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stm32与openmv的相互发送与接收（基于标准库）
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提示：文章写完后，目录可以自动生成，如何生成可参考右边的帮助文档 文章目录目录 文章目录 前言 一、硬件连接 二、数据包传输 三、openmv发送stm32端接收 1.openmv端（发送函数） 2.stm32端（接收函数） 串口中断服务函数： 数据读取函数： 数据处理函数： main函数oled屏幕显示调用： 3.实物调试 四、stm32发送openmv端接收 1.stm32端（发送函数） 2.openmv端（接收函数） 3.openmv主函数调用 4.openmv调试展示 五、完整代码1（openmv发送stm32端接收） 1.openmv发送 2.stm32端接收 六、完整代码2（stm32端发送openmv接收） 1.stm32端 2.openmv端 总结 总结 前言前段时间参加电赛校赛的时候题目是做21年f题智能送药小车，在openmv与stm32通信中遇到了些困难，通过看一些大佬们的文章与例程，我总结出了一套实用性不错的通信协议代码，一方面是对自己的知识进行总结，另一方面也可以将其提供给有需要的同学，如有理解错误，欢迎大佬们的指正。 提示：以下是本篇文章正文内容，下面案例可供参考 一、硬件连接我所用到的材料如下: 四针IIC OLED，OpenMV4 7h(OV7725)，STM32F103C8T6最小系统板，数据线N条，LED灯模块(OpenMV的数据线只能用官方自带的)，杜邦线若干。 下图以Arduino为例把主控TXD与openmv的P5连接，RXD与openmv的P4连接，在STM32端：USART_TX—PA9 -----USART_RX—PA10。（用的是32的USART1）
四针IIC OLED连接： SDA--PB9，SCL--PB8；GND，VCC（3.3V）正常接入就好；
二、数据包传输 这里采用的数据包传输方式是固定包长，含包头包尾方式（即为第一种），帧头帧尾不固定，可自定义，图示帧头帧尾分别为0xfe与0xef；代码呈现的分别是0xb3，0xb5，下图为图解原理：
这里是根据当时做送药小车的模板匹配所用的主要发送程序，完整程序会在文末呈现。 代码如下（示例）： #最初加载匹配 def FirstFindTemplate(template): R = img.find_template(template, 0.8, step=1, roi=(40, 0, 70, 40), search=SEARCH_EX) #只检测中间的 return R def FirstFindedNum(R, Finded_Num): #第一个参数是模板匹配的对象，第二个是它所代表的数字 global Find_Task global find_flag img.draw_rectangle(R, color=(225, 0, 0)) LoR = 0 find_flag = 1 Num = Finded_Num FH = bytearray([0xb3,0xb3,Num, LoR,Find_Task,0x5b]) uart.write(FH) print("目标病房号：", Num)这里的FirstFindTemplate(template)函数是用于识别，识别成功后返回R值，主函数在调用FirstFindedNum(R, Finded_Num)时会将R值传输进去，识别到之后进行框选，然后bytearray([, , ,])组合uart.write()将打包好的参数进行发送。 2.stm32端（接收函数）代码如下（示例）：这里先省略初始化以及变量定义的程序，文末补全 串口中断服务函数： void USART1_IRQHandler(void) //串口1中断服务程序 { u8 com_data; #if SYSTEM_SUPPORT_OS //如果SYSTEM_SUPPORT_OS为真，则需要支持OS. OSIntEnter(); #endif if(USART_GetITStatus(USART1, USART_IT_RXNE) != RESET) //接收中断(接收到的数据必须是0x0d 0x0a结尾) { USART_ClearFlag(USART1,USART_FLAG_RXNE); com_data = USART1->DR; Openmv_Receive_Data(com_data); //openmv数据处理函数 Openmv_Data(); //openmv数据处理函数 } #if SYSTEM_SUPPORT_OS //如果SYSTEM_SUPPORT_OS为真，则需要支持OS. OSIntExit(); #endif }常规串口中断程序，串口接收到数据后查询标志位，查询完成后清除并开始将数据读取处理。 数据读取函数： void Openmv_Receive_Data(int16_t data)//接收Openmv传过来的数据 { static u8 state = 0; if(state==0&&data==0xb3)//第一个帧头 { state=1; openmv[0]=data; } else if(state==1&&data==0xb3)//第二个帧头 { state=2; openmv[1]=data; } else if(state==2)//第一个有效数据 { state=3; openmv[2]=data; } else if(state==3)//第二个有效数据 { state = 4; openmv[3]=data; } else if(state==4)//第三个有效数据 { state = 5; openmv[4]=data; } else if(state==5) //检测是否接受到结束标志，检测接收帧尾 { if(data == 0x5B) { state = 0; openmv[5]=data; Openmv_Data(); } else if(data != 0x5B) { state = 0; for(i=0;i0):是检测是否有数据传输进来，有的话就执行。调用接收函数Receive_Prepare()，把Find_Task, Target_Num在串行终端中打印出来。 4.openmv调试展示这里我们用ide自带的串行终端进行观察调试结果
