位機向 STM32 發送電機速度指令",[25,29,30],{},"STM32 向上位機返回編碼器數據",[25,32,33],{},"讀取 IMU、GPS、激光測距模塊等傳感器數據",[25,35,36],{},"使用 USB 轉串口模塊進行調試",[25,38,39],{},"在 ROS 2 底盤控制中和下位機通信",[15,41,42],{},"串口通信的特點是簡單、通用、成本低，特別適合上位機和單片機之間的點對點通信。",[44,45,46],"h3",{"id":46},"串口通信是什麼",[15,48,49],{},"串口通信通常指 UART 通信。在 Linux 上，常見的 USB 轉串口設備會被識別為類似下面的設備文件：",[51,52,57],"pre",{"className":53,"code":54,"language":55,"meta":56,"style":56},"language-bash shiki shiki-themes github-light github-dark","/dev/ttyUSB0\n/dev/ttyUSB1\n/dev/ttyACM0\n","bash","",[58,59,60,69,75],"code",{"__ignoreMap":56},[61,62,65],"span",{"class":63,"line":64},"line",1,[61,66,68],{"class":67},"sScJk","/dev/ttyUSB0\n",[61,70,72],{"class":63,"line":71},2,[61,73,74],{"class":67},"/dev/ttyUSB1\n",[61,76,78],{"class":63,"line":77},3,[61,79,80],{"class":67},"/dev/ttyACM0\n",[15,82,83],{},"程序只需要打開對應的設備文件，並設置好波特率、數據位、停止位、校驗位等參數，就可以進行數據收發。",[15,85,86],{},"常見參數包括：",[88,89,90,103],"table",{},[91,92,93],"thead",{},[94,95,96,100],"tr",{},[97,98,99],"th",{},"參數",[97,101,102],{},"説明",[104,105,106,122,130,138,146,154],"tbody",{},[94,107,108,112],{},[109,110,111],"td",{},"設備名",[109,113,114,115,118,119],{},"例如 ",[58,116,117],{},"/dev/ttyUSB0","、",[58,120,121],{},"/dev/ttyACM0",[94,123,124,127],{},[109,125,126],{},"波特率",[109,128,129],{},"例如 115200、921600",[94,131,132,135],{},[109,133,134],{},"數據位",[109,136,137],{},"常見為 8 位",[94,139,140,143],{},[109,141,142],{},"停止位",[109,144,145],{},"常見為 1 位",[94,147,148,151],{},[109,149,150],{},"校驗位",[109,152,153],{},"常見為無校驗",[94,155,156,159],{},[109,157,158],{},"流控",[109,160,161],{},"一般項目中常關閉硬件流控",[15,163,164],{},"在機器人項目中，串口通常不會只發送普通字符串，而是會設計自己的二進制通信協議，例如幀頭、長度、命令字、數據區、CRC 校驗等。",[44,166,168],{"id":167},"linux-下常見串口庫","Linux 下常見串口庫",[15,170,171],{},"Linux 下使用串口通信有多種方案，常見的包括：",[88,173,174,190],{},[91,175,176],{},[94,177,178,181,184,187],{},[97,179,180],{},"方案",[97,182,183],{},"類型",[97,185,186],{},"特點",[97,188,189],{},"適合場景",[104,191,192,206,220,234,248],{},[94,193,194,197,200,203],{},[109,195,196],{},"termios",[109,198,199],{},"Linux 原生接口",[109,201,202],{},"最底層、依賴少、通用性強，但代碼相對繁瑣",[109,204,205],{},"想深入理解 Linux 串口機制",[94,207,208,211,214,217],{},[109,209,210],{},"boost::asio",[109,212,213],{},"通用 C++ 庫",[109,215,216],{},"支持同步/異步，代碼結構較清晰，跨平台能力較好",[109,218,219],{},"推薦用於 C++ 工程封裝",[94,221,222,225,228,231],{},[109,223,224],{},"libserial",[109,226,227],{},"第三方串口庫",[109,229,230],{},"使用簡單，比 termios 更易上手",[109,232,233],{},"普通串口收發項目",[94,235,236,239,242,245],{},[109,237,238],{},"serial_driver",[109,240,241],{},"ROS 2 生態封裝",[109,243,244],{},"更方便接入 ROS 2，但不適合只依賴 ROS 2 以外的項目",[109,246,247],{},"純 ROS 2 項目或參考實現",[94,249,250,253,256,259],{},[109,251,252],{},"pyserial",[109,254,255],{},"Python 串口庫",[109,257,258],{},"使用非常簡單，適合快速測試",[109,260,261],{},"Python 調試腳本",[15,263,264],{},"這些庫本質上都是為了完成串口的打開、配置、讀取和寫入，只是封裝層次不同。",[44,266,267],{"id":267},"各方案對比",[88,269,270,282],{},[91,271,272],{},[94,273,274,276,279],{},[97,275,180],{},[97,277,278],{},"優點",[97,280,281],{},"缺點",[104,283,284,294,304,314,324],{},[94,285,286,288,291],{},[109,287,196],{},[109,289,290],{},"Linux 原生、依賴最少、底層能力強",[109,292,293],{},"配置繁瑣，初學者容易寫錯",[94,295,296,298,301],{},[109,297,210],{},[109,299,300],{},"C++ 工程友好，異步通信方便，適合封裝 