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  • openmv使用i2c通信卡顿问题



    • arduino和openmv通过i2c通信,用的教程上的例程,可以实现通信,arduino和openmv上电运行,但运行程序后会非常卡顿,画面一秒一帧左右,甚至更慢,请问什么原因
      巡双线,通信的程序

      import sensor, image, time, math,pyb,ustruct
      
      # Tracks a black line. Use [(128, 255)] for a tracking a white line.
      GRAYSCALE_THRESHOLD = [(128, 255)]
      #设置阈值,如果是黑线,GRAYSCALE_THRESHOLD = [(0, 64)];
      #如果是白线,GRAYSCALE_THRESHOLD = [(128,255)]
      ROI = (0, 100, 320, 40)
      bus = pyb.I2C(2, pyb.I2C.SLAVE, addr=0x12)
      bus.deinit() # 完全关闭设备
      bus = pyb.I2C(2, pyb.I2C.SLAVE, addr=0x12)
      print("Waiting for Arduino...")
      
      # Camera setup...
      sensor.reset() # Initialize the camera sensor.
      sensor.set_pixformat(sensor.GRAYSCALE) # use grayscale.
      sensor.set_framesize(sensor.QVGA) # use QVGA for speed. 320* 240
      sensor.skip_frames(30) # Let new settings take affect.
      sensor.set_auto_gain(False) # must be turned off for color tracking
      sensor.set_auto_whitebal(False) # must be turned off for color tracking
      #关闭白平衡
      clock = time.clock() # Tracks FPS.
      
      
      # 选择排序的属性, 这里我们选取的是色块宽度
      def get_blob_value(blob):
          return blob.w()
      
      # 选择最大的两个黑线色块
      def compare_blob(blob1, blob2):
          comp_result = get_blob_value(blob1) - get_blob_value(blob2)
      
          if comp_result > 3:
              return 1
          elif comp_result < -3:
              return -1
          else:
              return 0
      
      def get_direction(left_blob, right_blob):
          # 根据左中右三块白色部分,计算出角度值
          # ratio < 0 左拐
          # ratio > 0 右拐
      
          MAX_WIDTH = 320
          # 调节theta来设置中间宽度的比重, theta越高ratio越靠近0
          # 需要根据赛道宽度与摄像头高度重新设定到合适大小
          theta = 0.01
          # 这里的b是为了防止除数是0的情况发生, 设定一个小一点的值
          b = 3
          x1 = left_blob.x() - int(0.5 * left_blob.w())
          x2 = right_blob.x() + int(0.5 * right_blob.w())
      
          w_left = x1
          w_center = math.fabs(x2 - x1)
          w_right = math.fabs(MAX_WIDTH - x2)
      
          direct_ratio = (w_left + b + theta * w_center) / (w_left + w_right + 2 * b + 2 * theta * w_center) - 0.5
      
          return direct_ratio
      
      def get_top2_blobs(blobs):
          # 找到最大的两个色块, 返回左色块与右色块
          for blob in blobs:
              pass
              #print(blob)
              # img.draw_rectangle(blob.rect())
      
          if len(blobs) < 2:
              # 已偏离轨道
              return (None, None)
      
          top_blob1 = blobs[0]
          top_blob2 = blobs[1]
      
          if compare_blob(top_blob1, top_blob2) == -1:
              top_blob1, top_blob2 = top_blob2, top_blob1
      
      
          for i in range(2, len(blobs)):
              if compare_blob(blobs[i], top_blob1) == 1:
                  top_blob2 = top_blob1
                  top_blob1 = blobs[i]
              elif compare_blob(blobs[i], top_blob2) == 1:
                  top_blob2 = blobs[i]
      
          if top_blob1.cx() > top_blob2.cx():
              return (top_blob2, top_blob1)
          else:
              return (top_blob1, top_blob2)
      
      def draw_direct(img, direct_ratio):
          # 可视化方向(左右) 标识及其幅度
          img.draw_circle(160, 80, 5)
          img.draw_line((160, 80, int(160 + direct_ratio * 200), 80))
      
      
      while(True):
          clock.tick() # Track elapsed milliseconds between snapshots().
          img = sensor.snapshot() # Take a picture and return the image.
      
          blobs = img.find_blobs(GRAYSCALE_THRESHOLD, roi=ROI, merge=True)
      
          #目标区域找到直线
          if blobs:
              left_blob, right_blob = get_top2_blobs(blobs)
      
              if(left_blob == None or right_blob == None):
                  print("Out Of Range")
                  continue
              else:
                  print("-------")
                  print("left blob")
                  print(left_blob)
                  print("right blob")
                  print(right_blob)
                  img.draw_rectangle(left_blob.rect())
                  img.draw_cross(left_blob.cx(), left_blob.cy())
      
                  img.draw_rectangle(right_blob.rect())
                  img.draw_cross(right_blob.cx(), right_blob.cy())
                  a=left_blob.cx()+right_blob.cx()
                  b=left_blob.cy()+right_blob.cy()
                  output_str="[%d,%d]" % (a,b)#方式1
                  #output_str=json.dumps([max_blob.cx(),max_blob.cy()]) #方式2
                  data = ustruct.pack("<%ds" % len(output_str), output_str)
                  try:
                      bus.send(ustruct.pack("<h", len(data)), timeout=10000) # 首先发送长度 (16-bits).
                      try:
                          bus.send(data, timeout=10000) # 然后发送数据
                          print("Sent Data!") # 没有遇到错误时,会显示
                      except OSError as err:
                          pass # 不用担心遇到错误,会跳过
                  except OSError as err:
                      pass # 不用担心遇到错误,会跳过
      

