n615 发布的帖子

@sdwo 成功了,openmv端需要强制数值类型转换

官方提供的测距离代码,添加串口通信代码到stm32端为什么会这样报错,而且openmv运行速度变得很慢

openMV端代码:

# Measure the distance
#
# This example shows off how to measure the distance through the size in imgage
# This example in particular looks for yellow pingpong ball.

import sensor, image, time

from pyb import UART

uart=UART(3,9600)
# For color tracking to work really well you should ideally be in a very, very,
# very, controlled enviroment where the lighting is constant...
red_threshold  = (13, 49, 18, 61, 6, 47)
# You may need to tweak the above settings for tracking green things...
# Select an area in the Framebuffer to copy the color settings.

sensor.reset() # Initialize the camera sensor.
sensor.set_pixformat(sensor.RGB565) # use RGB565.
sensor.set_framesize(sensor.QQVGA) # 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.

K=730#the value should be measured

while(True):
    clock.tick() # Track elapsed milliseconds between snapshots().
    img = sensor.snapshot() # Take a picture and return the image.

    blobs = img.find_blobs([red_threshold])
    if len(blobs) == 1:
        # Draw a rect around the blob.
        b = blobs[0]
        img.draw_rectangle((b[0:4]),color=(255,0,0)) # rect
        img.draw_cross(b[5], b[6]) # cx, cy
        Lm = (b[2]+b[3])/2
        length = K/Lm
        print(length)
        
        uart.write(length)
        time.sleep_ms(1000)
       
        #print(Lm)
    #print(clock.fps()) # Note: Your OpenMV Cam runs about half as fast while
    # connected to your computer. The FPS should increase once disconnected.

STM32端代码:

#include "stm32f10x.h"                  // Device header
#include "Delay.h"
#include "OLED.h"
#include "Servo.h"
#include "Key.h"
#include "stdio.h"
uint8_t KeyNum;
float Angle;

uint8_t count = 0;
void USART1_Init(void);
float res=0;

int main(void)
{
	NVIC_PriorityGroupConfig(NVIC_PriorityGroup_1);
	OLED_Init();
	Delay_ms (1000);
	USART1_Init();
	
	OLED_ShowString(1, 1, "COMEOUT:");

	
	while (1)
	{
		
		OLED_ShowChar(2, 1, res);
	}
}
void USART1_Init(void)
{
	GPIO_InitTypeDef GPIO_InitStructure;
	USART_InitTypeDef USART_InitSture;
	NVIC_InitTypeDef NVIC_InitSture;
	
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1, ENABLE);
	

	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_Mode = GPIO_Mode_IN_FLOATING;
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10;
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
	GPIO_Init(GPIOA, &GPIO_InitStructure);
	
	USART_InitSture.USART_BaudRate = 9600;
	USART_InitSture.USART_HardwareFlowControl =USART_HardwareFlowControl_None;
	USART_InitSture.USART_Mode =USART_Mode_Tx|USART_Mode_Rx;
	USART_InitSture.USART_Parity =USART_Parity_No;
	USART_InitSture.USART_StopBits =USART_StopBits_1;
	USART_InitSture.USART_WordLength =USART_WordLength_8b;
	
	USART_Init (USART1 ,&USART_InitSture);
	USART_ITConfig (USART1 ,USART_IT_RXNE ,ENABLE );
	USART_Cmd (USART1 ,ENABLE );
	
	
	
	NVIC_InitSture.NVIC_IRQChannel =USART1_IRQn;
	NVIC_InitSture.NVIC_IRQChannelCmd=ENABLE ;
	NVIC_InitSture.NVIC_IRQChannelPreemptionPriority =0;
	NVIC_InitSture.NVIC_IRQChannelSubPriority =1;
	NVIC_Init(&NVIC_InitSture );

}
void USART1_IRQHandler(void)
{
		if(USART_GetITStatus (USART1 ,USART_IT_RXNE )!=RESET )
		{
				res=USART_ReceiveData(USART1);

		}

}

int fputc(int ch, FILE *f)
{
	USART_SendData(USART1, (unsigned char) ch);
	while( USART_GetFlagStatus(USART1,USART_FLAG_TC)!= SET);	
	return (ch);
}