openmv与arduino之间的uart串口通信怎么写

[18892337362]

就是先从arduino向openmv发送数据，openmv就收到信号后执行程序，然后上传数据给arduino，我能用的语句都用了，还是出错，就是arduino发出的信号openmv无法接受，请教一下

Untitled - By: xuping - 周日 5月 20 2018

import sensor, image, time, pyb
from pyb import UART
import json
import math

black_threshold =(100,59,33,-100,-128,30)

red_threshold =(0,100,8,127,-128,127)

sensor.reset() # Initialize the camera sensor.
sensor.set_pixformat(sensor.RGB565) # use RGB565.
sensor.set_framesize(sensor.QVGA) # use QQVGA for speed.
sensor.skip_frames(10) # Let new settings take affect.
sensor.set_auto_whitebal(False) # turn this off.
clock = time.clock() # Tracks FPS.

uart = UART(3, 9600)
uart.init(9600, bits=8, parity=None, stop=1)
while(True):

if uart.any():
     #判断是否有数据， 有的话就读入
    tmp_data = uart.readall()
    print(tmp_data)

string1="R"
string2="L"
string3="U"
string5="S"
string4="D"
#定义点的函数
class Point:
def init(self,x=0,y=0):
self.x=x
self.y=y
def getx(self):
return self.x
def gety(self):
return self.y

class Getlen:
def init(self,p1,p2):
self.x=p1.getx()-p2.getx()
self.y=p1.gety()-p2.gety()
#用math.sqrt（）求平方根
self.len= math.sqrt((self.x2)+(self.y2))
#定义得到直线长度的函数
def getlen(self):
return self.len

if tmp_data:
while(True):
clock.tick()
img = sensor.snapshot()
img.draw_cross(160,120)
blobs = img.find_blobs([red_threshold], area_threshold=128)
if blobs:
print('sum : %d'% len(blobs))
out_str = '['
for b in blobs:
img.draw_rectangle(b[0:4]) # rect
img.draw_cross(b[5], b[6]) # cx, cy
x = b[5]
y = b[6]
p1=Point(b[5],b[6])
p2=Point(160,120)
l=Getlen(p1,p2)
#获取两点之间直线的长度

           print(l.getlen())
           img.get_pixel(x,y)
           out_str += '(%d,%d)' % (x,y)

       out_str += ']'
       print(out_str)
       uart.write(out_str+'\r\n')
       uart.write(l.getlen())

       uart = UART(3, 9600)
       for i in (0,360):
          if x<160:
              uart.write(string1+'\r\n')
          elif x>160:
              uart.write(string2+'\r\n')
          else:
              uart.write(string5+'\r\n')
          for j in (0,240):
              if x<120:
                  uart.write(string3+'\r\n')
              elif x>120:
                  uart.write(string4+'\r\n')
              else:
                  uart.write(string5+'\r\n')

else:

while(True):
    clock.tick()
    img = sensor.snapshot()
    img.draw_cross(160,120)

    blobs = img.find_blobs([black_threshold])
    if blobs:
        print('sum : %d'% len(blobs))
        out_str = '['
        for b in blobs:
            img.draw_rectangle(b[0:4]) # rect
            img.draw_cross(b[5], b[6]) # cx, cy
            x = b[5]
            y = b[6]
            img.get_pixel(x,y)
            out_str += '(%d,%d)' % (x,y)

        out_str += ']'
        print(out_str)


        if x<160:
           text = "right\n"
        elif x>160:
           text = "left\n"
        else:
           text = "stop\n"
        for b in blobs:
            img.draw_rectangle(b[0:4]) # rect
            img.draw_cross(b[5], b[6]) # cx, cy
            x = b[5]
            y = b[6]
            p1=Point(b[5],b[6])
            p2=Point(160,120)
            l=Getlen(p1,p2)
               #获取两点之间直线的长度

            print(l.getlen())
            img.get_pixel(x,y)
            out_str += '(%d,%d)' % (x,y)

        out_str += ']'
        print(out_str)

        uart.write(out_str+'\r\n')
        uart.write(l.getlen())

        uart = UART(3, 9600)
        for i in (0,360):
           if x<160:
               uart.write(string1+'\r\n')
           elif x>160:
               uart.write(string2+'\r\n')
           else:
               uart.write(string5+'\r\n')
           for j in (0,240):
               if x<120:
                   uart.write(string3+'\r\n')
               elif x>120:
                   uart.write(string4+'\r\n')
               else:
                   uart.write(string5+'\r\n')


while(True):
    clock.tick()
    img = sensor.snapshot()

    img.draw_cross(160,120)
    blobs = img.find_blobs([black_threshold])
    if blobs:
        print('sum : %d'% len(blobs))
        out_str = '['
        for b in blobs:
            img.draw_rectangle(b[0:4]) # rect
            img.draw_cross(b[5], b[6]) # cx, cy
            x = b[5]
            y = b[6]
            a=b[0]+b[1]
            c=b[1]+b[3]
            out_str += '(%d,%d)' % (x,y)
        out_str += ']'
        print(out_str)

        if b[2]>b[3]:

           if 160<a:
               uart.write(string1+'\r\n')
           elif 160>a:
               uart.write(string2+'\r\n')
           else:
               uart.write(string5+'\r\n')
        else:

           if 120<c:
               uart.write(string4+'\r\n')
           elif 120>c:
               uart.write(string3+'\r\n')
           else:
               uart.write(string5+'\r\n')

#uart.write(out_str+'\r\n')
#uart.write()
#print(out_str)

arduino程序
#include <SoftwareSerial.h>

SoftwareSerial softSerial(10, 11); // RX, TX
typedef struct
{
int data[50][2] = {{0,0}};
int len = 0;
}List;
List list;

void setup() {
// put your setup code here, to run once:
softSerial.begin(9600);
Serial.begin(9600);
}

void loop() {
//Serial.write(45);
// int bytesSent = Serial.write("hello");
if(softSerial.available())
{
getList();
for (int i=0; i<list.len; i++)
{
Serial.print(list.data[i][0]);
Serial.print('\t');
Serial.println(list.data[i][1]);
}
Serial.println("============");
clearList();
}

}

String detectString()
{
while(softSerial.read() != '{');
return(softSerial.readStringUntil('}'));
}
void clearList()
{
memset(list.data, sizeof(list.data),0);
list.len = 0;
}
void getList()
{
String s = detectString();
String numStr = "";
for(int i = 0; i<s.length(); i++)
{
if(s[i]=='('){
numStr = "";
}
else if(s[i] == ','){
list.data[list.len][0] = numStr.toInt();
numStr = "";
}
else if(s[i]==')'){
list.data[list.len][1] = numStr.toInt();
numStr = "";
list.len++;
}
else{
numStr += s[i];
}
}
}

[kidswong999]

https://singtown.com/learn/556/