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OpenMV Cam快速参考

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发表于 2021-11-19 09:53:09 | 显示全部楼层 |阅读模式
OpenMV Cam快速参考通用硬件控制

See pyb.

  1. import pyb

  2. pyb.repl_uart(pyb.UART(3, 9600, timeout_char=1000)) # duplicate REPL on UART(3) 在UART(3)上重置REPL
  3. pyb.wfi() # pause CPU, waiting for interrupt 暂停cpu,等待中断
  4. pyb.stop() # stop CPU, waiting for external interrupt 停止cpu,等待外部中断
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延时和时间

Use the time module:

  1. import utime

  2. time.sleep(1)           # sleep for 1 second 延时1s
  3. time.sleep_ms(500)      # sleep for 500 milliseconds 延时500ms
  4. time.sleep_us(10)       # sleep for 10 microseconds 延时10us
  5. start = time.ticks_ms() # get value of millisecond counter  获取毫秒计数器的值
  6. delta = time.ticks_diff(time.ticks_ms(), start) # compute time difference 计算时间差
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LED 发光二极管

See pyb.LED.

  1. from pyb import LED

  2. led = LED(1) # 红色 led
  3. led.toggle()
  4. led.on()
  5. led.off()
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LED Pinout:

  • LED(1) -> 红色 RGB LED Segment
  • LED(2) -> 绿色 RGB LED Segment
  • LED(3) -> 蓝色 RGB LED Segment
  • LED(4) -> 红外 LEDs

引脚和GPIO

See pyb.Pin.

  1. from pyb import Pin

  2. p_out = Pin('P7', Pin.OUT_PP)
  3. p_out.high()
  4. p_out.low()

  5. p_in = Pin('P8', Pin.IN, Pin.PULL_UP)
  6. p_in.value() # get value, 0 or 1
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GPIO引脚分配:

  • Pin(‘P0’) -> P0 (PB15)
  • Pin(‘P1’) -> P1 (PB14)
  • Pin(‘P2’) -> P2 (PB13)
  • Pin(‘P3’) -> P3 (PB12)
  • Pin(‘P4’) -> P4 (PB10)
  • Pin(‘P5’) -> P5 (PB11)
  • Pin(‘P6’) -> P6 (PA5)
  • Pin(‘P7’) -> P7 (PD12)
  • Pin(‘P8’) -> P8 (PD13)
  • Pin(‘P9’) -> P9 (PD14) (只在OpenMV Cam M7/H7)

所有引脚适配范围为5V,其输出为3V(在ADC或DAC模式下,P6的适配范围并不是5V)。

所有引脚最高输入或者输出25mA(所有引脚加起来最高120mA)。


舵机控制

pyb.Servo.

  1. from pyb import Servo

  2. s1 = Servo(1) # servo on position 1 (P7) 位置1的servo(P7)
  3. s1.angle(45) # move to 45 degrees 移动到45度
  4. s1.angle(-60, 1500) # move to -60 degrees in 1500ms 在1500ms内移动到-60度
  5. s1.speed(50) # for continuous rotation servos 连续旋转舵机
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Servo Pinout:

  • Servo(1) -> P7 (PD12)
  • Servo(2) -> P8 (PD13)
  • Servo(3) -> P9 (PD14) (OpenMV Cam M7/H7 Only)

外部中断

See pyb.ExtInt.

  1. from pyb import Pin, ExtInt

  2. callback = lambda e: print("intr")
  3. ext = ExtInt(Pin('P7'), ExtInt.IRQ_RISING, Pin.PULL_NONE, callback)
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GPIO Pinout:

  • Pin(‘P0’) -> P0 (PB15)
  • Pin(‘P1’) -> P1 (PB14)
  • Pin(‘P2’) -> P2 (PB13)
  • Pin(‘P3’) -> P3 (PB12)
  • Pin(‘P4’) -> P4 (PB10)
  • Pin(‘P5’) -> P5 (PB11)
  • Pin(‘P6’) -> P6 (PA5)
  • Pin(‘P7’) -> P7 (PD12)
  • Pin(‘P8’) -> P8 (PD13)
  • Pin(‘P9’) -> P9 (PD14) (只在OpenMV Cam M7/H7)

定时器

See pyb.Timer.

  1. from pyb import Timer

  2. tim = Timer(4, freq=1000)
  3. tim.counter() # get counter value 获取计时器值
  4. tim.freq(0.5) # 0.5 Hz
  5. tim.callback(lambda t: pyb.LED(1).toggle())
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定时器引脚分配:

  • Timer 1 Channel 3 Negative -> P0 (PB15)
  • Timer 1 Channel 2 Negative -> P1 (PB14)
  • Timer 1 Channel 1 Negative -> P2 (PB13)
  • Timer 2 Channel 3 Positive -> P4 (PB10)
  • Timer 2 Channel 4 Positive -> P5 (PB11)
  • Timer 2 Channel 1 Positive -> P6 (PA5)
  • Timer 4 Channel 1 Negative -> P7 (PD12)
  • Timer 4 Channel 2 Negative -> P8 (PD13)
  • Timer 4 Channel 3 Positive -> P9 (PD14) (OpenMV Cam M7/H7 Only)

PWM脉宽调制

See pyb.Pin and pyb.Timer.

