mirror of
https://github.com/sipeed/sipeed_wiki.git
synced 2026-09-11 00:22:49 -05:00
update v831_usage.md
This commit is contained in:
lyx080
@@ -22,6 +22,10 @@
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}
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]
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},
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{
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"label": "M2DOCK（V831）上手视觉指南",
|
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"file": "/news/MaixPy3/v831_usage/v831_usage.md"
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},
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{
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"label":"遇到问题怎么办？",
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"items": [
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BIN
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@@ -15,7 +15,7 @@ update:
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> 铛 ~ 新的 2023 年当然要有新的上手指南辣（虽然已经过去5个月）总有事情要被鸽但能填上就是好坑。
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> 新的上手指南还是旧的目的，希望大家可以借助这篇文章在使用 M2DOCK 时更加顺利一点吧！
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||||
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||||
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||||
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||||
本篇文章以 `视觉` 为主题阐述如何在 M2DOCK（V831）从基础的开箱上手再到视觉的衍生（深度开发）的使用全过程，因篇幅的有限这里不再对产品进行详细介绍，想要了解相关产品介绍可点击资料进行查看。
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@@ -218,7 +218,7 @@ from maix import camera, display, image
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display.show(camera.capture())
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```
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<center><img src="./../../../out/hardware/zh/maixII/M2/asserts/hello_world.jpg" width="500"></center>
|
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||||
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||||
> 如果屏幕没有显示内容。那么首先确认一下镜像镜像版本，并且确认一下外设和驱动对的上
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||||
|
||||
@@ -293,24 +293,6 @@ for i in range(120):
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||||
**第二步**：存储后务必使用电脑系统自带的 U 盘移除相关的功能来断开电脑与 U 盘的通信。
|
||||
**第三步**：最后进行重启（按下 RST 键或者重新插拔 USB）来使 m2dock 再次重新加载文件系统，否则会因为板卡与电脑非正常断开通信而导致文件系统损坏，保存失败。
|
||||
|
||||
## 学会使用文档（资源）
|
||||
|
||||
无论是在 K210 还是 M2DOCK（V831）上一定要学会使用我们公开的文档资料，去借助资料的力量帮助自己在学习的道路上往前走，学会借助资源完善自身的不足，可以让你少走很多的坑以及弯路。
|
||||
|
||||
1. 学会搜索并利用官方的 `文档社区` 以及 `github issue` 资源，会让新手小白少走很多弯路雷坑。
|
||||
2. 文档资源在 `常见问题 FAQ` 中基本涵盖了所有的坑，使用途中报错可以先查看排错。
|
||||
3. 想要实现更多的功能示例或需要更多的脚本源码，可前往 MaixPy3 的源码例程仓库查找。
|
||||
|
||||
**文档搜索例程**：[点击查看](https://wiki.sipeed.com/soft/maixpy/zh/how_to_read.html)
|
||||
**BBS 社区教程贴**：[点击前往](https://bbs.sipeed.com/thread/492)
|
||||
**MaixPy3 源码仓库**：[点击前往](https://github.com/sipeed/maixpy3)
|
||||
**MaixPy3 issue**：[点击前往](https://github.com/sipeed/MaixPy3/issues)
|
||||
**MaixPy3 常见问题指南**：[点击前往](https://wiki.sipeed.com/soft/maixpy3/zh/tools/0.MaixII-Dock.html#%E5%B8%B8%E8%A7%81%E9%97%AE%E9%A2%98%E6%8C%87%E5%8D%97)
|
||||
**V831 源码**：[点击前往](https://github.com/Tina-Linux/tina-V83x)
|
||||
**V83 工具链**：[点击前往](https://dl.sipeed.com/shareURL/MaixII/MaixII-Dock/SDK/Toolchain)
|
||||
**V831 常见问题与解决方法**：[点击前往](https://wiki.sipeed.com/soft/maixpy3/zh/question/maixpy3_faq.html)
|
||||
**BBS 社区常见问题汇总贴**：[点击查看](https://bbs.sipeed.com/thread/489)
|
||||
|
||||
## 进阶使用
|
||||
|
||||
> 到达进阶使用这里后，这里则需要小伙伴们具备一些 Linux 基础了才能继续往下走学习。
|
||||
@@ -380,20 +362,41 @@ echo "usb_device" > /sys/devices/platform/soc/usbc0/otg_role
|
||||
|
||||
**Linux 系统下 V831 使用编译链**：[toolchain-sunxi-musl-pack-2021-01-09.tar.xz](https://dl.sipeed.com/shareURL/MaixII/MaixII-Dock/SDK/Toolchain)
|
||||
|
||||
## 如何编译与开发
|
||||
## 学会使用文档（资源）
|
||||
|
||||
无论是在 K210 还是 M2DOCK（V831）上一定要学会使用我们公开的文档资料，去借助资料的力量帮助自己在学习的道路上往前走，学会借助资源完善自身的不足，可以让你少走很多的坑以及弯路。
|
||||
|
||||
1. 学会搜索并利用官方的 `文档社区` 以及 `github issue` 资源，会让新手小白少走很多弯路雷坑。
|
||||
2. 文档资源在 `常见问题 FAQ` 中基本涵盖了所有的坑，使用途中报错可以先查看排错。
|
||||
3. 想要实现更多的功能示例或需要更多的脚本源码，可前往 MaixPy3 的源码例程仓库查找。
|
||||
|
||||
**文档搜索例程**：[点击查看](https://wiki.sipeed.com/soft/maixpy/zh/how_to_read.html)
|
||||
**BBS 社区教程贴**：[点击前往](https://bbs.sipeed.com/thread/492)
|
||||
**MaixPy3 源码仓库**：[点击前往](https://github.com/sipeed/maixpy3)
|
||||
**MaixPy3 issue**：[点击前往](https://github.com/sipeed/MaixPy3/issues)
|
||||
**MaixPy3 常见问题指南**：[点击前往](https://wiki.sipeed.com/soft/maixpy3/zh/tools/0.MaixII-Dock.html#%E5%B8%B8%E8%A7%81%E9%97%AE%E9%A2%98%E6%8C%87%E5%8D%97)
|
||||
**V831 源码**：[点击前往](https://github.com/Tina-Linux/tina-V83x)
|
||||
**V83 工具链**：[点击前往](https://dl.sipeed.com/shareURL/MaixII/MaixII-Dock/SDK/Toolchain)
|
||||
**V831 常见问题与解决方法**：[点击前往](https://wiki.sipeed.com/soft/maixpy3/zh/question/maixpy3_faq.html)
|
||||
**BBS 社区常见问题汇总贴**：[点击查看](https://bbs.sipeed.com/thread/489)
|
||||
|
||||
|
||||
## 编译与开发
|
||||
|
||||
> 当你走到这时已经代表你熟悉（V831）的基础操作准备深层了解，以下的文档是为了开发者写的参考文，希望可以基于此让更多的伙伴进入 Linux 嵌入式开发的领域。
|
||||
|
||||
### 系统环境搭建
|
||||
|
||||
- 安装 vscode 和换源：[点击前往](https://fishros.org.cn/forum/topic/20/%E5%B0%8F%E9%B1%BC%E7%9A%84%E4%B8%80%E9%94%AE%E5%AE%89%E8%A3%85%E7%B3%BB%E5%88%97)
|
||||
- 安装输入法：[点击前往](https://shurufa.sogou.com/linux/guide)
|
||||
- 安装截图工具：[点击前往](https://zhuanlan.zhihu.com/p/88325211)，并设置快捷键为 `ctrl + alt + a`.
