.. _quickref: OpenMV Cam快速参考 ================================= 更详细的中文教程请参见： `OpenMV官方中文教程-OpenMV嵌入式图像处理 `_ .. image:: OpenMV4-Plus-pinout.jpg :alt: OpenMV Cam H7 Plus OV5640 Pinout :width: 700px .. image:: cam-v4-pinout.png :alt: OpenMV Cam H7 OV7725 Pinout :width: 700px .. image:: pinout.png :alt: OpenMV Cam pinout :width: 700px 通用硬件控制 --------------------- See :mod:`pyb`. :: import pyb pyb.repl_uart(pyb.UART(3, 9600, timeout_char=1000)) # duplicate REPL on UART(3) 在UART（3）上重置REPL pyb.wfi() # pause CPU, waiting for interrupt 暂停cpu，等待中断 pyb.stop() # stop CPU, waiting for external interrupt 停止cpu，等待外部中断 延时和时间 ---------------- Use the :mod:`time ` module:: import utime time.sleep(1) # sleep for 1 second 延时1s time.sleep_ms(500) # sleep for 500 milliseconds 延时500ms time.sleep_us(10) # sleep for 10 microseconds 延时10us start = time.ticks_ms() # get value of millisecond counter 获取毫秒计数器的值 delta = time.ticks_diff(time.ticks_ms(), start) # compute time difference 计算时间差 LED 发光二极管 ------------- See :ref:`pyb.LED `. :: from pyb import LED led = LED(1) # 红色 led led.toggle() led.on() led.off() 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 :ref:`pyb.Pin `. :: from pyb import Pin p_out = Pin('P7', Pin.OUT_PP) p_out.high() p_out.low() p_in = Pin('P8', Pin.IN, Pin.PULL_UP) p_in.value() # get value, 0 or 1 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 ------------- 见 :ref:`pyb.Servo `. :: from pyb import Servo s1 = Servo(1) # servo on position 1 (P7) 位置1的servo（P7） s1.angle(45) # move to 45 degrees 移动到45度 s1.angle(-60, 1500) # move to -60 degrees in 1500ms 在1500ms内移动到-60度 s1.speed(50) # for continuous rotation servos 连续旋转舵机 Servo Pinout: * Servo(1) -> P7 (PD12) * Servo(2) -> P8 (PD13) * Servo(3) -> P9 (PD14) (OpenMV Cam M7/H7 Only) 外部中断 ------------------- See :ref:`pyb.ExtInt `. :: from pyb import Pin, ExtInt callback = lambda e: print("intr") ext = ExtInt(Pin('P7'), ExtInt.IRQ_RISING, Pin.PULL_NONE, callback) 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 :ref:`pyb.Timer `. :: from pyb import Timer tim = Timer(4, freq=1000) tim.counter() # get counter value 获取计时器值 tim.freq(0.5) # 0.5 Hz tim.callback(lambda t: pyb.LED(1).toggle()) 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 :ref:`pyb.Pin ` and :ref:`pyb.Timer `. :: from pyb import Pin, Timer p = Pin('P7') # P7 has TIM4, CH1 tim = Timer(4, freq=1000) ch = tim.channel(1, Timer.PWM, pin=p) ch.pulse_width_percent(50) 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) ---------------------------------- 见 :ref:`pyb.Pin ` 和 :ref:`pyb.ADC `. :: from pyb import Pin, ADC adc = ADC(Pin('P6')) adc.read() # read value, 0-4095 读取值，0-4095 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) ---------------------------------- 见 :ref:`pyb.Pin ` and :ref:`pyb.DAC `. :: from pyb import Pin, DAC dac = DAC('P6') dac.write(120) # 输出介于0-255 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 :ref:`pyb.UART `. :: from pyb import UART uart = UART(3, 9600, timeout_char=1000) uart.write('hello') uart.read(5) # read up to 5 bytes 读取5个字节 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 ------- 见 :ref:`pyb.SPI `. :: from pyb import SPI spi = SPI(2, SPI.MASTER, baudrate=1000000, polarity=1, phase=0) spi.send('hello') spi.recv(5) # receive 5 bytes on the bus 在总线上接收5个字节 spi.send_recv('hello') # send a receive 5 bytes 发送5个字节 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 :ref:`pyb.I2C `. :: from pyb import I2C i2c = I2C(2, I2C.MASTER, baudrate=100000) i2c.scan() # returns list of slave addresses 返回一个从属设备地址的列表 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 i2c.recv(5, 0x42) # receive 5 bytes from slave 从从属设备上接收5个字节 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 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 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)