openmv与msp432串口通信

根据 OpenMV与stm32，msp432等单片机的串口通讯（已经写好一个识别色块的例程，可直接使用）keil（MDK）改进。

一、首先有一个大思想的问题，举个例子就是假如msp432充当“大脑”，openmv就相当于“眼睛”，那么链接所写的就是“眼睛”一直在向“大脑”发送数据，中断会一直触发。那么我们换种思路，如果是我“大脑”发个信号之后，“眼睛”再将数据发送给“大脑”。
（利：中断触发减少，可调整数据发送速率，可主动请求数据。）
（弊：主程序占用，请求可能会被搁置，如果使用定时器的延时可以避免这个。）

二、就是他的那个代码里有一个数据的判断是错误的。

下面是openmv的代码

# Blob Detection and uart transport
import sensor, image, time
from pyb import UART
import json
import lcd
# For color tracking to work really well you should ideally be in a very, very,
# very, controlled enviroment where the lighting is constant...
yellow_threshold   = (1, 17, -20, 11, -12, 17)
#记得更改要识别色块的阈值
# 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.
lcd.init() # Initialize the lcd screen.
#lcd初始化
uart = UART(3, 115200)
uart.init(115200,bits=8,parity=None,stop=1)
#这里是UART3，115200
def find_max(blobs):max_size=0for blob in blobs:if blob.pixels() > max_size:max_blob=blobmax_size = blob.pixels()return max_blob
#得到识别面积最大的色块while(True):img = sensor.snapshot() # Take a picture and return the image.blobs = img.find_blobs([yellow_threshold])if blobs:max_blob=find_max(blobs)img.draw_rectangle(max_blob.rect())img.draw_cross(max_blob.cx(), max_blob.cy())img.draw_string(0,0,'x='+str(max_blob.cx()),color=(0,0,0))img.draw_string(0,10,'y='+str(max_blob.cy()),color=(0,0,0))output_str=bytearray([0x2c,4,max_blob.cx(),max_blob.cy(),max_blob.w(),max_blob.h(),0x5B])#output_str="[%d,%d,%d,%d]" % (max_blob.cx(),max_blob.cy(),max_blob.w(),max_blob.h()) #方式1#output_str=json.dumps([max_blob.cx(),max_blob.cy()]) #方式2#output_str = json.dumps(max_blob)# print('you send:',output_str)lcd.display(img) # Take a picture and display the image.#将图像显示在lcd中#else:##print('not found!')#print('you send:',output_str)#output_str=bytearray([0x2c,0,0x5B])#uart.write(output_str)if uart.any():a=uart.readline().decode().strip()# b=int(a)print(a)if a=='x':uart.write(output_str)print('you send:',output_str)a='NULL'b=0#加入了一个判断的条件，当主机发送'x'时，我发送数据

还有一些当时存在疑惑的地方这里解释一下

 output_str=bytearray([0x2c,4,max_blob.cx(),max_blob.cy(),max_blob.w(),max_blob.h(),0x5B])

2c就相当于报头，5B相当于结尾
2c在ccs中不是16进制显示的话会是’,’ ASCII码是44
5B在ccs中不是16进制显示的话回是’[’ ASCII码是91
期中的max_blob.cx(),max_blob.cy(),max_blob.w(),max_blob.h()是最大的目标的x，y坐标，还有宽和高。

有一个.h头文件，在stm32中和msp432中都是一样的，都可以用。

#ifndef __openmv_H
#define __openmv_Htypedef struct
{u16 cx;u16 cy;//最大色块的中心坐标u16 w;u16 h;u16 s;//最大色块的面积（在popenv ide软件上运行框起来的面积（w*h））
}_CARD;void Openmv_Init(u32 bound);
void Openmv_Receive_Data(int16_t data);extern _CARD CARD;#endif/* end of openmv.h */