|
||||
- 安装截图工具：[点击安装](https://zhuanlan.zhihu.com/p/88325211)并设置快捷键为 `ctrl + alt + a`。
|
||||
- 安装魔法上网工具：自行安装
|
||||
|
||||
### MaixPY3 架构介绍
|
||||
### MaixPy3 架构介绍
|
||||
|
||||
篇幅过多这里不详细介绍，小伙伴可根据指路前往：[MaixPy3 架构介绍](https://wiki.sipeed.com/soft/maixpy3/zh/others/framework.html)
|
||||
因篇幅过多这里不详细介绍，小伙伴们可根据指路前往：[MaixPy3 架构介绍](https://wiki.sipeed.com/soft/maixpy3/zh/others/framework.html)
|
||||
|
||||
### 为什么采用 libmax 开发
|
||||
### 为什么采用 libmaix 开发
|
||||
|
||||
```C++
|
||||
+----------------------------------------+
|
||||
@@ -437,17 +440,17 @@ echo "usb_device" > /sys/devices/platform/soc/usbc0/otg_role
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||||
|
||||
```
|
||||
|
||||
可以清楚的看到我们平时用的 Python 的接口底层实现也是通过了 libmaix 的开发成果，我们平时需要 Python 语言调参验证原型功能，是为了快速验证我们的开发板可用于不同的场景和功能，方便我们快速验证功能外设是否正常，同时我们也需要 C / C++ 优化性能和减少内存占用用于开发商业项目，那么，直接使用 libmaix 进行开发就显得尤为重要了。
|
||||
一开始采用的 python 需要一定时间过渡到 c++ ，特别是成熟的项目，更需要脱离 python 了，为了更成熟精简的项目结构和更好的性能，这就不得不看看 libmaix 了喵。
|
||||
上文中我们可以清楚的看到平时用的 `Python` 的接口底层实现也是通过了 `libmaix` 的开发成果，平时需要 `Python` 语言调参验证原型功能，是为了快速验证我们的开发板可用于不同的场景和功能，方便我们快速验证功能外设是否正常，同时我们也需要 `C / C++` 优化性能和减少内存占用用于开发商业项目，那么，直接使用 libmaix 进行开发就显得尤为重要了。
|
||||
一开始采用的 `Python` 需要一定时间过渡到 `C++` ，特别是成熟的项目更需要脱离 `Python`，为了更成熟精简的项目结构和更好的性能就得看看 `libmaix` 的表现了。
|
||||
|
||||
#### 首先要配置好开发环境
|
||||
|
||||
参考下面连接完成你的开发环境配置
|
||||
> 参考下文给出的资料文章链接配置相关开发环境。
|
||||
|
||||
1. [V831 如何使用 libmaix SDK C++ 开发](https://wiki.sipeed.com/news/MaixPy3/run_lvgl/run_lvgl.html)
|
||||
2. [Linux 连接不上 adb 设备](https://wiki.sipeed.com/news/others/linux_adb/linux_adb.html)
|
||||
|
||||
完成了上面的环境配置后，这里提供了一个Demo，内容就是如何使用 V831 LINUX C++ 进行图像视觉处理和开发，在此我提供了一个 串口 + mv cv ai 的示例项目，供开发者评估使用，此处不涉及到 ISP 调试，需要进一步 ISP 图像调试则需要联系大佬鼠。
|
||||
完成上面的环境配置后，这里提供了可运行的 `Demo` 内容就是如何使用 V831 LINUX C++ 进行图像视觉处理和开发，在此我们提供了 `串口 + mv cv ai` 的示例项目，供开发者评估使用，此处不涉及到 ISP 调试，需要进一步 ISP 图像调试则需要联系大佬鼠。
|
||||
|
||||
>相关资料：[libmaix](https://github.com/sipeed/libmaix/blob/6ad1102a0527bd3d394c0b1de82cbf64d6eac40d/components/maix_dls831/src/dls831_uvai.cpp#L435-L663)
|
||||
|
||||
@@ -455,12 +458,730 @@ echo "usb_device" > /sys/devices/platform/soc/usbc0/otg_role
|
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|
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我们可以看到程序是稳定三十帧的运行速率。
|
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我们可以看到程序是保持稳定三十帧的运行速率。
|
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|
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<html>
|
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<img src="./assest/h26x_831.jpg" width=45%>
|
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<img src="./assest/fps.jpg" width=45%>
|
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</html>
|
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|
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## 库
|
||||
|
||||
接下来我们来认识一下现有的库：分别是 AI、Opencv、Openmv、LVGL。
|
||||
|
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### AI
|
||||
|
||||
它的实现方式与 `Python` 的流程类似，并在 `C++` 中也需配置相关模型的参数。
|
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|
||||
#### 以 YOLOv2 为例
|
||||
|
||||
>YOLOv2 是一种基于深度学习的目标检测算法，它是 YOLO（you only look once）的改进版本。
|
||||
|
||||
**YOLOv2 相比于 YOLO 主要有以下几个不同的改进点：**
|
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|
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1. 使用 `batch normalization` 来提高模型的稳定性和泛化能力，同时去掉了 `dropout` 层。
|
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2. 使用了高分辨率的图像（448×448）来微调分类网络，然后再用于检测网络并提高了检测的精度。
|
||||
3. 引入 `anchor boxes` 的概念，根据数据集的边界框分布进行 `k-means` 聚类，得到最合适的 `anchor boxes` 的尺寸和比例提高了召回率。
|
||||
4. 使用了直接位置预测的方法，将边界框的中心坐标相对于网格单元的偏移量用 `logistic` 回归函数进行归一化，使得模型更容易学习。
|
||||
5. 使用了多尺度训练的策略动态地改变输入图像的尺寸，使得模型能够适应不同大小的目标。
|
||||
|
||||
**YOLOv2 的优点主要有以下几个方面：**
|
||||
|
||||
1. 速度快：YOLOv2 相比于基于区域提议的方法，只需对图像进行一次前向传播大大减少计算量和时间。
|
||||
2. 精度高：YOLOv2 相比于 YOLO 来说在 `mAP`（平均精度）上提升了约 10 个百分点，在小目标上也有明显的改善。
