import sensor, image, time,math,pyb
from pyb import UART,LED
import json
import ustruct

sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA)
sensor.skip_frames(time = 2000)
sensor.set_auto_gain(False) # must be turned off for color tracking
sensor.set_auto_whitebal(False) # must be turned off for color tracking
red_threshold_01=(10, 100, 127, 32, -43, 67)
clock = time.clock()

uart = UART(3,115200)   #定義串口3變量
uart.init(115200, bits=8, parity=None, stop=1) # init with given parameters

def find_max(blobs):    #定義尋找色塊面積最大的函數(shù)
    max_size=0
    for blob in blobs:
        if blob.pixels() > max_size:
            max_blob=blob
            max_size = blob.pixels()
    return max_blob


def sending_data(cx,cy,cw,ch):
    global uart;
    #frame=[0x2C,18,cx%0xff,int(cx/0xff),cy%0xff,int(cy/0xff),0x5B];
    #data = bytearray(frame)
    data = ustruct.pack("<bbhhhhb",      #格式為倆個(gè)字符倆個(gè)短整型(2字節(jié))
                   0x2C,                      #幀頭1
                   0x12,                      #幀頭2
                   int(cx), # up sample by 4   #數(shù)據(jù)1
                   int(cy), # up sample by 4    #數(shù)據(jù)2
                   int(cw), # up sample by 4    #數(shù)據(jù)1
                   int(ch), # up sample by 4    #數(shù)據(jù)2
                   0x5B)
    uart.write(data);   #必須要傳入一個(gè)字節(jié)數(shù)組


while(True):
    clock.tick()
    img = sensor.snapshot()
    blobs = img.find_blobs([red_threshold_01])
    cx=0;cy=0;
    if blobs:
        	max_b = find_max(blobs)
            #如果找到了目標(biāo)顏色
            cx=max_b[5]
            cy=max_b[6]
            cw=max_b[2]
            ch=max_b[3]
            img.draw_rectangle(max_b[0:4]) # rect
            img.draw_cross(max_b[5], max_b[6]) # cx, cy
            FH = bytearray([0x2C,0x12,cx,cy,cw,ch,0x5B])
            #sending_data(cx,cy,cw,ch)
            uart.write(FH)
            print(cx,cy,cw,ch)

#ifndef __USART_H
#define __USART_H
#include "sys.h"
void USART1_Init(void);//串口1初始化并啟動(dòng)
#endif

#include "uart.h"
#include "oled.h"
#include "stdio.h"

static u8 Cx=0,Cy=0,Cw=0,Ch=0;

void USART1_Init(void)
{
	 	//USART1_TX:PA 9   
		//USART1_RX:PA10
		GPIO_InitTypeDef GPIO_InitStructure;     //串口端口配置結(jié)構(gòu)體變量
		USART_InitTypeDef USART_InitStructure;   //串口參數(shù)配置結(jié)構(gòu)體變量
		NVIC_InitTypeDef NVIC_InitStructure;     //串口中斷配置結(jié)構(gòu)體變量

		RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1, ENABLE);	
		RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);   //打開PA端口時(shí)鐘

    	//USART1_TX   PA9
    	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;          		 //PA9
   		GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;  		 //設(shè)定IO口的輸出速度為50MHz
    	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;	   		 //復(fù)用推挽輸出
    	GPIO_Init(GPIOA, &GPIO_InitStructure);             	 	 //初始化PA9
    	//USART1_RX	  PA10
    	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10;             //PA10
    	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;  //浮空輸入
    	GPIO_Init(GPIOA, &GPIO_InitStructure);                 //初始化PA10 

    	//USART1 NVIC 配置
    	NVIC_InitStructure.NVIC_IRQChannel = USART1_IRQn;
		NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=0 ;  //搶占優(yōu)先級0
		NVIC_InitStructure.NVIC_IRQChannelSubPriority = 2;		    //子優(yōu)先級2
		NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;			      					                 //IRQ通道使能
		NVIC_Init(&NVIC_InitStructure);	                          //根據(jù)指定的參數(shù)初始化VIC寄存器

    	//USART 初始化設(shè)置
		USART_InitStructure.USART_BaudRate = 115200;                  //串口波特率為115200
		USART_InitStructure.USART_WordLength = USART_WordLength_8b;   //字長為8位數(shù)據(jù)格式
		USART_InitStructure.USART_StopBits = USART_StopBits_1;        //一個(gè)停止位
		USART_InitStructure.USART_Parity = USART_Parity_No;           //無奇偶校驗(yàn)位
		USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;   //無硬件數(shù)據(jù)流控制
		USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;	                  //收發(fā)模式
    	USART_Init(USART1, &USART_InitStructure);                     //初始化串口1

    	USART_ITConfig(USART1, USART_IT_RXNE, ENABLE); //使能中斷
   		USART_Cmd(USART1, ENABLE);                     //使能串口1
	  	USART_ClearFlag(USART1, USART_FLAG_TC);        //清串口1發(fā)送標(biāo)志
		
}

//USART1 全局中斷服務(wù)函數(shù)
void USART1_IRQHandler(void)			 
{
		u8 com_data; 
		u8 i;
		static u8 RxCounter1=0;
		static u16 RxBuffer1[10]={0};
		static u8 RxState = 0;	
		static u8 RxFlag1 = 0;

		if( USART_GetITStatus(USART1,USART_IT_RXNE)!=RESET)  	   //接收中斷  
		{
				USART_ClearITPendingBit(USART1,USART_IT_RXNE);   //清除中斷標(biāo)志
				com_data = USART_ReceiveData(USART1);
			
				if(RxState==0&&com_data==0x2C)  //0x2c幀頭
				{
					RxState=1;
					RxBuffer1[RxCounter1++]=com_data;OLED_Refresh();
				}
		
				else if(RxState==1&&com_data==0x12)  //0x12幀頭
				{
					RxState=2;
					RxBuffer1[RxCounter1++]=com_data;
				}
		
				else if(RxState==2)
				{
					RxBuffer1[RxCounter1++]=com_data;

					if(RxCounter1>=10||com_data == 0x5B)       //RxBuffer1接受滿了,接收數(shù)據(jù)結(jié)束
					{
						RxState=3;
						RxFlag1=1;
						Cx=RxBuffer1[RxCounter1-5];
						Cy=RxBuffer1[RxCounter1-4];
						Cw=RxBuffer1[RxCounter1-3];
						Ch=RxBuffer1[RxCounter1-2];

