stm32与openmv的相互发送与接收（基于标准库）-Toy模板网

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文章目录

目录

文章目录

前言

一、硬件连接

二、数据包传输

三、openmv发送stm32端接收

1.openmv端（发送函数）

2.stm32端（接收函数）

串口中断服务函数：

数据读取函数：

数据处理函数：

main函数oled屏幕显示调用：

3.实物调试

四、stm32发送openmv端接收

1.stm32端（发送函数）

2.openmv端（接收函数）

3.openmv主函数调用

4.openmv调试展示

五、完整代码1（openmv发送stm32端接收）

1.openmv发送

2.stm32端接收

六、完整代码2（stm32端发送openmv接收）

1.stm32端

2.openmv端

总结

总结

前言

前段时间参加电赛校赛的时候题目是做21年f题智能送药小车，在openmv与stm32通信中遇到了些困难，通过看一些大佬们的文章与例程，我总结出了一套实用性不错的通信协议代码，一方面是对自己的知识进行总结，另一方面也可以将其提供给有需要的同学，如有理解错误，欢迎大佬们的指正。

提示：以下是本篇文章正文内容，下面案例可供参考

一、硬件连接

我所用到的材料如下: 四针IIC OLED，OpenMV4 7h(OV7725)，STM32F103C8T6最小系统板，数据线N条，LED灯模块(OpenMV的数据线只能用官方自带的)，杜邦线若干。

下图以Arduino为例把主控TXD与openmv的P5连接，RXD与openmv的P4连接，在STM32端：USART_TX—PA9 -----USART_RX—PA10。（用的是32的USART1）

openmv与stm32,stm32,嵌入式硬件,单片机,python,c语言

四针IIC OLED连接：

SDA--PB9，SCL--PB8；GND，VCC（3.3V）正常接入就好；

openmv与stm32,stm32,嵌入式硬件,单片机,python,c语言

二、数据包传输

这里采用的数据包传输方式是固定包长，含包头包尾方式（即为第一种），帧头帧尾不固定，可自定义，图示帧头帧尾分别为0xfe与0xef；代码呈现的分别是0xb3，0xb5，下图为图解原理：

openmv与stm32,stm32,嵌入式硬件,单片机,python,c语言

三、openmv发送stm32端接收

1.openmv端（发送函数）

这里是根据当时做送药小车的模板匹配所用的主要发送程序，完整程序会在文末呈现。

代码如下（示例）：


#最初加载匹配
def FirstFindTemplate(template):
    R = img.find_template(template, 0.8, step=1, roi=(40, 0, 70, 40), search=SEARCH_EX)   #只检测中间的
    return R

def FirstFindedNum(R, Finded_Num):     #第一个参数是模板匹配的对象，第二个是它所代表的数字
   global Find_Task
   global find_flag
   img.draw_rectangle(R, color=(225, 0, 0))

   LoR = 0
   find_flag = 1
   Num = Finded_Num
   FH = bytearray([0xb3,0xb3,Num, LoR,Find_Task,0x5b])
   uart.write(FH)
   print("目标病房号：", Num)

这里的FirstFindTemplate(template)函数是用于识别，识别成功后返回R值，主函数在调用FirstFindedNum(R, Finded_Num)时会将R值传输进去，识别到之后进行框选，然后bytearray([, , ,])组合uart.write()将打包好的参数进行发送。

2.stm32端（接收函数）

代码如下（示例）：这里先省略初始化以及变量定义的程序，文末补全

串口中断服务函数：

void USART1_IRQHandler(void)                	//串口1中断服务程序
	{
	u8 com_data;
#if SYSTEM_SUPPORT_OS 		//如果SYSTEM_SUPPORT_OS为真，则需要支持OS.
	OSIntEnter();    
#endif
	if(USART_GetITStatus(USART1, USART_IT_RXNE) != RESET)  //接收中断(接收到的数据必须是0x0d 0x0a结尾)
		{
			USART_ClearFlag(USART1,USART_FLAG_RXNE);
      com_data = USART1->DR;
			Openmv_Receive_Data(com_data);     //openmv数据处理函数
			Openmv_Data();		                 //openmv数据处理函数		
 		
     } 
#if SYSTEM_SUPPORT_OS 	//如果SYSTEM_SUPPORT_OS为真，则需要支持OS.
	OSIntExit();  											 
#endif
}

常规串口中断程序，串口接收到数据后查询标志位，查询完成后清除并开始将数据读取处理。

数据读取函数：

void Openmv_Receive_Data(int16_t data)//接收Openmv传过来的数据
{
	static u8 state = 0;
	if(state==0&&data==0xb3)//第一个帧头
	{
		state=1;
		openmv[0]=data;
	}
	else if(state==1&&data==0xb3)//第二个帧头
	{
		state=2;
		openmv[1]=data;
	}
	else if(state==2)//第一个有效数据
	{
		state=3;
		openmv[2]=data;
	}
	else if(state==3)//第二个有效数据
	{
		state = 4;
		openmv[3]=data;
	}
  else if(state==4)//第三个有效数据
	{
		state = 5;
		openmv[4]=data;
	} 
	else if(state==5)		//检测是否接受到结束标志，检测接收帧尾
	{
        if(data == 0x5B)
        {
            state = 0;
            openmv[5]=data;
            Openmv_Data();
        }
        else if(data != 0x5B)
        {
            state = 0;
            for(i=0;i<6;i++)
            {
                openmv[i]=0x00;
            }           
        }
	}    
	else
		{
			state = 0;
            for(i=0;i<6;i++)
            {
                openmv[i]=0x00;
            }
		}
}

先解析帧头（我这里用了两个帧头，一个也可以，但是与openmv那边一定要相同），再解析有效数据，有效数据接受完传递到openmv[i]数据缓存区后调用Openmv_Data()对数据进行处理，最后解析帧尾。

数据处理函数：

void Openmv_Data(void)//处理Openmv接收的数据
{
    TargerNum=openmv[2];
    LoR=openmv[3];
	Find_Task =openmv[4];
}