  1. from pyb import Pin, Timer

  2. p = Pin('P7') # P7 has TIM4, CH1
  3. tim = Timer(4, freq=1000)
  4. ch = tim.channel(1, Timer.PWM, pin=p)
  5. ch.pulse_width_percent(50)
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定时器引脚分配:

  • Timer 1 Channel 3 Negative -> P0 (PB15)
  • Timer 1 Channel 2 Negative -> P1 (PB14)
  • Timer 1 Channel 1 Negative -> P2 (PB13)
  • Timer 2 Channel 3 Positive -> P4 (PB10)
  • Timer 2 Channel 4 Positive -> P5 (PB11)
  • Timer 2 Channel 1 Positive -> P6 (PA5)
  • Timer 4 Channel 1 Negative -> P7 (PD12)
  • Timer 4 Channel 2 Negative -> P8 (PD13)
  • Timer 4 Channel 3 Positive -> P9 (PD14) (OpenMV Cam M7/H7 Only)

ADC (模数转换)

pyb.Pinpyb.ADC.

  1. from pyb import Pin, ADC

  2. adc = ADC(Pin('P6'))
  3. adc.read() # read value, 0-4095 读取值,0-4095
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ADC 引脚分配:

  • ADC(Pin(‘P6’)) -> P6 (PA5)

ADC模式下,P6的适配范围为3.3V,而不是5V!


DAC (数模转换)

pyb.Pin and pyb.DAC.

  1. from pyb import Pin, DAC

  2. dac = DAC('P6')
  3. dac.write(120) # 输出介于0-255
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DAC 引脚分配:

  • DAC(Pin(‘P6’)) -> P6 (PA5)

DAC模式下,P6的适配范围为3.3V,而不是5V!


UART (串行总线)

See pyb.UART.

  1. from pyb import UART

  2. uart = UART(3, 9600, timeout_char=1000)
  3. uart.write('hello')
  4. uart.read(5) # read up to 5 bytes 读取5个字节
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UART Pinout:

  • UART 3 RX -> P5 (PB11)
  • UART 3 TX -> P4 (PB10)
  • UART 1 RX -> P0 (PB15) (只在OpenMV Cam M7/H7)
  • UART 1 TX -> P1 (PB14) (只在OpenMV Cam M7/H7)

SPI总线

pyb.SPI.

  1. from pyb import SPI

  2. spi = SPI(2, SPI.MASTER, baudrate=1000000, polarity=1, phase=0)
  3. spi.send('hello')
  4. spi.recv(5) # receive 5 bytes on the bus 在总线上接收5个字节
  5. spi.send_recv('hello') # send a receive 5 bytes 发送5个字节
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SPI 引脚分配:

  • SPI 2 MOSI (Master-Out-Slave-In) -> P0 (PB15)
  • SPI 2 MISO (Master-In-Slave-Out) -> P1 (PB14)
  • SPI 2 SCLK (Serial Clock) -> P2 (PB13)
  • SPI 2 SS (Serial Select) -> P3 (PB12)

I2C总线

See pyb.I2C.

  1. from pyb import I2C

  2. i2c = I2C(2, I2C.MASTER, baudrate=100000)
  3. i2c.scan() # returns list of slave addresses 返回一个从属设备地址的列表
  4. i2c.send('hello', 0x42) # send 5 bytes to slave with address 0x42 使用0x42地址向从属设备发送5个字节
  5. i2c.recv(5, 0x42) # receive 5 bytes from slave 从从属设备上接收5个字节
  6. i2c.mem_read(2, 0x42, 0x10) # read 2 bytes from slave 0x42, slave memory 0x10 从地址为0x42从属设备上接收2个字节,从属存储器为0x10
  7. i2c.mem_write('xy', 0x42, 0x10) # write 2 bytes to slave 0x42, slave memory 0x10 向地址为0x42的从属设备写入2个字节,从属存储器为0x10
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I2C 引脚分配:

  • I2C 2 SCL (Serial Clock) -> P4 (PB10)
  • I2C 2 SDA (Serial Data) -> P5 (PB11)
  • I2C 4 SCL (Serial Clock) -> P7 (PD13) (OpenMV Cam M7/H7 Only)
  • I2C 4 SDA (Serial Data) -> P8 (PD12) (OpenMV Cam M7/H7 Only)

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