|
||||
3. 通用性强：YOLOv2 可以同时在 `COCO` 和 `ImageNet` 数据集上进行训练，得到一个能够检测 9000 多种物体的模型。
|
||||
|
||||
|
||||
|
||||
**接下来我们来尝试采用人脸模型为测试：**
|
||||
|
||||
在出厂镜像中我们已内置了相关的人脸检测的模型，无需用户再次下载。
|
||||
|
||||
```C++
|
||||
static struct _nn_yolo_face_
|
||||
{
|
||||
//模型地址，需要提前通过adb传到板子里，下列模型出厂固件已经自带
|
||||
const char *model_path_param = "/home/model/face/yolo2_face_awnn.param";
|
||||
const char *model_path_bin = "/home/model/face/yolo2_face_awnn.bin";
|
||||
const char *inputs_names[1] = {"input0"};
|
||||
const char *outputs_names[1] = {"output0"};
|
||||
const float opt_param_mean = 127.5;
|
||||
const float opt_param_norm = 0.0078125;
|
||||
//网络的输入参数
|
||||
libmaix_nn_layer_t input = {
|
||||
.w = 224,
|
||||
.h = 224,
|
||||
.c = 3,
|
||||
.dtype = LIBMAIX_NN_DTYPE_UINT8,
|
||||
};
|
||||
libmaix_nn_layer_t out_fmap = {
|
||||
.w = 7,
|
||||
.h = 7,
|
||||
.c = 30,//根据上图的网络结构计算公式(sizeof(labels)+5) * 5
|
||||
.dtype = LIBMAIX_NN_DTYPE_FLOAT,
|
||||
};
|
||||
libmaix_nn_t *nn;
|
||||
libmaix_nn_model_path_t model_path;
|
||||
libmaix_nn_opt_param_t opt_param;
|
||||
// -------------- yolo2 decode -----------------------
|
||||
const char *labels[1] = {"face"};//你有多少个类别，就填多少
|
||||
const float anchors[10] = {1.19, 1.98, 2.79, 4.59, 4.53, 8.92, 8.06, 5.29, 10.32, 10.65};
|
||||
libmaix_nn_decoder_t *yolo2_decoder;
|
||||
libmaix_nn_decoder_yolo2_result_t yolo2_result;
|
||||
libmaix_nn_decoder_yolo2_config_t yolo2_config = {
|
||||
.classes_num = sizeof(labels) / sizeof(anchors[0]),
|
||||
.threshold = 0.5,
|
||||
.nms_value = 0.3,
|
||||
.anchors_num = (sizeof(anchors) / sizeof(anchors[0])) / 2,
|
||||
.anchors = (float *)anchors,
|
||||
.net_in_width = 224,
|
||||
.net_in_height = 224,
|
||||
.net_out_width = 7,
|
||||
.net_out_height = 7,
|
||||
.input_width = 224,
|
||||
.input_height = 224
|
||||
};
|
||||
} nn_yolo_face_app;
|
||||
|
||||
auto self = (_nn_yolo_face_ *)app->userdata;
|
||||
self->opt_param.awnn.input_names = (char **)self->inputs_names;
|
||||
self->opt_param.awnn.output_names = (char **)self->outputs_names;
|
||||
self->opt_param.awnn.input_num = sizeof(self->inputs_names) / sizeof(self->inputs_names[0]);
|
||||
self->opt_param.awnn.output_num = sizeof(self->outputs_names) / sizeof(self->outputs_names[0]);
|
||||
|
||||
self->opt_param.awnn.mean[0] = self->opt_param_mean;
|
||||
self->opt_param.awnn.mean[1] = self->opt_param.awnn.mean[0];
|
||||
self->opt_param.awnn.mean[2] = self->opt_param.awnn.mean[0];
|
||||
|
||||
self->opt_param.awnn.norm[0] = self->opt_param_norm;
|
||||
self->opt_param.awnn.norm[1] = self->opt_param.awnn.norm[0];
|
||||
self->opt_param.awnn.norm[2] = self->opt_param.awnn.norm[0];
|
||||
|
||||
self->model_path.awnn.param_path = (char *)self->model_path_param;
|
||||
self->model_path.awnn.bin_path = (char *)self->model_path_bin;
|
||||
|
||||
self->input.need_quantization = true;
|
||||
|
||||
self->out_fmap.data = (float *)malloc(self->out_fmap.w * self->out_fmap.h * self->out_fmap.c * sizeof(float));
|
||||
if (!self->out_fmap.data)
|
||||
{
|
||||
LIBMAIX_INFO_PRINTF("no memory!!!\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
self->input.buff_quantization = (uint8_t *)malloc(self->input.w * self->input.h * self->input.c);
|
||||
if (!self->input.buff_quantization)
|
||||
{
|
||||
LIBMAIX_INFO_PRINTF("no memory!!!\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
LIBMAIX_INFO_PRINTF("-- nn create\n");
|
||||
self->nn = libmaix_nn_create();
|
||||
if (!self->nn)
|
||||
{
|
||||
LIBMAIX_INFO_PRINTF("libmaix_nn object create fail\n");
|
||||
return -1;
|
||||
}
|
||||
LIBMAIX_INFO_PRINTF("-- nn object init\n");
|
||||
err = self->nn->init(self->nn);
|
||||
if (err != LIBMAIX_ERR_NONE)
|
||||
{
|
||||
LIBMAIX_INFO_PRINTF("libmaix_nn init fail: %s\n", libmaix_get_err_msg(err));
|
||||
return -1;
|
||||
}
|
||||
LIBMAIX_INFO_PRINTF("-- nn object load model\n");
|
||||