这里被调用是为了将openmv端的数据传递给变量进行储存，方便在main函数对变量进行打印。

main函数oled屏幕显示调用：

extern int16_t TargerNum;          
extern int16_t Find_Task;          
extern int16_t LoR;


int main(void)
{

	Usart1_Init(115200);	
	OLED_Init();
	OLED_ShowString(1,1,"TargerNum:");
	OLED_ShowString(2,1,"LoR:");
	OLED_ShowString(3,1,"Find_Task: ");


	while (1)
	{
		OLED_ShowNum(1,11,TargerNum,2);
		OLED_ShowNum(2,5,LoR,2);
		OLED_ShowNum(3,11,Find_Task,2);
        
    }
}

3.实物调试

程序实现效果，当openmv识别到数字后，会通过调用串口发送函数将数据包发送到stm32主控，如图示：

openmv与stm32,stm32,嵌入式硬件,单片机,python,c语言

此时已识别数字1并框选

openmv与stm32,stm32,嵌入式硬件,单片机,python,c语言

oled这边也接收到了数字TargetNum为1，Find_Task为1，LoR暂时未用不需要理会。

注：数据是以16进制发送过来，但是这里oled是以10进制的形式打印，因为只是1-8数字，所以不会太大影响。

四、stm32发送openmv端接收

1.stm32端（发送函数）

这里数据位逐位发送，与openmv接收端解析函数相匹配。

代码如下（示例）：

void Usart1_Sendata(u8 * str)
{	
	u8 i = 0;
	USART_SendData(USART1,0x0d);
	while( USART_GetFlagStatus(USART1,USART_FLAG_TC)!= SET);
	
	for(i = 0;i < 2;i++)
	{
		USART_SendData(USART1,str[i]);
		while( USART_GetFlagStatus(USART1,USART_FLAG_TC)!= SET);
	}

	USART_SendData(USART1,0x5b);
	while( USART_GetFlagStatus(USART1,USART_FLAG_TC)!= SET);
}


int main(void)
{
	NVIC_Config();
	Usart1_Init(115200);	
	Find_Task=1;
	TargerNum=3;
	u8 send_buff[2] = {TargerNum,Find_Task};

	while (1)
	{
		Usart1_Sendata(send_buff);      
    }
}

首先解析第一位数据是否为帧头，同时判断发送标志位是否已经检测到，完成后进行有效数据位发送，这里用for循环，使用库函数USART_SendData(USART1,str[i])，将数据发送出去，同时检测标志位，完成后发送帧尾。

而主函数部分是数组内数据进行反复发送。

2.openmv端（接收函数）

这里对stm32那边的数据包进行解析实际上同上方的原理大同小异，这里的数据长度可以自行更改，但是需要发送端和接收端的接收和发送函数相匹配，包括数据缓存区长度也要符合。

代码如下（示例）：

########串口接收数据函数处理#########
def Receive_Prepare():      #data
    global state
    global x
    global tx_flag
    global data
    global Find_Task
    global Target_Num
    if state==0:
        data[0]=uart.readchar()
        if data[0] == 0x0d:#帧头
            state = 1
        else:
            state = 0
            rx_buff.clear()
    elif state==1:
        data[1]=uart.readchar()
        #rx_buff.append(data)
        Target_Num=data[x+1]
        state = 2
    elif state==2:
        data[2]=uart.readchar()
        #rx_buff.append(data)
        Find_Task=data[x+2]
        state = 3
    elif state == 3:
        data[4]=uart.readchar()
        if data[4] == 0x5b:
            tx_flag = int(data[0])
            state = 4
    elif state == 4:
        state=0

    else:
        state = 0
        rx_buff.clear()

3.openmv主函数调用

while (True):
    clock.tick()
    img = sensor.snapshot()# 镜头初始化
        if(uart.any()>0):
           Receive_Prepare()
    print(clock.fps(),Find_Task, Target_Num)

这里的if(uart.any()>0):是检测是否有数据传输进来，有的话就执行。

调用接收函数Receive_Prepare()，把Find_Task, Target_Num在串行终端中打印出来。

4.openmv调试展示

这里我们用ide自带的串行终端进行观察调试结果

openmv与stm32,stm32,嵌入式硬件,单片机,python,c语言

可以看到，此时的openmv端接收到数字Find_Task为1，TargetNum为3，LoR暂时未用不需要理会。

注：这里接收/发送有点小问题，如果不断的接收打印，数据会变成13，1，通信时请注意；可能通信协议有点小毛病，希望大佬们可以指正。

五、完整代码1（openmv发送stm32端接收）

（如果上面看的一头雾水可以试试看完全部程序，也方便梳理）

1.openmv发送

import time, image,sensor,math,pyb,ustruct
from image import SEARCH_EX, SEARCH_DS
from pyb import Pin, Timer,LED

#从imgae模块引入SEARCH_EX和SEARCH_DS。使用from import仅仅引入SEARCH_EX,
#SEARCH_DS两个需要的部分，而不把image模块全部引入。


sensor.reset()

# Set sensor settings
sensor.set_contrast(1)
sensor.set_gainceiling(16)
# Max resolution for template matching with SEARCH_EX is QQVGA
sensor.set_framesize(sensor.QQVGA)
# You can set windowing to reduce the search image.

sensor.set_pixformat(sensor.GRAYSCALE)

sensor.set_windowing(0, 40, 160, 40)  #观察窗口  后面ROI设置也会以这个为新的基准

rx_buff=[]
state = 0
tx_flag = 0

# Load template.
# Template should be a small (eg. 32x32 pixels) grayscale image.
#加载模板图片

template01 = image.Image("/1.pgm")
template02 = image.Image("/2.pgm")
template03 = image.Image("/3.pgm")
template04 = image.Image("/4.pgm")
template05 = image.Image("/5.pgm")
template06 = image.Image("/6.pgm")
template07 = image.Image("/7.pgm")
template08 = image.Image("/8.pgm")



uart = pyb.UART(3, 115200, timeout_char = 1000)     #定义串口1变量
blue_led = LED(2)

Find_Task =1       #1
Target_Num =0


#####  FindTask == 1 时使用
#最初加载匹配
def FirstFindTemplate(template):
    R = img.find_template(template, 0.8, step=1, roi=(40, 0, 70, 40), search=SEARCH_EX)   #只检测中间的
    return R

def FirstFindedNum(R, Finded_Num):     #第一个参数是模板匹配的对象，第二个是它所代表的数字
   global Find_Task
   global find_flag
   img.draw_rectangle(R, color=(225, 0, 0))