					}
				}
		
				else if(RxState==3)		//檢測是否接受到結(jié)束標(biāo)志
				{
						if(RxBuffer1[RxCounter1-1] == 0x5B)
						{
									USART_ITConfig(USART1,USART_IT_RXNE,DISABLE);//關(guān)閉DTSABLE中斷
									if(RxFlag1)
									{
									OLED_Refresh();
									OLED_ShowNum(0, 0,Cx,3,16,1);
									OLED_ShowNum(0,17,Cy,3,16,1);
									OLED_ShowNum(0,33,Cw,3,16,1);
									OLED_ShowNum(0,49,Ch,3,16,1);
									}
									RxFlag1 = 0;
									RxCounter1 = 0;
									RxState = 0;
									USART_ITConfig(USART1,USART_IT_RXNE,ENABLE);
						}
						else   //接收錯(cuò)誤
						{
									RxState = 0;
									RxCounter1=0;
									for(i=0;i<10;i++)
									{
											RxBuffer1[i]=0x00;      //將存放數(shù)據(jù)數(shù)組清零
									}
						}
				} 
	
				else   //接收異常
				{
						RxState = 0;
						RxCounter1=0;
						for(i=0;i<10;i++)
						{
								RxBuffer1[i]=0x00;      //將存放數(shù)據(jù)數(shù)組清零
						}
				}

		}
		
}

else if(RxState==2)
				{
					RxBuffer1[RxCounter1++]=com_data;

					if(RxCounter1>=10||com_data == 0x5B)       //RxBuffer1接受滿了,接收數(shù)據(jù)結(jié)束
					{
						RxState=3;
						RxFlag1=1;
						Cx=RxBuffer1[RxCounter-5];
						Cy=RxBuffer1[RxCounter-4];
						Cw=RxBuffer1[RxCounter-3];
						Ch=RxBuffer1[RxCounter1-2];

					}
				}

u8 com_data; 
u8 i;
static u8 RxCounter1=0;
static u8 RxBuffer1[10]={0};
static u8 RxState = 0;	
static u8 RxFlag1 = 0;

DATA=bytearray[(1,2,3,4,5)]
uart.write(DATA)

while(1)
{
		printf("HelloWorld!");
}

#include“stdio.h”
long fun(int n);
void main()
{
    int i,n;
    printf("input the value of n:");
    scanf("%d",&n);
    for(i=1;i<=n;i++)
    {
        printf("%d! = %1d\n",i,fun(i));
    }
}
>long fun(int n)
{
    static long p=1; 
    p=p*n;
    return p;
}

/****max.c****/
#include <stdio.h>
/*外部變量聲明*/
extern int g_X ;
extern int g_Y ;
int max()
{
    return (g_X > g_Y ? g_X : g_Y);
}
/***main.c****/
#include <stdio.h>
/*定義兩個(gè)全局變量*/
int g_X=10;
int g_Y=20;
int max();
int main(void)
{
    int result;
    result = max();
    printf("the max value is %d\n",result);
    return 0;
}
運(yùn)行結(jié)果為：
the max value is 20

data = ustruct.pack("<bbhhhhb",      #格式為倆個(gè)字符倆個(gè)短整型(2字節(jié))
                   0x2C,                      #幀頭1
                   0x12,                      #幀頭2
                   int(cx), # up sample by 4   #數(shù)據(jù)1
                   int(cy), # up sample by 4    #數(shù)據(jù)2
                   int(cw), # up sample by 4    #數(shù)據(jù)1
                   int(ch), # up sample by 4    #數(shù)據(jù)2
                   0x5B)

FH = bytearray([0x2C,0x12,cx,cy,cw,ch,0x5B])
uart,write(FH)

while(True):
    clock.tick()
    img = sensor.snapshot()
    blobs = img.find_blobs([red_threshold_01])
    cx=0;cy=0;
    if blobs:
        	max_b = find_max(blobs)
            #如果找到了目標(biāo)顏色
            cx=max_b[5]
            cy=max_b[6]
            cw=max_b[2]
            ch=max_b[3]
            img.draw_rectangle(max_b[0:4]) # rect
            img.draw_cross(max_b[5], max_b[6]) # cx, cy
            FH = bytearray([0x2C,0x12,cx,cy,cw,ch,0x5B])
            #sending_data(cx,cy,cw,ch)
            uart.write(FH)
            print(cx,cy,cw,ch)

#if 1 
int main()
{
	#if 0
	//字符型數(shù)據(jù)分成四個(gè)字節(jié)存放在數(shù)組中
	float m = 23.25;
	unsigned char *a;
	a = (unsigned char *)&m;
	printf("0x%x \n0x%x \n0x%x \n0x%x \n",a[0],a[1],a[2],a[3]);
	
	#endif
	
	#if 1
	//四個(gè)字節(jié)數(shù)據(jù)合成存放在數(shù)組中
	unsigned char a[]={0x00,0x00,0xba,0x41};
	float BYTE;
	BYTE = *(float *)&a;
	printf("%f\n",BYTE);
	#endif
}
#endif