Unity3D 之 串行口

Unity3D使用串口与单片机等进行数据传输

一个简单的例子：（接收一个字节）

using UnityEngine; using System.Collections; using System; using System.Threading; using System.Collections.Generic; using System.ComponentModel; using System.IO.Ports; using System.Text.RegularExpressions; using System.Text; public class tmp : MonoBehaviour {     private SerialPort sp;     private Thread recvThread;     // Use this for initialization     void Start()     {          sp = new SerialPort("COM1", 9600, Parity.None, 8, StopBits.One); //串口初始化        if (!sp.IsOpen)        {            sp.Open();         }        recvThread = new Thread(ReceiveOneByte); //该线程接收一个字节        recvThread.Start();     }     void Update()     {//...    }    private void ReceiveOneByte()     {         try         {            Byte[] buf = new Byte[1];             string sbReadline2str = string.Empty;             if (sp.IsOpen) sp.Read(buf, 0, 1);         }        catch (Exception ex)         {             Debug.Log(ex);         }    } /* private void SendSerialPortData(string data) //发送一个字节 {  if(sp.IsOpen)  {  sp.WriteLine(data);  }  } */void OnApplicationQuit() {     sp.Close(); } }

应用：

Arduino+MPU6050提供姿态数据由Unity3D实时显示

Arduino端：

1.准备：

与MPU6050的物理连接：A4---SDA A5---SCLVCC---3V3GND---GNDGND---ADD

Arduino IDE（我这用的是1.0.5）

库文件：https://github.com/jrowberg/i2cdevlib  下载后本次需要的是MPU6050和I2Cdev两个文件夹，将它们拷贝进IDE的安装目录下的libraries\文件夹下

