基于ROS与STM32及树莓派4B的智能小车设计

# 1.简介 raspbot是一个基于ROS的小车。它采用树莓派4B作为微型电脑，STM32F103C8T6作为下位机控制小车移动，两者之间依靠串口进行通信。 # 2.串口协议 ``` /**************************************************************************************** * Serial Protocol * * * * ,------+------+------+-------+- - - - - -+- - - - - -+- - - - -+- - - - -+ * * | Type | SOF | LEN | CRC | DPKG | DPKG | .... | CRC | * * ,------+------+------+-------+-----------+-----------+---------+---------+ * * | size | 2 | 1 | 1 | ... | ... | ... | 2 | * ``` * '----- +------+------+-------+- - - - - -+- - - - - -+- - - - -+- - - - -+ * * SOF ......... start of frame, 2 bytes * * LEN ......... number of data package in the frame * * CRC ......... Head of Frame's cyclic redundancy check * * DPKG ......... data package,include DATA_TAG,DATA * * CRC ......... DATA cyclic redundancy check * * * * * * ,------+--------------+---------+---------+--------+ * * | Type | element | size | offset | seq | * * ,------,--------------+---------+---------+--------+ * * | | frame head1 | 1 BYTE | 0 | 1 | * * | SOF ,--------------+---------+---------+--------+ * * | | frame head2 | 1 BYTE | 1 | 2 | * * ,------,--------------+---------+---------+--------+ * * | LEN | | 1 BYTE | 2 | 3 | * * ,------,--------------+---------+---------+--------+ * * | CRC | | 1 BYTES | 3 | 4 | * * ,------,--------------+---------+---------+--------+ * * | | DATA_TAG | 1 BYTE | 4 | 5 | * * | DPKG ,--------------+---------+---------+--------+ * * | | DATA | n BYTES | 5 | 6 | * * ,---------------------+---------+---------+--------+ * * | CRC | | 2 BYTES | 4+n | n+5 | * * '------'--------------+---------+---------+--------+ * * * * Endian: Little-Endian * *****************************************************************************************/ 资源来源于网络分享，如有侵权，请告知。仅供学习交流使用，禁止用于商业用途。