err = self->nn->load(self->nn, &self->model_path, &self->opt_param);
|
||||
if (err != LIBMAIX_ERR_NONE)
|
||||
{
|
||||
LIBMAIX_INFO_PRINTF("libmaix_nn load fail: %s\n", libmaix_get_err_msg(err));
|
||||
return -1;
|
||||
}
|
||||
|
||||
LIBMAIX_INFO_PRINTF("-- yolo2 decoder create\n");
|
||||
self->yolo2_decoder = libmaix_nn_decoder_yolo2_create(libmaix_nn_decoder_yolo2_init,
|
||||
libmaix_nn_decoder_yolo2_deinit,
|
||||
libmaix_nn_decoder_yolo2_decode);
|
||||
if (!self->yolo2_decoder)
|
||||
{
|
||||
LIBMAIX_INFO_PRINTF("no mem\n");
|
||||
return -1;
|
||||
}
|
||||
LIBMAIX_INFO_PRINTF("-- yolo2 decoder init\n");
|
||||
err = self->yolo2_decoder->init(self->yolo2_decoder, (void *)&self->yolo2_config);
|
||||
if (err != LIBMAIX_ERR_NONE)
|
||||
{
|
||||
LIBMAIX_INFO_PRINTF("decoder init error:%d\n", err);
|
||||
return -1;
|
||||
}
|
||||
|
||||
err = self->nn->forward(self->nn, &self->input, &self->out_fmap);
|
||||
if (err != LIBMAIX_ERR_NONE)
|
||||
{
|
||||
printf("libmaix_nn forward fail: %s\n", libmaix_get_err_msg(err));
|
||||
}
|
||||
|
||||
err = self->yolo2_decoder->decode(self->yolo2_decoder, &self->out_fmap, (void *)&self->yolo2_result);
|
||||
if (err != LIBMAIX_ERR_NONE)
|
||||
{
|
||||
printf("yolo2 decode fail: %s\n", libmaix_get_err_msg(err));
|
||||
}
|
||||
if (self->yolo2_result.boxes_num > 0)
|
||||
{
|
||||
LIBMAIX_INFO_PRINTF("yolo2_result.boxes_num %d", self->yolo2_result.boxes_num);
|
||||
}
|
||||
```
|
||||
|
||||
### OpenCV
|
||||
|
||||
> 相关的函数可以去官方文档查看：[OpenCV Tutorials](https://docs.opencv.org/4.x/d9/df8/tutorial_root.html)
|
||||
|
||||
为了照顾 C 程序在 `/libmaix/components/maix_cv_image/src/libmaix_cv_image.cpp` 下对 Opencv 的函数又做了一层封装，当时还没有全面用 C++ 但现在已经全部迁移到 C++ 了。
|
||||
|
||||
可以在提供的 `libmaix/components/maix_dls831/src/dls831_uvai.cpp` 的例子中，看到是如何采用了 Opencv 实现滤波和二值化等操作。
|
||||
|
||||
```C++
|
||||
void AdaptiveThreshold(cv::Mat &src, cv::Mat &dst, double Maxval, int Subsize, double c, adaptiveMethod method = meanFilter)
|
||||
{
|
||||
|
||||
if (src.channels() > 1)
|
||||
cv::cvtColor(src, src, cv::COLOR_RGB2GRAY);
|
||||
|
||||
cv::Mat smooth;
|
||||
switch (method)
|
||||
{
|
||||
case meanFilter:
|
||||
cv::blur(src, smooth, cv::Size(Subsize, Subsize)); // 均值滤波
|
||||
break;
|
||||
case gaaussianFilter:
|
||||
cv::GaussianBlur(src, smooth, cv::Size(Subsize, Subsize), 0, 0); // 高斯滤波
|
||||
break;
|
||||
case medianFilter:
|
||||
cv::medianBlur(src, smooth, Subsize); // 中值滤波
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
smooth = smooth - c;
|
||||
src.copyTo(dst);
|
||||
for (int r = 0; r < src.rows; ++r)
|
||||
{
|
||||
const uchar *srcptr = src.ptr<uchar>(r);
|
||||
const uchar *smoothptr = smooth.ptr<uchar>(r);
|
||||
uchar *dstptr = dst.ptr<uchar>(r);
|
||||
for (int c = 0; c < src.cols; ++c)
|
||||
{
|
||||
if (srcptr[c] > smoothptr[c])
|
||||
{
|
||||
dstptr[c] = Maxval;
|
||||
}
|
||||
else
|
||||
dstptr[c] = 0;
|
||||
}
|
||||
}
|
||||
}
|
||||
// 自适应阈值 提取边缘
|
||||
AdaptiveThreshold(gray, gray, 255, 21, 10, meanFilter);`
|
||||
```
|
||||
|
||||
**前文的例子中不仅有 Opencv 的常用算法，也提供了 Opencv 的画图方法。**
|
||||
|
||||
```C++
|
||||
// 绘制十字线
|
||||
for (size_t i = 0; i < reticle_results.size(); i++)
|
||||
{
|
||||
reticle_result reticle_result = reticle_results[i];
|
||||
cv::line(bgra, Point(reticle_result.lines[0][0], reticle_result.lines[0][1]), Point(reticle_result.lines[0][2], reticle_result.lines[0][3]), Scalar(255, 0, 0, 255), 2, LINE_AA);
|
||||
cv::line(bgra, Point(reticle_result.lines[1][0], reticle_result.lines[1][1]), Point(reticle_result.lines[1][2], reticle_result.lines[1][3]), Scalar(255, 0, 0, 255), 2, LINE_AA);
|
||||
cv::circle(bgra, reticle_result.crossPoint, 5, Scalar(0, 0, 255, 255), -1, LINE_AA);
|
||||
}
|
||||
```
|
||||
### Openmv
|
||||
|
||||
当然为了更好的兼容 Openmv 玩家，我们也提供了 Openmv 的函数在 `components/third_party/imlib` 下，函数全部增加了一个 `imlib` 的前缀，其他的功能与Openmv 是一致的。
