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標題: 用STM32F103讀取MPU605陀螺儀、加速度、角度的數據 [打印本頁]
作者: FredZhu    時間: 2020-8-26 21:20
標題: 用STM32F103讀取MPU605陀螺儀、加速度、角度的數據
1 介紹
     大家從標題中來看呢，大家可能會有些困惑，MPU6050只輸出加速度、陀螺儀。沒有角度。這個也是我今天想和大家說的。最近我做了一個傾角項目。老板基于成本考慮希望我能用MPU6050去算出來角度。說實話自己沒接觸這個東西，去搞的時候才知道挺難的，很地方看不懂。然后我去看過了正電原子的MPU6050的解算。但是那個角度的結果和我想要精度有點差別。無意中呢在淘寶上搜到了一個維特智能的JY61模塊。這個模塊的內置的就是MPU6050模塊。這個商家說它的靜態角度的精度為0.05度、動態0.1度。這個精度是很符合我的需求。給大家看下這個模塊





這個模塊體積很小巧就15×15×2mm大小。串口通訊用單片機去獲取數據很簡單，相比起直接去獲取MPU6050簡單不知道多少倍了。下面和大家說說我是怎么去用STM32F103讀取JY62陀螺儀、加速度、角度的數據。

2 開發準備
 講程序之前呢，和大家簡單的說說一些硬件、軟件準備和JY61怎么和STM32F103接線的。

2.1硬件、軟件準備

硬件：JY61模塊、USB-TTL、STM32F103開發板、杜邦線。

軟件 ：https://pan.baidu.com/s/1SEWmixu4jtUL2HH_3Hcn2g    提取碼：zryo

這個是我的寫的一個 示例代碼大家有興趣的可以看下：https://pan.baidu.com/s/1sXnlT89FTTs5tONLiaPihw

2.2 接線方式

1、使用USB-TTL將STM32F103C8T6與電腦連接通信

2、JY61與STM32F103C8T6使用杜邦線連接。具體接線如下圖所示：

具體接線方式如下：

USB-TTL---------------STM32F103C8T6---------------JY61

        VCC-------------- VCC -------------------------VCC

          TX-------------------RX1(PA10),PA3---------------------------TX

          RX-------------------TX1(PA9),PA2----------------------------RX

        GND------------------GND, GND----------------------------GND

3 程序講解
3.1程序思路講解

好了到大家最關心的地方了。在這里呢。我先和大家說下。我的整體思路是什么。我直接把我們的main.c函數放在下面給大家看下。

[backcolor=inherit !important]#[backcolor=inherit !important]include[backcolor=inherit !important] [backcolor=inherit !important]<string.h>[backcolor=inherit !important]#[backcolor=inherit !important]include[backcolor=inherit !important] [backcolor=inherit !important]<stdio.h>[backcolor=inherit !important]#[backcolor=inherit !important]include[backcolor=inherit !important] [backcolor=inherit !important]"Main.h"[backcolor=inherit !important]#[backcolor=inherit !important]include[backcolor=inherit !important] [backcolor=inherit !important]"UART1.h"[backcolor=inherit !important]#[backcolor=inherit !important]include[backcolor=inherit !important] [backcolor=inherit !important]"UART2.h"[backcolor=inherit !important]#[backcolor=inherit !important]include[backcolor=inherit !important] [backcolor=inherit !important]"delay.h"[backcolor=inherit !important]#[backcolor=inherit !important]include[backcolor=inherit !important] [backcolor=inherit !important]"JY61.h"[backcolor=inherit !important]#[backcolor=inherit !important]include[backcolor=inherit !important] [backcolor=inherit !important]"DIO.h"[backcolor=inherit !important]struct [backcolor=inherit !important]SAcc                 stcAcc[backcolor=inherit !important];[backcolor=inherit !important]struct [backcolor=inherit !important]SGyro                 stcGyro[backcolor=inherit !important];[backcolor=inherit !important]struct [backcolor=inherit !important]SAngle         stcAngle[backcolor=inherit !important];[backcolor=inherit !important]//CopeSerialData為串口2中斷調用函數，串口每收到一個數據，調用一次這個函數。[backcolor=inherit !important]void [backcolor=inherit !important]CopeSerial2Data[backcolor=inherit !important]([backcolor=inherit !important]unsigned [backcolor=inherit !important]char ucData[backcolor=inherit !important])[backcolor=inherit !important]{        [backcolor=inherit !important]static [backcolor=inherit !important]unsigned [backcolor=inherit !important]char ucRxBuffer[backcolor=inherit !important][[backcolor=inherit !important]250[backcolor=inherit !important]][backcolor=inherit !important];        [backcolor=inherit !important]static [backcolor=inherit !important]unsigned [backcolor=inherit !important]char ucRxCnt = [backcolor=inherit !important]0[backcolor=inherit !important];                        [backcolor=inherit !important]LED_REVERSE[backcolor=inherit !important]([backcolor=inherit !important])[backcolor=inherit !important];                                        [backcolor=inherit !important]//接收到數據，LED燈閃爍一下        ucRxBuffer[backcolor=inherit !important][ucRxCnt++[backcolor=inherit !important]]=ucData[backcolor=inherit !important];        [backcolor=inherit !important]//將收到的數據存入緩沖區中        [backcolor=inherit !important]if [backcolor=inherit !important](ucRxBuffer[backcolor=inherit !important][[backcolor=inherit !important]0[backcolor=inherit !important]]!