在做openmv与匿名飞控通信时，发现openmv一直没有接受到数据，但是发送数据是正常的，可以在串口调试助手看到，但是，用串口调试助手发送数据给openmv却没有任何的反应。
```python
import sensor, image, time, os, tf, math, uos, gc
#import ei_object_detection
from pyb import UART, Timer, LED
#from ei_object_detection import lockhanzi()
sensor.reset() # Reset and initialize the sensor.
sensor.set_pixformat(sensor.RGB565) # Set pixel format to RGB565 (or GRAYSCALE)
sensor.set_framesize(sensor.QQVGA) # Set frame size to QVGA (320x240)
sensor.set_windowing((240, 240)) # Set 240x240 window.
sensor.skip_frames(time=2000) # Let the camera adjust.
net = None
labels = None
min_confidence = 0.5
try:
# load the model, alloc the model file on the heap if we have at least 64K free after loading
net = tf.load("trained.tflite", load_to_fb=uos.stat('trained.tflite')[6] > (gc.mem_free() - (64*1024)))
except Exception as e:
raise Exception('Failed to load "trained.tflite", did you copy the .tflite and labels.txt file onto the mass-storage device? (' + str(e) + ')')
try:
labels = [line.rstrip('\n') for line in open("labels.txt")]
except Exception as e:
raise Exception('Failed to load "labels.txt", did you copy the .tflite and labels.txt file onto the mass-storage device? (' + str(e) + ')')
colors = [ # Add more colors if you are detecting more than 7 types of classes at once.
(255, 0, 0),
( 0, 255, 0),
(255, 255, 0),
( 0, 0, 255),
(255, 0, 255),
( 0, 255, 255),
(255, 255, 255),
]
clock = time.clock()
# 保存识别照片类
class Saveimage(object):
def __init__(self):
#self.saveimage = img
pass
def Recognize(self,img):
self.img = img
for i, detection_list in enumerate(net.detect(self.img, thresholds=[(math.ceil(min_confidence * 255), 255)])):
if (i == 0): continue # background class
if (len(detection_list) == 0): continue # no detections for this class?
print("recognize to: "+labels[i])
if labels[i]=='gui': return 'gui'
elif labels[i]=='lin': return 'lin'
elif labels[i]=='dian': return 'dian'
elif labels[i]=='zi': return 'zi'
elif labels[i]=='ke': return 'ke'
elif labels[i]=='ji': return 'ji'
elif labels[i]=='da': return 'da'
else:
continue
# 保存识别到的照片
def Saveimg(self,img):
self.img = img
self.imglabel = self.Recognize(self.img)
if self.imglabel=='gui':
image.save("imglabel"+".jpg")
elif self.imglabel=='lin':
image.save("imglabel"+".jpg")
elif self.imglabel=='dian':
image.save("imglabel"+".jpg")
elif self.imglabel=='zi':
image.save("imglabel"+".jpg")
elif self.imglabel=='ke':
image.save("imglabel"+".jpg")
elif self.imglabel=='ji':
image.save("imglabel"+".jpg")
elif self.imglabel=='dad':
image.save("imglabel"+".jpg")
else:
pass
Saveimg=Saveimage()
# 串口初始化
uart = UART(3,115200)
uart.init(115200,8, parity=None, stop=1)
# 串口接收控制类
class Receive(object):
def __init__(self,uart):
self.uart_buf = []
self.state = 0
self.uart = uart
self.WorkMode = 0
self.SelectMode = 0
#读取串口缓存
def UartReadBuffer(self):
i = 0
Buffer_size = self.uart.any()
while i1
#串口通信协议接收
def ReceivePrepare(self,data):
if self.state==0:
if data == 0xAA:#帧头
self.uart_buf.append(data)
