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OpenMV与STM32之间的通信（附源码）_openmv与stm32连接

作者：weixin_40725706 | 2024-02-15 00:19:21

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openmv与stm32连接

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("<bbhhhhb",      #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("<bbhhb",      #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 <stdio.h>
  3. #include <stdarg.h>
  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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