=[backcolor=inherit !important]0x55[backcolor=inherit !important]) [backcolor=inherit !important]//數據頭不對，則重新開始尋找0x55數據頭        [backcolor=inherit !important]{                ucRxCnt=[backcolor=inherit !important]0[backcolor=inherit !important];                [backcolor=inherit !important]return[backcolor=inherit !important];        [backcolor=inherit !important]}        [backcolor=inherit !important]if [backcolor=inherit !important](ucRxCnt<[backcolor=inherit !important]11[backcolor=inherit !important]) [backcolor=inherit !important]{[backcolor=inherit !important]return[backcolor=inherit !important];[backcolor=inherit !important]}[backcolor=inherit !important]//數據不滿11個，則返回        [backcolor=inherit !important]else        [backcolor=inherit !important]{                [backcolor=inherit !important]switch[backcolor=inherit !important](ucRxBuffer[backcolor=inherit !important][[backcolor=inherit !important]1[backcolor=inherit !important]][backcolor=inherit !important])[backcolor=inherit !important]//判斷數據是哪種數據，然后將其拷貝到對應的結構體中，有些數據包需要通過上位機打開對應的輸出后，才能接收到這個數據包的數據                [backcolor=inherit !important]{                        [backcolor=inherit !important]//memcpy為編譯器自帶的內存拷貝函數，需引用"string.h"，將接收緩沖區的字符拷貝到數據結構體里面，從而實現數據的解析。                        [backcolor=inherit !important]case [backcolor=inherit !important]0x51:        [backcolor=inherit !important]memcpy[backcolor=inherit !important](&stcAcc[backcolor=inherit !important],&ucRxBuffer[backcolor=inherit !important][[backcolor=inherit !important]2[backcolor=inherit !important]][backcolor=inherit !important],[backcolor=inherit !important]8[backcolor=inherit !important])[backcolor=inherit !important];[backcolor=inherit !important]break[backcolor=inherit !important];                        [backcolor=inherit !important]case [backcolor=inherit !important]0x52:        [backcolor=inherit !important]memcpy[backcolor=inherit !important](&stcGyro[backcolor=inherit !important],&ucRxBuffer[backcolor=inherit !important][[backcolor=inherit !important]2[backcolor=inherit !important]][backcolor=inherit !important],[backcolor=inherit !important]8[backcolor=inherit !important])[backcolor=inherit !important];[backcolor=inherit !important]break[backcolor=inherit !important];                        [backcolor=inherit !important]case [backcolor=inherit !important]0x53:        [backcolor=inherit !important]memcpy[backcolor=inherit !important](&stcAngle[backcolor=inherit !important],&ucRxBuffer[backcolor=inherit !important][[backcolor=inherit !important]2[backcolor=inherit !important]][backcolor=inherit !important],[backcolor=inherit !important]8[backcolor=inherit !important])[backcolor=inherit !important];[backcolor=inherit !important]break[backcolor=inherit !important];                [backcolor=inherit !important]}                ucRxCnt=[backcolor=inherit !important]0[backcolor=inherit !important];[backcolor=inherit !important]//清空緩存區        [backcolor=inherit !important]}[backcolor=inherit !important]}[backcolor=inherit !important]void [backcolor=inherit !important]CopeSerial1Data[backcolor=inherit !important]([backcolor=inherit !important]unsigned [backcolor=inherit !important]char ucData[backcolor=inherit !important])[backcolor=inherit !important]{                [backcolor=inherit !important]UART2_Put_Char[backcolor=inherit !important](ucData[backcolor=inherit !important])[backcolor=inherit !important];[backcolor=inherit !important]//轉發串口1收到的數據給串口2（JY模塊）[backcolor=inherit !important]}[backcolor=inherit !important]int [backcolor=inherit !important]main[backcolor=inherit !important]([backcolor=inherit !important]void[backcolor=inherit !important])[backcolor=inherit !important]{                          [backcolor=inherit !important]unsigned [backcolor=inherit !important]char i = [backcolor=inherit !important]0[backcolor=inherit !important];        [backcolor=inherit !important]SysTick_init[backcolor=inherit !important]([backcolor=inherit !important]72[backcolor=inherit !important],[backcolor=inherit !important]10[backcolor=inherit !important])[backcolor=inherit !important];[backcolor=inherit !important]//設置時鐘頻率        [backcolor=inherit !important]Initial_UART1[backcolor=inherit !important]([backcolor=inherit !important]9600[backcolor=inherit !important])[backcolor=inherit !important];[backcolor=inherit !important]//接PC的串口        [backcolor=inherit !important]Initial_UART2[backcolor=inherit !important]([backcolor=inherit !important]115200[backcolor=inherit !important])[backcolor=inherit !important];[backcolor=inherit !important]//接JY61模塊的串口                        [backcolor=inherit !important]LED_ON[backcolor=inherit !important]([backcolor=inherit !important])[backcolor=inherit !important];        [backcolor=inherit !important]delay_ms[backcolor=inherit !important]([backcolor=inherit !important]1000[backcolor=inherit !important])[backcolor=inherit !important];[backcolor=inherit !important]delay_ms[backcolor=inherit !important]([backcolor=inherit !important]1000[backcolor=inherit !important])[backcolor=inherit !important];[backcolor=inherit !important]//等等JY61初始化完成        [backcolor=inherit !important]while[backcolor=inherit !important]([backcolor=inherit !important]1[backcolor=inherit !important])        [backcolor=inherit !important]{                                        [backcolor=inherit !important]delay_ms[backcolor=inherit !important]([backcolor=inherit !important]1000[backcolor=inherit !important])[backcolor=inherit !important];                [backcolor=inherit !important]//串口接受到的數據已經拷貝到對應的結構體的變量中了，根據說明書的協議，以加速度為例 stcAcc.a[0]/32768*16就是X軸的加速度，                [backcolor=inherit !important]printf[backcolor=inherit !important]([backcolor=inherit !important]"Acc:%.3f %.3f %.3f\r\n"[backcolor=inherit !important],[backcolor=inherit !important]([backcolor=inherit !important]float[backcolor=inherit !important])stcAcc[backcolor=inherit !important].a[backcolor=inherit !important][[backcolor=inherit !important]0[backcolor=inherit !important]]/[backcolor=inherit !important]32768*[backcolor=inherit !important]16[backcolor=inherit !important],[backcolor=inherit !important]([backcolor=inherit !important]float[backcolor=inherit !important])stcAcc[backcolor=inherit !important].a[backcolor=inherit !important][[backcolor=inherit !important]1[backcolor=inherit !important]]/[backcolor=inherit !important]32768*[backcolor=inherit !important]16[backcolor=inherit !important],[backcolor=inherit !important]([backcolor=inherit !important]float[backcolor=inherit !important])stcAcc[backcolor=inherit !important].a[backcolor=inherit !important][[backcolor=inherit !important]2[backcolor=inherit !important]]/[backcolor=inherit !important]32768*[backcolor=inherit !important]16[backcolor=inherit !important])[backcolor=inherit !important];                [backcolor=inherit !important]delay_ms[backcolor=inherit !important]([backcolor=inherit !important]10[backcolor=inherit !important])[backcolor=inherit !important];                [backcolor=inherit !important]//輸出角速度                [backcolor=inherit !important]printf[backcolor=inherit !important]([backcolor=inherit !important]"Gyro:%.3f %.3f %.3f\r\n"[backcolor=inherit !important],[backcolor=inherit !important]([backcolor=inherit !important]float[backcolor=inherit !important])stcGyro[backcolor=inherit !important].w[backcolor=inherit !important][[backcolor=inherit !important]0[backcolor=inherit !important]]/[backcolor=inherit !important]32768*[backcolor=inherit !important]2000[backcolor=inherit !important],[backcolor=inherit !important]([backcolor=inherit !important]float[backcolor=inherit !important])stcGyro[backcolor=inherit !important].w[backcolor=inherit !important][[backcolor=inherit !important]1[backcolor=inherit !important]]/[backcolor=inherit !important]32768*[backcolor=inherit !important]2000[backcolor=inherit !important],[backcolor=inherit !important]([backcolor=inherit !important]float[backcolor=inherit !important])stcGyro[backcolor=inherit !important].w[backcolor=inherit !important][[backcolor=inherit !important]2[backcolor=inherit !important]]/[backcolor=inherit !important]32768*[backcolor=inherit !important]2000[backcolor=inherit !important])[backcolor=inherit !important];                [backcolor=inherit !important]delay_ms[backcolor=inherit !important]([backcolor=inherit !important]10[backcolor=inherit !important])[backcolor=inherit !important];                [backcolor=inherit !important]//輸出角度                [backcolor=inherit !important]printf[backcolor=inherit !important]([backcolor=inherit !important]"Angle:%.3f %.3f %.3f\r\n"[backcolor=inherit !important],[backcolor=inherit !important]([backcolor=inherit !important]float[backcolor=inherit !important])stcAngle[backcolor=inherit !important].Angle[backcolor=inherit !important][[backcolor=inherit !important]0[backcolor=inherit !important]]/[backcolor=inherit !important]32768*[backcolor=inherit !important]180[backcolor=inherit !important],[backcolor=inherit !important]([backcolor=inherit !important]float[backcolor=inherit !important])stcAngle[backcolor=inherit !important].Angle[backcolor=inherit !important][[backcolor=inherit !important]1[backcolor=inherit !important]]/[backcolor=inherit !important]32768*[backcolor=inherit !important]180[backcolor=inherit !important],[backcolor=inherit !important]([backcolor=inherit !important]float[backcolor=inherit !important])stcAngle[backcolor=inherit !important].Angle[backcolor=inherit !important][[backcolor=inherit !important]2[backcolor=inherit !important]]/[backcolor=inherit !important]32768*[backcolor=inherit !important]180[backcolor=inherit !important])[backcolor=inherit !important];                [backcolor=inherit !important]delay_ms[backcolor=inherit !important]([backcolor=inherit !important]10[backcolor=inherit !important])[backcolor=inherit !important];[backcolor=inherit !important]//等待傳輸完成        [backcolor=inherit !important]}[backcolor=inherit !important]//主循環[backcolor=inherit !important]}
     其實一共就分為三個部分。