   #本来中值是80的，但返回值是框边缘，所以减去15就好  小于65是在左边，大于65是在右边
   LoR = 0
   find_flag = 1
   Num = Finded_Num
   FH = bytearray([0xb3,0xb3,Num, LoR,Find_Task,0x5b])
   uart.write(FH)
   print("目标病房号：", Num)




clock = time.clock()
# Run template matching
while (True):
    clock.tick()
    img = sensor.snapshot()# 镜头初始化

    # find_template(template, threshold, [roi, step, search])
    # ROI: The region of interest tuple (x, y, w, h).
    # Step: The loop step used (y+=step, x+=step) use a bigger step to make it faster.
    # Search is either image.SEARCH_EX for exhaustive search or image.SEARCH_DS for diamond search
    #
    # Note1: ROI has to be smaller than the image and bigger than the template.
    # Note2: In diamond search, step and ROI are both ignored.

    if Find_Task == 1:

       #进行模板匹配
        r01 = FirstFindTemplate(template01)
        r02 = FirstFindTemplate(template02)
        r03 = FirstFindTemplate(template03)
        r04 = FirstFindTemplate(template04)
        r05 = FirstFindTemplate(template05)
        r06 = FirstFindTemplate(template06)
        r07 = FirstFindTemplate(template07)
        r08 = FirstFindTemplate(template08)

        #判断哪个模板匹配成功，并将成功匹配的相应数据发送给主控
        if r01:
             FirstFindedNum(r01, 1)
        elif r02:
             FirstFindedNum(r02,2)
        elif r03:
             FirstFindedNum(r03,3)
        elif r04:
             FirstFindedNum(r04,4)
        elif r05:
             FirstFindedNum(r05,5)
        elif r06:
             FirstFindedNum(r06,6)
        elif r07:
             FirstFindedNum(r07,7)
        elif r08:
             FirstFindedNum(r08,8)
        else:
             FH = bytearray([0x2C,0x12,0x00, 0x00, 0x00, 0x00,0x5B])
             uart.write(FH)


    else: time.sleep_ms(100)

    print(clock.fps(),Find_Task, Target_Num)

多出来的数据位不需要那么多的话可以选择对代码进行删减，或者直接当成0x00发送，不会有太大影响。

2.stm32端接收

usart1.c

#include "usart1.h"

//char TargerNum='0';
int openmv[6];//stm32接收数据数组
int16_t TargerNum;          
int16_t Find_Task;          
int16_t LoR;
int i;
/**
 * 函数名：Usart1_Init
 * 描述：串口1初始化
 * 输入：Bound-波特率
 * 输出：无
 */


void Usart1_Init(uint32_t Bound)
{
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA,ENABLE);
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1,ENABLE);
	GPIO_InitTypeDef GPIO_InitStructure;
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
	GPIO_Init(GPIOA,&GPIO_InitStructure);
	
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10;
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
	GPIO_Init(GPIOA,&GPIO_InitStructure);

	
	USART_InitTypeDef USART_InitStructure;
	USART_InitStructure.USART_BaudRate = Bound;
	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_Tx | USART_Mode_Rx;
	USART_Init(USART1,&USART_InitStructure);
	
	NVIC_InitTypeDef NVIC_InitStructure;
	NVIC_InitStructure.NVIC_IRQChannel = USART1_IRQn;
	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
	NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
	NVIC_Init(&NVIC_InitStructure);
	
	USART_ITConfig(USART1,USART_IT_RXNE,ENABLE);
	USART_Cmd(USART1,ENABLE);
}

void Openmv_Data(void)//处理Openmv接收的数据
{
    TargerNum=openmv[2];
    LoR=openmv[3];
	Find_Task =openmv[4];
}
 
void Openmv_Receive_Data(int16_t data)//接收Openmv传过来的数据
{
	static u8 state = 0;
	if(state==0&&data==0xb3)//第一个帧头
	{
		state=1;
		openmv[0]=data;
	}
	else if(state==1&&data==0xb3)//第二个帧头
	{
		state=2;
		openmv[1]=data;
	}
	else if(state==2)//第一个有效数据
	{
		state=3;
		openmv[2]=data;
	}
	else if(state==3)//第二个有效数据
	{
		state = 4;
		openmv[3]=data;
	}
  else if(state==4)//第三个有效数据
	{
		state = 5;
		openmv[4]=data;
	} 
	else if(state==5)		//检测是否接受到结束标志，检测接收帧尾
	{
        if(data == 0x5B)
        {
            state = 0;
            openmv[5]=data;
            Openmv_Data();
        }
        else if(data != 0x5B)
        {
            state = 0;
            for(i=0;i<6;i++)
            {
                openmv[i]=0x00;
            }           
        }
	}    
	else
		{
			state = 0;
            for(i=0;i<6;i++)
            {
                openmv[i]=0x00;
            }
		}
}


void USART_SendByte(USART_TypeDef* USARTx, char  str)
{
 
		USART_SendData(USARTx, str);//发送单个字符
 
		while(USART_GetFlagStatus(USART1, USART_FLAG_TXE) == RESET);//判断是否发送完成
 
	
 
}



void USART1_IRQHandler(void)                	//串口1中断服务程序
	{
	u8 com_data;
#if SYSTEM_SUPPORT_OS 		//如果SYSTEM_SUPPORT_OS为真，则需要支持OS.
	OSIntEnter();    
#endif
	if(USART_GetITStatus(USART1, USART_IT_RXNE) != RESET)  //接收中断(接收到的数据必须是0x0d 0x0a结尾)
		{
			USART_ClearFlag(USART1,USART_FLAG_RXNE);
      com_data = USART1->DR;
			Openmv_Receive_Data(com_data);     //openmv数据处理函数
			Openmv_Data();		                 //openmv数据处理函数		
 		
     } 
#if SYSTEM_SUPPORT_OS 	//如果SYSTEM_SUPPORT_OS为真，则需要支持OS.
	OSIntExit();  											 
#endif
}

usart1.h

#ifndef __USART1_H
#define __USART1_H
#include "stm32f10x.h"                  // Device header
#include "sys.h"



void Usart1_Init(uint32_t Bound);


#endif

oled.c

#include "stm32f10x.h"
#include "OLED_Font.h"
#include "stdio.h"

