def __init__(self): # private
self.__crc_16 = self.__def_crc_16
if omv.board_type() == "H7":
stm.mem32[stm.RCC + stm.RCC_AHB4ENR] = stm.mem32[stm.RCC + stm.RCC_AHB4ENR] | (1 << 19)
stm.mem32[stm.CRC + stm.CRC_POL] = 0x1021
self.__crc_16 = self.__stm_crc_16
elif omv.board_type() == "F7":
stm.mem32[stm.RCC + stm.RCC_AHB1ENR] = stm.mem32[stm.RCC + stm.RCC_AHB1ENR] | (1 << 12)
stm.mem32[stm.CRC + stm.CRC_POL] = 0x1021
self.__crc_16 = self.__stm_crc_16
self._stream_writer_queue_depth_max = 255
def __get_can_settings(bit_rate, sampling_point):
clk = 48000000 if omv.board_type() == "H7" else pyb.freq()[2]
for prescaler in range(8):
for bs1 in range(16):
for bs2 in range(8):
if bit_rate == ((clk >> prescaler) // (1 + bs1 + bs2)) and (sampling_point * 10) == (((1 + bs1) * 1000) // (1 + bs1 + bs2)):
return (1 << prescaler, bs1, bs2)
raise ValueError("Invalid bit_rate and/or sampling_point!")
def get_frame_buffer_call_back(pixformat, framesize, cutthrough, silent):
if not silent: print("Getting Remote Frame...")
result = interface.call("raw_image_snapshot",
struct.pack("<II", pixformat, framesize))
if result is not None:
w, h, pixformat, size = struct.unpack("<IIII", result)
img = image.Image(w, h, pixformat,
copy_to_fb=True) # Alloc cleared frame buffer.
if cutthrough:
# Fast cutthrough data transfer with no error checking.
# Before starting the cut through data transfer we need to sync both the master and the
# slave device. On return both devices are in sync.
result = interface.call("raw_image_read")
if result is not None:
# GET BYTES NEEDS TO EXECUTE NEXT IMMEDIATELY WITH LITTLE DELAY NEXT.
# Read all the image data in one very large transfer.
interface.get_bytes(img.bytearray(), 5000) # timeout
else:
# Slower data transfer with error checking.
# Transfer 32/8 KB chunks.
chunk_size = (1 << 15) if omv.board_type() == "H7" else (1 << 13)
if not silent: print("Reading %d bytes..." % size)
for i in range(0, size, chunk_size):
ok = False
for j in range(3): # Try up to 3 times.
result = interface.call("raw_image_read",
struct.pack("<II", i, chunk_size))
if result is not None:
img.bytearray(
)[i:i + chunk_size] = result # Write the image data.
if not silent: print("%.2f%%" % ((i * 100) / size))
ok = True
break
if not silent: print("Retrying... %d/2" % (j + 1))
if not ok:
if not silent: print("Error!")
return None
return img
else:
if not silent: print("Failed to get Remote Frame!")
return None
def __init__(self, devid):
self.can = CAN(2, CAN.NORMAL)
# Device id [0-63]
self.devid = devid
# Mode of the device
self.mode = 0
# Configuration data
self.config_simple_targets = 0
self.config_line_segments = 0
self.config_color_detect = 0
self.config_advanced_targets = 0
self.frame_counter = 0
# Buffer for receiving data in our callback.
self.read_buffer = bytearray(8)
self.read_data = [0, 0, 0, memoryview(self.read_buffer)]
# Initialize CAN based on which type of board we're on
if omv.board_type() == "H7":
print("H7 CAN Interface")
self.can.init(CAN.NORMAL,
extframe=True,
baudrate=1000000,
sampling_point=75) # 1000Kbps H7
#self.can.init(CAN.NORMAL, extframe=True, prescaler=4, sjw=1, bs1=8, bs2=3)
elif omv.board_type() == "M7":
self.can.init(CAN.NORMAL,
extframe=True,
prescaler=3,
sjw=1,
bs1=10,
bs2=7) # 1000Kbps on M7
self.can.setfilter(0, CAN.LIST32, 0, [
self.my_arb_id(self.api_id(1, 3)),
self.my_arb_id(self.api_id(1, 4))
])
print("M7 CAN Interface")
else:
print("CAN INTERFACE NOT INITIALIZED!")