       第一部分，為串口2中斷調用函數CopeSerialData，串口每收到一個數據，調用一次這個函數。把串口2獲取到的數據存在ucRxBuffer這個數組里。然后根據JY61的通訊協議（如下圖所示）去做一個數據檢驗判斷。判斷完后呢，就到了一個memcpy這個復制函數。不懂這個函數的可以看這個鏈接：運動傳感：STM32中的memcpy函數的使用    我和大家說個結果。比如說加速度，memcpy函數就是把ucRxBuffer的數據復制到stcAcc這個結構體里了，剩下的以此類推。到這里這里的第一部分就結束了。


JY61的通訊協議


      第二部分，CopeSerial1Data。很簡單的就是轉發串口1收到的數據給串口2（JY模塊）。

      第三部分，就是數據處理部分了。以加速度為例子。

[backcolor=inherit !important]printf[backcolor=inherit !important]([backcolor=inherit !important]"Acc:%.3f %.3f %.3f\r\n"[backcolor=inherit !important],[backcolor=inherit !important]([backcolor=inherit !important]float[backcolor=inherit !important])stcAcc[backcolor=inherit !important].a[backcolor=inherit !important][[backcolor=inherit !important]0[backcolor=inherit !important]]/[backcolor=inherit !important]32768*[backcolor=inherit !important]16[backcolor=inherit !important],[backcolor=inherit !important]([backcolor=inherit !important]float[backcolor=inherit !important])stcAcc[backcolor=inherit !important].a[backcolor=inherit !important][[backcolor=inherit !important]1[backcolor=inherit !important]]/[backcolor=inherit !important]32768*[backcolor=inherit !important]16[backcolor=inherit !important],[backcolor=inherit !important]([backcolor=inherit !important]float[backcolor=inherit !important])stcAcc[backcolor=inherit !important].a[backcolor=inherit !important][[backcolor=inherit !important]2[backcolor=inherit !important]]/[backcolor=inherit !important]32768*[backcolor=inherit !important]16[backcolor=inherit !important])[backcolor=inherit !important];                [backcolor=inherit !important]delay_ms[backcolor=inherit !important]([backcolor=inherit !important]10[backcolor=inherit !important])[backcolor=inherit !important];
stcAcc這個前面講了就是復制結束的結果。根據上面的JY61的通訊協議。/32768*16這些都是為了把JY61輸出的16進制的原始數據轉成成有符號的10進制的數據。然后把得到的結果輸出到串口1。

