• OpenMV与STM32之间的通信（附源码）

    本篇文章旨在记录我电赛期间使用openmv和stm32单片机之间进行串口通信，将openmv识别到的坐标传输给单片机。背景是基于2023年全国大学生电子设计大赛E题：舵机云台追踪识别。

    单片机的串口通信原理我便不再详细讲解，下面直接上代码分析。

    值得注意的是接线：RX——>TX

                                     TX——>RX

                                     单片机和OPENMV必须共地

    非常重要！！！！

    一、串口通信传输两个数据（x坐标和y坐标） 

    （一）、 OPENMV串口通信部分

    1. import sensor, image, time,math,pyb
    2. from pyb import UART,LED
    3. import json
    4. import ustruct
    5.  
    6. sensor.reset()
    7. sensor.set_pixformat(sensor.RGB565)
    8. sensor.set_framesize(sensor.QVGA)
    9. sensor.skip_frames(time = 2000)
    10. sensor.set_auto_gain(False) # must be turned off for color tracking
    11. sensor.set_auto_whitebal(False) # must be turned off for color tracking
    12. red_threshold_01=(10, 100, 127, 32, -43, 67)
    13. clock = time.clock()
    14.  
    15. uart = UART(3,115200)   #定义串口3变量
    16. uart.init(115200, bits=8, parity=None, stop=1) # init with given parameters
    17.  
    18. def find_max(blobs):    #定义寻找色块面积最大的函数
    19.     max_size=0
    20.     for blob in blobs:
    21.         if blob.pixels() > max_size:
    22.             max_blob=blob
    23.             max_size = blob.pixels()
    24.     return max_blob
    25.  
    26.  
    27. def sending_data(cx,cy,cw,ch):
    28.     global uart;
    29.     #frame=[0x2C,18,cx%0xff,int(cx/0xff),cy%0xff,int(cy/0xff),0x5B];
    30.     #data = bytearray(frame)
    31.     data = ustruct.pack(",      #格式为俩个字符俩个短整型(2字节)
    32.                    0x2C,                      #帧头1
    33.                    0x12,                      #帧头2
    34.                    int(cx), # up sample by 4   #数据1
    35.                    int(cy), # up sample by 4    #数据2
    36.                    int(cw), # up sample by 4    #数据1
    37.                    int(ch), # up sample by 4    #数据2
    38.                    0x5B)
    39.     uart.write(data);   #必须要传入一个字节数组
    40.  
    41.  
    42. while(True):
    43.     clock.tick()
    44.     img = sensor.snapshot()
    45.     blobs = img.find_blobs([red_threshold_01])
    46.     max_b = find_max(blobs)
    47.     cx=0;cy=0;
    48.     if blobs:
    49.             #如果找到了目标颜色
    50.             cx=max_b[5]
    51.             cy=max_b[6]
    52.             cw=max_b[2]
    53.             ch=max_b[3]
    54.             img.draw_rectangle(max_b[0:4]) # rect
    55.             img.draw_cross(max_b[5], max_b[6]) # cx, cy
    56.             FH = bytearray([0x2C,0x12,cx,cy,cw,ch,0x5B])
    57.             #sending_data(cx,cy,cw,ch)
    58.             uart.write(FH)
    59.             print(cx,cy,cw,ch)