2.代码：

代码可由MPU6050库自带的Example中的“MPU6050_DMP6”改写（该Example还可用于测试连接或元件是否正常工作）

改写内容有：

1.选择输出欧拉角功能

2.去除其它不必要输出和输入

3.修改输出格式如下:每一组欧拉角前加“!”,欧拉角内以“#”分隔

注：由该Example可获得MPU6050经DMP处理后的数据，包括四元数，欧拉角，加速度，具体获得那种数据，靠预处理来选择

最终代码：

// I2C device class (I2Cdev) demonstration Arduino sketch for MPU6050 class using DMP (MotionApps v2.0)// 6/21/2012 by Jeff Rowberg <[e-mail]>// Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib//// Changelog://      2013-05-08 - added seamless Fastwire support//                 - added note about gyro calibration//      2012-06-21 - added note about Arduino 1.0.1 + Leonardo compatibility error//      2012-06-20 - improved FIFO overflow handling and simplified read process//      2012-06-19 - completely rearranged DMP initialization code and simplification//      2012-06-13 - pull gyro and accel data from FIFO packet instead of reading directly//      2012-06-09 - fix broken FIFO read sequence and change interrupt detection to RISING//      2012-06-05 - add gravity-compensated initial reference frame acceleration output//                 - add 3D math helper file to DMP6 example sketch//                 - add Euler output and Yaw/Pitch/Roll output formats//      2012-06-04 - remove accel offset clearing for better results (thanks Sungon Lee)//      2012-06-01 - fixed gyro sensitivity to be 2000 deg/sec instead of 250//      2012-05-30 - basic DMP initialization working/* ============================================I2Cdev device library code is placed under the MIT licenseCopyright (c) 2012 Jeff RowbergPermission is hereby granted, free of charge, to any person obtaining a copyof this software and associated documentation files (the "Software"), to dealin the Software without restriction, including without limitation the rightsto use, copy, modify, merge, publish, distribute, sublicense, and/or sellcopies of the Software, and to permit persons to whom the Software isfurnished to do so, subject to the following conditions:The above copyright notice and this permission notice shall be included inall copies or substantial portions of the Software.THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS ORIMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THEAUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHERLIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS INTHE SOFTWARE.===============================================*/// I2Cdev and MPU6050 must be installed as libraries, or else the .cpp/.h files// for both classes must be in the include path of your project#include "I2Cdev.h"#include "MPU6050_6Axis_MotionApps20.h"//#include "MPU6050.h" // not necessary if using MotionApps include file// Arduino Wire library is required if I2Cdev I2CDEV_ARDUINO_WIRE implementation// is used in I2Cdev.h#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE    #include "Wire.h"#endif// class default I2C address is 0x68// specific I2C addresses may be passed as a parameter here// AD0 low = 0x68 (default for SparkFun breakout and InvenSense evaluation board)// AD0 high = 0x69MPU6050 mpu;//MPU6050 mpu(0x69); // <-- use for AD0 high/* =========================================================================   NOTE: In addition to connection 3.3v, GND, SDA, and SCL, this sketch   depends on the MPU-6050's INT pin being connected to the Arduino's   external interrupt #0 pin. On the Arduino Uno and Mega 2560, this is   digital I/O pin 2. * ========================================================================= *//* =========================================================================   NOTE: Arduino v1.0.1 with the Leonardo board generates a compile error   when using Serial.write(buf, len). The Teapot output uses this method.   The solution requires a modification to the Arduino USBAPI.h file, which   is fortunately simple, but annoying. This will be fixed in the next IDE   release. For more info, see these links:   http://arduino.cc/forum/index.php/topic,109987.0.html   http://code.google.com/p/arduino/issues/detail?id=958 * ========================================================================= */// uncomment "OUTPUT_READABLE_QUATERNION" if you want to see the actual// quaternion components in a [w, x, y, z] format (not best for parsing// on a remote host such as Processing or something though)//#define OUTPUT_READABLE_QUATERNION// uncomment "OUTPUT_READABLE_EULER" if you want to see Euler angles// (in degrees) calculated from the quaternions coming from the FIFO.// Note that Euler angles suffer from gimbal lock (for more info, see// http://en.wikipedia.org/wiki/Gimbal_lock)#define OUTPUT_READABLE_EULER// uncomment "OUTPUT_READABLE_YAWPITCHROLL" if you want to see the yaw/// pitch/roll angles (in degrees) calculated from the quaternions coming// from the FIFO. Note this also requires gravity vector calculations.// Also note that yaw/pitch/roll angles suffer from gimbal lock (for// more info, see: http://en.wikipedia.org/wiki/Gimbal_lock)//#define OUTPUT_READABLE_YAWPITCHROLL// uncomment "OUTPUT_READABLE_REALACCEL" if you want to see acceleration// components with gravity removed. This acceleration reference frame is// not compensated for orientation, so +X is always +X according to the// sensor, just without the effects of gravity. If you want acceleration// compensated for orientation, us OUTPUT_READABLE_WORLDACCEL instead.//#define OUTPUT_READABLE_REALACCEL// uncomment "OUTPUT_READABLE_WORLDACCEL" if you want to see acceleration// components with gravity removed and adjusted for the world frame of// reference (yaw is relative to initial orientation, since no magnetometer// is present in this case). Could be quite handy in some cases.//#define OUTPUT_READABLE_WORLDACCEL// uncomment "OUTPUT_TEAPOT" if you want output that matches the// format used for the InvenSense teapot demo//#define OUTPUT_TEAPOT#define LED_PIN 13 // (Arduino is 13, Teensy is 11, Teensy++ is 6)bool blinkState = false;// MPU control/status varsbool dmpReady = false;  // set true if DMP init was successfuluint8_t mpuIntStatus;   // holds actual interrupt status byte from MPUuint8_t devStatus;      // return status after each device operation (0 = success, !0 = error)uint16_t packetSize;    // expected DMP packet size (default is 42 bytes)uint16_t fifoCount;     // count of all bytes currently in FIFOuint8_t fifoBuffer[64]; // FIFO storage buffer// orientation/motion varsQuaternion q;           // [w, x, y, z]         quaternion containerVectorInt16 aa;         // [x, y, z]            accel sensor measurementsVectorInt16 aaReal;     // [x, y, z]            gravity-free accel sensor measurementsVectorInt16 aaWorld;    // [x, y, z]            world-frame accel sensor measurementsVectorFloat gravity;    // [x, y, z]            gravity vectorfloat euler[3];         // [psi, theta, phi]    Euler angle containerfloat ypr[3];           // [yaw, pitch, roll]   yaw/pitch/roll container and gravity vector// packet structure for InvenSense teapot demouint8_t teapotPacket[14] = { '$', 0x02, 0,0, 0,0, 0,0, 0,0, 0x00, 0x00, '\r', '\n' };// ================================================================// ===               INTERRUPT DETECTION ROUTINE                ===// ================================================================volatile bool mpuInterrupt = false;     // indicates whether MPU interrupt pin has gone highvoid dmpDataReady() {    mpuInterrupt = true;}// ================================================================// ===                      INITIAL SETUP                       ===// ================================================================void setup() {    // join I2C bus (I2Cdev library doesn't do this automatically)    #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE        Wire.begin();        TWBR = 24; // 400kHz I2C clock (200kHz if CPU is 8MHz)    #elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE        Fastwire::setup(400, true);    #endif    // initialize serial communication    // (115200 chosen because it is required for Teapot Demo output, but it's    // really up to you depending on your project)    Serial.begin(115200);    while (!Serial); // wait for Leonardo enumeration, others continue immediately    // NOTE: 8MHz or slower host processors, like the Teensy @ 3.3v or Ardunio    // Pro Mini running at 3.3v, cannot handle this baud rate reliably due to    // the baud timing being too misaligned with processor ticks. You must use    // 38400 or slower in these cases, or use some kind of external separate    // crystal solution for the UART timer.    // initialize device   // Serial.println(F("Initializing I2C devices..."));    mpu.initialize();    // verify connection   // Serial.println(F("Testing device connections..."));  //  Serial.println(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed"));    // wait for ready   // Serial.println(F("\nSend any character to begin DMP programming and demo: "));  //  while (Serial.available() && Serial.read()); // empty buffer //   while (!Serial.available());                 // wait for data //   while (Serial.available() && Serial.read()); // empty buffer again    // load and configure the DMP  //  Serial.println(F("Initializing DMP..."));    devStatus = mpu.dmpInitialize();    // supply your own gyro offsets here, scaled for min sensitivity    mpu.setXGyroOffset(220);    mpu.setYGyroOffset(76);    mpu.setZGyroOffset(-85);    mpu.setZAccelOffset(1788); // 1688 factory default for my test chip    // make sure it worked (returns 0 if so)    if (devStatus == 0) {        // turn on the DMP, now that it's ready     //   Serial.println(F("Enabling DMP..."));        mpu.setDMPEnabled(true);        // enable Arduino interrupt detection     //   Serial.println(F("Enabling interrupt detection (Arduino external interrupt 0)..."));        attachInterrupt(0, dmpDataReady, RISING);        mpuIntStatus = mpu.getIntStatus();        // set our DMP Ready flag so the main loop() function knows it's okay to use it    //    Serial.println(F("DMP ready! Waiting for first interrupt..."));        dmpReady = true;        // get expected DMP packet size for later comparison        packetSize = mpu.dmpGetFIFOPacketSize();    } else {        // ERROR!        // 1 = initial memory load failed        // 2 = DMP configuration updates failed        // (if it's going to break, usually the code will be 1)        Serial.print(F("DMP Initialization failed (code "));        Serial.print(devStatus);        Serial.println(F(")"));    }    // configure LED for output    pinMode(LED_PIN, OUTPUT);}// ================================================================// ===                    MAIN PROGRAM LOOP                     ===// ================================================================void loop() {    // if programming failed, don't try to do anything    if (!dmpReady) return;    // wait for MPU interrupt or extra packet(s) available    while (!mpuInterrupt && fifoCount < packetSize) {        // other program behavior stuff here        // .        // .        // .        // if you are really paranoid you can frequently test in between other        // stuff to see if mpuInterrupt is true, and if so, "break;" from the        // while() loop to immediately process the MPU data        // .        // .        // .    }    // reset interrupt flag and get INT_STATUS byte    mpuInterrupt = false;    mpuIntStatus = mpu.getIntStatus();    // get current FIFO count    fifoCount = mpu.getFIFOCount();    // check for overflow (this should never happen unless our code is too inefficient)    if ((mpuIntStatus & 0x10) || fifoCount == 1024) {        // reset so we can continue cleanly        mpu.resetFIFO();        Serial.println(F("FIFO overflow!"));    // otherwise, check for DMP data ready interrupt (this should happen frequently)    } else if (mpuIntStatus & 0x02) {        // wait for correct available data length, should be a VERY short wait        while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount();        // read a packet from FIFO        mpu.getFIFOBytes(fifoBuffer, packetSize);                // track FIFO count here in case there is > 1 packet available        // (this lets us immediately read more without waiting for an interrupt)        fifoCount -= packetSize;        #ifdef OUTPUT_READABLE_QUATERNION            // display quaternion values in easy matrix form: w x y z            mpu.dmpGetQuaternion(&q, fifoBuffer);            Serial.print("!");            Serial.print(q.x);            Serial.print("#");            Serial.print(q.y);            Serial.print("#");            Serial.print(q.z);            Serial.print("#");            Serial.print(q.w);        #endif        #ifdef OUTPUT_READABLE_EULER            // display Euler angles in degrees            mpu.dmpGetQuaternion(&q, fifoBuffer);            mpu.dmpGetEuler(euler, &q);            Serial.print("!");            Serial.print(euler[0] * 180/M_PI);            Serial.print("#");            Serial.print(euler[1] * 180/M_PI);            Serial.print("#");            Serial.print(euler[2] * 180/M_PI);        #endif        #ifdef OUTPUT_READABLE_YAWPITCHROLL            // display Euler angles in degrees            mpu.dmpGetQuaternion(&q, fifoBuffer);            mpu.dmpGetGravity(&gravity, &q);            mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);            Serial.print("!");            Serial.print(ypr[0] * 180/M_PI);            Serial.print("#");            Serial.print(ypr[1] * 180/M_PI);            Serial.print("#");            Serial.print(ypr[2] * 180/M_PI);        #endif        #ifdef OUTPUT_READABLE_REALACCEL            // display real acceleration, adjusted to remove gravity            mpu.dmpGetQuaternion(&q, fifoBuffer);            mpu.dmpGetAccel(&aa, fifoBuffer);            mpu.dmpGetGravity(&gravity, &q);            mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);            Serial.print("areal\t");            Serial.print(aaReal.x);            Serial.print("\t");            Serial.print(aaReal.y);            Serial.print("\t");            Serial.println(aaReal.z);        #endif        #ifdef OUTPUT_READABLE_WORLDACCEL            // display initial world-frame acceleration, adjusted to remove gravity            // and rotated based on known orientation from quaternion            mpu.dmpGetQuaternion(&q, fifoBuffer);            mpu.dmpGetAccel(&aa, fifoBuffer);            mpu.dmpGetGravity(&gravity, &q);            mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);            mpu.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &q);            Serial.print("aworld\t");            Serial.print(aaWorld.x);            Serial.print("\t");            Serial.print(aaWorld.y);            Serial.print("\t");            Serial.println(aaWorld.z);        #endif            #ifdef OUTPUT_TEAPOT            // display quaternion values in InvenSense Teapot demo format:            teapotPacket[2] = fifoBuffer[0];            teapotPacket[3] = fifoBuffer[1];            teapotPacket[4] = fifoBuffer[4];            teapotPacket[5] = fifoBuffer[5];            teapotPacket[6] = fifoBuffer[8];            teapotPacket[7] = fifoBuffer[9];            teapotPacket[8] = fifoBuffer[12];            teapotPacket[9] = fifoBuffer[13];            Serial.write(teapotPacket, 14);            teapotPacket[11]++; // packetCount, loops at 0xFF on purpose        #endif        // blink LED to indicate activity        blinkState = !blinkState;        digitalWrite(LED_PIN, blinkState);    }}