（转自原作者）
还有.c文件

/******************************************************************************* MSP432 UART - Loopback with 24MHz DCO BRCLK** Description: This demo connects TX to RX of the MSP432 UART* The example code shows proper initialization of registers* and interrupts to receive and transmit data. If data is incorrect P1.0 LED* is turned ON.**  MCLK = HSMCLK = SMCLK = DCO of 24MHz**               MSP432P401*             -----------------*            |                 |*       RST -|     P3.3/UCA0TXD|----*            |                 |*           -|                 |*            |     P3.2/UCA0RXD|----*            |                 |*            |             P1.0|---> LED*            |                 |********************************************************************************/
/* DriverLib Includes */
#include <ti/devices/msp432p4xx/driverlib/driverlib.h>/* Standard Includes */
#include <stdint.h>
#include <stdbool.h>#include "openmv.h"
_CARD CARD={0};uint8_t RXData = 0;
uint8_t TXData = 'x';/* UART Configuration Parameter. These are the configuration parameters to* make the eUSCI A UART module to operate with a 115200 baud rate. These* values were calculated using the online calculator that TI provides* at:* http://software-dl.ti.com/msp430/msp430_public_sw/mcu/msp430/MSP430BaudRateConverter/index.html*/
const eUSCI_UART_ConfigV1 uartConfig =
{EUSCI_A_UART_CLOCKSOURCE_SMCLK,          // SMCLK Clock Source13,                                      // BRDIV0,                                       // UCxBRF37,                                      // UCxBRS  设置波特率为115200EUSCI_A_UART_NO_PARITY,                  // No ParityEUSCI_A_UART_LSB_FIRST,                  // LSB FirstEUSCI_A_UART_ONE_STOP_BIT,               // One stop bitEUSCI_A_UART_MODE,                       // UART modeEUSCI_A_UART_OVERSAMPLING_BAUDRATE_GENERATION,  // OversamplingEUSCI_A_UART_8_BIT_LEN                   // 8 bit data length
};void Openmv_Init(void)
{MAP_GPIO_setAsPeripheralModuleFunctionInputPin(GPIO_PORT_P3,GPIO_PIN2 | GPIO_PIN3, GPIO_PRIMARY_MODULE_FUNCTION);/* Configuring UART Module */MAP_UART_initModule(EUSCI_A2_BASE, &uartConfig);/* Setting DCO to 24MHz (upping Vcore) */FlashCtl_setWaitState(FLASH_BANK0, 1);FlashCtl_setWaitState(FLASH_BANK1, 1);MAP_PCM_setCoreVoltageLevel(PCM_VCORE1);CS_setDCOCenteredFrequency(CS_DCO_FREQUENCY_24);/* Enable UART module */MAP_UART_enableModule(EUSCI_A2_BASE);
//    MAP_UART_clearInterruptFlag (EUSCI_A2_BASE);/* Enabling interrupts */MAP_UART_enableInterrupt(EUSCI_A2_BASE, EUSCI_A_UART_RECEIVE_INTERRUPT);MAP_Interrupt_enableInterrupt(INT_EUSCIA2);MAP_Interrupt_enableMaster();}void Openmv_Receive_Data(uint8_t data)//接收Openmv传过来的数据
{static uint8_t openmv[7];    //存取数据static uint8_t state = 0;uint8_t i;static uint8_t bit_number=0;if(state==0&&data==0x2C){state=1;openmv[bit_number++]=data;}else if(state==1&&data==4){state=2;openmv[bit_number++]=data;}else if(state==2){openmv[bit_number++]=data;if(bit_number>=6){state=3;}}else if(state==3)       //检测是否接受到结束标志{if(data == 0x5B){state = 0;openmv[bit_number++]=data;CARD.cx=openmv[2];CARD.cy=openmv[3];CARD.w=openmv[4];CARD.h=openmv[5];CARD.s=openmv[4]*openmv[5];}else if(data != 0x5B){state = 0;for(i=0;i<=7;i++){openmv[i]=0x00;}}}else{state = 0;bit_number=0;for(i=0;i<=7;i++){openmv[i]=0x00;}}
}//函数功能：延时
static void key_delay(uint16_t t)
{volatile uint16_t x;while (t--)for (x = 0; x < 1000; x++);
}int main(void)
{/* Halting WDT  */MAP_WDT_A_holdTimer();Openmv_Init();GPIO_setAsOutputPin(GPIO_PORT_P1,GPIO_PIN0);//    Openmv_Receive_Data( datax );//接收Openmv传过来的数据while(1){key_delay(1000);MAP_UART_transmitData(EUSCI_A2_BASE, TXData);}
}/* EUSCI A0 UART ISR - Echos data back to PC host */
void EUSCIA2_IRQHandler(void)
{uint32_t status = MAP_UART_getEnabledInterruptStatus(EUSCI_A2_BASE);if(status & EUSCI_A_UART_RECEIVE_INTERRUPT_FLAG){//CopyData((unsigned char)UART5->DR);//处理数据//CopyData() ;
//        RXData = MAP_UART_receiveData(EUSCI_A2_BASE);Openmv_Receive_Data(MAP_UART_receiveData(EUSCI_A2_BASE));GPIO_toggleOutputOnPin(GPIO_PORT_P1,GPIO_PIN0);}
}

错误在这里

 else if(state==1&&data==4)

你可以在这里把它改为4，也可以在openmv那里改包里的数据，反正就是要相互对应。
接线的话

这就可以，记得将收发反着接。
最后还是要感谢HOUBYhcy这位大佬
小伙伴三清丨道长和隆美尔2.0辛苦了