OpenMv通信，循迹小车

        openmv串口三通过发送偏移角度及偏移位移单片机通过串口三接收并解码并发送到串口一到电脑端查看。

        将负值加一百以更方便发送，单片机接收端通过检测值是否大于一百从而处理数据，关键的一点是sscanf函数的使用。大家如果不清楚的话可以去网上找找资料。

openmv端程序：

THRESHOLD = (0, 19, -112, 65, -87, 79) # Grayscale threshold for dark things...
import sensor, image, time, ustruct
from pyb import LED,UART
import pyb

LED(1).on()
LED(2).on()
LED(3).on()

sensor.reset()
sensor.set_vflip(True)#打开摄像头垂直翻转模式
sensor.set_hmirror(True)#水平镜像模式
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QQQVGA) # 80x60 (4,800 pixels) - O(N^2) max = 2,3040,000.
sensor.skip_frames(time = 2000)     # 跳过2帧
clock = time.clock()                # to process a frame sometimes.

uart = UART(3,115200)   #定义串口3变量
uart.init(115200, bits=8, parity=None, stop=1) # init with given parameters

while(True):
    clock.tick()
    img = sensor.snapshot().binary([THRESHOLD])
    line = img.get_regression([(100,100)], robust = True)
    if (line):
        rho = abs(line.rho())-img.width()/2
        if line.theta()>90:
            theta = line.theta()-180
        else:
            theta = line.theta()
        img.draw_line(line.line(), color = 127)
        if(theta < 0):
            theta = abs(theta) + 100
        theta = str(round(theta))
        if(rho < 0):
            rho = abs(rho) + 100
        rho = str(round(rho))
        uart.write("[")
        uart.write(theta)
        uart.write(",")
        uart.write(rho)
        uart.write("]")
        print(theta,rho)  #theta偏移角度 rho偏移位移
        time.sleep_ms(50)

单片机端解码程序：

#include "openmv.h"

void clear_RxBuffer(u8 *buffer);

void USART3_Init(u32 bound)
{
	GPIO_InitTypeDef GPIO_InitStructure;
	USART_InitTypeDef USART_InitStructure;
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB|RCC_APB2Periph_AFIO, ENABLE);
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART3, ENABLE );
	
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10;
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
	GPIO_Init(GPIOB, &GPIO_InitStructure);
	
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11;
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
	GPIO_Init(GPIOB, &GPIO_InitStructure);  
	//USART 初始化设置
	USART_InitStructure.USART_BaudRate = bound;
	USART_InitStructure.USART_WordLength = USART_WordLength_8b;
	USART_InitStructure.USART_StopBits = USART_StopBits_1;
	USART_InitStructure.USART_Parity = USART_Parity_No;
	USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
	USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;
	USART_Init(USART3, &USART_InitStructure);
	USART_ITConfig(USART3, USART_IT_RXNE, ENABLE);//开启中断
	USART_Cmd(USART3, ENABLE);                    //使能串口 
}

int theta, rho;

void USART3_IRQHandler(void) 
{
	char a;
	uint8_t com_data; //接收一个字节数据的临时变量
	static uint8_t RxCounter1=0;//数据缓冲区的索引
    static uint8_t RxBuffer1[10]={0};//存放数据的接收缓存区

	if( USART_GetITStatus(USART3 ,USART_IT_RXNE) != RESET)  	   //接收中断  
	{
		USART_ClearITPendingBit(USART3 ,USART_IT_RXNE);   //清除中断标志
		com_data = USART_ReceiveData(USART3);
		if(com_data == ']')
		{
			if(RxBuffer1[0] == '[')
			{
				sscanf((const char*)RxBuffer1, "%c%d,%d", &a, &theta, &rho);
				if(theta > 100)
				{
					theta = -(theta - 100);
				}
				if(rho > 100)
				{
					rho = -(rho - 100);
				}
				printf("rheta:%d,  rho:%d\n", theta, rho);
				clear_RxBuffer(RxBuffer1);
			}
			RxCounter1 = 0;
		}
		else
		{
			RxBuffer1[RxCounter1 ++] = com_data;
		}
		if(RxCounter1 > 10)
		{
			RxCounter1 = 0;
			clear_RxBuffer(RxBuffer1);
		}
	}
	
}

void clear_RxBuffer(u8 *buffer)
{
	u8 i;
	for(i = 0; i < 10; i ++)
	{
		buffer[i] = '\0';
	}
}