    注意观察下图标注的部分，我不做详细讲解，但是很容易理解： 

    接下来请看STM32串口通信部分的代码：

    1. #include "uart.h"
    2. #include "oled.h"
    3. #include "stdio.h"
    4.  
    5. static u8 Cx=0,Cy=0,Cw=0,Ch=0;
    6.  
    7. void USART1_Init(void)
    8. {
    9. 	//USART1_TX:PA 9   
    10. 	//USART1_RX:PA10
    11. 	GPIO_InitTypeDef GPIO_InitStructure;     //串口端口配置结构体变量
    12. 	USART_InitTypeDef USART_InitStructure;   //串口参数配置结构体变量
    13. 	NVIC_InitTypeDef NVIC_InitStructure;     //串口中断配置结构体变量
    14.  
    15. 	RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1, ENABLE);	
    16. 	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);   //打开PA端口时钟
    17.  
    18.     //USART1_TX   PA9
    19.     GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;          		 //PA9
    20.     GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;  		 //设定IO口的输出速度为50MHz
    21.     GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;	   		 //复用推挽输出
    22.     GPIO_Init(GPIOA, &GPIO_InitStructure);             	 	 //初始化PA9
    23.     //USART1_RX	  PA10
    24.     GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10;             //PA10
    25.     GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;  //浮空输入
    26.     GPIO_Init(GPIOA, &GPIO_InitStructure);                 //初始化PA10 
    27.  
    28.     //USART1 NVIC 配置
    29.     NVIC_InitStructure.NVIC_IRQChannel = USART1_IRQn;
    30. 		NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=0 ;  //抢占优先级0
    31. 		NVIC_InitStructure.NVIC_IRQChannelSubPriority = 2;		  //子优先级2
    32. 		NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;			  //IRQ通道使能
    33. 		NVIC_Init(&NVIC_InitStructure);	                          //根据指定的参数初始化VIC寄存器
    34.  
    35.     //USART 初始化设置
    36. 		USART_InitStructure.USART_BaudRate = 115200;                  //串口波特率为115200
    37. 		USART_InitStructure.USART_WordLength = USART_WordLength_8b;   //字长为8位数据格式
    38. 		USART_InitStructure.USART_StopBits = USART_StopBits_1;        //一个停止位
    39. 		USART_InitStructure.USART_Parity = USART_Parity_No;           //无奇偶校验位
    40. 		USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;   //无硬件数据流控制
    41. 		USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;	                  //收发模式
    42.     USART_Init(USART1, &USART_InitStructure);                     //初始化串口1
    43.  
    44.     USART_ITConfig(USART1, USART_IT_RXNE, ENABLE); //使能中断
    45.     USART_Cmd(USART1, ENABLE);                     //使能串口1
    46.  
    47.   	//如下语句解决第1个字节无法正确发送出去的问题
    48. 	  USART_ClearFlag(USART1, USART_FLAG_TC);        //清串口1发送标志