/*引脚配置*/
#define OLED_W_SCL(x)		GPIO_WriteBit(GPIOB, GPIO_Pin_8, (BitAction)(x))
#define OLED_W_SDA(x)		GPIO_WriteBit(GPIOB, GPIO_Pin_9, (BitAction)(x))

/*引脚初始化*/
void OLED_I2C_Init(void)
{
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
	
	GPIO_InitTypeDef GPIO_InitStructure;
 	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_OD;
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;
 	GPIO_Init(GPIOB, &GPIO_InitStructure);
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;
 	GPIO_Init(GPIOB, &GPIO_InitStructure);
	
	OLED_W_SCL(1);
	OLED_W_SDA(1);
}

/**
  * @brief  I2C开始
  * @param  无
  * @retval 无
  */
void OLED_I2C_Start(void)
{
	OLED_W_SDA(1);
	OLED_W_SCL(1);
	OLED_W_SDA(0);
	OLED_W_SCL(0);
}

/**
  * @brief  I2C停止
  * @param  无
  * @retval 无
  */
void OLED_I2C_Stop(void)
{
	OLED_W_SDA(0);
	OLED_W_SCL(1);
	OLED_W_SDA(1);
}

/**
  * @brief  I2C发送一个字节
  * @param  Byte 要发送的一个字节
  * @retval 无
  */
void OLED_I2C_SendByte(uint8_t Byte)
{
	uint8_t i;
	for (i = 0; i < 8; i++)
	{
		OLED_W_SDA(Byte & (0x80 >> i));
		OLED_W_SCL(1);
		OLED_W_SCL(0);
	}
	OLED_W_SCL(1);	//额外的一个时钟，不处理应答信号
	OLED_W_SCL(0);
}

/**
  * @brief  OLED写命令
  * @param  Command 要写入的命令
  * @retval 无
  */
void OLED_WriteCommand(uint8_t Command)
{
	OLED_I2C_Start();
	OLED_I2C_SendByte(0x78);		//从机地址
	OLED_I2C_SendByte(0x00);		//写命令
	OLED_I2C_SendByte(Command); 
	OLED_I2C_Stop();
}

/**
  * @brief  OLED写数据
  * @param  Data 要写入的数据
  * @retval 无
  */
void OLED_WriteData(uint8_t Data)
{
	OLED_I2C_Start();
	OLED_I2C_SendByte(0x78);		//从机地址
	OLED_I2C_SendByte(0x40);		//写数据
	OLED_I2C_SendByte(Data);
	OLED_I2C_Stop();
}

/**
  * @brief  OLED设置光标位置
  * @param  Y 以左上角为原点，向下方向的坐标，范围：0~7
  * @param  X 以左上角为原点，向右方向的坐标，范围：0~127
  * @retval 无
  */
void OLED_SetCursor(uint8_t Y, uint8_t X)
{
	OLED_WriteCommand(0xB0 | Y);					//设置Y位置
	OLED_WriteCommand(0x10 | ((X & 0xF0) >> 4));	//设置X位置高4位
	OLED_WriteCommand(0x00 | (X & 0x0F));			//设置X位置低4位
}

/**
  * @brief  OLED清屏
  * @param  无
  * @retval 无
  */
void OLED_Clear(void)
{  
	uint8_t i, j;
	for (j = 0; j < 8; j++)
	{
		OLED_SetCursor(j, 0);
		for(i = 0; i < 128; i++)
		{
			OLED_WriteData(0x00);
		}
	}
}

/**
  * @brief  OLED显示一个字符
  * @param  Line 行位置，范围：1~4
  * @param  Column 列位置，范围：1~16
  * @param  Char 要显示的一个字符，范围：ASCII可见字符
  * @retval 无
  */
void OLED_ShowChar(uint8_t Line, uint8_t Column, char Char)
{      	
	uint8_t i;
	OLED_SetCursor((Line - 1) * 2, (Column - 1) * 8);		//设置光标位置在上半部分
	for (i = 0; i < 8; i++)
	{
		OLED_WriteData(OLED_F8x16[Char - ' '][i]);			//显示上半部分内容
	}
	OLED_SetCursor((Line - 1) * 2 + 1, (Column - 1) * 8);	//设置光标位置在下半部分
	for (i = 0; i < 8; i++)
	{
		OLED_WriteData(OLED_F8x16[Char - ' '][i + 8]);		//显示下半部分内容
	}
}

/**
  * @brief  OLED显示字符串
  * @param  Line 起始行位置，范围：1~4
  * @param  Column 起始列位置，范围：1~16
  * @param  String 要显示的字符串，范围：ASCII可见字符
  * @retval 无
  */
void OLED_ShowString(uint8_t Line, uint8_t Column, char *String)
{
	uint8_t i;
	for (i = 0; String[i] != '\0'; i++)
	{
		OLED_ShowChar(Line, Column + i, String[i]);
	}
}

/**
  * @brief  OLED次方函数
  * @retval 返回值等于X的Y次方
  */
uint32_t OLED_Pow(uint32_t X, uint32_t Y)
{
	uint32_t Result = 1;
	while (Y--)
	{
		Result *= X;
	}
	return Result;
}

/**
  * @brief  OLED显示数字（十进制，正数）
  * @param  Line 起始行位置，范围：1~4
  * @param  Column 起始列位置，范围：1~16
  * @param  Number 要显示的数字，范围：0~4294967295
  * @param  Length 要显示数字的长度，范围：1~10
  * @retval 无
  */
void OLED_ShowNum(uint8_t Line, uint8_t Column, uint32_t Number, uint8_t Length)
{
	uint8_t i;
	for (i = 0; i < Length; i++)							
	{
		OLED_ShowChar(Line, Column + i, Number / OLED_Pow(10, Length - i - 1) % 10 + '0');
	}
}

/**
  * @brief  OLED显示数字（十进制，带符号数）
  * @param  Line 起始行位置，范围：1~4
  * @param  Column 起始列位置，范围：1~16
  * @param  Number 要显示的数字，范围：-2147483648~2147483647
  * @param  Length 要显示数字的长度，范围：1~10
  * @retval 无
  */
void OLED_ShowSignedNum(uint8_t Line, uint8_t Column, int32_t Number, uint8_t Length)
{
	uint8_t i;
	uint32_t Number1;
	if (Number >= 0)
	{
		OLED_ShowChar(Line, Column, '+');
		Number1 = Number;
	}
	else
	{
		OLED_ShowChar(Line, Column, '-');
		Number1 = -Number;
	}
	for (i = 0; i < Length; i++)							
	{
		OLED_ShowChar(Line, Column + i + 1, Number1 / OLED_Pow(10, Length - i - 1) % 10 + '0');
	}
}