|
||||
|
||||
举个栗子：比如 Openmv 的寻找色块函数 [寻找色块 · OpenMV中文入门教程](https://book.openmv.cc/image/blob.html)
|
||||
|
||||
```C++
|
||||
image.find_blobs(thresholds, roi=Auto, x_stride=2, y_stride=1, invert=False,
|
||||
area_threshold=10, pixels_threshold=10, merge=False, margin=0,
|
||||
threshold_cb=None, merge_cb=None)
|
||||
```
|
||||
|
||||
根据上面的链接描述，我们再看看 `imlib` 中的使用几乎一模一样。
|
||||
|
||||
```C++
|
||||
void imlib_find_blobs(list_t *out, image_t *ptr, rectangle_t *roi, unsigned int x_stride, unsigned int y_stride,
|
||||
list_t *thresholds, bool invert, unsigned int area_threshold, unsigned int pixels_threshold,
|
||||
bool merge, int margin,
|
||||
bool (*threshold_cb)(void*,find_blobs_list_lnk_data_t*), void *threshold_cb_arg,
|
||||
bool (*merge_cb)(void*,find_blobs_list_lnk_data_t*,find_blobs_list_lnk_data_t*), void *merge_cb_arg,
|
||||
unsigned int x_hist_bins_max, unsigned int y_hist_bins_max)
|
||||
|
||||
imlib_find_blobs(&out, img, &roi, x_stride, y_stride, &thresholds, invert, area_threshold,
|
||||
pixels_threshold, merge, margin, NULL, NULL, NULL, NULL, x_hist_bins_max, y_hist_bins_max);
|
||||
```
|
||||
|
||||
再看看最经典的巡线功能中最重要的识别直线函数：[find_lines 识别直线 · OpenMV中文入门教程](https://book.openmv.cc/example/09-Feature-Detection/find-lines.html)
|
||||
|
||||
```C++
|
||||
imlib_find_lines(&out, img, &roi, x_stride, y_stride, threshold, theta_margin, rho_margin);
|
||||
```
|
||||
|
||||
在上面提供的例子中就采用了寻找直线的功能。
|
||||
|
||||
### LVGL
|
||||
|
||||
LVGL（**注意提供的版本为LVGL7**）的相关函数资料：[百问网 LVGL 中文教程手册文档](http://lvgl.100ask.net/7.11/)
|
||||
|
||||
## 外设
|
||||
|
||||
接下来我们来认识一下外设以及相关的使用方法，例如串口、SPI、PWM、IIC 等。
|
||||
|
||||
### 串口
|
||||
|
||||
串口的使用非常的简单，我们先设置好波特率，数据位，停止位等参数，打开串口后挂载到 `select` 中，当串口收到数据后会打印一个字节出来。
|
||||
|
||||
```C++
|
||||
int ret = 0;
|
||||
uart_t uart_dev_parm = {
|
||||
.baud = 115200,
|
||||
.data_bits = 8,
|
||||
.stop_bits = 1,
|
||||
.parity = 'n'};
|
||||
dls831->dev_ttyS1 = linux_uart_init((char *)"/dev/ttyS1", &uart_dev_parm);
|
||||
if (dls831->dev_ttyS1 < 0)
|
||||
{
|
||||
perror(" uart /dev/ttyS1 open err!");
|
||||
abort();
|
||||
}
|
||||
FD_ZERO(&dls831->readfd);
|
||||
write(dls831->dev_ttyS1, "dls831!\r\n", sizeof("dls831!\r\n"));I2C
|
||||
```
|
||||
|
||||
```C++
|
||||
// serial
|
||||
FD_SET(dls831->dev_ttyS1, &dls831->readfd);
|
||||
ret = select(dls831->dev_ttyS1 + 1, &dls831->readfd, NULL, NULL, &dls831->timeout);
|
||||
if (ret != -1 && FD_ISSET(dls831->dev_ttyS1, &dls831->readfd))
|
||||
{
|
||||
char tmp[2] = {0};
|
||||
int readByte = read(dls831->dev_ttyS1, &tmp, 1);
|
||||
if (readByte != -1)
|
||||
{
|
||||
printf("readByte %d %X\n", readByte, tmp);
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
### SPI
|
||||
|
||||
以 WS2812 为例，首先搞清楚设备的 SPI 的四种时序模式：[一文搞懂 spi 协议 4 种模式时序](https://zhuanlan.zhihu.com/p/386787861)
|
||||
|
||||
```C++
|
||||
#define WS2812_SPI_DEVICE "/dev/spidev1.0"
|
||||
unsigned char spi_init()
|
||||
{
|
||||
//初始化
|
||||
int i;
|
||||
_ws2812_fd = open (WS2812_SPI_DEVICE, O_RDWR);
|
||||
printf("\r\n*****ws2812 open success******\r\n"); /* open spi device */
|
||||
if ((_ws2812_fd) < 0) /* check result */
|
||||
{
|
||||
printf("spi: open failed.\n"); /* open failed */
|
||||
return 1; /* return error */
|
||||
}
|
||||
else
|
||||
{
|
||||
i = SPI_MODE_3; /* set mode */
|
||||
if (ioctl(_ws2812_fd, SPI_IOC_WR_MODE, &i) < 0) /* config write mode */
|
||||
{
|
||||
printf("spi: write mode set failed.\n"); /* write mode set failed */
|
||||
return 1; /* return error */
|
||||
}
|
||||
if (ioctl(_ws2812_fd, SPI_IOC_RD_MODE, &i) < 0) /* config read mode */
|
||||
{
|
||||
printf("spi: read mode set failed.\n"); /* read mode set failed */
|
||||
return 1; /* return error */
|
||||
}
|
||||
i = 20000000; /* set spi frequence */
|
||||
if (ioctl(_ws2812_fd, SPI_IOC_WR_MAX_SPEED_HZ, &i) < 0) /* set write max frequence */
|
||||
{
|
||||