可以看到，此时的openmv端接收到数字Find_Task为1，TargetNum为3，LoR暂时未用不需要理会。 注：这里接收/发送有点小问题，如果不断的接收打印，数据会变成13，1，通信时请注意；可能通信协议有点小毛病，希望大佬们可以指正。 五、完整代码1（openmv发送stm32端接收） （如果上面看的一头雾水可以试试看完全部程序，也方便梳理） 1.openmv发送 import time, image,sensor,math,pyb,ustruct from image import SEARCH_EX, SEARCH_DS from pyb import Pin, Timer,LED #从imgae模块引入SEARCH_EX和SEARCH_DS。使用from import仅仅引入SEARCH_EX, #SEARCH_DS两个需要的部分，而不把image模块全部引入。 sensor.reset() # Set sensor settings sensor.set_contrast(1) sensor.set_gainceiling(16) # Max resolution for template matching with SEARCH_EX is QQVGA sensor.set_framesize(sensor.QQVGA) # You can set windowing to reduce the search image. sensor.set_pixformat(sensor.GRAYSCALE) sensor.set_windowing(0, 40, 160, 40) #观察窗口 后面ROI设置也会以这个为新的基准 rx_buff=[] state = 0 tx_flag = 0 # Load template. # Template should be a small (eg. 32x32 pixels) grayscale image. #加载模板图片 template01 = image.Image("/1.pgm") template02 = image.Image("/2.pgm") template03 = image.Image("/3.pgm") template04 = image.Image("/4.pgm") template05 = image.Image("/5.pgm") template06 = image.Image("/6.pgm") template07 = image.Image("/7.pgm") template08 = image.Image("/8.pgm") uart = pyb.UART(3, 115200, timeout_char = 1000) #定义串口1变量 blue_led = LED(2) Find_Task =1 #1 Target_Num =0 ##### FindTask == 1 时使用 #最初加载匹配 def FirstFindTemplate(template): R = img.find_template(template, 0.8, step=1, roi=(40, 0, 70, 40), search=SEARCH_EX) #只检测中间的 return R def FirstFindedNum(R, Finded_Num): #第一个参数是模板匹配的对象，第二个是它所代表的数字 global Find_Task global find_flag img.draw_rectangle(R, color=(225, 0, 0)) #本来中值是80的，但返回值是框边缘，所以减去15就好 小于65是在左边，大于65是在右边 LoR = 0 find_flag = 1 Num = Finded_Num FH = bytearray([0xb3,0xb3,Num, LoR,Find_Task,0x5b]) uart.write(FH) print("目标病房号：", Num) clock = time.clock() # Run template matching while (True): clock.tick() img = sensor.snapshot()# 镜头初始化 # find_template(template, threshold, [roi, step, search]) # ROI: The region of interest tuple (x, y, w, h). # Step: The loop step used (y+=step, x+=step) use a bigger step to make it faster. # Search is either image.SEARCH_EX for exhaustive search or image.SEARCH_DS for diamond search # # Note1: ROI has to be smaller than the image and bigger than the template. # Note2: In diamond search, step and ROI are both ignored. if Find_Task == 1: #进行模板匹配 r01 = FirstFindTemplate(template01) r02 = FirstFindTemplate(template02) r03 = FirstFindTemplate(template03) r04 = FirstFindTemplate(template04) r05 = FirstFindTemplate(template05) r06 = FirstFindTemplate(template06) r07 = FirstFindTemplate(template07) r08 = FirstFindTemplate(template08) #判断哪个模板匹配成功，并将成功匹配的相应数据发送给主控 if r01: FirstFindedNum(r01, 1) elif r02: FirstFindedNum(r02,2) elif r03: FirstFindedNum(r03,3) elif r04: FirstFindedNum(r04,4) elif r05: FirstFindedNum(r05,5) elif r06: FirstFindedNum(r06,6) elif r07: FirstFindedNum(r07,7) elif r08: FirstFindedNum(r08,8) else: FH = bytearray([0x2C,0x12,0x00, 0x00, 0x00, 0x00,0x5B]) uart.write(FH) else: time.sleep_ms(100) print(clock.fps(),Find_Task, Target_Num)多出来的数据位不需要那么多的话可以选择对代码进行删减，或者直接当成0x00发送，不会有太大影响。 