/**
  * @brief  OLED显示数字（十六进制，正数）
  * @param  Line 起始行位置，范围：1~4
  * @param  Column 起始列位置，范围：1~16
  * @param  Number 要显示的数字，范围：0~0xFFFFFFFF
  * @param  Length 要显示数字的长度，范围：1~8
  * @retval 无
  */
void OLED_ShowHexNum(uint8_t Line, uint8_t Column, uint32_t Number, uint8_t Length)
{
	uint8_t i, SingleNumber;
	for (i = 0; i < Length; i++)							
	{
		SingleNumber = Number / OLED_Pow(16, Length - i - 1) % 16;
		if (SingleNumber < 10)
		{
			OLED_ShowChar(Line, Column + i, SingleNumber + '0');
		}
		else
		{
			OLED_ShowChar(Line, Column + i, SingleNumber - 10 + 'A');
		}
	}
}

/**
  * @brief  OLED显示数字（二进制，正数）
  * @param  Line 起始行位置，范围：1~4
  * @param  Column 起始列位置，范围：1~16
  * @param  Number 要显示的数字，范围：0~1111 1111 1111 1111
  * @param  Length 要显示数字的长度，范围：1~16
  * @retval 无
  */
void OLED_ShowBinNum(uint8_t Line, uint8_t Column, uint32_t Number, uint8_t Length)
{
	uint8_t i;
	for (i = 0; i < Length; i++)							
	{
		OLED_ShowChar(Line, Column + i, Number / OLED_Pow(2, Length - i - 1) % 2 + '0');
	}
}

/**
  * @brief  OLED初始化
  * @param  无
  * @retval 无
  */
void OLED_Init(void)
{
	uint32_t i, j;
	
	for (i = 0; i < 1000; i++)			//上电延时
	{
		for (j = 0; j < 1000; j++);
	}
	
	OLED_I2C_Init();			//端口初始化
	
	OLED_WriteCommand(0xAE);	//关闭显示
	
	OLED_WriteCommand(0xD5);	//设置显示时钟分频比/振荡器频率
	OLED_WriteCommand(0x80);
	
	OLED_WriteCommand(0xA8);	//设置多路复用率
	OLED_WriteCommand(0x3F);
	
	OLED_WriteCommand(0xD3);	//设置显示偏移
	OLED_WriteCommand(0x00);
	
	OLED_WriteCommand(0x40);	//设置显示开始行
	
	OLED_WriteCommand(0xA1);	//设置左右方向，0xA1正常 0xA0左右反置
	
	OLED_WriteCommand(0xC8);	//设置上下方向，0xC8正常 0xC0上下反置

	OLED_WriteCommand(0xDA);	//设置COM引脚硬件配置
	OLED_WriteCommand(0x12);
	
	OLED_WriteCommand(0x81);	//设置对比度控制
	OLED_WriteCommand(0xCF);

	OLED_WriteCommand(0xD9);	//设置预充电周期
	OLED_WriteCommand(0xF1);

	OLED_WriteCommand(0xDB);	//设置VCOMH取消选择级别
	OLED_WriteCommand(0x30);

	OLED_WriteCommand(0xA4);	//设置整个显示打开/关闭

	OLED_WriteCommand(0xA6);	//设置正常/倒转显示

	OLED_WriteCommand(0x8D);	//设置充电泵
	OLED_WriteCommand(0x14);

	OLED_WriteCommand(0xAF);	//开启显示
		
	OLED_Clear();				//OLED清屏
}

oled.h

#ifndef __OLED_H
#define __OLED_H

void OLED_Init(void);
void OLED_Clear(void);
void OLED_ShowChar(uint8_t Line, uint8_t Column, char Char);
void OLED_ShowString(uint8_t Line, uint8_t Column, char *String);
void OLED_ShowNum(uint8_t Line, uint8_t Column, uint32_t Number, uint8_t Length);
void OLED_ShowSignedNum(uint8_t Line, uint8_t Column, int32_t Number, uint8_t Length);
void OLED_ShowHexNum(uint8_t Line, uint8_t Column, uint32_t Number, uint8_t Length);
void OLED_ShowBinNum(uint8_t Line, uint8_t Column, uint32_t Number, uint8_t Length);

#endif

oled_Font.h

#ifndef __OLED_FONT_H
#define __OLED_FONT_H

/*OLED字模库，宽8像素，高16像素*/
const uint8_t OLED_F8x16[][16]=
{
	0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
	0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//  0
	
	0x00,0x00,0x00,0xF8,0x00,0x00,0x00,0x00,
	0x00,0x00,0x00,0x33,0x30,0x00,0x00,0x00,//! 1
	
	0x00,0x10,0x0C,0x06,0x10,0x0C,0x06,0x00,
	0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//" 2
	
	0x40,0xC0,0x78,0x40,0xC0,0x78,0x40,0x00,
	0x04,0x3F,0x04,0x04,0x3F,0x04,0x04,0x00,//# 3
	
	0x00,0x70,0x88,0xFC,0x08,0x30,0x00,0x00,
	0x00,0x18,0x20,0xFF,0x21,0x1E,0x00,0x00,//$ 4
	
	0xF0,0x08,0xF0,0x00,0xE0,0x18,0x00,0x00,
	0x00,0x21,0x1C,0x03,0x1E,0x21,0x1E,0x00,//% 5
	
	0x00,0xF0,0x08,0x88,0x70,0x00,0x00,0x00,
	0x1E,0x21,0x23,0x24,0x19,0x27,0x21,0x10,//& 6
	
	0x10,0x16,0x0E,0x00,0x00,0x00,0x00,0x00,
	0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//' 7
	
	0x00,0x00,0x00,0xE0,0x18,0x04,0x02,0x00,
	0x00,0x00,0x00,0x07,0x18,0x20,0x40,0x00,//( 8
	
	0x00,0x02,0x04,0x18,0xE0,0x00,0x00,0x00,
	0x00,0x40,0x20,0x18,0x07,0x00,0x00,0x00,//) 9
	