      0_1538460453556_9R54K9J.png



    • arduino程序

      #include <avr\pgmspace.h>
      #include <Wire.h>
      #include "GI2C_V11.h"
      #define BAUD_RATE 19200
      #define CHAR_BUF 128
      #include <stdio.h>
      #include <stdlib.h>
      
      struct zuobiao
      {
       int xx;
       int yy;
      };
      /*变量定义及对象实例化*/
      unsigned char Buf[61+1];
      GI2CV11 MenSao_RCB1(Buf,sizeof(Buf));
      
      /*动作组定义*/
      const unsigned char ActionCode[][49] PROGMEM = { 
      137,103,115, 97,153,251,251,251,251,251,251,251,251,251,251,251,251,251,251,134,135,197,165,144, 20, 20, 20, 20, 30,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1, 18, 20, 20, 20, 20,4,
      126, 71, 72, 99,142,251,251,251,251,251,251,251,251,251,251,251,251,251,251,127,124,128, 75,132, 20, 20, 28, 20, 27,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1, 18, 20, 20, 20, 20,4,
      115,124,128, 92,118,251,251,251,251,251,251,251,251,251,251,251,251,251,251, 95,148,114, 79,125, 20, 20, 20, 18, 18,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1, 18, 20, 20, 20, 20,4,
      129,146,119,129,135,251,251,251,251,251,251,251,251,251,251,251,251,251,251,115,168,160,150,131, 20, 20, 20, 18, 18,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1, 18, 20, 20, 20, 20,4
      };
      
      void setup() 
      {
        MenSao_RCB1.Read(1,13,48);//读回控制器中所有通道当量位置和当量速度的当前值
        Serial.begin(BAUD_RATE);
        Wire.begin();
        delay(1000); // 给OpenMV一个启动的时间
      }
      
      void loop() 
      {
        int x,y;
        struct zuobiao zb1;
        zb1=getzb();
        x=zb1.xx/2;
        y=zb1.yy/2;
        Serial.println(x);
        Serial.println(y);
        Serial.println();
        // delay(1); // Don't loop to quickly.
        if(1)
        {Action((unsigned char *)(&ActionCode[0][0]), sizeof(ActionCode) / sizeof(ActionCode[0]));
        }
      }
      void substring( char *s, char ch1, char ch2, char *substr )
      {
          while( *s && *s++!=ch1 ) ;
          while( *s && *s!=ch2 ) *substr++=*s++ ;
          *substr='\0';
      }
      /*通用的动作组执行函数*/
      void Action(unsigned char *p, unsigned char r)
      {
        int i,j;
        //计算行数,即动作组的个数
        int row = r; 
        for(j=0;j<row;j++)
        {
          //更新缓冲区
          for(i=0;i<48;i++)
          {
            Buf[i+13] = pgm_read_byte(&p[49*j + i]);
          } 
          //将缓冲区中的数据发送给舵机控制单元,完成舵机控制
          MenSao_RCB1.Write(1,13,48);
          //动作组间的延时,注意:若导出动作组的延时单位为10ms,就*10;若导出动作组的延时单位为100ms,就*100;
          delay((int)(pgm_read_byte(&p[49*j + i])) * 100);
        }  
      }
      //得到色块坐标
      struct zuobiao getzb()
      {
        int32_t temp = 0;
        char buff[CHAR_BUF] = {0};
        char a[5],b[5];
        struct zuobiao zb;
        Wire.requestFrom(0x12, 2);
        if (Wire.available() == 2) { // got length?
      
          temp = Wire.read() | (Wire.read() << 8);
          delay(1); // Give some setup time...
      
          Wire.requestFrom(0x12, temp);
          if (Wire.available() == temp) { // got full message?
      
            temp = 0;
            while (Wire.available()) buff[temp++] = Wire.read();
      
          } else {
            while (Wire.available()) Wire.read(); // Toss garbage bytes.
          }
        } else {
          while (Wire.available()) Wire.read(); // Toss garbage bytes.
        }
        substring( buff, '[', ',', a );
        substring( buff, ',', ']', b );
        zb.xx=atoi(a);
        zb.yy=atoi(b);
        return zb;
      }
      




    • @kidswong999 在例子的基础上改了改,运行例子不卡顿,可以正常读取数据,但加了些东西后卡顿,程序的原因吗?



    • 例子没问题,你改了就有问题了,
      结论,你的程序有问题。

      你的程序逻辑太多,变量都是拼音,我不可能给你一行行找。

      看上去,你的程序,和例子完全不一样。不是加了东西,是逻辑都变了。