printf("spi: set spi write speed failed.\n"); /* set spi write speed failed */
|
||||
return 1; /* return error */
|
||||
}
|
||||
if (ioctl(_ws2812_fd, SPI_IOC_RD_MAX_SPEED_HZ, &i) < 0) /* set read max frequence */
|
||||
{
|
||||
printf("spi: set spi read speed failed.\n"); /* set spi read speed failed */
|
||||
return 1; /* return error */
|
||||
}
|
||||
i = 0;
|
||||
if (ioctl(_ws2812_fd, SPI_IOC_WR_LSB_FIRST, &i) < 0) /* set write MSB first */
|
||||
{
|
||||
printf("spi: set spi write msb first failed.\n"); /* set spi write msb first failed */
|
||||
return 1; /* return error */
|
||||
}
|
||||
if (ioctl(_ws2812_fd, SPI_IOC_RD_LSB_FIRST, &i) < 0) /* set read MSB first */
|
||||
{
|
||||
printf("spi: set spi read msb first failed.\n"); /* set spi read msb first failed */
|
||||
return 1; /* return error */
|
||||
}
|
||||
i = 8; /* set 8 bits */
|
||||
if (ioctl(_ws2812_fd, SPI_IOC_WR_BITS_PER_WORD, &i) < 0) /* set write bits */
|
||||
{
|
||||
printf("spi: set spi wirte 8 bit failed.\n"); /* set spi wirte 8 bit failed */
|
||||
return 1; /* return error */
|
||||
}
|
||||
if (ioctl(_ws2812_fd, SPI_IOC_RD_BITS_PER_WORD, &i) < 0) /* set read bits */
|
||||
{
|
||||
printf("spi: set spi read 8 bit failed.\n"); /* set spi read 8 bit failed */
|
||||
return 1; /* return error */
|
||||
}
|
||||
return 0; /* success return 0 */
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
```C++
|
||||
unsigned char spi_write_data(unsigned char *buf, uint16_t len)
|
||||
{
|
||||
struct spi_ioc_transfer k;
|
||||
int l;
|
||||
// ws2812b_interface_debug_print("\r\n***const char *const fmt***\r\n");
|
||||
memset(&k, 0, sizeof(k)); /* clear ioc transfer */
|
||||
k.tx_buf = (unsigned long) buf; /* set tx buffer */
|
||||
k.len = len; /* set tx length */
|
||||
k.cs_change = 0; /* set cs change */
|
||||
l = ioctl(_ws2812_fd, SPI_IOC_MESSAGE(1), &k); /* send data */
|
||||
if (l != len) /* check length */
|
||||
{
|
||||
printf("spi: length check error.\n"); /* length check error */
|
||||
|
||||
return 1; /* return error */
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
// spi.xfer(tx, int(4/1.05e-6))
|
||||
unsigned char spi_xfer_data(unsigned char *buf, uint16_t len, int clk)
|
||||
{
|
||||
struct spi_ioc_transfer k;
|
||||
int l;
|
||||
// ws2812b_interface_debug_print("\r\n***const char *const fmt***\r\n");
|
||||
memset(&k, 0, sizeof(k)); /* clear ioc transfer */
|
||||
k.tx_buf = (unsigned long) buf; /* set tx buffer */
|
||||
k.len = len; /* set tx length */
|
||||
k.cs_change = 0; /* set cs change */
|
||||
k.speed_hz = clk; /* set spi clk */
|
||||
k.bits_per_word = 8;
|
||||
l = ioctl(_ws2812_fd, SPI_IOC_MESSAGE(1), &k); /* send data */
|
||||
if (l != len) /* check length */
|
||||
{
|
||||
printf("spi: length check error.\n"); /* length check error */
|
||||
|
||||
return 1; /* return error */
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
```
|
||||
|
||||
读写数据的函数编写好后，就可以愉快的封装 WS2812 的亮灯程序啦！
|
||||
|
||||
```C++
|
||||
uint8_t _set_rgbs_color(uint8_t *color_buf)
|
||||
{
|
||||
uint8_t ret = 0;
|
||||
uint8_t i = 0;
|
||||
uint8_t j = 0;
|
||||
uint8_t k = 0;
|
||||
uint8_t tx[25] = {0};
|
||||
uint8_t rgb[3] = {0};
|
||||
uint8_t byte = 0;
|
||||
uint8_t ibit = 0;
|
||||
uint8_t *p = color_buf;
|
||||
for (i = 0; i < 2; i++)
|
||||
{
|
||||
rgb[0] = p[0];
|
||||
rgb[1] = p[1];
|
||||
rgb[2] = p[2];
|
||||
for (j = 0; j < 3; j++)
|
||||
{
|
||||
|
||||
uint8_t colorBit[4] = {0};
|
||||
byte = rgb[j];
|
||||
for (ibit = 0; ibit < 4; ibit++)
|
||||
{
|
||||
colorBit[ibit] = (((byte >> (2 * ibit + 1)) & 1) * 0x60 + ((byte >> (2 * ibit + 0)) & 1) * 0x06 + 0x88);
|
||||
}
|
||||
|
||||
tx[k++] = colorBit[3];
|
||||
tx[k++] = colorBit[2];
|
||||
tx[k++] = colorBit[1];
|
||||
tx[k++] = colorBit[0];
|
||||
}
|
||||
p += 3;
|
||||
}
|
||||
tx[0] &=0x0f;
|
||||
// spi need clear head high level
|
||||
tx[0] |=0x40;
|
||||
