4. 串口卡死？
  • 免费好用的星瞳AI云服务上线！简单标注，云端训练，支持OpenMV H7和OpenMV H7 Plus。可以替代edge impulse。 https://forum.singtown.com/topic/9519
  • 我们只解决官方正版的OpenMV的问题（STM32），其他的分支有很多兼容问题，我们无法解决。
  • 如果有产品硬件故障问题，比如无法开机，论坛很难解决。可以直接找售后维修。
  • 发帖子之前，请确认看过所有的视频教程，https://singtown.com/learn/ 和所有的上手教程http://book.openmv.cc/
  • 每一个新的提问，单独发一个新帖子
  • 帖子需要目的，你要做什么？
  • 如果涉及代码，需要报错提示与全部代码文本，请注意不要贴代码图片
  • 必看：玩转星瞳论坛了解一下图片上传，代码格式等问题。

    • 串口卡死？

    • S
       

      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
      0

    • 具体什么现象？什么叫做串口卡死？

      0
    • I

      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

      0
      I
       2 条回复
    • I

      @igxs 一会过后 ，直接就又不行了，这个有没有串口中断

      0

    • @igxs 新的问题单独发帖子

      0