GY530激光模块与Openmv串口通信问题

混分小公举 · 发表于 2021-7-30 03:01:11

各位大佬，最近本人使用GY530的RX和TX与Openmv的Usart3进行通信
因为GY530会发送8byte的字节
前四个都是数据比较位，于是我就用如下图函数的接收协议来接收

def rx_receive(data):
if R.state==0:
if data == 0x5A:
R.state = 1
R.uart_buf.append(data)
#print(data)
print("the data received :",R.rx_data)
else:
R.state = 0
elif R.state==1:
if data == 0x5A:
R.state = 2
R.uart_buf.append(data)
print("the data received :",R.rx_data)
else:
R.state = 0
elif R.state==2:
if data == 0x15:
R.state = 3
R.uart_buf.append(data)
print("the data received :",R.rx_data)
else:
R.state = 0
elif R.state==3:
if data == 0x03:
R.state = 4
R.uart_buf.append(data)
print("the data received :",R.rx_data)
else:
R.state = 0
elif R.state==4:
if R.rx_data == 0:
R.uart_buf.append(data)
R.state = 5
else:
R.state = 0
elif R.state==5:
if R.rx_data == 0:
R.uart_buf.append(data)
R.state = 6
else:
R.state = 0
elif R.state==6:
if R.rx_data == 0:
R.uart_buf.append(data)
R.state = 7
else:
R.state = 0
elif R.state==7:
if data== (R.uart_buf[0] + R.uart_buf[1] + R.uart_buf[2] + R.uart_buf[3] + R.uart_buf[4] + R.uart_buf[5] + R.uart_buf[6]) & 0xFF :
R.uart_buf.append(data)
R.rx_data = 1
#数据处理部分
print("the data received :",R.rx_data)
Rec_data = R.uart_buf
d = distance(Rec_data)
print("the data received :",R.rx_data)
print("the distance is ",d)
R.uart_buf=[]
R.state = 0
#print(R.uart_buf)
else:
R.state = 0