	0x40,0x40,0x80,0xF0,0x80,0x40,0x40,0x00,
	0x02,0x02,0x01,0x0F,0x01,0x02,0x02,0x00,//* 10
	
	0x00,0x00,0x00,0xF0,0x00,0x00,0x00,0x00,
	0x01,0x01,0x01,0x1F,0x01,0x01,0x01,0x00,//+ 11
	
	0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
	0x80,0xB0,0x70,0x00,0x00,0x00,0x00,0x00,//, 12
	
	0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
	0x00,0x01,0x01,0x01,0x01,0x01,0x01,0x01,//- 13
	
	0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
	0x00,0x30,0x30,0x00,0x00,0x00,0x00,0x00,//. 14
	
	0x00,0x00,0x00,0x00,0x80,0x60,0x18,0x04,
	0x00,0x60,0x18,0x06,0x01,0x00,0x00,0x00,/// 15
	
	0x00,0xE0,0x10,0x08,0x08,0x10,0xE0,0x00,
	0x00,0x0F,0x10,0x20,0x20,0x10,0x0F,0x00,//0 16
	
	0x00,0x10,0x10,0xF8,0x00,0x00,0x00,0x00,
	0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//1 17
	
	0x00,0x70,0x08,0x08,0x08,0x88,0x70,0x00,
	0x00,0x30,0x28,0x24,0x22,0x21,0x30,0x00,//2 18
	
	0x00,0x30,0x08,0x88,0x88,0x48,0x30,0x00,
	0x00,0x18,0x20,0x20,0x20,0x11,0x0E,0x00,//3 19
	
	0x00,0x00,0xC0,0x20,0x10,0xF8,0x00,0x00,
	0x00,0x07,0x04,0x24,0x24,0x3F,0x24,0x00,//4 20
	
	0x00,0xF8,0x08,0x88,0x88,0x08,0x08,0x00,
	0x00,0x19,0x21,0x20,0x20,0x11,0x0E,0x00,//5 21
	
	0x00,0xE0,0x10,0x88,0x88,0x18,0x00,0x00,
	0x00,0x0F,0x11,0x20,0x20,0x11,0x0E,0x00,//6 22
	
	0x00,0x38,0x08,0x08,0xC8,0x38,0x08,0x00,
	0x00,0x00,0x00,0x3F,0x00,0x00,0x00,0x00,//7 23
	
	0x00,0x70,0x88,0x08,0x08,0x88,0x70,0x00,
	0x00,0x1C,0x22,0x21,0x21,0x22,0x1C,0x00,//8 24
	
	0x00,0xE0,0x10,0x08,0x08,0x10,0xE0,0x00,
	0x00,0x00,0x31,0x22,0x22,0x11,0x0F,0x00,//9 25
	
	0x00,0x00,0x00,0xC0,0xC0,0x00,0x00,0x00,
	0x00,0x00,0x00,0x30,0x30,0x00,0x00,0x00,//: 26
	
	0x00,0x00,0x00,0x80,0x00,0x00,0x00,0x00,
	0x00,0x00,0x80,0x60,0x00,0x00,0x00,0x00,//; 27
	
	0x00,0x00,0x80,0x40,0x20,0x10,0x08,0x00,
	0x00,0x01,0x02,0x04,0x08,0x10,0x20,0x00,//< 28
	
	0x40,0x40,0x40,0x40,0x40,0x40,0x40,0x00,
	0x04,0x04,0x04,0x04,0x04,0x04,0x04,0x00,//= 29
	
	0x00,0x08,0x10,0x20,0x40,0x80,0x00,0x00,
	0x00,0x20,0x10,0x08,0x04,0x02,0x01,0x00,//> 30
	
	0x00,0x70,0x48,0x08,0x08,0x08,0xF0,0x00,
	0x00,0x00,0x00,0x30,0x36,0x01,0x00,0x00,//? 31
	
	0xC0,0x30,0xC8,0x28,0xE8,0x10,0xE0,0x00,
	0x07,0x18,0x27,0x24,0x23,0x14,0x0B,0x00,//@ 32
	
	0x00,0x00,0xC0,0x38,0xE0,0x00,0x00,0x00,
	0x20,0x3C,0x23,0x02,0x02,0x27,0x38,0x20,//A 33
	
	0x08,0xF8,0x88,0x88,0x88,0x70,0x00,0x00,
	0x20,0x3F,0x20,0x20,0x20,0x11,0x0E,0x00,//B 34
	
	0xC0,0x30,0x08,0x08,0x08,0x08,0x38,0x00,
	0x07,0x18,0x20,0x20,0x20,0x10,0x08,0x00,//C 35
	
	0x08,0xF8,0x08,0x08,0x08,0x10,0xE0,0x00,
	0x20,0x3F,0x20,0x20,0x20,0x10,0x0F,0x00,//D 36
	
	0x08,0xF8,0x88,0x88,0xE8,0x08,0x10,0x00,
	0x20,0x3F,0x20,0x20,0x23,0x20,0x18,0x00,//E 37
	
	0x08,0xF8,0x88,0x88,0xE8,0x08,0x10,0x00,
	0x20,0x3F,0x20,0x00,0x03,0x00,0x00,0x00,//F 38
	
	0xC0,0x30,0x08,0x08,0x08,0x38,0x00,0x00,
	0x07,0x18,0x20,0x20,0x22,0x1E,0x02,0x00,//G 39
	
	0x08,0xF8,0x08,0x00,0x00,0x08,0xF8,0x08,
	0x20,0x3F,0x21,0x01,0x01,0x21,0x3F,0x20,//H 40
	
	0x00,0x08,0x08,0xF8,0x08,0x08,0x00,0x00,
	0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//I 41
	
	0x00,0x00,0x08,0x08,0xF8,0x08,0x08,0x00,
	0xC0,0x80,0x80,0x80,0x7F,0x00,0x00,0x00,//J 42
	
	0x08,0xF8,0x88,0xC0,0x28,0x18,0x08,0x00,
	0x20,0x3F,0x20,0x01,0x26,0x38,0x20,0x00,//K 43
	
	0x08,0xF8,0x08,0x00,0x00,0x00,0x00,0x00,
	0x20,0x3F,0x20,0x20,0x20,0x20,0x30,0x00,//L 44
	
