336 lines
12 KiB
C++
336 lines
12 KiB
C++
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#include <iostream>
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#include <vector>
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#include <string>
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#include <fcntl.h>
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#include <termios.h>
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#include <unistd.h>
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#include <cstring>
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#include <cerrno>
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#include <cmath>
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#include <sys/ioctl.h>
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#include <linux/serial.h>
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// 串口设备路径，根据RK3588的实际接线调整
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// 通常USB转串口设备会被识别为 /dev/ttyUSB0, /dev/ttyUSB1...
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// 板载串口可能是 /dev/ttyS1, /dev/ttyS2... 等
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const char* SERIAL_PORT = "/dev/ttyS9";
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// 默认Modbus参数
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const int DEFAULT_BAUDRATE = B9600;
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const unsigned char DEFAULT_SLAVE_ADDR = 0x01;
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// 功能码定义
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#define READ_HOLDING_REGISTERS 0x03
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#define WRITE_SINGLE_REGISTER 0x06
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// 寄存器地址
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enum RegisterAddress {
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REG_TEMP = 0x0000,
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REG_HUMI = 0x0001,
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REG_TEMP_ALARM = 0x0030,
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REG_HUMI_ALARM = 0x0031,
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REG_DEVICE_ADDR = 0x0002, // 用于写入
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REG_BAUDRATE_CODE = 0x0003 // 用于写入
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};
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// 波特率码映射
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const int BAUDRATES[] = {1200, 2400, 4800, 9600, 19200, 38400, 57600};
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const unsigned char BAUDRATE_CODES[] = {0x00, 0x01, 0x02, 0x03, 0x04, 0x05, 0x06};
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/**
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* @brief 计算Modbus RTU的CRC16校验码
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* @param data 数据缓冲区
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* @param length 数据长度
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* @return uint16_t 计算出的CRC16值
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*/
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uint16_t calculateCRC16(const uint8_t *data, size_t length) {
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uint16_t crc = 0xFFFF;
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for (size_t i = 0; i < length; ++i) {
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crc ^= data[i];
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for (int j = 0; j < 8; ++j) {
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if (crc & 0x0001) {
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crc >>= 1;
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crc ^= 0xA001;
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} else {
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crc >>= 1;
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}
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}
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}
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return crc;
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}
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/**
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* @brief 打开并配置串口
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* @param port_name 串口设备名，如 "/dev/ttyUSB0"
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* @param baudrate 波特率常量，如 B9600
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* @return int 成功返回文件描述符，失败返回-1
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*/
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int openSerialPort(const char* port_name, speed_t baudrate) {
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int fd = open(port_name, O_RDWR | O_NOCTTY | O_NDELAY);
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if (fd < 0) {
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std::cerr << "Error opening serial port " << port_name << ": " << strerror(errno) << std::endl;
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return -1;
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}
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// 设置串口参数
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termios options;
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tcgetattr(fd, &options);
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cfsetispeed(&options, baudrate);
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cfsetospeed(&options, baudrate);
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// 8N1
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options.c_cflag &= ~PARENB; // 无校验
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options.c_cflag &= ~CSTOPB; // 1位停止位
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options.c_cflag &= ~CSIZE; // 清除数据位设置
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options.c_cflag |= CS8; // 8位数据位
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// 启用接收
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options.c_cflag |= (CLOCAL | CREAD);
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// 原始输入模式
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options.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG);
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// 原始输出模式
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options.c_oflag &= ~OPOST;
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// 设置超时 (100ms)
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options.c_cc[VMIN] = 0;
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options.c_cc[VTIME] = 1; // 0.1s
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tcsetattr(fd, TCSANOW, &options);
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// 清空输入/输出缓冲区
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tcflush(fd, TCIOFLUSH);
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// --- 配置RS485为半双工模式（根据芯片型号可能需要ioctl） ---
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// 这是一个通用的方法，适用于一些带有转换芯片的USB转串口模块
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// serial_rs485 rs485conf;
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// memset(&rs485conf, 0, sizeof(rs485conf));
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// rs485conf.flags = SER_RS485_ENABLED; // 启用RS485模式
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// rs485conf.delay_rts_before_send = 0; // 发送前RTS延时
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// rs485conf.delay_rts_after_send = 0; // 发送后RTS延时
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// if (ioctl(fd, TIOCSRS485, &rs485conf) < 0) {
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// std::cerr << "Warning: Could not set RS485 mode, assuming it's already configured by hardware." << std::endl;
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// }