2.stm32端接收usart1.c #include "usart1.h" //char TargerNum='0'; int openmv[6];//stm32接收数据数组 int16_t TargerNum; int16_t Find_Task; int16_t LoR; int i; /** * 函数名：Usart1_Init * 描述：串口1初始化 * 输入：Bound-波特率 * 输出：无 */ void Usart1_Init(uint32_t Bound) { RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA,ENABLE); RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1,ENABLE); GPIO_InitTypeDef GPIO_InitStructure; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_Init(GPIOA,&GPIO_InitStructure); GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; GPIO_Init(GPIOA,&GPIO_InitStructure); USART_InitTypeDef USART_InitStructure; USART_InitStructure.USART_BaudRate = Bound; USART_InitStructure.USART_WordLength = USART_WordLength_8b; USART_InitStructure.USART_StopBits = USART_StopBits_1; USART_InitStructure.USART_Parity = USART_Parity_No; USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None; USART_InitStructure.USART_Mode = USART_Mode_Tx | USART_Mode_Rx; USART_Init(USART1,&USART_InitStructure); NVIC_InitTypeDef NVIC_InitStructure; NVIC_InitStructure.NVIC_IRQChannel = USART1_IRQn; NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0; NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1; NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; NVIC_Init(&NVIC_InitStructure); USART_ITConfig(USART1,USART_IT_RXNE,ENABLE); USART_Cmd(USART1,ENABLE); } void Openmv_Data(void)//处理Openmv接收的数据 { TargerNum=openmv[2]; LoR=openmv[3]; Find_Task =openmv[4]; } void Openmv_Receive_Data(int16_t data)//接收Openmv传过来的数据 { static u8 state = 0; if(state==0&&data==0xb3)//第一个帧头 { state=1; openmv[0]=data; } else if(state==1&&data==0xb3)//第二个帧头 { state=2; openmv[1]=data; } else if(state==2)//第一个有效数据 { state=3; openmv[2]=data; } else if(state==3)//第二个有效数据 { state = 4; openmv[3]=data; } else if(state==4)//第三个有效数据 { state = 5; openmv[4]=data; } else if(state==5) //检测是否接受到结束标志，检测接收帧尾 { if(data == 0x5B) { state = 0; openmv[5]=data; Openmv_Data(); } else if(data != 0x5B) { state = 0; for(i=0;i> i)); OLED_W_SCL(1); OLED_W_SCL(0); } OLED_W_SCL(1); //额外的一个时钟，不处理应答信号 OLED_W_SCL(0); } /** * @brief OLED写命令 * @param Command 要写入的命令 * @retval 无 */ void OLED_WriteCommand(uint8_t Command) { OLED_I2C_Start(); OLED_I2C_SendByte(0x78); //从机地址 OLED_I2C_SendByte(0x00); //写命令 OLED_I2C_SendByte(Command); OLED_I2C_Stop(); } /** * @brief OLED写数据 * @param Data 要写入的数据 * @retval 无 */ void OLED_WriteData(uint8_t Data) { OLED_I2C_Start(); OLED_I2C_SendByte(0x78); //从机地址 OLED_I2C_SendByte(0x40); //写数据 OLED_I2C_SendByte(Data); OLED_I2C_Stop(); } /** * @brief OLED设置光标位置 * @param Y 以左上角为原点，向下方向的坐标，范围：0~7 * @param X 以左上角为原点，向右方向的坐标，范围：0~127 * @retval 无 */ void OLED_SetCursor(uint8_t Y, uint8_t X) { OLED_WriteCommand(0xB0 | Y); //设置Y位置 OLED_WriteCommand(0x10 | ((X & 0xF0) >> 4)); //设置X位置高4位 OLED_WriteCommand(0x00 | (X & 0x0F)); //设置X位置低4位 } /** * @brief OLED清屏 * @param 无 * @retval 无 */ void OLED_Clear(void) { uint8_t i, j; for (j = 0; j < 8; j++) { OLED_SetCursor(j, 0); for(i = 0; i < 128; i++) { OLED_WriteData(0x00); } } } /** * @brief OLED显示一个字符 * @param Line 行位置，范围：1~4 * @param Column 列位置，范围：1~16 * @param Char 要显示的一个字符，范围：ASCII可见字符 * @retval 无 */ void OLED_ShowChar(uint8_t Line, uint8_t Column, char Char) { uint8_t i; OLED_SetCursor((Line - 1) * 2, (Column - 1) * 8); //设置光标位置在上半部分 for (i = 0; i < 8; i++) { OLED_WriteData(OLED_F8x16[Char - ' '][i]); //显示上半部分内容 } OLED_SetCursor((Line - 1) * 2 + 1, (Column - 1) * 8); //设置光标位置在下半部分 for (i = 0; i < 