    49. 		
    50. }
    51.  
    52. //USART1 全局中断服务函数
    53. void USART1_IRQHandler(void)			 
    54. {
    55. 		u8 com_data; 
    56. 		u8 i;
    57. 		static u8 RxCounter1=0;
    58. 		static u16 RxBuffer1[10]={0};
    59. 		static u8 RxState = 0;	
    60. 		static u8 RxFlag1 = 0;
    61.  
    62.  
    63. 		if( USART_GetITStatus(USART1,USART_IT_RXNE)!=RESET)  	   //接收中断  
    64. 		{
    65. 				USART_ClearITPendingBit(USART1,USART_IT_RXNE);   //清除中断标志
    66. 				com_data = USART_ReceiveData(USART1);
    67. 			
    68. 				if(RxState==0&&com_data==0x2C)  //0x2c帧头
    69. 				{
    70. 					RxState=1;
    71. 					RxBuffer1[RxCounter1++]=com_data;OLED_Refresh();
    72. 				}
    73. 		
    74. 				else if(RxState==1&&com_data==0x12)  //0x12帧头
    75. 				{
    76. 					RxState=2;
    77. 					RxBuffer1[RxCounter1++]=com_data;
    78. 				}
    79. 		
    80. 				else if(RxState==2)
    81. 				{
    82. 					RxBuffer1[RxCounter1++]=com_data;
    83.  
    84. 					if(RxCounter1>=10||com_data == 0x5B)       //RxBuffer1接受满了,接收数据结束
    85. 					{
    86. 						RxState=3;
    87. 						RxFlag1=1;
    88. 						Cx=RxBuffer1[RxCounter1-5];
    89. 						Cy=RxBuffer1[RxCounter1-4];
    90. 						Cw=RxBuffer1[RxCounter1-3];
    91. 						Ch=RxBuffer1[RxCounter1-2];
    92. 					}
    93. 				}
    94. 		
    95. 				else if(RxState==3)		//检测是否接受到结束标志
    96. 				{
    97. 						if(RxBuffer1[RxCounter1-1] == 0x5B)
    98. 						{
    99. 									USART_ITConfig(USART1,USART_IT_RXNE,DISABLE);//关闭DTSABLE中断
    100. 									if(RxFlag1)
    101. 									{
    102. 									OLED_Refresh();
    103. 									OLED_ShowNum(0, 0,Cx,3,16,1);
    104. 									OLED_ShowNum(0,17,Cy,3,16,1);
    105. 									OLED_ShowNum(0,33,Cw,3,16,1);
    106. 									OLED_ShowNum(0,49,Ch,3,16,1);
    107. 									}
    108. 									RxFlag1 = 0;
    109. 									RxCounter1 = 0;
    110. 									RxState = 0;
    111. 									USART_ITConfig(USART1,USART_IT_RXNE,ENABLE);
    112. 						}
    113. 						else   //接收错误
    114. 						{
    115. 									RxState = 0;
    116. 									RxCounter1=0;
    117. 									for(i=0;i<10;i++)
    118. 									{
    119. 											RxBuffer1[i]=0x00;      //将存放数据数组清零
    120. 									}
    121. 						}
    122. 				} 
    123. 	
    124. 				else   //接收异常
    125. 				{
    126. 						RxState = 0;
    127. 						RxCounter1=0;
    128. 						for(i=0;i<10;i++)
    129. 						{
    130. 								RxBuffer1[i]=0x00;      //将存放数据数组清零
    131. 						}
    132. 				}
    133.  
    134. 		}
    135. 		
    136. }

