OPENMV與STM32串口通信解析源程序

ID:262059 · 發(fā)表于 2019-11-26 19:14

可以識(shí)別兩種顏色并反饋到STM32進(jìn)行解析，標(biāo)記并區(qū)分兩種顏色的，內(nèi)還有stm32追小球的云臺(tái)圖為，STM32通過(guò)串口與PC端通信上傳數(shù)據(jù)的效果，幀率很高很穩(wěn)定！

單片機(jī)源程序如下:

#include "led.h"
#include "delay.h"
#include "key.h"
#include "sys.h"
#include "usart.h"
#include "holder.h"
#include "oled.h"
#include "mpu6050.h"
#include "control.h"
#include "HMI.h"
#include "usart2.h"
#include "openmv.h"
/*全局變量*/
int PWM=1665;
int16_t p_x=100;
int Holder_PID(int8_t Xerror,int8_t Dzone) ;
int main(void)
{
delay_init(); //延時(shí)函數(shù)初始化
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2); //設(shè)置NVIC中斷分組2:2位搶占優(yōu)先級(jí)，2位響應(yīng)優(yōu)先級(jí)
uart_init(115200); /*opemv串口接收*/
uart3_init(9600); /*串口屏*/
uart2_init(9600); /*串口發(fā)送printf*/
while(1)
{
printf("\n\r X偏移=%d Y偏移=%d \n\r" ,OpenMV_RX ,OpenMV_RY); /*X軸左負(fù)右正 red */
printf("\n\r X偏移=%d Y偏移=%d \n\r" ,OpenMV_GX ,OpenMV_GY); /*X軸左負(fù)右正 green */
printf("\n\r 顏色合=%d \n\r",OpenMV_add); /*0x00沒(méi)檢測(cè)到0x01red 0x02green 0x03都有*/
}
}
int Holder_PID(int8_t Xerror,int8_t Dzone) /*PWM在1750-1950之間對(duì)應(yīng)0~180°*/
{
static float kp=0.08,kd=0.18,Ki=0;
static float LastError,SumError,LastPWM,PWM_PID;
float Error,dError;
char flag;
Error=Xerror;
/*積分*/
SumError+=Error;
if(Xerror<=Dzone&&Xerror>=-Dzone)
{
return LastPWM;
}
/*微分*/
dError=Error-LastError;
LastError=Error;
PWM_PID=(kp*Error+kd*dError+flag*Ki*SumError);
if(PWM_PID<=Dzone&&PWM_PID>0.5)PWM_PID=1;
if(PWM_PID>=-Dzone&&PWM_PID<-0.5)PWM_PID=-1;
PWM=PWM+PWM_PID-2;
/*限幅*/
if(PWM>=1755)PWM=1755;
if(PWM<=1575)PWM=1575;
LastPWM=PWM;
return PWM;
}