stm32、openmv、电脑之间的通讯

stm32、openmv、电脑之间的通讯

效果展示

图片为传输的最后一次数据，B6对应182,82对应130。

python

下面是openmv中的代码，识别屏幕中间色块后追踪x，y坐标并发送至电脑

import sensor, image, time, math
from pyb import UART
import json

sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA)
sensor.skip_frames(time = 2000)
sensor.set_auto_gain(False) # must be turned off for color tracking
sensor.set_auto_whitebal(False) # must be turned off for color tracking
clock = time.clock()

uart = UART(3,115200)   #定义串口3变量
def find_max(blobs):    #定义寻找色块面积最大的函数
    max_size=0
    for blob in blobs:
        if blob.pixels() > max_size:
            max_blob=blob
            max_size = blob.pixels()
    return max_blob
r = [(320//2)-(50//2), (240//2)-(50//2), 50, 50] # 50x50 center of QVGA.

for i in range(60):
    img = sensor.snapshot()
    img.draw_rectangle(r)

threshold = [50, 50, 0, 0, 0, 0] # Middle L, A, B values.
for i in range(60):
    img = sensor.snapshot()
    hist = img.get_histogram(roi=r)
    lo = hist.get_percentile(0.01) # Get the CDF of the histogram at the 1% range (ADJUST AS NECESSARY)!
    hi = hist.get_percentile(0.99) # Get the CDF of the histogram at the 99% range (ADJUST AS NECESSARY)!
    # Average in percentile values.
    threshold[0] = (threshold[0] + lo.l_value()) // 2
    threshold[1] = (threshold[1] + hi.l_value()) // 2
    threshold[2] = (threshold[2] + lo.a_value()) // 2
    threshold[3] = (threshold[3] + hi.a_value()) // 2
    threshold[4] = (threshold[4] + lo.b_value()) // 2
    threshold[5] = (threshold[5] + hi.b_value()) // 2
    for blob in img.find_blobs([threshold], pixels_threshold=100, area_threshold=100, merge=True, margin=10):
        img.draw_rectangle(blob.rect())
        img.draw_cross(blob.cx(), blob.cy())
        img.draw_rectangle(r)

while(True):
    clock.tick()
    img = sensor.snapshot()
    for blob in img.find_blobs([threshold], pixels_threshold=100, area_threshold=100, merge=True, margin=10):
        img.draw_rectangle(blob.rect())
        img.draw_cross(blob.cx(), blob.cy())
    print(blob.cx(), blob.cy())

    img_data = bytearray([0x2C,18,blob.cx(),blob.cy()])
    uart.write(img_data)

c

下面是keil中主程序

#include <stm32f10x.h>
#include "delay.h"
#include "sys.h"
#include "lcd.h"
#include "usart.h"
#include "stdio.h"

static u8 openmv[18];	//存取数据
	static u8 state = 0;	
	static u8 bit_number=0;	
void Openmv_Receive_Data(int16_t data)//接收Openmv传过来的数据
{
	if(state==0&&data==0x2C){
		state=1;
		openmv[bit_number++]=data;
	}
	else if(state==1&&data==18){
		state=2;
		openmv[bit_number++]=data;
	}
	else if(state==2){
		openmv[bit_number++]=data;
		if(bit_number>=17){
			state=3;
		}
	}
	else if(state==3)		//检测是否接受到结束标志
	{
        	if(data == 0x5B){
            		state = 0;
            		openmv[bit_number++]=data;
        	}
        	else if(data != 0x5B){
           		 state = 0;
            		for(int i=0;i<18;i++){
               			 openmv[i]=0x00;
            		}           
        	}
	}    
	else{
		state = 0;
		bit_number=0;
            for(int i=0;i<18;i++){
               	openmv[i]=0x00;
           	}
	}
}
static u8 com_data;
int flag=0;

void USART2_IRQHandler(void)			   //串口4全局中断服务函数
{
  	//接收中断
	if( USART_GetITStatus(USART2,USART_IT_RXNE) ){
		USART_ClearITPendingBit(USART2,USART_IT_RXNE);//清除中断标志
		com_data = USART2->DR;
		Openmv_Receive_Data(com_data);//openmv数据处理函数
		
	}
}
int main(void){		
	delay_init();	    	 //延时函数初始化	  
	NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2); //设置NVIC中断分组2:2位抢占优先级，2位响应优先级
	uart_init(115200);	 //串口初始化为115200
	LCD_Init();
	POINT_COLOR=RED;
  	while(1) {	
		/*LCD_ShowNum(0,40,X_black_data,10,24); 
		LCD_ShowNum(0,70,Y_black_data,10,24);
		LCD_ShowNum(0,90,X_red_data,10,24);
 		LCD_ShowNum(0,110,Y_red_data,10,24);		     					 
		LCD_ShowNum(0,130,X_yellow_data,10,24);	  
		LCD_ShowNum(0,150,Y_yellow_data,10,24);	  */
		LCD_ShowNum(0,20,openmv[2],10,24);
		LCD_ShowNum(0,40,openmv[3],10,24); 	
		
		USART_SendData(USART1, openmv[2]);//向串口1发送数据
		while(USART_GetFlagStatus(USART1,USART_FLAG_TC)!=SET);//等待发送结束
		USART_SendData(USART1, openmv[3]);
		while(USART_GetFlagStatus(USART1,USART_FLAG_TC)!=SET);//等待发送结束
		USART_RX_STA=0;				
	}  	 
}

头函数使用正点原子库函数版本，只做了少量简单修改，不在此展示