MSPM0G3507——OPENMV给M0传数据（用数据包）互相通信（以循迹为例）

OPENMV端代码

# main.py -- put your code here!
import pyb, sensor, image, math, time
from pyb import UART
import ustruct
from image import SEARCH_DS, SEARCH_EX
import time
import sensor, displayuart = UART(3, 115200, bits=8, parity=None, stop=1, timeout_char=1000)
roi1 = [(0, 80, 20, 10),(20, 80, 35, 10),(55, 80, 50, 10),(105, 80, 35, 10),(140, 80, 20, 10),]led = pyb.LED(1)
led.on()sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QQVGA)
sensor.skip_frames(time=2000)
sensor.set_auto_gain(False)
sensor.set_auto_whitebal(True)
GROUND_THRESHOLD = ((0, 16, -62, 123, -19, 40))#def send_five_uchar(c1, c2, c3, c4, c5):#  global uart;# data = ustruct.pack("<BBBBBBBB",#                    0xa3,#                   0xb3,#                  c1, c2, c3, c4, c5,#                0xc3)#uart.write(data);#print(data)while True:data = 0blob1 = Noneblob2 = Noneblob3 = Noneblob4 = Noneblob5 = Noneflag = [0, 0, 0, 0, 0]img = sensor.snapshot().lens_corr(strength=1.7, zoom=1.0)blob1 = img.find_blobs([GROUND_THRESHOLD], roi=roi1[0])blob2 = img.find_blobs([GROUND_THRESHOLD], roi=roi1[1])blob3 = img.find_blobs([GROUND_THRESHOLD], roi=roi1[2])blob4 = img.find_blobs([GROUND_THRESHOLD], roi=roi1[3])blob5 = img.find_blobs([GROUND_THRESHOLD], roi=roi1[4])if blob1:flag[0] = 1if blob2:flag[1] = 1if blob3:flag[2] = 1if blob4:flag[3] = 1if blob5:flag[4] = 1time.sleep_ms(10)# send_five_uchar(flag[0], flag[1], flag[2], flag[3], flag[4])data = bytearray([0xa3, 0xb3,flag[0],flag[1],flag[2],flag[3],flag[4],0xc3])  # 打包：帧头1 + 帧头2 + x + y + 帧尾uart.write(data);print(data)for rec in roi1:img.draw_rectangle(rec, color=(255, 0, 0))

M0端代码


#include "ti_msp_dl_config.h"#include "oled.h"
#include "stdio.h"
int openmv_data[8]; //openmv发来的数据包
int a1=5, a2=5, a3=5,a4=5,a5=5;
int b =5;int data_test(int data[])           //判断数据是否合理的函数
{if(data[7]!=0xc3) return 0;  //帧尾//if(data[2]>150)   return 0;  //x坐标上限//if(data[3]>110)   return 0;  //y坐标上限return 1;
}int main(void)
{uint8_t str[64];SYSCFG_DL_init();NVIC_ClearPendingIRQ(UART_0_INST_INT_IRQN);                 //先清除一下中断，防止直接接入中断NVIC_EnableIRQ(UART_0_INST_INT_IRQN);                       //开启串口的中断OLED_Init();OLED_Fill(0x00);OLED_ShowStr(0,0,(unsigned char*)("MSPM0G3507"),1);while (1){sprintf((char *)str, "%d", a1);OLED_ShowStr(0,4, str,2);sprintf((char *)str, "%d", a2);OLED_ShowStr(16,4, str,2);sprintf((char *)str, "%d", a3);OLED_ShowStr(32,4, str,2);sprintf((char *)str, "%d", a4);OLED_ShowStr(48,4, str,2);sprintf((char *)str, "%d", a5);OLED_ShowStr(64,4, str,2);b=data_test(openmv_data);sprintf((char *)str, "%d", b);OLED_ShowStr(0,6, str,2);}
}void UART_0_INST_IRQHandler(void)
{static int i=0;switch (DL_UART_Main_getPendingInterrupt(UART_0_INST)) {case DL_UART_MAIN_IIDX_RX:DL_GPIO_togglePins(GPIO_LEDS_PORT,GPIO_LEDS_USER_LED_1_PIN | GPIO_LEDS_USER_TEST_PIN);// gEchoData = DL_UART_Main_receiveData(UART_0_INST);//DL_UART_Main_transmitData(UART_0_INST, gEchoData);openmv_data[i++] = DL_UART_Main_receiveData(UART_0_INST);	//接收数据if(openmv_data[0]!=0xa3) i=0;             		//判断第一个帧头if((i==2)&&(openmv_data[1]!=0xb3)) i=0;    		//判断第二个帧头if(i==8)        //代表一组数据传输完毕{i = 0;			if( data_test(openmv_data) )             		//判断数据合理性{a1 = openmv_data[2]; a2 = openmv_data[3]; a3 = openmv_data[4]; a4 = openmv_data[5]; a5 = openmv_data[6]; }}break;default:break;}
}

串口的配置：