ROS实战（六）｜串口通信

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利用Jetson Xavier和传感器模块进行串口通信

硬件连接

默认情况下，Jetson Xavier NX分配I2C和UART引脚，所有其他引脚（电源和接地除外）均分配为GPIO，建议使用下面标有其他功能的引脚。

这里我们用的是UART1，设备地址/dev/ttyTHS0.

其中，第8和10引脚就是我们需要的TXD和RXD引脚。

注意：和电脑连接调试时需要注意，USB转TTL的RXD引脚需和板子的TXD引脚连接，USB转TTL的TXD引脚需和板子的RXD引脚相连。两者的GND引脚也要连起来。

相关代码

安装相关依赖

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pip3 install pyserial

测试代码

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#!/usr/bin/python3
import time
import serial

print("UART Demonstration Program")


serial_port = serial.Serial(
    port="/dev/ttyTHS1",                                      #串口设备地址
    baudrate=115200,                                          #信号波特率
    bytesize=serial.EIGHTBITS,                                #数据位
    parity=serial.PARITY_NONE,  						    #是否启用奇偶校验
    stopbits=serial.STOPBITS_ONE,                             #停止位
)
# Wait a second to let the port initialize
time.sleep(1)

try:
    # Send a simple header
    serial_port.write("UART Demonstration Program\r\n".encode())
    while True:
        if serial_port.inWaiting() > 0:
            data = serial_port.read()
            print(data)
            serial_port.write(data)
            # if we get a carriage return, add a line feed too
            # \r is a carriage return; \n is a line feed
            # This is to help the tty program on the other end 
            # Windows is \r\n for carriage return, line feed
            # Macintosh and Linux use \n
            if data == "\r".encode():
                # For Windows boxen on the other end
                serial_port.write("\n".encode())


except KeyboardInterrupt:
    print("Exiting Program")

except Exception as exception_error:
    print("Error occurred. Exiting Program")
    print("Error: " + str(exception_error))

finally:
    serial_port.close()
    pass

参考资料：

https://www.jetsonhacks.com/2019/10/10/jetson-nano-uart/

https://github.com/JetsonHacksNano/UARTDemo

https://github.com/pyserial/pyserial

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