    注意观察下面的图：

    二、串口通信传输多个数据（四个点的x、y坐标同时传输给STM32单片机）

    （一）OPENMV串口部分

    1. from machine import Pin
    2. import sensor, image, time, pyb
    3. #import seekfree
    4. from pyb import UART
    5.  
    6. # 初始化TFT180屏幕
    7. #lcd = seekfree.LCD180(3)
    8.  
    9. # 初始化摄像头
    10. sensor.reset()
    11. sensor.set_pixformat(sensor.RGB565) # 设置图像色彩格式为RGB565格式
    12. sensor.set_framesize(sensor.QQVGA)  # 设置图像大小为160*120
    13. sensor.set_auto_whitebal(True)      # 设置自动白平衡
    14. sensor.set_brightness(3000)         # 设置亮度为3000
    15. sensor.skip_frames(time = 20)       # 跳过帧
    16. uart = UART(3, 115200,timeout_char=3000) #配置串口
    17. clock = time.clock()
    18.  
    19. def sending_data(cx,cy,cw,ch):
    20.     global uart;
    21.     data = ustruct.pack(",      #格式为俩个字符俩个短整型(2字节)
    22.                    0x2C,                      #帧头1
    23.                    0x12,                      #帧头2
    24.                    int (cx1), # up sample by 4    #数据26
    25.                    int (cy1),
    26.                    int (cx2), # up sample by 4    #数据26
    27.                    int (cy2),
    28.                    int (cx3), # up sample by 4    #数据26
    29.                    int (cy3),
    30.                    int (cx4), # up sample by 4    #数据26
    31.                    int (cy4),
    32.                    0x5B)
    33.     uart.write(data);   #必须要传入一个字节数组
    34.  
    35. while(True):
    36.     clock.tick()
    37.     img = sensor.snapshot()
    38.  
    39. # -----矩形框部分-----
    40.     # 在图像中寻找矩形
    41.     for r in img.find_rects(threshold = 10000):
    42.         # 判断矩形边长是否符合要求
    43.         if r.w() > 20 and r.h() > 20:
    44.             # 在屏幕上框出矩形
    45.             img.draw_rectangle(r.rect(), color = (255, 0, 0), scale = 4)
    46.             # 获取矩形角点位置
    47.             corner = r.corners()
    48.             # 在屏幕上圈出矩形角点
    49.             img.draw_circle(corner[0][0], corner[0][1], 5, color = (0, 0, 255), thickness = 2, fill = False)
    50.             img.draw_circle(corner[1][0], corner[1][1], 5, color = (0, 0, 255), thickness = 2, fill = False)
    51.             img.draw_circle(corner[2][0], corner[2][1], 5, color = (0, 0, 255), thickness = 2, fill = False)
    52.             img.draw_circle(corner[3][0], corner[3][1], 5, color = (0, 0, 255), thickness = 2, fill = False)
    53.  
    54.         # 打印四个角点坐标, 角点1的数组是corner[0], 坐标就是(corner[0][0],corner[0][1])
    55.         # 角点检测输出的角点排序每次不一定一致，矩形左上的角点有可能是corner0,1,2,3其中一个
    56.             corner1_str = f"corner1 = ({corner[0][0]},{corner[0][1]})"
    57.             corner2_str = f"corner2 = ({corner[1][0]},{corner[1][1]})"
    58.             corner3_str = f"corner3 = ({corner[2][0]},{corner[2][1]})"
    59.             corner4_str = f"corner4 = ({corner[3][0]},{corner[3][1]})"
    60.         print(corner1_str + "\n" + corner2_str + "\n" + corner3_str + "\n" + corner4_str)
    61.     # 显示到屏幕上，此部分会降低帧率
    62.     #lcd.show_image(img, 160, 120, 0, 0, zoom=0)  #屏幕显示
    63.  
    64.     #串口通信传输的数据
    65.         cx1=(int)(corner[0][0]*10)
    66.         cy1=(int)(corner[0][1]*10)
    67.  
    68.         cx2=(int)(corner[1][0]*10)
    69.         cy2=(int)(corner[1][1]*10)
    70.  
    71.         cx3=(int)(corner[2][0]*10)
    72.         cy3=(int)(corner[2][1]*10)
    73.  
    74.         cx4=(int)(corner[3][0]*10)
    75.         cy4=(int)(corner[3][1]*10)
    76.  
    77.         FH=bytearray([0x2C,0x12,cx1,cy1,cx2,cy2,cx3,cy3,cx4,cy4,0x5B])
    78.  
    79.         uart.write(FH)
    80.  
    81.         cx1=0
    82.         cy1=0
    83.  
    84.         cx2=0
    85.         cy2=0
    86.  
    87.         cx3=0
    88.         cy3=0
    89.  
    90.         cx4=0
    91.         cy4=0
    92.  
    93.     # 打印帧率
    94.     print(clock.fps())