	0x08,0xF8,0xF8,0x00,0xF8,0xF8,0x08,0x00,
	0x20,0x3F,0x00,0x3F,0x00,0x3F,0x20,0x00,//M 45
	
	0x08,0xF8,0x30,0xC0,0x00,0x08,0xF8,0x08,
	0x20,0x3F,0x20,0x00,0x07,0x18,0x3F,0x00,//N 46
	
	0xE0,0x10,0x08,0x08,0x08,0x10,0xE0,0x00,
	0x0F,0x10,0x20,0x20,0x20,0x10,0x0F,0x00,//O 47
	
	0x08,0xF8,0x08,0x08,0x08,0x08,0xF0,0x00,
	0x20,0x3F,0x21,0x01,0x01,0x01,0x00,0x00,//P 48
	
	0xE0,0x10,0x08,0x08,0x08,0x10,0xE0,0x00,
	0x0F,0x18,0x24,0x24,0x38,0x50,0x4F,0x00,//Q 49
	
	0x08,0xF8,0x88,0x88,0x88,0x88,0x70,0x00,
	0x20,0x3F,0x20,0x00,0x03,0x0C,0x30,0x20,//R 50
	
	0x00,0x70,0x88,0x08,0x08,0x08,0x38,0x00,
	0x00,0x38,0x20,0x21,0x21,0x22,0x1C,0x00,//S 51
	
	0x18,0x08,0x08,0xF8,0x08,0x08,0x18,0x00,
	0x00,0x00,0x20,0x3F,0x20,0x00,0x00,0x00,//T 52
	
	0x08,0xF8,0x08,0x00,0x00,0x08,0xF8,0x08,
	0x00,0x1F,0x20,0x20,0x20,0x20,0x1F,0x00,//U 53
	
	0x08,0x78,0x88,0x00,0x00,0xC8,0x38,0x08,
	0x00,0x00,0x07,0x38,0x0E,0x01,0x00,0x00,//V 54
	
	0xF8,0x08,0x00,0xF8,0x00,0x08,0xF8,0x00,
	0x03,0x3C,0x07,0x00,0x07,0x3C,0x03,0x00,//W 55
	
	0x08,0x18,0x68,0x80,0x80,0x68,0x18,0x08,
	0x20,0x30,0x2C,0x03,0x03,0x2C,0x30,0x20,//X 56
	
	0x08,0x38,0xC8,0x00,0xC8,0x38,0x08,0x00,
	0x00,0x00,0x20,0x3F,0x20,0x00,0x00,0x00,//Y 57
	
	0x10,0x08,0x08,0x08,0xC8,0x38,0x08,0x00,
	0x20,0x38,0x26,0x21,0x20,0x20,0x18,0x00,//Z 58
	
	0x00,0x00,0x00,0xFE,0x02,0x02,0x02,0x00,
	0x00,0x00,0x00,0x7F,0x40,0x40,0x40,0x00,//[ 59
	
	0x00,0x0C,0x30,0xC0,0x00,0x00,0x00,0x00,
	0x00,0x00,0x00,0x01,0x06,0x38,0xC0,0x00,//\ 60
	
	0x00,0x02,0x02,0x02,0xFE,0x00,0x00,0x00,
	0x00,0x40,0x40,0x40,0x7F,0x00,0x00,0x00,//] 61
	
	0x00,0x00,0x04,0x02,0x02,0x02,0x04,0x00,
	0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//^ 62
	
	0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
	0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,//_ 63
	
	0x00,0x02,0x02,0x04,0x00,0x00,0x00,0x00,
	0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//` 64
	
	0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,
	0x00,0x19,0x24,0x22,0x22,0x22,0x3F,0x20,//a 65
	
	0x08,0xF8,0x00,0x80,0x80,0x00,0x00,0x00,
	0x00,0x3F,0x11,0x20,0x20,0x11,0x0E,0x00,//b 66
	
	0x00,0x00,0x00,0x80,0x80,0x80,0x00,0x00,
	0x00,0x0E,0x11,0x20,0x20,0x20,0x11,0x00,//c 67
	
	0x00,0x00,0x00,0x80,0x80,0x88,0xF8,0x00,
	0x00,0x0E,0x11,0x20,0x20,0x10,0x3F,0x20,//d 68
	
	0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,
	0x00,0x1F,0x22,0x22,0x22,0x22,0x13,0x00,//e 69
	
	0x00,0x80,0x80,0xF0,0x88,0x88,0x88,0x18,
	0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//f 70
	
	0x00,0x00,0x80,0x80,0x80,0x80,0x80,0x00,
	0x00,0x6B,0x94,0x94,0x94,0x93,0x60,0x00,//g 71
	
	0x08,0xF8,0x00,0x80,0x80,0x80,0x00,0x00,
	0x20,0x3F,0x21,0x00,0x00,0x20,0x3F,0x20,//h 72
	
	0x00,0x80,0x98,0x98,0x00,0x00,0x00,0x00,
	0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//i 73
	
	0x00,0x00,0x00,0x80,0x98,0x98,0x00,0x00,
	0x00,0xC0,0x80,0x80,0x80,0x7F,0x00,0x00,//j 74
	
	0x08,0xF8,0x00,0x00,0x80,0x80,0x80,0x00,
	0x20,0x3F,0x24,0x02,0x2D,0x30,0x20,0x00,//k 75
	
	0x00,0x08,0x08,0xF8,0x00,0x00,0x00,0x00,
	0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//l 76
	
	0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x00,
	0x20,0x3F,0x20,0x00,0x3F,0x20,0x00,0x3F,//m 77
	
	0x80,0x80,0x00,0x80,0x80,0x80,0x00,0x00,
	0x20,0x3F,0x21,0x00,0x00,0x20,0x3F,0x20,//n 78
	
	0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,
	0x00,0x1F,0x20,0x20,0x20,0x20,0x1F,0x00,//o 79
	
	0x80,0x80,0x00,0x80,0x80,0x00,0x00,0x00,
	0x80,0xFF,0xA1,0x20,0x20,0x11,0x0E,0x00,//p 80
	
	0x00,0x00,0x00,0x80,0x80,0x80,0x80,0x00,
	0x00,0x0E,0x11,0x20,0x20,0xA0,0xFF,0x80,//q 81
	