driver",[109,302,303],{},"需要理解 asio 的基本模型",[94,305,306,308,311],{},[109,307,224],{},[109,309,310],{},"簡單易用，上手快",[109,312,313],{},"靈活性和工程可控性不如自己封裝",[94,315,316,318,321],{},[109,317,238],{},[109,319,320],{},"和 ROS 2 生態結合方便",[109,322,323],{},"離開 ROS 2 後複用性較差",[94,325,326,328,331],{},[109,327,252],{},[109,329,330],{},"調試快，適合腳本",[109,332,333],{},"不適合作為高性能 C++ 底層驅動主線",[44,335,336],{"id":336},"本教程建議選擇",[15,338,339],{},"本教程建議優先選擇：",[51,341,346],{"className":342,"code":344,"language":345,"meta":56},[343],"language-text","boost::asio\n","text",[58,347,344],{"__ignoreMap":56},[15,349,350],{},"原因是：",[22,352,353,359,362,365,371],{},[25,354,355,356,358],{},"比直接使用 ",[58,357,196],{}," 更適合 C++ 工程開發",[25,360,361],{},"可以封裝成普通 C++ driver，方便複用",[25,363,364],{},"不依賴 ROS 2，OpenCV、Qt、普通 C++ 項目都能使用",[25,366,367,368],{},"後續也可以很自然地接入 ",[58,369,370],{},"ros2_control hardware_interface",[25,372,373],{},"比較適合機器人上位機和 STM32 通信場景",[15,375,376],{},"推薦的工程結構是：",[51,378,381],{"className":379,"code":380,"language":345,"meta":56},[343],"上层项目：ROS 2 / OpenCV / Qt / 普通 C++ 程序\n        ↓\n自己封装的 SerialDriver 类\n        ↓\nboost::asio\n        ↓\n/dev/ttyUSB0\n        ↓\nSTM32 / ESP32 / 传感器\n",[58,382,380],{"__ignoreMap":56},[44,384,386],{"id":385},"與-ros-2-的關係","與 ROS 2 的關係",[15,388,389],{},"學習 Linux 串口通信，並不代表不用 ROS 2。",[15,391,392,393,395],{},"在 ROS 2 項目中，可以將串口通信封裝成一個普通 C++ 類，然後在 ROS 2 節點或 ",[58,394,370],{}," 中調用它。",[15,397,398],{},"例如：",[51,400,403],{"className":401,"code":402,"language":345,"meta":56},[343],"ros2_control controller\n        ↓\nhardware_interface\n        ↓\n自己封装的 SerialDriver\n        ↓\nboost::asio\n        ↓\nSTM32\n",[58,404,402],{"__ignoreMap":56},[15,406,407],{},"這樣做的好處是，串口通信代碼不會和 ROS 2 強綁定。以後即使寫 OpenCV 項目、Qt 上位機或者普通 C++ 調試程序，也可以繼續複用同一套串口 driver。",[44,409,410],{"id":410},"本章學習目標",[15,412,413],{},"學習完本章後，應該能夠掌握：",[22,415,416,419,425,428,431,434,437],{},[25,417,418],{},"Linux 下串口設備的基本概念",[25,420,421,422,424],{},"如何查看和打開 ",[58,423,117],{}," 等串口設備",[25,426,427],{},"串口波特率、數據位、停止位、校驗位等基本參數",[25,429,430],{},"使用 C++ 進行串口數據收發",[25,432,433],{},"設計簡單的上位機與下位機通信協議",[25,435,436],{},"將串口通信封裝成可複用的 C++ 類",[25,438,439],{},"為後續接入 ROS 2、OpenCV、Qt 項目打基礎",[441,442,443],"style",{},"html pre.shiki code .sScJk, html code.shiki .sScJk{--shiki-default:#6F42C1;--shiki-dark:#B392F0}html .default .shiki span {color: var(--shiki-default);background: var(--shiki-default-bg);font-style: var(--shiki-default-font-style);font-weight: var(--shiki-default-font-weight);text-decoration: var(--shiki-default-text-decoration);}html .shiki span {color: var(--shiki-default);background: var(--shiki-default-bg);font-style: var(--shiki-default-font-style);font-weight: var(--shiki-default-font-weight);text-decoration: var(--shiki-default-text-decoration);}html .dark .shiki span {color: var(--shiki-dark);background: var(--shiki-dark-bg);font-style: var(--shiki-dark-font-style);font-weight: var(--shiki-dark-font-weight);text-decoration: var(--shiki-dark-text-decoration);}html.dark .shiki span {color: var(--shiki-dark);background: var(--shiki-dark-bg);font-style: var(--shiki-dark-font-style);font-weight: var(--shiki-dark-font-weight);text-decoration: 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