self.can.restart()
def __init__(self,
message_id=0x7FF,
bit_rate=250000,
sample_point=75,
can_bus=2):
self.__message_id = message_id
self.__can = pyb.CAN(can_bus,
pyb.CAN.NORMAL,
baudrate=bit_rate,
sample_point=sample_point,
auto_restart=True)
self.__can.setfilter(
0, pyb.CAN.DUAL if omv.board_type() == "H7" else pyb.CAN.LIST32, 0,
[message_id, message_id])
rpc_slave.__init__(self)
from pyb import CAN
# NOTE: Set to False on receiving node.
TRANSMITTER = True
can = CAN(2, CAN.NORMAL, baudrate=125_000, sample_point=75)
# NOTE: uncomment to set bit timing manually, for example:
#can.init(CAN.NORMAL, prescaler=32, sjw=1, bs1=8, bs2=3)
can.restart()
if (TRANSMITTER):
while (True):
# Send message with id 1
can.send('Hello', 1)
time.sleep_ms(1000)
else:
# Runs on the receiving node.
if (omv.board_type() == 'H7'): # FDCAN
# Set a filter to receive messages with id=1 -> 4
# Filter index, mode (RANGE, DUAL or MASK), FIFO (0 or 1), params
can.setfilter(0, CAN.RANGE, 0, (1, 4))
else:
# Set a filter to receive messages with id=1, 2, 3 and 4
# Filter index, mode (LIST16, etc..), FIFO (0 or 1), params
can.setfilter(0, CAN.LIST16, 0, (1, 2, 3, 4))
while (True):
# Receive messages on FIFO 0
print(can.recv(0, timeout=10000))
return "TAG25H7"
if(tag.family() == image.TAG25H9):
return "TAG25H9"
if(tag.family() == image.TAG36H10):
return "TAG36H10"
if(tag.family() == image.TAG36H11):
return "TAG36H11"
if(tag.family() == image.ARTOOLKIT):
return "ARTOOLKIT"
sensor.reset()
sensor.set_pixformat(sensor.GRAYSCALE)
sensor.set_framesize(sensor.VGA) # we run out of memory if the resolution is much bigger...
# AprilTags works on a maximum of < 64K pixels.
if omv.board_type() == "H7": sensor.set_windowing((240, 240))
elif omv.board_type() == "M7": sensor.set_windowing((200, 200))
sensor.skip_frames(time = 2000)
sensor.set_auto_gain(False) # must turn this off to prevent image washout...
sensor.set_auto_whitebal(False) # must turn this off to prevent image washout...
# Only blobs that with more pixels than "pixel_threshold" and more area than "area_threshold" are
# returned by "find_blobs" below. Change "pixels_threshold" and "area_threshold" if you change the
# camera resolution. "merge=True" merges all overlapping blobs in the image.
#, thresholds[2], thresholds[3]
iteration = 0
blobThreshold = thresholds[3]
recognitionMode = "AprilTags"#Recognize color by default
lastAprilTag = None
import sensor, image, time, math, omv
#adding UART capability
import pyb, ustruct
uart = pyb.UART(3, 113200,
timeout_char=50) #clocks are off => slow down a smidgen
#say hello
uart.write("hej, verden!!\n")
# Set the thresholds to find a white object (i.e. tag border)
thresholds = (160, 255)
sensor.reset()
sensor.set_pixformat(sensor.GRAYSCALE)
if omv.board_type() == "H7": sensor.set_framesize(sensor.VGA)
elif omv.board_type() == "M7": sensor.set_framesize(sensor.VGA)
else: raise Exception("You need a more powerful OpenMV Cam to run this script")
sensor.skip_frames(
time=100) # increase this to let the auto methods run for longer
sensor.set_auto_gain(False) # must be turned off for color tracking
sensor.set_auto_whitebal(False) # must be turned off for color tracking
clock = time.clock()