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// -----------------------------------------------------------------
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return fd;
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}
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/**
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* @brief 根据波特率获取波特率码
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* @param baudrate 波特率数值
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* @return uint8_t 波特率码，未找到返回0xFF
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*/
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uint8_t getBaudrateCode(int baudrate) {
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for (size_t i = 0; i < sizeof(BAUDRATES) / sizeof(BAUDRATES[0]); ++i) {
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if (BAUDRATES[i] == baudrate) {
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return BAUDRATE_CODES[i];
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}
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}
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return 0xFF;
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}
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/**
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* @brief 读取传感器寄存器数据
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* @param fd 串口文件描述符
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* @param slave_addr 从站地址
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* @param reg_addr 寄存器地址
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* @param reg_count 读取寄存器数量
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* @return std::vector<uint8_t> 成功返回接收到的数据（不包括地址、功能码和CRC），失败返回空向量
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*/
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std::vector<uint8_t> readRegister(int fd, uint8_t slave_addr, uint16_t reg_addr, uint16_t reg_count) {
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std::vector<uint8_t> request;
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request.push_back(slave_addr);
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request.push_back(READ_HOLDING_REGISTERS);
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request.push_back(reg_addr >> 8);
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request.push_back(reg_addr & 0xFF);
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request.push_back(reg_count >> 8);
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request.push_back(reg_count & 0xFF);
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uint16_t crc = calculateCRC16(request.data(), request.size());
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request.push_back(crc & 0xFF);
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request.push_back(crc >> 8);
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// 发送请求
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if (write(fd, request.data(), request.size()) != request.size()) {
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std::cerr << "Error writing to serial port." << std::endl;
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return {};
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}
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// 根据协议，标准响应应该是：[地址][功能码][字节数][数据...][CRC_L][CRC_H]
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// 预期响应大小 = 5 (头+尾) + reg_count * 2
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const int expected_response_size = 5 + reg_count * 2;
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std::vector<uint8_t> response(expected_response_size);
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int bytes_read = read(fd, response.data(), expected_response_size);
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if (bytes_read < expected_response_size) {
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std::cerr << "Incomplete response from sensor. Expected " << expected_response_size
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<< " bytes, got " << bytes_read << std::endl;
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return {};
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}
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// 验证响应
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if (response[0] != slave_addr || response[1] != READ_HOLDING_REGISTERS) {
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std::cerr << "Invalid response header." << std::endl;
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return {};
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}
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uint16_t received_crc = (response[bytes_read - 1] << 8) | response[bytes_read - 2];
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uint16_t calculated_crc = calculateCRC16(response.data(), bytes_read - 2);
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if (received_crc != calculated_crc) {
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std::cerr << "CRC check failed." << std::endl;
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return {};
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}
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// 返回有效数据部分（从字节数开始到CRC前）
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return std::vector<uint8_t>(response.begin() + 2, response.end() - 2);
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}
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/**
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* @brief 写入单个寄存器数据（用于修改地址或波特率）
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* @param fd 串口文件描述符
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* @param slave_addr 从站地址（通常是0xFF广播地址，用于修改）
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* @param reg_addr 寄存器地址
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* @param value 要写入的值
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* @return bool 成功返回true，失败返回false
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*/
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bool writeSingleRegister(int fd, uint8_t slave_addr, uint16_t reg_addr, uint16_t value) {
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std::vector<uint8_t> request;
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request.push_back(slave_addr);
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request.push_back(WRITE_SINGLE_REGISTER);
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request.push_back(reg_addr >> 8);
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request.push_back(reg_addr & 0xFF);
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request.push_back(value >> 8);
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request.push_back(value & 0xFF);
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uint16_t crc = calculateCRC16(request.data(), request.size());
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request.push_back(crc & 0xFF);
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request.push_back(crc >> 8);
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// 发送请求
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int bytes_written = write(fd, request.data(), request.size());
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if (bytes_written != request.size()) {
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std::cerr << "Error writing to serial port." << std::endl;
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return false;
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}
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// 读取确认响应
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std::vector<uint8_t> response(8);
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int bytes_read = read(fd, response.data(), 8);