tx[24] = 0b1000000; // spi need clear end high level
|
||||
|
||||
ret = spi_xfer_data(tx, 25, (int)(4/1.05e-6));
|
||||
return ret;
|
||||
}
|
||||
```
|
||||
|
||||
### PWM
|
||||
|
||||
通过写寄存器的方式直接对三个 PWM 进行初始化操作。
|
||||
|
||||
```C++
|
||||
/*pwm*/
|
||||
void pwm_init()//刚开始初始化50HZ 2.5%占空比
|
||||
{
|
||||
|
||||
_pwm_init("PH6", 100, 2.5/100);//为了初始化引脚
|
||||
_pwm_init("PH7", 100, 2.5/100);//为了初始化引脚
|
||||
_pwm_init("PH8", 100, 2.5/100);//为了初始化引脚
|
||||
|
||||
usleep(100);
|
||||
chdir("/sys/class/sunxi_dump");
|
||||
system("echo 0x0300A080 0x00 > write"); //PWM DISABLE
|
||||
system("echo 0x0300A040 0x00 > write");//PWM CLOCK DISABLE
|
||||
|
||||
system("echo 0x0300A028 0x00 > write");//PWM45
|
||||
system("echo 0x0300A02C 0x00 > write");//PWM67 CLOCK CONFIG PCCR67 24M 不分频
|
||||
system("echo 0x0300A030 0x00 > write");//PWM89 CLOCK CONFIG PCCR89 24M 不分频
|
||||
system("echo 0x0300A040 0x1D0 > write");//PWM Clock Gating 打开PWM4 6,7,8时钟
|
||||
|
||||
|
||||
system("echo 0x0300A180 0x107 > write");//PWM4
|
||||
system("echo 0x0300A184 0xea6005dc > write");//PWM
|
||||
system("echo 0x0300A188 0x00 > write");//PWM
|
||||
|
||||
system("echo 0x0300A1C0 0x107 > write");//PWM6配置8分频，循环模式
|
||||
system("echo 0x0300A1C4 0xea6005dc > write");//PWM6初始波形定义
|
||||
system("echo 0x0300A1C8 0x00 > write");//PWM6初始计数值为0
|
||||
|
||||
system("echo 0x0300A1E0 0x107 > write");//PWM7配置8分频，循环模式
|
||||
system("echo 0x0300A1E4 0xea6005dc > write");//PWM7初始波形定义
|
||||
system("echo 0x0300A1E8 0x00 > write");//PWM7初始计数值为0
|
||||
|
||||
system("echo 0x0300A200 0x107 > write");//PWM8配置8分频，循环模式
|
||||
system("echo 0x0300A204 0xea6005dc > write");//PWM8初始波形定义
|
||||
system("echo 0x0300A208 0x00 > write");//PWM8初始计数值为0
|
||||
|
||||
system("echo 0x0300A080 0x1D0 > write");//ENABLE PWM4 6,7,8
|
||||
}
|
||||
|
||||
void pwm_deinit()
|
||||
{
|
||||
chdir("/sys/class/sunxi_dump");
|
||||
system("echo 0x0300A080 0x00 > write");
|
||||
system("echo 0x0300A040 0x00 > write");
|
||||
_pwm_deinit("PH6");
|
||||
_pwm_deinit("PH7");
|
||||
_pwm_deinit("PH8");
|
||||
}
|
||||
|
||||
//设置PWM输出的频率，占空比，最大30KHZ
|
||||
//0--pwm6
|
||||
//1--pwm7
|
||||
//2--pwm8
|
||||
void pwm_set(uint8_t pwm_id,uint32_t freq,float duty)
|
||||
{
|
||||
char data_buf[128];
|
||||
unsigned int reg_freq_count = 0;
|
||||
unsigned int reg_duty_count = 0;
|
||||
unsigned int reg_data = 0;
|
||||
memset(data_buf,0,sizeof(data_buf));
|
||||
|
||||
reg_freq_count = (int)(3000000/freq);
|
||||
reg_duty_count = (int)(reg_freq_count*duty/100);
|
||||
reg_data = (reg_freq_count<<16)+reg_duty_count;
|
||||
switch (pwm_id)
|
||||
{
|
||||
case 0:
|
||||
sprintf(data_buf,"echo 0x0300A1C4 0x%x > write",reg_data);
|
||||
break;
|
||||
case 1:
|
||||
sprintf(data_buf,"echo 0x0300A1E4 0x%x > write",reg_data);
|
||||
break;
|
||||
case 2:
|
||||
sprintf(data_buf,"echo 0x0300A204 0x%x > write",reg_data);
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
```
|
||||
|
||||
通过封装好的 `pwm_set` 就可以简单的控制三个 `pwm` 的输出频率了。
|
||||
|
||||
### IIC
|
||||
|
||||
以 MPU6050 为例，首先查询你所用芯片的寄存器手册，配置相关寄存器设置。
|
||||
|
||||
```C++
|
||||
#define WHO_AM_I_REG 0x75
|
||||
#define POWR_MGNT_REG 0x6B
|
||||
#define ACCL_CONF_REG 0x1C
|
||||
#define GYRO_CONF_REG 0x1B
|
||||
#define SMPL_DVDR_REG 0x19
|
||||
#define CONFIG_REG 0x1A
|
||||
#define ACCL_XH_REG 0x3B
|
||||
#define ACCL_XL_REG 0x3C
|
||||
#define ACCL_YH_REG 0x3D
|
||||
#define ACCL_YL_REG 0x3E
|
||||
#define ACCL_ZH_REG 0x3F
|
||||
#define ACCL_ZL_REG 0x40
|
||||
#define GYRO_XH_REG 0x43
|
||||
#define GYRO_XL_REG 0x44
|
||||
#define GYRO_YH_REG 0x45
|
||||
#define GYRO_YL_REG 0x46
|
||||
#define GYRO_ZH_REG 0x47
|
||||
#define GYRO_ZL_REG 0x48
|
||||
#define TEMP_HI_REG 0x41
|
||||
#define TEMP_LO_REG 0x42
|
||||
#define FIFO EN_REG 0x23
|
||||
#define FIFO_CH_REG 0x72
|
||||
#define FIFO_CL_REG 0x73
|
||||
#define FIFO_REG 0x74
|
||||
|
||||