以上三個部分呢，就是我的主要編程思路了。下面給大家講講一些細節方面的函數。

3.2 關鍵底層函數說

    從上面的接線可以看出呢。一共用了32單片機的兩個UART引腳。一個是UART1這個是把處理過的數據發送到PC端。一個是UART2這個是用來接收JY61傳過來的數據。UART2也是使用中斷來接收到數據。這些都是在初始化UART2的時候來配置的。前面那部分都是默認的串口配置。設置波特率、數據位8位、停止位1、無奇偶檢驗、配置串口模式。最后再初始化USART2。一般都是固定的。后面的USART_ITConfig。就是開啟串口中斷。

[backcolor=inherit !important]void [backcolor=inherit !important]Initial_UART2[backcolor=inherit !important]([backcolor=inherit !important]unsigned [backcolor=inherit !important]long baudrate[backcolor=inherit !important])[backcolor=inherit !important]{         GPIO_InitTypeDef GPIO_InitStructure[backcolor=inherit !important];        USART_InitTypeDef USART_InitStructure[backcolor=inherit !important];        NVIC_InitTypeDef NVIC_InitStructure[backcolor=inherit !important];         [backcolor=inherit !important]RCC_APB1PeriphClockCmd[backcolor=inherit !important](RCC_APB1Periph_USART2 | RCC_APB2Periph_GPIOA[backcolor=inherit !important], ENABLE[backcolor=inherit !important])[backcolor=inherit !important];        GPIO_InitStructure[backcolor=inherit !important].GPIO_Pin = GPIO_Pin_2[backcolor=inherit !important];        GPIO_InitStructure[backcolor=inherit !important].GPIO_Mode = GPIO_Mode_AF_PP[backcolor=inherit !important];        GPIO_InitStructure[backcolor=inherit !important].GPIO_Speed = GPIO_Speed_50MHz[backcolor=inherit !important];        [backcolor=inherit !important]GPIO_Init[backcolor=inherit !important](GPIOA[backcolor=inherit !important], &GPIO_InitStructure[backcolor=inherit !important])[backcolor=inherit !important];            GPIO_InitStructure[backcolor=inherit !important].GPIO_Pin = GPIO_Pin_3[backcolor=inherit !important];        GPIO_InitStructure[backcolor=inherit !important].GPIO_Mode = GPIO_Mode_IN_FLOATING[backcolor=inherit !important];        [backcolor=inherit !important]GPIO_Init[backcolor=inherit !important](GPIOA[backcolor=inherit !important], &GPIO_InitStructure[backcolor=inherit !important])[backcolor=inherit !important];                 USART_InitStructure[backcolor=inherit !important].USART_BaudRate = baudrate[backcolor=inherit !important];        USART_InitStructure[backcolor=inherit !important].USART_WordLength = USART_WordLength_8b[backcolor=inherit !important];        USART_InitStructure[backcolor=inherit !important].USART_StopBits = USART_StopBits_1[backcolor=inherit !important];        USART_InitStructure[backcolor=inherit !important].USART_Parity = USART_Parity_No [backcolor=inherit !important];        USART_InitStructure[backcolor=inherit !important].USART_HardwareFlowControl = USART_HardwareFlowControl_None[backcolor=inherit !important];        USART_InitStructure[backcolor=inherit !important].USART_Mode = USART_Mode_Rx | USART_Mode_Tx[backcolor=inherit !important];        [backcolor=inherit !important]USART_Init[backcolor=inherit !important](USART2[backcolor=inherit !important], &USART_InitStructure[backcolor=inherit !important])[backcolor=inherit !important];         [backcolor=inherit !important]USART_ITConfig[backcolor=inherit !important](USART2[backcolor=inherit !important], USART_IT_TXE[backcolor=inherit !important], DISABLE[backcolor=inherit !important])[backcolor=inherit !important]; [backcolor=inherit !important]//串口2的發送端TX是不使能的           [backcolor=inherit !important]USART_ITConfig[backcolor=inherit !important](USART2[backcolor=inherit !important], USART_IT_RXNE[backcolor=inherit !important], ENABLE[backcolor=inherit !important])[backcolor=inherit !important];[backcolor=inherit !important]//串口2的接收端的RX使能                [backcolor=inherit !important]USART_ClearFlag[backcolor=inherit !important](USART2[backcolor=inherit !important],USART_FLAG_TC[backcolor=inherit !important])[backcolor=inherit !important];                [backcolor=inherit !important]USART_Cmd[backcolor=inherit !important](USART2[backcolor=inherit !important], ENABLE[backcolor=inherit !important])[backcolor=inherit !important];        NVIC_InitStructure[backcolor=inherit !important].NVIC_IRQChannel = USART2_IRQn[backcolor=inherit !important];        NVIC_InitStructure[backcolor=inherit !important].NVIC_IRQChannelPreemptionPriority = [backcolor=inherit !important]1[backcolor=inherit !important];        NVIC_InitStructure[backcolor=inherit !important].NVIC_IRQChannelSubPriority = [backcolor=inherit !important]8[backcolor=inherit !important];        NVIC_InitStructure[backcolor=inherit !important].NVIC_IRQChannelCmd = ENABLE[backcolor=inherit !important];        [backcolor=inherit !important]NVIC_Init[backcolor=inherit !important](&NVIC_InitStructure[backcolor=inherit !important])[backcolor=inherit !important];[backcolor=inherit !important]}       
使能串口中斷后呢。UART2的數據都會一個個字節的往DR寄存器里面寫。就是第一部分調用的那個中斷函數CopeSerial2Data。整體來就是給大家介紹下數據是怎么來的。底層中斷函數說明