8; i++) { OLED_WriteData(OLED_F8x16[Char - ' '][i + 8]); //显示下半部分内容 } } /** * @brief OLED显示字符串 * @param Line 起始行位置，范围：1~4 * @param Column 起始列位置，范围：1~16 * @param String 要显示的字符串，范围：ASCII可见字符 * @retval 无 */ void OLED_ShowString(uint8_t Line, uint8_t Column, char *String) { uint8_t i; for (i = 0; String[i] != '\0'; i++) { OLED_ShowChar(Line, Column + i, String[i]); } } /** * @brief OLED次方函数 * @retval 返回值等于X的Y次方 */ uint32_t OLED_Pow(uint32_t X, uint32_t Y) { uint32_t Result = 1; while (Y--) { Result *= X; } return Result; } /** * @brief OLED显示数字（十进制，正数） * @param Line 起始行位置，范围：1~4 * @param Column 起始列位置，范围：1~16 * @param Number 要显示的数字，范围：0~4294967295 * @param Length 要显示数字的长度，范围：1~10 * @retval 无 */ void OLED_ShowNum(uint8_t Line, uint8_t Column, uint32_t Number, uint8_t Length) { uint8_t i; for (i = 0; i < Length; i++) { OLED_ShowChar(Line, Column + i, Number / OLED_Pow(10, Length - i - 1) % 10 + '0'); } } /** * @brief OLED显示数字（十进制，带符号数） * @param Line 起始行位置，范围：1~4 * @param Column 起始列位置，范围：1~16 * @param Number 要显示的数字，范围：-2147483648~2147483647 * @param Length 要显示数字的长度，范围：1~10 * @retval 无 */ void OLED_ShowSignedNum(uint8_t Line, uint8_t Column, int32_t Number, uint8_t Length) { uint8_t i; uint32_t Number1; if (Number >= 0) { OLED_ShowChar(Line, Column, '+'); Number1 = Number; } else { OLED_ShowChar(Line, Column, '-'); Number1 = -Number; } for (i = 0; i < Length; i++) { OLED_ShowChar(Line, Column + i + 1, Number1 / OLED_Pow(10, Length - i - 1) % 10 + '0'); } } /** * @brief OLED显示数字（十六进制，正数） * @param Line 起始行位置，范围：1~4 * @param Column 起始列位置，范围：1~16 * @param Number 要显示的数字，范围：0~0xFFFFFFFF * @param Length 要显示数字的长度，范围：1~8 * @retval 无 */ void OLED_ShowHexNum(uint8_t Line, uint8_t Column, uint32_t Number, uint8_t Length) { uint8_t i, SingleNumber; for (i = 0; i < Length; i++) { SingleNumber = Number / OLED_Pow(16, Length - i - 1) % 16; if (SingleNumber < 10) { OLED_ShowChar(Line, Column + i, SingleNumber + '0'); } else { OLED_ShowChar(Line, Column + i, SingleNumber - 10 + 'A'); } } } /** * @brief OLED显示数字（二进制，正数） * @param Line 起始行位置，范围：1~4 * @param Column 起始列位置，范围：1~16 * @param Number 要显示的数字，范围：0~1111 1111 1111 1111 * @param Length 要显示数字的长度，范围：1~16 * @retval 无 */ void OLED_ShowBinNum(uint8_t Line, uint8_t Column, uint32_t Number, uint8_t Length) { uint8_t i; for (i = 0; i < Length; i++) { OLED_ShowChar(Line, Column + i, Number / OLED_Pow(2, Length - i - 1) % 2 + '0'); } } /** * @brief OLED初始化 * @param 无 * @retval 无 */ void OLED_Init(void) { uint32_t i, j; for (i = 0; i < 1000; i++) //上电延时 { for (j = 0; j < 1000; j++); } OLED_I2C_Init(); //端口初始化 OLED_WriteCommand(0xAE); //关闭显示 OLED_WriteCommand(0xD5); //设置显示时钟分频比/振荡器频率 OLED_WriteCommand(0x80); OLED_WriteCommand(0xA8); //设置多路复用率 OLED_WriteCommand(0x3F); OLED_WriteCommand(0xD3); //设置显示偏移 OLED_WriteCommand(0x00); OLED_WriteCommand(0x40); //设置显示开始行 OLED_WriteCommand(0xA1); //设置左右方向，0xA1正常 0xA0左右反置 OLED_WriteCommand(0xC8); //设置上下方向，0xC8正常 0xC0上下反置 OLED_WriteCommand(0xDA); //设置COM引脚硬件配置 OLED_WriteCommand(0x12); OLED_WriteCommand(0x81); //设置对比度控制 OLED_WriteCommand(0xCF); OLED_WriteCommand(0xD9); //设置预充电周期 