openmv与stm32追踪小车控制代码

OpenMV和STM32都是常用于嵌入式系统开发的工具，其中OpenMV是一款基于Python编程语言的开源嵌入式视觉开发平台，而STM32是一种基于ARM Cortex-M处理器内核的单片机。OpenMV和STM32可以结合使用，实现各种应用，例如追踪小车控制。

具体实现方法如下：

1.在OpenMV上进行图像处理，通过OpenMV的摄像头获取图像数据，使用Python代码进行图像处理，识别小车的位置和方向等信息。

2.将处理后的数据通过串口传输到STM32上，STM32根据接收到的数据控制小车运动。

3.STM32根据接收到的数据调整小车的运动方向和速度，使其朝向目标位置运动。

以下是参考代码：

OpenMV部分：

import sensor, image, time, pyb, ustruct
from pyb import UART

#初始化串口
uart = UART(3, 115200)
#初始化摄像头
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA)
sensor.skip_frames(time = 2000)
sensor.set_auto_whitebal(False)

def find_blobs():
    #寻找小车颜色区域
    for i in range(10):
        img = sensor.snapshot()
        blobs = img.find_blobs([(0, 100, -128, 127, -128, 127)], pixels_threshold=100, area_threshold=100)
        if blobs:
            #找到颜色区域后计算中心点坐标和面积
            max_blob = max(blobs, key=lambda b: b.pixels())
            x = max_blob.cx()
            y = max_blob.cy()
            w = max_blob.w()
            h = max_blob.h()
            return (x,y,w,h)

while(True):
    blobs_data = find_blobs()
    if blobs_data:
        #将数据打包发送到串口
        uart.write(ustruct.pack("<hhhh", blobs_data, blobs_data, blobs_data, blobs_data[3]))
    time.sleep(10)

STM32部分：

#include "stm32f4xx.h"
#include "stm32f4xx_gpio.h"
#include "stm32f4xx_rcc.h"
#include "misc.h"

#define BUF_SIZE 8

GPIO_InitTypeDef GPIO_InitStructure;
USART_InitTypeDef USART_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;

uint8_t buf[BUF_SIZE];

void USART3_IRQHandler(void)
{
    if (USART_GetITStatus(USART3, USART_IT_RXNE) != RESET) {
        static uint8_t i = 0;
        buf[i++] = USART_ReceiveData(USART3);
        if (i >= BUF_SIZE) {
            i = 0;
            int16_t x,y,w,h;
            memcpy(&x, buf, 2);
            memcpy(&y, buf+2, 2);
            memcpy(&w, buf+4, 2);
            memcpy(&h, buf+6, 2);
            //根据接收到的数据调整小车运动方向和速度
        }
    }
}

int main(void)
{
    RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART3, ENABLE);

    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10 | GPIO_Pin_11;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
    GPIO_Init(GPIOB, &GPIO_InitStructure);

    GPIO_PinAFConfig(GPIOB, GPIO_PinSource10, GPIO_AF_USART3);
    GPIO_PinAFConfig(GPIOB, GPIO_PinSource11, GPIO_AF_USART3);

    USART_InitStructure.USART_BaudRate = 115200;
    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);

    NVIC_InitStructure.NVIC_IRQChannel = USART3_IRQn;
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
    NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
    NVIC_Init(&NVIC_InitStructure);

    USART_ITConfig(USART3, USART_IT_RXNE, ENABLE);

    USART_Cmd(USART3, ENABLE);

    while(1)
    {

    }
}