[backcolor=inherit !important]void [backcolor=inherit !important]USART2_IRQHandler[backcolor=inherit !important]([backcolor=inherit !important]void[backcolor=inherit !important])[backcolor=inherit !important]{  [backcolor=inherit !important]if[backcolor=inherit !important]([backcolor=inherit !important]USART_GetITStatus[backcolor=inherit !important](USART2[backcolor=inherit !important], USART_IT_TXE[backcolor=inherit !important]) != RESET[backcolor=inherit !important])[backcolor=inherit !important]//由于TX中斷被禁止了所以這個if是不會進入的。  [backcolor=inherit !important]{       [backcolor=inherit !important]USART_SendData[backcolor=inherit !important](USART2[backcolor=inherit !important], TxBuffer[backcolor=inherit !important][TxCounter++[backcolor=inherit !important]][backcolor=inherit !important])[backcolor=inherit !important];     [backcolor=inherit !important]USART_ClearITPendingBit[backcolor=inherit !important](USART2[backcolor=inherit !important], USART_IT_TXE[backcolor=inherit !important])[backcolor=inherit !important];    [backcolor=inherit !important]if[backcolor=inherit !important](TxCounter == count[backcolor=inherit !important]) [backcolor=inherit !important]USART_ITConfig[backcolor=inherit !important](USART2[backcolor=inherit !important], USART_IT_TXE[backcolor=inherit !important], DISABLE[backcolor=inherit !important])[backcolor=inherit !important];  [backcolor=inherit !important]}        [backcolor=inherit !important]else [backcolor=inherit !important]if[backcolor=inherit !important]([backcolor=inherit !important]USART_GetITStatus[backcolor=inherit !important](USART2[backcolor=inherit !important], USART_IT_RXNE[backcolor=inherit !important]) != RESET[backcolor=inherit !important])[backcolor=inherit !important]//直接進入RX的這個中斷  [backcolor=inherit !important]{                [backcolor=inherit !important]CopeSerial2Data[backcolor=inherit !important]([backcolor=inherit !important]([backcolor=inherit !important]unsigned [backcolor=inherit !important]char[backcolor=inherit !important])USART2->DR[backcolor=inherit !important])[backcolor=inherit !important];[backcolor=inherit !important]//把UART2的數據給到DR寄存器后呢，再由這個CopeSerial2Data函數把數據給到給出去了                [backcolor=inherit !important]USART_ClearITPendingBit[backcolor=inherit !important](USART2[backcolor=inherit !important], USART_IT_RXNE[backcolor=inherit !important])[backcolor=inherit !important];  [backcolor=inherit !important]}                [backcolor=inherit !important]USART_ClearITPendingBit[backcolor=inherit !important](USART2[backcolor=inherit !important],USART_IT_ORE[backcolor=inherit !important])[backcolor=inherit !important];[backcolor=inherit !important]}



## 6 輸出結果顯示
在電腦上正確連接好板子，首先打開串口調試助手，找到相應的端口，然后打開串口，注意這里波特率設置為9600，然后就可以觀察到左邊的窗口有數據輸出了。如圖所示：












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