OLED_WriteCommand(0xF1); OLED_WriteCommand(0xDB); //设置VCOMH取消选择级别 OLED_WriteCommand(0x30); OLED_WriteCommand(0xA4); //设置整个显示打开/关闭 OLED_WriteCommand(0xA6); //设置正常/倒转显示 OLED_WriteCommand(0x8D); //设置充电泵 OLED_WriteCommand(0x14); OLED_WriteCommand(0xAF); //开启显示 OLED_Clear(); //OLED清屏 }oled.h #ifndef __OLED_H #define __OLED_H void OLED_Init(void); void OLED_Clear(void); void OLED_ShowChar(uint8_t Line, uint8_t Column, char Char); void OLED_ShowString(uint8_t Line, uint8_t Column, char *String); void OLED_ShowNum(uint8_t Line, uint8_t Column, uint32_t Number, uint8_t Length); void OLED_ShowSignedNum(uint8_t Line, uint8_t Column, int32_t Number, uint8_t Length); void OLED_ShowHexNum(uint8_t Line, uint8_t Column, uint32_t Number, uint8_t Length); void OLED_ShowBinNum(uint8_t Line, uint8_t Column, uint32_t Number, uint8_t Length); #endifoled_Font.h #ifndef __OLED_FONT_H #define __OLED_FONT_H /*OLED字模库，宽8像素，高16像素*/ const uint8_t OLED_F8x16[][16]= { 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,// 0 0x00,0x00,0x00,0xF8,0x00,0x00,0x00,0x00, 0x00,0x00,0x00,0x33,0x30,0x00,0x00,0x00,//! 1 0x00,0x10,0x0C,0x06,0x10,0x0C,0x06,0x00, 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//" 2 0x40,0xC0,0x78,0x40,0xC0,0x78,0x40,0x00, 0x04,0x3F,0x04,0x04,0x3F,0x04,0x04,0x00,//# 3 0x00,0x70,0x88,0xFC,0x08,0x30,0x00,0x00, 0x00,0x18,0x20,0xFF,0x21,0x1E,0x00,0x00,//$ 4 0xF0,0x08,0xF0,0x00,0xE0,0x18,0x00,0x00, 0x00,0x21,0x1C,0x03,0x1E,0x21,0x1E,0x00,//% 5 0x00,0xF0,0x08,0x88,0x70,0x00,0x00,0x00, 0x1E,0x21,0x23,0x24,0x19,0x27,0x21,0x10,//& 6 0x10,0x16,0x0E,0x00,0x00,0x00,0x00,0x00, 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//' 7 0x00,0x00,0x00,0xE0,0x18,0x04,0x02,0x00, 0x00,0x00,0x00,0x07,0x18,0x20,0x40,0x00,//( 8 0x00,0x02,0x04,0x18,0xE0,0x00,0x00,0x00, 0x00,0x40,0x20,0x18,0x07,0x00,0x00,0x00,//) 9 0x40,0x40,0x80,0xF0,0x80,0x40,0x40,0x00, 0x02,0x02,0x01,0x0F,0x01,0x02,0x02,0x00,//* 10 0x00,0x00,0x00,0xF0,0x00,0x00,0x00,0x00, 0x01,0x01,0x01,0x1F,0x01,0x01,0x01,0x00,//+ 11 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, 0x80,0xB0,0x70,0x00,0x00,0x00,0x00,0x00,//, 12 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, 0x00,0x01,0x01,0x01,0x01,0x01,0x01,0x01,//- 13 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, 0x00,0x30,0x30,0x00,0x00,0x00,0x00,0x00,//. 14 0x00,0x00,0x00,0x00,0x80,0x60,0x18,0x04, 0x00,0x60,0x18,0x06,0x01,0x00,0x00,0x00,/// 15 0x00,0xE0,0x10,0x08,0x08,0x10,0xE0,0x00, 0x00,0x0F,0x10,0x20,0x20,0x10,0x0F,0x00,//0 16 0x00,0x10,0x10,0xF8,0x00,0x00,0x00,0x00, 0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//1 17 0x00,0x70,0x08,0x08,0x08,0x88,0x70,0x00, 0x00,0x30,0x28,0x24,0x22,0x21,0x30,0x00,//2 18 0x00,0x30,0x08,0x88,0x88,0x48,0x30,0x00, 0x00,0x18,0x20,0x20,0x20,0x11,0x0E,0x00,//3 19 0x00,0x00,0xC0,0x20,0x10,0xF8,0x00,0x00, 0x00,0x07,0x04,0x24,0x24,0x3F,0x24,0x00,//4 20 0x00,0xF8,0x08,0x88,0x88,0x08,0x08,0x00, 0x00,0x19,0x21,0x20,0x20,0x11,0x0E,0x00,//5 21 0x00,0xE0,0x10,0x88,0x88,0x18,0x00,0x00, 0x00,0x0F,0x11,0x20,0x20,0x11,0x0E,0x00,//6 22 0x00,0x38,0x08,0x08,0xC8,0x38,0x08,0x00, 0x00,0x00,0x00,0x3F,0x00,0x00,0x00,0x00,//7 