road detection using blobs and perspective correction

1 files changed, 46 insertions, 0 deletions

diff --git a/nicla/uart.py b/nicla/uart.py
new file mode 100644
index 0000000..276f6d1
--- /dev/null
+++ b/nicla/uart.py
@@ -0,0 +1,46 @@
+from pyb import Pin, delay, udelay
+
+zumo_tx = Pin("PA10", Pin.IN)
+zumo_rx = Pin("PA9", Pin.OUT_PP)
+
+def uart_send(byte):
+    zumo_rx.value(0)
+    udelay(1000)
+    for x in range(8):
+        bit = (byte & (1 << 7)) >> 7
+        byte <<= 1
+        zumo_rx.value(bit)
+        udelay(1000)
+    zumo_rx.value(1)
+
+__uart_buffer = bytearray()
+def uart_flush():
+    global __uart_buffer
+    print("UART FLUSH START")
+    for byte in __uart_buffer:
+        print(f"BYTE 0x{byte:02X}")
+        uart_send(byte) # dit is de oplossing
+        udelay(2000)
+        uart_send(byte)
+        udelay(2000)
+        uart_send(byte)
+    __uart_buffer = bytearray()
+
+def tx_irq_handler(pin):
+    if pin is zumo_tx:
+        uart_flush()
+
+zumo_tx.irq(trigger = Pin.IRQ_RISING, handler = tx_irq_handler)
+
+def uart_buffer(i):
+    global __uart_buffer
+    __uart_buffer.append(i)
+
+if __name__ == "__main__":
+    while True: # test commands
+        uart_buffer(0x29)
+        uart_buffer(0x70)
+        delay(1000)
+        uart_buffer(0xff)
+        uart_buffer(0x20)
+        delay(1000)