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if (bytes_read != 8) {
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std::cerr << "Incomplete response for write operation." << std::endl;
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return false;
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}
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// 验证响应（应该和请求数据一致）
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if (memcmp(request.data(), response.data(), 8) == 0) {
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return true;
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}
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std::cerr << "Write confirmation mismatch." << std::endl;
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return false;
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}
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/**
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* @brief 解析Modbus数据为实际温湿度值
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* @param data 高字节在前，低字节在后的两个字节数据
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* @return float 解析后的浮点数
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*/
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float parseSensorData(const std::vector<uint8_t>& data) {
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if (data.size() < 2) return NAN;
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int16_t raw_value = (data[0] << 8) | data[1];
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return static_cast<float>(raw_value) / 10.0f;
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}
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int main() {
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std::cout << "--- RK3588 Test for KLHA JWST-20 Sensor ---" << std::endl;
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// 1. 打开串口
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int serial_fd = openSerialPort(SERIAL_PORT, DEFAULT_BAUDRATE);
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if (serial_fd < 0) {
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return 1;
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}
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std::cout << "Successfully opened serial port: " << SERIAL_PORT << std::endl;
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// 2. 读取温湿度数据
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std::cout << "\nReading data from sensor at address 0x01..." << std::endl;
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// 读取温度
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auto temp_data = readRegister(serial_fd, DEFAULT_SLAVE_ADDR, REG_TEMP, 1);
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float temperature = NAN;
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if (!temp_data.empty()) {
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temperature = parseSensorData(temp_data);
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std::cout << "Temperature: " << temperature << " °C" << std::endl;
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} else {
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std::cout << "Failed to read temperature." << std::endl;
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}
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// 读取湿度
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auto humi_data = readRegister(serial_fd, DEFAULT_SLAVE_ADDR, REG_HUMI, 1);
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float humidity = NAN;
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if (!humi_data.empty()) {
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humidity = parseSensorData(humi_data);
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std::cout << "Humidity: " << humidity << " %RH" << std::endl;
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} else {
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std::cout << "Failed to read humidity." << std::endl;
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}
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// 3. 读取报警状态
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auto temp_alarm_data = readRegister(serial_fd, DEFAULT_SLAVE_ADDR, REG_TEMP_ALARM, 1);
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if (!temp_alarm_data.empty()) {
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uint8_t alarm_status = temp_alarm_data[0];
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if (alarm_status == 0x00) std::cout << "Temperature Alarm: None" << std::endl;
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else if (alarm_status == 0x01) std::cout << "Temperature Alarm: High" << std::endl;
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else if (alarm_status == 0x02) std::cout << "Temperature Alarm: Low" << std::endl;
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}
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auto humi_alarm_data = readRegister(serial_fd, DEFAULT_SLAVE_ADDR, REG_HUMI_ALARM, 1);
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if (!humi_alarm_data.empty()) {
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uint8_t alarm_status = humi_alarm_data[0];
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if (alarm_status == 0x00) std::cout << "Humidity Alarm: None" << std::endl;
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else if (alarm_status == 0x01) std::cout << "Humidity Alarm: High" << std::endl;
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else if (alarm_status == 0x02) std::cout << "Humidity Alarm: Low" << std::endl;
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}
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// 4. (高级功能) 示例：修改传感器波特率
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// 注意：修改波特率是一个高风险操作，如果设置错误，且拔码开关不可调，可能导致设备无法通信。
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// 下面的代码被注释掉，仅作演示。请谨慎使用！
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/*
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std::cout << "\n--- Advanced: Modifying Baudrate ---" << std::endl;
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int new_baudrate_to_set = 19200;
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uint8_t new_baud_code = getBaudrateCode(new_baudrate_to_set);
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std::cout << "Attempting to change baudrate to " << new_baudrate_to_set << " (Code: 0x" << std::hex << (int)new_baud_code << std::dec << ")" << std::endl;
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// 使用广播地址(0xFF)向所有设备发送波特率修改命令
|
|||
|
|
if (writeSingleRegister(serial_fd, 0xFF, REG_BAUDRATE_CODE, new_baud_code)) {
|
|||
|
|
std::cout << "Baudrate change command sent successfully. Device will restart with new baudrate." << std::endl;
|
|||
|
|
// 重要：必须重新打开串口使用新的波特率
|
|||
|
|
close(serial_fd);
|
|||
|
|
sleep(2); // 给设备重启时间
|
|||
|
|
serial_fd = openSerialPort(SERIAL_PORT, B19200); // 使用新波特率重新打开
|
|||
|
|
if (serial_fd < 0) {
|
|||
|
|
std::cerr << "Failed to reopen port with new baudrate. Device might be unresponsive." << std::endl;
|
|||
|
|
return 1;
|
|||
|
|
}
|
|||
|
|
std::cout << "Reopened port with new baudrate. Attempting to read data again..." << std::endl;
|
|||
|
|
// 重新读取数据来验证
|
|||
|
|
auto new_temp_data = readRegister(serial_fd, DEFAULT_SLAVE_ADDR, REG_TEMP, 1);
|
|||
|
|
if (!new_temp_data.empty()) {
|
|||
|
|
std::cout << "New Temperature: " << parseSensorData(new_temp_data) << " °C" << std::endl;
|
|||
|
|
}
|
|||
|
|
} else {
|
|||
|
|
std::cerr << "Failed to send baudrate change command." << std::endl;
|
|||
|
|
}
|
|||
|
|
*/
|
|||
|
|
|
|||
|
|
// 5. 关闭串口
|
|||
|
|
close(serial_fd);
|
|||
|
|
std::cout << "\nTest finished. Serial port closed." << std::endl;
|
|||
|
|
|
|||
|
|
return 0;
|
|||
|
|
}
|