    下面请观察这幅代码截图：

    （二）、STM32串口通信部分

    1. #include "stm32f10x.h"                  // Device header
    2. #include 
    3. #include 
    4. #include "OLED.h"
    5. #include "LED.h"
    6. #include "Serial.h"
    7.  
    8. uint8_t Serial_RxData;
    9. uint8_t Serial_RxFlag;
    10. static int16_t Cx1=0,Cy1=0,Cx2=0,Cy2=0,Cx3=0,Cy3=0,Cx4=0,Cy4=0; 
    11.  
    12. int Cx5[16];//用于存放分段求的坐标值
    13. int Cy5[16];
    14. //static u8 RxFlag1 = 0;//串口中断接收标志位
    15.  
    16. extern float Ang1,Ang2,AngFlag;
    17. extern float Angle1,Angle2;
    18.  
    19. int avel_X1 ;
    20. int avel_X2 ;
    21. int avel_X3 ;
    22. int avel_X4 ;
    23.  
    24. int avel_Y1 ;
    25. int avel_Y2 ;
    26. int avel_Y3 ;
    27. int avel_Y4 ;
    28.  
    29. void Serial_Init(void)
    30. {
    31. 	RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART3, ENABLE);
    32. 	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
    33. 	
    34. 	//TX
    35. 	GPIO_InitTypeDef GPIO_InitStructure;
    36. 	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
    37. 	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10;
    38. 	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    39. 	GPIO_Init(GPIOB, &GPIO_InitStructure);
    40. 	
    41. 	//RX
    42. 	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
    43. 	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11;
    44. 	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    45. 	GPIO_Init(GPIOB, &GPIO_InitStructure);
    46. 	
    47. 	USART_InitTypeDef USART_InitStructure;
    48. 	USART_InitStructure.USART_BaudRate = 115200;
    49. 	USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
    50. 	USART_InitStructure.USART_Mode = USART_Mode_Tx | USART_Mode_Rx;
    51. 	USART_InitStructure.USART_Parity = USART_Parity_No;
    52. 	USART_InitStructure.USART_StopBits = USART_StopBits_1;
    53. 	USART_InitStructure.USART_WordLength = USART_WordLength_8b;
    54. 	USART_Init(USART3, &USART_InitStructure);
    55. 	
    56. 	USART_ITConfig(USART3, USART_IT_RXNE, ENABLE);
    57. 	
    58. 	NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
    59. 	
    60. 	NVIC_InitTypeDef NVIC_InitStructure;
    61. 	NVIC_InitStructure.NVIC_IRQChannel = USART3_IRQn;
    62. 	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
    63. 	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
    64. 	NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
    65. 	NVIC_Init(&NVIC_InitStructure);
    66. 	
    67. 	USART_Cmd(USART3, ENABLE);
    68. }
    69.  
    70. void Serial_SendByte(uint8_t Byte)
    71. {
    72. 	USART_SendData(USART3, Byte);
    73. 	while (USART_GetFlagStatus(USART3, USART_FLAG_TXE) == RESET);
    74. }
    75.  
    76. void Serial_SendArray(uint8_t *Array, uint16_t Length)
    77. {
    78. 	uint16_t i;
    79. 	for (i = 0; i < Length; i ++)
    80. 	{
    81. 		Serial_SendByte(Array[i]);
    82. 	}
    83. }
    84.  
    85. void Serial_SendString(char *String)
    86. {
    87. 	uint8_t i;
    88. 	for (i = 0; String[i] != '\0'; i ++)
    89. 	{
    90. 		Serial_SendByte(String[i]);
    91. 	}
    92. }
    93.  
    94. uint32_t Serial_Pow(uint32_t X, uint32_t Y)
    95. {
    96. 	uint32_t Result = 1;
    97. 	while (Y --)
    98. 	{
    99. 		Result *= X;
    100. 	}
    101. 	return Result;
    102. }
    103.  
    104. void Serial_SendNumber(uint32_t Number, uint8_t Length)
    105. {
    106. 	uint8_t i;
    107. 	for (i = 0; i < Length; i ++)
    108. 	{
    109. 		Serial_SendByte(Number / Serial_Pow(10, Length - i - 1) % 10 + '0');
    110. 	}
    111. }
    112.  
    113. int fputc(int ch, FILE *f)
    114. {
    115. 	Serial_SendByte(ch);
    116. 	return ch;
    117. }
    118.  
    119. void Serial_Printf(char *format, ...)
    120. {
    121. 	char String[100];
    122. 	va_list arg;
    123. 	va_start(arg, format);
