MSPM0G3507——OPENMV给M0传数据（用数据包）互相通信（以循迹为例）

news2024/10/6 1:31:59

OPENMV端代码

# main.py -- put your code here!
import pyb, sensor, image, math, time
from pyb import UART
import ustruct
from image import SEARCH_DS, SEARCH_EX
import time
import sensor, display

uart = UART(3, 115200, bits=8, parity=None, stop=1, timeout_char=1000)
roi1 = [(0, 80, 20, 10),
        (20, 80, 35, 10),
        (55, 80, 50, 10),
        (105, 80, 35, 10),
        (140, 80, 20, 10),]

led = pyb.LED(1)
led.on()

sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QQVGA)
sensor.skip_frames(time=2000)
sensor.set_auto_gain(False)
sensor.set_auto_whitebal(True)
GROUND_THRESHOLD = ((0, 16, -62, 123, -19, 40))


#def send_five_uchar(c1, c2, c3, c4, c5):
 #  global uart;
  # data = ustruct.pack("<BBBBBBBB",
   #                    0xa3,
    #                   0xb3,
     #                  c1, c2, c3, c4, c5,
      #                0xc3)
   #uart.write(data);
   #print(data)


while True:
   data = 0
   blob1 = None
   blob2 = None
   blob3 = None
   blob4 = None
   blob5 = None
   flag = [0, 0, 0, 0, 0]
   img = sensor.snapshot().lens_corr(strength=1.7, zoom=1.0)
   blob1 = img.find_blobs([GROUND_THRESHOLD], roi=roi1[0])
   blob2 = img.find_blobs([GROUND_THRESHOLD], roi=roi1[1])
   blob3 = img.find_blobs([GROUND_THRESHOLD], roi=roi1[2])
   blob4 = img.find_blobs([GROUND_THRESHOLD], roi=roi1[3])
   blob5 = img.find_blobs([GROUND_THRESHOLD], roi=roi1[4])

   if blob1:
      flag[0] = 1
   if blob2:
      flag[1] = 1
   if blob3:
      flag[2] = 1
   if blob4:
      flag[3] = 1
   if blob5:
      flag[4] = 1
   time.sleep_ms(10)
  # send_five_uchar(flag[0], flag[1], flag[2], flag[3], flag[4])
   data = bytearray([0xa3, 0xb3,flag[0],flag[1],flag[2],flag[3],flag[4],0xc3])  # 打包：帧头1 + 帧头2 + x + y + 帧尾
   uart.write(data);
   print(data)
    
   for rec in roi1:
      img.draw_rectangle(rec, color=(255, 0, 0))

M0端代码


#include "ti_msp_dl_config.h"

#include "oled.h"
#include "stdio.h"
int openmv_data[8]; //openmv发来的数据包
int a1=5, a2=5, a3=5,a4=5,a5=5;
int b =5;



int data_test(int data[])           //判断数据是否合理的函数
{

	if(data[7]!=0xc3) return 0;  //帧尾
	
	//if(data[2]>150)   return 0;  //x坐标上限
	//if(data[3]>110)   return 0;  //y坐标上限
	
	return 1;
}







int main(void)
{

    	uint8_t str[64];
    SYSCFG_DL_init();

    NVIC_ClearPendingIRQ(UART_0_INST_INT_IRQN);                 //先清除一下中断，防止直接接入中断
    NVIC_EnableIRQ(UART_0_INST_INT_IRQN);                       //开启串口的中断
    OLED_Init();
	OLED_Fill(0x00);
    OLED_ShowStr(0,0,(unsigned char*)("MSPM0G3507"),1);

    while (1)
     {
             sprintf((char *)str, "%d", a1);
             OLED_ShowStr(0,4, str,2);

            sprintf((char *)str, "%d", a2);
             OLED_ShowStr(16,4, str,2);

             sprintf((char *)str, "%d", a3);
             OLED_ShowStr(32,4, str,2);

             sprintf((char *)str, "%d", a4);
             OLED_ShowStr(48,4, str,2);

             sprintf((char *)str, "%d", a5);
             OLED_ShowStr(64,4, str,2);

         b=data_test(openmv_data);
       sprintf((char *)str, "%d", b);
             OLED_ShowStr(0,6, str,2);

    }
}








void UART_0_INST_IRQHandler(void)
{
    static int i=0;
    switch (DL_UART_Main_getPendingInterrupt(UART_0_INST)) 
    {
        case DL_UART_MAIN_IIDX_RX:

            DL_GPIO_togglePins(GPIO_LEDS_PORT,GPIO_LEDS_USER_LED_1_PIN | GPIO_LEDS_USER_TEST_PIN);

           // gEchoData = DL_UART_Main_receiveData(UART_0_INST);
            //DL_UART_Main_transmitData(UART_0_INST, gEchoData);



            openmv_data[i++] = DL_UART_Main_receiveData(UART_0_INST);	//接收数据
                  if(openmv_data[0]!=0xa3) i=0;             		//判断第一个帧头

                  if((i==2)&&(openmv_data[1]!=0xb3)) i=0;    		//判断第二个帧头

                  if(i==8)        //代表一组数据传输完毕
                {
                    i = 0;			
                    if( data_test(openmv_data) )             		//判断数据合理性
                    {
                        a1 = openmv_data[2]; 
                        a2 = openmv_data[3]; 
                        a3 = openmv_data[4]; 
                        a4 = openmv_data[5]; 
                        a5 = openmv_data[6]; 
                    }
                }





            break;
        default:
            break;
    }
}

串口的配置：