self.state = 1
else:
self.state = 0
elif self.state==1:
if data==0xAF:
self.uart_buf.append(data)
self.state = 2
else:
self.state = 0
elif self.state==2:
if data==0x05:
self.uart_buf.append(data)
self.state=3
else:
self.state=0
elif self.state==3:
if data!=0x00:
self.uart_buf.append(data)
self.state=4
else:
self.state=0
elif self.state==4:
if data!=0x00:
self.uart_buf.append(data)
self.state=5
else:
self.state=0
elif self.state==5:
if data!=0x00:
self.uart_buf.append(data)
self.state=6
else:
self.state=0
elif self.state==6:
self.state = 0
self.uart_buf.append(data)
self.ReceiveAnl()
self.uart_buf=[]#清空缓冲区，准备下次接收数据
else:
self.state = 0
#串口数据解析
def ReceiveAnl(self):
#校验
i = 0
sum = 0
while i<(num-1):
sum = sum+data_buf[i]
i=i+1
sum=sum%256
if sum!=data_buf[num-1]:
return
#校验通过 设置模块工作模式
self.WorkMode = self.uart_buf[4]
self.SelectMode = self.uart_buf[5]
# 发送数据
uart_bufl = bytearray([0xAA,0xFF, 0xAA, 0x00, 0xFF, 0x00,0x00,0x00,0x00, 0x00, 0x00, 0x00, 0x00])
# 串口接收控制类实例化
Receive_ctrl=Receive(uart)
# 数据发送函数
def uartsend(timer):
uart.write(uart_bufl)
# 发送数据更新
def updatesend(custom, cx, cy, distance):
i=0
sum = 0
add = 0
uart_bufl[2] = custom; #用户自定义功能（待定，格式：0xCC等）
uart_bufl[4] = cx;
uart_bufl[5] = cy;
uart_bufl[6] = distance; # 距离
uart_bufl[3] = len(uart_bufl)-6;
while i<(len(uart_bufl)-2):
sum = sum+uart_bufl[i]
add = add+sum
i+=1
uart_bufl[-2] = sum; # 和校验
uart_bufl[-1] = add; # 附加校验
tim = Timer(2, freq=20)
tim.callback(uartsend)
while(True):
clock.tick()
img = sensor.snapshot()
if Receive_ctrl.SelectMode==0xDD: # 进入汉字保存模式
img0 = sensor.snapshot()
Saveimg.Saveimg(img0)
elif Receive_ctrl.SelectMode==0xEE: # 进入寻找汉字模式
if Receive_ctrl.WorkMode!=0x06: # 进入汉字锁定模式
img1 = sensor.snapshot()
lockimg = ''
for i, detection_list in enumerate(net.detect(img1, thresholds=[(math.ceil(min_confidence * 255), 255)])):
if (i == 0): continue # background class
if (len(detection_list) == 0): continue # no detections for this class?
lockimg = labels[i]
uart_bufl[4] = 0xCC
print('reading:'+lockimg)
else: # 跳出锁定模式，开始寻找汉字
img2 = sensor.snapshot()
for k, detection_list in enumerate(net.detect(img2, thresholds=[(math.ceil(min_confidence * 255), 255)])):
if (k == 0): continue # background class
if (len(detection_list) == 0): continue # no detections for this class?
#lockimg = labels[k]
if labels[k]==lockimg:
print(lockimg+labels[k]+'\r\n')
#print(labels[k]+'\r\n')
for d in detection_list:
[x, y, w, h] = d.rect()
center_x = math.floor(x + (w / 2))
center_y = math.floor(y + (h / 2))
distance = int((80-center_x)*100*0.0024/0.42)
uart_bufl[4] = center_x
uart_bufl[5] = center_y
uart_bufl[6] = distance
updatesend(0xAA,center_x,center_y,distance)
print('%d',distance)
else:
uart_bufl[6] = 0x3C
print("Don't get picture!")
#time.sleep_ms(2)
else: # 等待进入一个识别模式
print("Wait enter a recognization mode!")
print(clock.fps(), "fps", end="\n\n")
如果只是用uart.readchar()函数的话是可以读取一个字节的，但是就是无法处理一帧数据，所以我以为是我发送的数据没有通过校验，然后就试着把校验位删掉，但是结果是openmv依然是处于没有接收到数据的状态。
能够正确处理飞控发送过来的数据。