删除了

pgserial/serial21b/serial21b.ino

-#include <Arduino.h>
-
-HardwareSerial mySerial(2); // UART2
-#define TXD2 17
-#define RXD2 16
-#define RX_MAX 128
-
-uint8_t variable[RX_MAX];
-int index = 0;
-
-typedef struct {
-  int16_t x;
-  int16_t y;
-  int16_t angle;
-  int16_t c;
-  int16_t line;
-} PGV_H;
-
-PGV_H Last_cal_data_hds;
-
-// CRC16-Modbus 校验函数
-uint16_t Modbus_CRC16(const uint8_t *buf, uint8_t len) {
-  uint16_t crc = 0xFFFF;
-  for (uint8_t pos = 0; pos < len; pos++) {
-    crc ^= (uint16_t)buf[pos];
-    for (uint8_t i = 0; i < 8; i++) {
-      if ((crc & 0x0001) != 0) {
-        crc >>= 1;
-        crc ^= 0xA001;
-      } else {
-        crc >>= 1;
-      }
-    }
-  }
-  return crc;
-}
-
-void update_data() {
-  if ((variable[0] == 0x01) && (variable[1] == 0x03) && (variable[2] == 0x0A)) {
-    uint16_t received_crc = variable[13] | (variable[14] << 8);
-    uint16_t calc_crc = Modbus_CRC16(variable, 13);
-    if (received_crc != calc_crc) {
-      Serial.println("CRC 校验失败！");
-      return;
-    }
-
-    Last_cal_data_hds.x = ((uint16_t)variable[3] << 8) + variable[4];
-    Last_cal_data_hds.y = ((uint16_t)variable[5] << 8) + variable[6];
-    Last_cal_data_hds.angle = ((uint16_t)variable[7] << 8) + variable[8];
-    Last_cal_data_hds.c = ((uint16_t)variable[9] << 8) + variable[10];
-    Last_cal_data_hds.line = ((uint16_t)variable[11] << 8) + variable[12];
-
-    Serial.printf("X: %d, Y: %d, Angle: %d, Color: %d, Line: %d\n",
-                  Last_cal_data_hds.x,
-                  Last_cal_data_hds.y,
-                  Last_cal_data_hds.angle,
-                  Last_cal_data_hds.c,
-                  Last_cal_data_hds.line);
-  }
-}
-
-void setup() {
-  mySerial.begin(115200, SERIAL_8N1, RXD2, TXD2);
-  Serial.begin(115200);
-  Serial.println("PGV 系统初始化完成");
-}
-
-void loop() {
-  const uint8_t base_cmd[] = {0x01, 0x03, 0x00, 0x3B, 0x00, 0x06};
-  uint8_t full_cmd[8];
-  memcpy(full_cmd, base_cmd, 6);
-  uint16_t crc = Modbus_CRC16(full_cmd, 6);
-  full_cmd[6] = crc & 0xFF;
-  full_cmd[7] = (crc >> 8) & 0xFF;
-
-  mySerial.write(full_cmd, 8);
-
-  delay(100);
-  index = 0;
-  while (mySerial.available() && index < RX_MAX) {
-    variable[index++] = mySerial.read();
-  }
-
-  if (index >= 15) { // 13字节数据 + 2字节 CRC
-    update_data();
-  }
-
-  delay(500);
-}