    124. 	vsprintf(String, format, arg);
    125. 	va_end(arg);
    126. 	Serial_SendString(String);
    127. }
    128. //USART3 全局中断服务函数
    129. void USART3_IRQHandler(void)			 
    130. {
    131. 		int com_data; 
    132. 		u8 i;
    133. 		u8 Jieshou = 1;
    134. 		
    135. 		static u8 RxCounter1=0;
    136. 		static int RxBuffer1[16]={0};
    137. 		static u8 RxState = 0;	
    138. 		static u8 RxFlag1 = 0;//串口中断接收标志位，已被移除至函数体外作为全局变量
    139.  
    140. 		if( USART_GetITStatus(USART3,USART_IT_RXNE)!=RESET && Jieshou == 1)  	   //接收中断  
    141. 		{
    142. //			OLED_ShowSignedNum(1,1,520,4);
    143. 				USART_ClearITPendingBit(USART3,USART_IT_RXNE);   //清除中断标志
    144. 				com_data = USART_ReceiveData(USART3);
    145. 			if(Jieshou == 1)
    146. 			{
    147. 		
    148. 				if(RxState==0&&com_data==0x2C)  //0x2c帧头
    149. 				{
    150. 					RxBuffer1[RxCounter1++]=com_data;
    151. 					RxState=1;
    152. 				}
    153. 		
    154. 				else if(RxState==1&&com_data==0x12)  //0x12帧头
    155. 				{
    156. 					RxBuffer1[RxCounter1++]=com_data;
    157. 					RxState=2;
    158. 				}			
    159. 				else if(RxState==2)
    160. 				{
    161. 					RxBuffer1[RxCounter1++]=com_data;
    162.  
    163. 					if(RxCounter1>=14||com_data == 0x5B)       //RxBuffer1接受满了,接收数据结束
    164. 					{
    165. 						RxState=3;
    166. 						RxFlag1=1;
    167. 						Jieshou = 2;
    168. 						
    169. 						Cx1=RxBuffer1[RxCounter1-9];
    170. 						Cy1=RxBuffer1[RxCounter1-8];
    171. 						
    172. 						Cx2=RxBuffer1[RxCounter1-7];
    173. 						Cy2=RxBuffer1[RxCounter1-6];
    174. 						
    175. 						Cx3=RxBuffer1[RxCounter1-5];
    176. 						Cy3=RxBuffer1[RxCounter1-4];
    177. 						
    178. 						Cx4=RxBuffer1[RxCounter1-3];
    179. 						Cy4=RxBuffer1[RxCounter1-2];
    180. 						
    181. 						OLED_ShowSignedNum(1,1,Cx1,4);
    182. 						OLED_ShowSignedNum(2,1,Cy1,4);
    183. 						OLED_ShowSignedNum(3,1,Cx2,4);
    184. 						OLED_ShowSignedNum(4,1,Cy2,4);
    185. 						
    186. 						OLED_ShowSignedNum(1,7,Cx3,4);
    187. 						OLED_ShowSignedNum(2,7,Cy3,4);
    188. 						OLED_ShowSignedNum(3,7,Cx4,4);
    189. 						OLED_ShowSignedNum(4,7,Cy4,4);
    190. 						
    191. 					}
    192. 				}
    193. 			}
    194. 				else if(RxState==3)		//检测是否接受到结束标志
    195. 				{
    196. 					if(RxBuffer1[RxCounter1-1] == 0x5B)
    197. 					{
    198. 						USART_ITConfig(USART3,USART_IT_RXNE,DISABLE);//关闭DTSABLE中断
    199. 						if(RxFlag1)
    200. 						{	
    201. 							
    202. 							AngFlag=0;
    203. 							HuanRaoZuoBiao();
    204. //										
    205. //							OLED_ShowSignedNum(1,1,Cx1,4);
    206.  
    207. //							OLED_ShowSignedNum(2,1,Cx2,4);
    208. //							OLED_ShowSignedNum(3,1,avel_X1,4);
    209. //							OLED_ShowSignedNum(4,1,Cx5[0],4);
    210.  
    211. 							AngFlag=1;
    212. 							RxFlag1 = 0;
    213. 							RxCounter1 = 0;
    214. 							RxState = 0;									
    215. 						}
    216. 						USART_ITConfig(USART3,USART_IT_RXNE,ENABLE);									
    217. 					}
    218. 					else   //接收错误
    219. 					{
    220. 								RxState = 0;
    221. 								RxCounter1=0;
    222. 								for(i=0;i<10;i++)
    223. 								{
    224. 										RxBuffer1[i]=0x00;      //将存放数据数组清零
    225. 								}
    226. 					}
    227. 				} 
    228. 	
    229. 				else   //接收异常
    230. 				{
    231. 						RxState = 0;
    232. 						RxCounter1=0;
    233. 						for(i=0;i<10;i++)
    234. 						{
    235. 								RxBuffer1[i]=0x00;      //将存放数据数组清零
    236. 							
    237. 						}
    238. 				}
    239. 			
    240. 		}
    241. 	}

     注意观察下面这副代码截图：

    以上便是我对电赛期间OPENMV与单片机之间实现串口通信的代码实现。学者若有疑问或需要代码工程，可以私聊我。收到后我会及时回复。

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  • 原文地址：https://blog.csdn.net/m0_73931287/article/details/132701860