	0x80,0x80,0x80,0x00,0x80,0x80,0x80,0x00,
	0x20,0x20,0x3F,0x21,0x20,0x00,0x01,0x00,//r 82
	
	0x00,0x00,0x80,0x80,0x80,0x80,0x80,0x00,
	0x00,0x33,0x24,0x24,0x24,0x24,0x19,0x00,//s 83
	
	0x00,0x80,0x80,0xE0,0x80,0x80,0x00,0x00,
	0x00,0x00,0x00,0x1F,0x20,0x20,0x00,0x00,//t 84
	
	0x80,0x80,0x00,0x00,0x00,0x80,0x80,0x00,
	0x00,0x1F,0x20,0x20,0x20,0x10,0x3F,0x20,//u 85
	
	0x80,0x80,0x80,0x00,0x00,0x80,0x80,0x80,
	0x00,0x01,0x0E,0x30,0x08,0x06,0x01,0x00,//v 86
	
	0x80,0x80,0x00,0x80,0x00,0x80,0x80,0x80,
	0x0F,0x30,0x0C,0x03,0x0C,0x30,0x0F,0x00,//w 87
	
	0x00,0x80,0x80,0x00,0x80,0x80,0x80,0x00,
	0x00,0x20,0x31,0x2E,0x0E,0x31,0x20,0x00,//x 88
	
	0x80,0x80,0x80,0x00,0x00,0x80,0x80,0x80,
	0x80,0x81,0x8E,0x70,0x18,0x06,0x01,0x00,//y 89
	
	0x00,0x80,0x80,0x80,0x80,0x80,0x80,0x00,
	0x00,0x21,0x30,0x2C,0x22,0x21,0x30,0x00,//z 90
	
	0x00,0x00,0x00,0x00,0x80,0x7C,0x02,0x02,
	0x00,0x00,0x00,0x00,0x00,0x3F,0x40,0x40,//{ 91
	
	0x00,0x00,0x00,0x00,0xFF,0x00,0x00,0x00,
	0x00,0x00,0x00,0x00,0xFF,0x00,0x00,0x00,//| 92
	
	0x00,0x02,0x02,0x7C,0x80,0x00,0x00,0x00,
	0x00,0x40,0x40,0x3F,0x00,0x00,0x00,0x00,//} 93
	
	0x00,0x06,0x01,0x01,0x02,0x02,0x04,0x04,
	0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//~ 94
};

#endif

main.c

#include "stm32f10x.h"                  // Device header
#include "MyConfig.h"
//#include "stdio.h"

extern int16_t TargerNum;          
extern int16_t Find_Task;          
extern int16_t LoR;


int main(void)
{

	Usart1_Init(115200);	
	OLED_Init();
	OLED_ShowString(1,1,"TargerNum:");
	OLED_ShowString(2,1,"LoR:");
	OLED_ShowString(3,1,"Find_Task: ");


	while (1)
	{
		OLED_ShowNum(1,11,TargerNum,2);
		OLED_ShowNum(2,5,LoR,2);
		OLED_ShowNum(3,11,Find_Task,2);
        
    }
}

六、完整代码2（stm32端发送openmv接收）

1.stm32端

#include "stm32f10x.h"                  // Device header
#include "MyConfig.h"
//#include "stdio.h"
uint8_t RoadLineCheck[2] = {0,0};
uint8_t RoadLine;
extern int16_t TargerNum;          
extern int16_t Find_Task;          
extern int16_t LoR;
void Usart1_Sendata(u8 * str)
{	
	u8 i = 0;
	
	USART_SendData(USART1,0x0d);
	while( USART_GetFlagStatus(USART1,USART_FLAG_TC)!= SET);
	
	for(i = 0;i < 2;i++)
	{
		USART_SendData(USART1,str[i]);
		while( USART_GetFlagStatus(USART1,USART_FLAG_TC)!= SET);
	}

	USART_SendData(USART1,0x5b);
	while( USART_GetFlagStatus(USART1,USART_FLAG_TC)!= SET);
}


int main(void)
{
	NVIC_Config();
	Usart1_Init(115200);	
	Find_Task=2;
	u8 send_buff[2] = {TargerNum,Find_Task};

	while (1)
	{
        Usart1_Sendata(send_buff);
    }
}

2.openmv端

import time, image,sensor,math,pyb,ustruct
from image import SEARCH_EX, SEARCH_DS
from pyb import Pin, Timer,LED

#从imgae模块引入SEARCH_EX和SEARCH_DS。使用from import仅仅引入SEARCH_EX,
#SEARCH_DS两个需要的部分，而不把image模块全部引入。


sensor.reset()

# Set sensor settings
sensor.set_contrast(1)
sensor.set_gainceiling(16)
# Max resolution for template matching with SEARCH_EX is QQVGA
sensor.set_framesize(sensor.QQVGA)
# You can set windowing to reduce the search image.

sensor.set_pixformat(sensor.GRAYSCALE)

sensor.set_windowing(0, 40, 160, 40)  #观察窗口  后面ROI设置也会以这个为新的基准

rx_buff=[]
state = 0
tx_flag = 0

x = 0

Find_Task =1       #1
Target_Num =0
data = [0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00]


uart = pyb.UART(3, 115200, timeout_char = 1000)     #定义串口1变量
blue_led = LED(2)


########串口接收数据函数处理#########
def Receive_Prepare():      #data
    global state
    global x
    global tx_flag
    global data
    global Find_Task
    global Target_Num
    if state==0:
        data[0]=uart.readchar()
        if data[0] == 0x0d:#帧头
            state = 1
        else:
            state = 0
            rx_buff.clear()
    elif state==1:
        data[1]=uart.readchar()
        Target_Num=data[x+1]
        state = 2
    elif state==2:
        data[2]=uart.readchar()
        Find_Task=data[x+2]
        state = 3
    elif state == 3:
        data[4]=uart.readchar()
        if data[4] == 0x5b:
            state = 4
    elif state == 4:
        state=0

    else:
        state = 0
        rx_buff.clear()





clock = time.clock()
# Run template matching
while (True):
    clock.tick()
    img = sensor.snapshot()# 镜头初始化
    if(uart.any()>0):
       Receive_Prepare()

    print(clock.fps(),Find_Task, Target_Num)