Unity3D端：

上代码：

using UnityEngine; using System.Collections; using System; using System.Threading; using System.Collections.Generic; using System.ComponentModel; using System.IO.Ports; using System.Text.RegularExpressions; using System.Text; public class com : MonoBehaviour { public GameObject target;//目标操作物体    private SerialPort sp;     private Thread recvThread; float x,y,z;//存放欧拉角    // Use this for initialization     void Start()     { Debug.Log("start");         sp = new SerialPort("COM1", 115200, Parity.None, 8, StopBits.One); //串口初始化        if (!sp.IsOpen)        {            sp.Open();         }        recvThread = new Thread(ReceiveData);         recvThread.Start();     }     // Update is called once per frame     void Update()     { Debug.Log(x+"&&"+y+"&&"+z);//更新姿态target.transform.eulerAngles=new Vector3(x,y,z);    }    private void ReceiveData()     { char[] spil="#".ToCharArray();//“#”为串口传入一份数据内的分隔符,数据间的分隔符为“!”（ASICII为33）char[] sbuf = new char[1024];        try         {            Byte[] buf = new Byte[1];             string sbReadline2str = string.Empty;             if (sp.IsOpen) sp.Read(buf, 0, 1);             if (buf.Length == 0)             {                 return;             }else if(buf[0]==33){//第一次找到数据头标志int i=0;while(true){//不断读取欧拉角sp.Read(buf, 0, 1);//读一个字节if(buf[0]!=33)//该份欧拉角未结束{//保存该字节sbuf[i]=(char)buf[0];i++;}else{String s=new String(sbuf,0,i);String []ss=s.Split(spil);i=0;//更新X,Y,Zif(ss.Length==3){x=float.Parse(ss[0]);y=float.Parse(ss[1]);z=float.Parse(ss[2]);}//接着读取下一组欧拉角}}}        }        catch (Exception ex)         {             Debug.Log(ex);         }    }     private void SendSerialPortData(string data)  {  if(sp.IsOpen)  {  sp.WriteLine(data);  }  }   void OnApplicationQuit() {     sp.Close(); } }