char i2c_write(int file, uint8_t address, uint8_t command, uint8_t value)
|
||||
{
|
||||
uint8_t buf[2] = {command, value};
|
||||
struct i2c_msg msgs[1] = {
|
||||
{
|
||||
.addr = address,
|
||||
.flags = 0,
|
||||
.len = 2,
|
||||
.buf = buf,
|
||||
},
|
||||
};
|
||||
struct i2c_rdwr_ioctl_data data = {
|
||||
.msgs = msgs,
|
||||
.nmsgs = 1,
|
||||
};
|
||||
if (ioctl(file, I2C_RDWR, &data) < 0) {
|
||||
return -1;
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
char i2c_read(int file, uint8_t address, uint8_t command)
|
||||
{
|
||||
uint8_t buf[1];
|
||||
struct i2c_msg msgs[2] = {
|
||||
{
|
||||
.addr = address,
|
||||
.flags = 0,
|
||||
.len = 1,
|
||||
.buf = &command,
|
||||
},
|
||||
{
|
||||
.addr = address,
|
||||
.flags = I2C_M_RD,
|
||||
.len = 1,
|
||||
.buf = buf,
|
||||
},
|
||||
};
|
||||
struct i2c_rdwr_ioctl_data data = {
|
||||
.msgs = msgs,
|
||||
.nmsgs = 2,
|
||||
};
|
||||
if (ioctl(file, I2C_RDWR, &data) < 0) {
|
||||
return -1;
|
||||
}
|
||||
return buf[0];
|
||||
}
|
||||
|
||||
void mpu6050_init(uint8_t i2c_number, uint8_t slave_addr)
|
||||
{
|
||||
file = open("/dev/i2c-2", O_RDWR);
|
||||
if (file < 0) {
|
||||
printf("I2C %hhu Not Found\n", i2c_number);
|
||||
exit(1);
|
||||
}
|
||||
i2c_address = slave_addr;
|
||||
if (ioctl(file, I2C_SLAVE, i2c_address) < 0) {
|
||||
close(file);
|
||||
printf("I2C Slave Not Found");
|
||||
exit(1);
|
||||
}
|
||||
i2c_write(file,slave_addr,POWR_MGNT_REG, 0x00);
|
||||
i2c_write(file,slave_addr,ACCL_CONF_REG, 0x01);
|
||||
i2c_write(file,slave_addr,GYRO_CONF_REG, 0x18);
|
||||
i2c_write(file,slave_addr,SMPL_DVDR_REG, 0x07);
|
||||
i2c_write(file,slave_addr,CONFIG_REG, 0x06);
|
||||
}
|
||||
```
|
||||
|
||||
在初始化 mpu6050 时需先查阅原理图，根据 `M2DCOK` 的原理图可得知 `IIC` 的 `PH11` 和 `PH12` 分别是 `SCL` 和 `SDA` 两根信号线，且对应的设备是 `/dev/i2c-2`，这样看来 `i2c_number` 就应该为 `/dev/i2c-2`。
|
||||
|
||||
**第一步**：我们可以通过命令去查找 `mpu6050` 在 `IIC` 上的地址
|
||||
|
||||
```shell
|
||||
i2cdetetc -y 2
|
||||
```
|
||||
|
||||
|
||||
|
||||
>我们可从上图得知有两个地址：62 以及 68，62 是板卡上自带的三轴传感器，而 68 则是我们的 mpu6050 挂载在 IIC 上的地址。
|
||||
|
||||
**第二步**：拿到地址后也可以通过命令直接去查看 mpu6050 中寄存器的值
|
||||
|
||||
```shell
|
||||
i2cdump -y 2 0x68
|
||||
```
|
||||
|
||||
|
||||
|
||||
**第三步**：分别取出高八位和低八位的值后，拼接起来后再通过一层换算才能得到真实的数据，以加速度、角速度和温度为例，打印出换算后的个值。
|
||||
|
||||
```C++
|
||||
int16_t twos_complement(uint8_t higher_byte, uint8_t lower_byte)
|
||||
{
|
||||
uint16_t word = (uint16_t)((higher_byte << 8) | lower_byte);
|
||||
int16_t signed_word;
|
||||
if((word & 0x8000) != 0)
|
||||
{
|
||||
word = ~word + 0x0001;
|
||||
signed_word = (int16_t)(word * -1);
|
||||
return signed_word;
|
||||
}
|
||||
else
|
||||
{
|
||||
signed_word = (int16_t)word;
|
||||
return signed_word;
|
||||
}
|
||||
}
|
||||
mpu6050_init(2, 0x68);
|
||||
axh = i2c_read(file,i2c_address,ACCL_XH_REG);
|
||||
axl = i2c_read(file,i2c_address,ACCL_XL_REG);
|
||||
ayh = i2c_read(file,i2c_address,ACCL_YH_REG);
|
||||
ayl = i2c_read(file,i2c_address,ACCL_YL_REG);
|
||||
azh = i2c_read(file,i2c_address,ACCL_ZH_REG);
|
||||
azl = i2c_read(file,i2c_address,ACCL_ZL_REG);
|
||||
gxh = i2c_read(file,i2c_address,GYRO_XH_REG);
|
||||
gxl = i2c_read(file,i2c_address,GYRO_XL_REG);
|
||||
gyh = i2c_read(file,i2c_address,GYRO_YH_REG);
|
||||
gyl = i2c_read(file,i2c_address,GYRO_YL_REG);
|
||||
gzh = i2c_read(file,i2c_address,GYRO_ZH_REG);
|
||||
gzl = i2c_read(file,i2c_address,GYRO_ZL_REG);
|
||||
th = i2c_read(file,i2c_address,TEMP_HI_REG);
|
||||
tl = i2c_read(file,i2c_address,TEMP_LO_REG);
|
||||
|
||||
axw = twos_complement(axh, axl);
|
||||
ayw = twos_complement(ayh, ayl);
|
||||
azw = twos_complement(azh, azl);
|
||||
gxw = twos_complement(gxh, gxl);
|
||||
gyw = twos_complement(gyh, gyl);
|
||||
gzw = twos_complement(gzh, gzl);
|
||||
tw = twos_complement(th, tl);
|
||||
```
|
||||
|
||||
最后打印结果如下图：
|
||||
|
||||
|
||||
|
||||
Reference in New Issue
Block a user