串口卡死？
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import sensor, image, time, math from pyb import UART uart = UART(3,4800, timeout_char=1000) # i使用给定波特率初始化 uart.init(4800, bits=8, parity=None, stop=1, timeout_char=1000) # 使用给定参数初始化 GRAYSCALE_THRESHOLD = [(0, 64)] ROIS = [ # [ROI, weight] (0, 0, 1, 1, 1), # You'll need to tweak the weights for your app (0, 50, 320, 30, 1), # depending on how your robot is setup. (0, 0, 1, 1, 1) ] weight_sum = 0 for r in ROIS: weight_sum += r[4] sensor.reset() # Initialize the camera sensor. sensor.set_contrast(3) sensor.set_gainceiling(16) sensor.set_pixformat(sensor.GRAYSCALE) # use grayscale. sensor.set_framesize(sensor.VGA) # use QQVGA for speed. sensor.set_windowing((320, 240)) sensor.skip_frames(time = 2000) # Let new settings take affect. sensor.set_auto_gain(False,value=100) # must be turned off for color tracking sensor.set_auto_whitebal(False) # must be turned off for color tracking clock = time.clock() # Tracks FPS. a=0 def draw_keypoints(img, kpts): if kpts: print(kpts) img.draw_keypoints(kpts) img = sensor.snapshot() time.sleep(1000) kpts1 = image.load_descriptor("/desc.orb") img = sensor.snapshot() def high(x): x=x>>8 return x def low(x): x=x&0xff return x while(True): clock.tick() # Track elapsed milliseconds between snapshots(). img = sensor.snapshot() # Take a picture and return the image. print(0) if uart.any(): a=int(uart.readchar()) print(a) if a==1: print(1) if (kpts1 == None): kpts1 = img.find_keypoints(max_keypoints=150, threshold=2, scale_factor=1.2) draw_keypoints(img, kpts1) uart.writechar(0) uart.writechar(0) uart.writechar(0) uart.writechar(0) uart.writechar(0) uart.writechar(0) uart.writechar(0x10) uart.writechar(0x0d) uart.writechar(0x0a) else: kpts2 = img.find_keypoints(max_keypoints=150, threshold=2, normalized=True) if (kpts2): match = image.match_descriptor(kpts1, kpts2, threshold=85) if (match.count()>10): img.draw_rectangle(match.rect()) img.draw_cross(match.cx(), match.cy(), size=10) print(kpts2, "x:%d y:%d"%(match.cx(), match.cy())) mv_x=(int)(match.cx()-160) mv_y=(int)(120-match.cy()) Sum=mv_x+mv_y uart.writechar(high(mv_x)) uart.writechar(low(mv_x)) uart.writechar(high(mv_y)) uart.writechar(low(mv_y)) uart.writechar(high(Sum)) uart.writechar(low(Sum)) uart.writechar(0x30) uart.writechar(0x0d) uart.writechar(0x0a) else: uart.writechar(0) uart.writechar(0) uart.writechar(0) uart.writechar(0) uart.writechar(0) uart.writechar(0) uart.writechar(0x10) uart.writechar(0x0d) uart.writechar(0x0a) else: uart.writechar(0) uart.writechar(0) uart.writechar(0) uart.writechar(0) uart.writechar(0) uart.writechar(0) uart.writechar(0x10) uart.writechar(0x0d) uart.writechar(0x0a) if a==2: centroid_sum = 0 for r in ROIS: blobs = img.find_blobs(GRAYSCALE_THRESHOLD, roi=r[0:4], merge=True) # r[0:4] is roi tuple. if blobs: # Find the blob with the most pixels. largest_blob = max(blobs, key=lambda b: b.pixels()) # Draw a rect around the blob. img.draw_rectangle(largest_blob.rect()) img.draw_cross(largest_blob.cx(), largest_blob.cy()) centroid_sum += largest_blob.cx() * r[4] # r[4] is the roi weight. Mv_x=centroid_sum-160 Sum=Mv_x uart.writechar(high(Mv_x)) uart.writechar(low(Mv_x)) uart.writechar(0) uart.writechar(0) uart.writechar(high(Sum)) uart.writechar(low(Sum)) uart.writechar(0x20) uart.writechar(0x0d) uart.writechar(0x0a) print(2) print("Turn Angle: %f" % Mv_x) #print(clock.fps()) # Note: Your OpenMV Cam runs about half as fast while
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具体什么现象？什么叫做串口卡死？
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我也出现了同样的问题，就是openmv接收了几次STM32的数据后，卡在上面不动了，然后自动就弹出来了，需要拔掉USB线重新跑程序，但是也只能接收一会
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@igxs 一会过后 ，直接就又不行了，这个有没有串口中断
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@igxs 新的问题单独发帖子