23 0x00,0x70,0x88,0x08,0x08,0x88,0x70,0x00, 0x00,0x1C,0x22,0x21,0x21,0x22,0x1C,0x00,//8 24 0x00,0xE0,0x10,0x08,0x08,0x10,0xE0,0x00, 0x00,0x00,0x31,0x22,0x22,0x11,0x0F,0x00,//9 25 0x00,0x00,0x00,0xC0,0xC0,0x00,0x00,0x00, 0x00,0x00,0x00,0x30,0x30,0x00,0x00,0x00,//: 26 0x00,0x00,0x00,0x80,0x00,0x00,0x00,0x00, 0x00,0x00,0x80,0x60,0x00,0x00,0x00,0x00,//; 27 0x00,0x00,0x80,0x40,0x20,0x10,0x08,0x00, 0x00,0x01,0x02,0x04,0x08,0x10,0x20,0x00,//< 28 0x40,0x40,0x40,0x40,0x40,0x40,0x40,0x00, 0x04,0x04,0x04,0x04,0x04,0x04,0x04,0x00,//= 29 0x00,0x08,0x10,0x20,0x40,0x80,0x00,0x00, 0x00,0x20,0x10,0x08,0x04,0x02,0x01,0x00,//> 30 0x00,0x70,0x48,0x08,0x08,0x08,0xF0,0x00, 0x00,0x00,0x00,0x30,0x36,0x01,0x00,0x00,//? 31 0xC0,0x30,0xC8,0x28,0xE8,0x10,0xE0,0x00, 0x07,0x18,0x27,0x24,0x23,0x14,0x0B,0x00,//@ 32 0x00,0x00,0xC0,0x38,0xE0,0x00,0x00,0x00, 0x20,0x3C,0x23,0x02,0x02,0x27,0x38,0x20,//A 33 0x08,0xF8,0x88,0x88,0x88,0x70,0x00,0x00, 0x20,0x3F,0x20,0x20,0x20,0x11,0x0E,0x00,//B 34 0xC0,0x30,0x08,0x08,0x08,0x08,0x38,0x00, 0x07,0x18,0x20,0x20,0x20,0x10,0x08,0x00,//C 35 0x08,0xF8,0x08,0x08,0x08,0x10,0xE0,0x00, 0x20,0x3F,0x20,0x20,0x20,0x10,0x0F,0x00,//D 36 0x08,0xF8,0x88,0x88,0xE8,0x08,0x10,0x00, 0x20,0x3F,0x20,0x20,0x23,0x20,0x18,0x00,//E 37 0x08,0xF8,0x88,0x88,0xE8,0x08,0x10,0x00, 0x20,0x3F,0x20,0x00,0x03,0x00,0x00,0x00,//F 38 0xC0,0x30,0x08,0x08,0x08,0x38,0x00,0x00, 0x07,0x18,0x20,0x20,0x22,0x1E,0x02,0x00,//G 39 0x08,0xF8,0x08,0x00,0x00,0x08,0xF8,0x08, 0x20,0x3F,0x21,0x01,0x01,0x21,0x3F,0x20,//H 40 0x00,0x08,0x08,0xF8,0x08,0x08,0x00,0x00, 0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//I 41 0x00,0x00,0x08,0x08,0xF8,0x08,0x08,0x00, 0xC0,0x80,0x80,0x80,0x7F,0x00,0x00,0x00,//J 42 0x08,0xF8,0x88,0xC0,0x28,0x18,0x08,0x00, 0x20,0x3F,0x20,0x01,0x26,0x38,0x20,0x00,//K 43 0x08,0xF8,0x08,0x00,0x00,0x00,0x00,0x00, 0x20,0x3F,0x20,0x20,0x20,0x20,0x30,0x00,//L 44 0x08,0xF8,0xF8,0x00,0xF8,0xF8,0x08,0x00, 0x20,0x3F,0x00,0x3F,0x00,0x3F,0x20,0x00,//M 45 0x08,0xF8,0x30,0xC0,0x00,0x08,0xF8,0x08, 0x20,0x3F,0x20,0x00,0x07,0x18,0x3F,0x00,//N 46 0xE0,0x10,0x08,0x08,0x08,0x10,0xE0,0x00, 0x0F,0x10,0x20,0x20,0x20,0x10,0x0F,0x00,//O 47 0x08,0xF8,0x08,0x08,0x08,0x08,0xF0,0x00, 0x20,0x3F,0x21,0x01,0x01,0x01,0x00,0x00,//P 48 0xE0,0x10,0x08,0x08,0x08,0x10,0xE0,0x00, 0x0F,0x18,0x24,0x24,0x38,0x50,0x4F,0x00,//Q 49 0x08,0xF8,0x88,0x88,0x88,0x88,0x70,0x00, 0x20,0x3F,0x20,0x00,0x03,0x0C,0x30,0x20,//R 50 0x00,0x70,0x88,0x08,0x08,0x08,0x38,0x00, 0x00,0x38,0x20,0x21,0x21,0x22,0x1C,0x00,//S 51 0x18,0x08,0x08,0xF8,0x08,0x08,0x18,0x00, 0x00,0x00,0x20,0x3F,0x20,0x00,0x00,0x00,//T 52 0x08,0xF8,0x08,0x00,0x00,0x08,0xF8,0x08, 0x00,0x1F,0x20,0x20,0x20,0x20,0x1F,0x00,//U 53 0x08,0x78,0x88,0x00,0x00,0xC8,0x38,0x08, 0x00,0x00,0x07,0x38,0x0E,0x01,0x00,0x00,//V 54 0xF8,0x08,0x00,0xF8,0x00,0x08,0xF8,0x00, 0x03,0x3C,0x07,0x00,0x07,0x3C,0x03,0x00,//W 55 0x08,0x18,0x68,0x80,0x80,0x68,0x18,0x08, 0x20,0x30,0x2C,0x03,0x03,0x2C,0x30,0x20,//X 56 0x08,0x38,0xC8,0x00,0xC8,0x38,0x08,0x00, 0x00,0x00,0x20,0x3F,0x20,0x00,0x00,0x00,//Y 57 0x10,0x08,0x08,0x08,0xC8,0x38,0x08,0x00, 0x20,0x38,0x26,0x21,0x20,0x20,0x18,0x00,//Z 