# The apriltag code supports up to 6 tag families which can be processed at the same time.
# Returned tag objects will have their tag family and id within the tag family.
tag_families = 0
tag_families |= image.TAG16H5 # comment out to disable this family
#tag_families |= image.TAG25H7 # comment out to disable this family
#tag_families |= image.TAG25H9 # comment out to disable this family
#tag_families |= image.TAG36H10 # comment out to disable this family
def __init__(self, message_id=0x7FF, bit_rate=250000, sampling_point=75):
self.__message_id = message_id
can_prescaler, can_bs1, can_bs2 = __get_can_settings(bit_rate, sampling_point)
self.__can = pyb.CAN(2, pyb.CAN.NORMAL, prescaler=can_prescaler, bs1=can_bs1, bs2=can_bs2, auto_restart=True)
self.__can.setfilter(0, pyb.CAN.DUAL if omv.board_type() == "H7" else pyb.CAN.LIST32, 0, [message_id, message_id])
rpc_slave.__init__(self)
# AprilTags Max Res Example
#
# This example shows the power of the OpenMV Cam to detect April Tags
# on the OpenMV Cam M7. The M4 versions cannot detect April Tags.
import sensor, image, time, math, omv
sensor.reset()
sensor.set_pixformat(sensor.GRAYSCALE)
sensor.set_framesize(sensor.VGA) # we run out of memory if the resolution is much bigger...
# AprilTags works on a maximum of < 64K pixels.
if omv.board_type() == "H7": sensor.set_windowing((240, 240))
elif omv.board_type() == "M7": sensor.set_windowing((200, 200))
else: raise Exception("You need a more powerful OpenMV Cam to run this script")
sensor.skip_frames(time = 2000)
sensor.set_auto_gain(False) # must turn this off to prevent image washout...
sensor.set_auto_whitebal(False) # must turn this off to prevent image washout...
clock = time.clock()
# Note! Unlike find_qrcodes the find_apriltags method does not need lens correction on the image to work.
# The apriltag code supports up to 6 tag families which can be processed at the same time.
# Returned tag objects will have their tag family and id within the tag family.
tag_families = 0
tag_families |= image.TAG16H5 # comment out to disable this family
tag_families |= image.TAG25H7 # comment out to disable this family
tag_families |= image.TAG25H9 # comment out to disable this family
tag_families |= image.TAG36H10 # comment out to disable this family
tag_families |= image.TAG36H11 # comment out to disable this family (default family)
tag_families |= image.ARTOOLKIT # comment out to disable this family
# finding Apriltags in the image using blob tracking to find the
# area of where the tag is first and then calling find_apriltags
# on that blob.
# Note, this script works well assuming most parts of the image do not
# pass the thresholding test... otherwise, you don't get a distance
# benefit.
import sensor, image, time, math, omv
# Set the thresholds to find a white object (i.e. tag border)
thresholds = (150, 255)
sensor.reset()
sensor.set_pixformat(sensor.GRAYSCALE)
if omv.board_type() == "H7": sensor.set_framesize(sensor.VGA)
elif omv.board_type() == "M7": sensor.set_framesize(sensor.QVGA)
else: raise Exception("You need a more powerful OpenMV Cam to run this script")
sensor.skip_frames(time = 200) # increase this to let the auto methods run for longer
sensor.set_auto_gain(False) # must be turned off for color tracking
sensor.set_auto_whitebal(False) # must be turned off for color tracking
clock = time.clock()
# The apriltag code supports up to 6 tag families which can be processed at the same time.
# Returned tag objects will have their tag family and id within the tag family.
tag_families = 0
tag_families |= image.TAG16H5 # comment out to disable this family
tag_families |= image.TAG25H7 # comment out to disable this family
tag_families |= image.TAG25H9 # comment out to disable this family
tag_families |= image.TAG36H10 # comment out to disable this family
tag_families |= image.TAG36H11 # comment out to disable this family (default family)