58 0x00,0x00,0x00,0xFE,0x02,0x02,0x02,0x00, 0x00,0x00,0x00,0x7F,0x40,0x40,0x40,0x00,//[ 59 0x00,0x0C,0x30,0xC0,0x00,0x00,0x00,0x00, 0x00,0x00,0x00,0x01,0x06,0x38,0xC0,0x00,//\ 60 0x00,0x02,0x02,0x02,0xFE,0x00,0x00,0x00, 0x00,0x40,0x40,0x40,0x7F,0x00,0x00,0x00,//] 61 0x00,0x00,0x04,0x02,0x02,0x02,0x04,0x00, 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//^ 62 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, 0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,//_ 63 0x00,0x02,0x02,0x04,0x00,0x00,0x00,0x00, 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//` 64 0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00, 0x00,0x19,0x24,0x22,0x22,0x22,0x3F,0x20,//a 65 0x08,0xF8,0x00,0x80,0x80,0x00,0x00,0x00, 0x00,0x3F,0x11,0x20,0x20,0x11,0x0E,0x00,//b 66 0x00,0x00,0x00,0x80,0x80,0x80,0x00,0x00, 0x00,0x0E,0x11,0x20,0x20,0x20,0x11,0x00,//c 67 0x00,0x00,0x00,0x80,0x80,0x88,0xF8,0x00, 0x00,0x0E,0x11,0x20,0x20,0x10,0x3F,0x20,//d 68 0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00, 0x00,0x1F,0x22,0x22,0x22,0x22,0x13,0x00,//e 69 0x00,0x80,0x80,0xF0,0x88,0x88,0x88,0x18, 0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//f 70 0x00,0x00,0x80,0x80,0x80,0x80,0x80,0x00, 0x00,0x6B,0x94,0x94,0x94,0x93,0x60,0x00,//g 71 0x08,0xF8,0x00,0x80,0x80,0x80,0x00,0x00, 0x20,0x3F,0x21,0x00,0x00,0x20,0x3F,0x20,//h 72 0x00,0x80,0x98,0x98,0x00,0x00,0x00,0x00, 0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//i 73 0x00,0x00,0x00,0x80,0x98,0x98,0x00,0x00, 0x00,0xC0,0x80,0x80,0x80,0x7F,0x00,0x00,//j 74 0x08,0xF8,0x00,0x00,0x80,0x80,0x80,0x00, 0x20,0x3F,0x24,0x02,0x2D,0x30,0x20,0x00,//k 75 0x00,0x08,0x08,0xF8,0x00,0x00,0x00,0x00, 0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//l 76 0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x00, 0x20,0x3F,0x20,0x00,0x3F,0x20,0x00,0x3F,//m 77 0x80,0x80,0x00,0x80,0x80,0x80,0x00,0x00, 0x20,0x3F,0x21,0x00,0x00,0x20,0x3F,0x20,//n 78 0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00, 0x00,0x1F,0x20,0x20,0x20,0x20,0x1F,0x00,//o 79 0x80,0x80,0x00,0x80,0x80,0x00,0x00,0x00, 0x80,0xFF,0xA1,0x20,0x20,0x11,0x0E,0x00,//p 80 0x00,0x00,0x00,0x80,0x80,0x80,0x80,0x00, 0x00,0x0E,0x11,0x20,0x20,0xA0,0xFF,0x80,//q 81 0x80,0x80,0x80,0x00,0x80,0x80,0x80,0x00, 0x20,0x20,0x3F,0x21,0x20,0x00,0x01,0x00,//r 82 0x00,0x00,0x80,0x80,0x80,0x80,0x80,0x00, 0x00,0x33,0x24,0x24,0x24,0x24,0x19,0x00,//s 83 0x00,0x80,0x80,0xE0,0x80,0x80,0x00,0x00, 0x00,0x00,0x00,0x1F,0x20,0x20,0x00,0x00,//t 84 0x80,0x80,0x00,0x00,0x00,0x80,0x80,0x00, 0x00,0x1F,0x20,0x20,0x20,0x10,0x3F,0x20,//u 85 0x80,0x80,0x80,0x00,0x00,0x80,0x80,0x80, 0x00,0x01,0x0E,0x30,0x08,0x06,0x01,0x00,//v 86 0x80,0x80,0x00,0x80,0x00,0x80,0x80,0x80, 0x0F,0x30,0x0C,0x03,0x0C,0x30,0x0F,0x00,//w 87 0x00,0x80,0x80,0x00,0x80,0x80,0x80,0x00, 0x00,0x20,0x31,0x2E,0x0E,0x31,0x20,0x00,//x 88 0x80,0x80,0x80,0x00,0x00,0x80,0x80,0x80, 0x80,0x81,0x8E,0x70,0x18,0x06,0x01,0x00,//y 89 0x00,0x80,0x80,0x80,0x80,0x80,0x80,0x00, 0x00,0x21,0x30,0x2C,0x22,0x21,0x30,0x00,//z 90 0x00,0x00,0x00,0x00,0x80,0x7C,0x02,0x02, 0x00,0x00,0x00,0x00,0x00,0x3F,0x40,0x40,//{ 91 0x00,0x00,0x00,0x00,0xFF,0x00,0x00,0x00, 0x00,0x00,0x00,0x00,0xFF,0x00,0x00,0x00,//| 92 0x00,0x02,0x02,0x7C,0x80,0x00,0x00,0x00, 0x00,0x40,0x40,0x3F,0x00,0x00,0x00,0x00,//} 93 0x00,0x06,0x01,0x01,0x02,0x02,0x04,0x04, 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//~ 94 }; #endif
main.c #include "stm32f10x.h" // Device header #include "MyConfig.h" //#include "stdio.h" extern int16_t TargerNum; extern int16_t Find_Task; extern int16_t LoR; int main(void) { Usart1_Init(115200); OLED_Init(); OLED_ShowString(1,1,"TargerNum:"); OLED_ShowString(2,1,"LoR:"); OLED_ShowString(3,1,"Find_Task: "); while (1) { OLED_ShowNum(1,11,TargerNum,2); OLED_ShowNum(2,5,LoR,2); OLED_ShowNum(3,11,Find_Task,2); } } 六、完整代码2（stm32端发送openmv接收） 1.stm32端 #include "stm32f10x.h" // Device header #include "MyConfig.h" //#include "stdio.h" uint8_t RoadLineCheck[2] = {0,0}; uint8_t RoadLine; extern int16_t TargerNum; extern int16_t Find_Task; extern int16_t LoR; void Usart1_Sendata(u8 * str) { u8 i = 0; USART_SendData(USART1,0x0d); while( USART_GetFlagStatus(USART1,USART_FLAG_TC)!= SET); for(i = 0;i < 2;i++) { USART_SendData(USART1,str[i]); while( USART_GetFlagStatus(USART1,USART_FLAG_TC)!= SET); } USART_SendData(USART1,0x5b); while( USART_GetFlagStatus(USART1,USART_FLAG_TC)!= SET); } int main(void) { NVIC_Config(); Usart1_Init(115200); Find_Task=2; u8 send_buff[2] = {TargerNum,Find_Task}; while (1) { Usart1_Sendata(send_buff); } } 2.openmv端 import time, image,sensor,math,pyb,ustruct from image import SEARCH_EX, SEARCH_DS from pyb import Pin, Timer,LED #从imgae模块引入SEARCH_EX和SEARCH_DS。使用from import仅仅引入SEARCH_EX, #SEARCH_DS两个需要的部分，而不把image模块全部引入。 sensor.reset() # Set sensor settings sensor.set_contrast(1) sensor.set_gainceiling(16) # Max resolution for template matching with SEARCH_EX is QQVGA sensor.set_framesize(sensor.QQVGA) # You can set windowing to reduce the search image. sensor.set_pixformat(sensor.GRAYSCALE) sensor.set_windowing(0, 40, 160, 40) #观察窗口 后面ROI设置也会以这个为新的基准 rx_buff=[] state = 0 tx_flag = 0 x = 0 Find_Task =1 #1 Target_Num =0 data = [0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00] uart = pyb.UART(3, 115200, timeout_char = 1000) #定义串口1变量 blue_led = LED(2) ########串口接收数据函数处理######### def Receive_Prepare(): #data global state global x global tx_flag global data global Find_Task global Target_Num if state==0: data[0]=uart.readchar() if data[0] == 0x0d:#帧头 state = 1 else: state = 0 rx_buff.clear() elif state==1: data[1]=uart.readchar() Target_Num=data[x+1] state = 2 elif state==2: data[2]=uart.readchar() Find_Task=data[x+2] state = 3 elif state == 3: data[4]=uart.readchar() if data[4] == 0x5b: state = 4 elif state == 4: state=0 else: state = 0 rx_buff.clear() clock = time.clock() # Run template matching while (True): clock.tick() img = sensor.snapshot()# 镜头初始化 if(uart.any()>0): Receive_Prepare() print(clock.fps(),Find_Task, Target_Num) 总结这里对文章进行总结： 个人认为这套代码比较通俗易懂，稍微读懂一点直接移植就好（可能需要根据实际略微修改）。 要移植的话最好选择完整代码这边 stm32端用的是串口1，openmv端用的是串口3； 固定包长并不是只能三个或者两个数据位，是代码编写设置好的不超过缓存区的数据位是自定义的，只是运用的时候会根据设置好的数据位发送/接收。 |
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