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- STM32 HAL庫快速實戰【一】《32點燈》--基於黑龍江科技大學機電工業機器人實訓 - USTHzhanglu - 博客園 (cnblogs.com)
- STM32 HAL庫快速實戰【三】《pwm控制舵機》--基於黑龍江科技大學機電工業機器人實訓 - USTHzhanglu - 博客園 (cnblogs.com)
- STM32 HAL庫快速實戰【四】《串口簡單使用》--基於黑龍江科技大學機電工業機器人實訓 - USTHzhanglu - 博客園 (cnblogs.com)
- STM32 HAL庫快速實戰【五】《控制串口電機》--基於黑龍江科技大學機電工業機器人實訓 - USTHzhanglu - 博客園 (cnblogs.com)
- STM32 HAL庫快速實戰【六】《藍牙控制》--基於黑龍江科技大學機電工業機器人實訓 - USTHzhanglu - 博客園 (cnblogs.com)
- STM32 HAL庫快速實戰【七】《機械臂控制》--基於黑龍江科技大學機電工業機器人實訓 - USTHzhanglu - 博客園 (cnblogs.com)
- STM32 HAL庫快速實戰【八】《聲音傳感器的使用》--基於黑龍江科技大學機電工業機器人實訓 - USTHzhanglu - 博客園 (cnblogs.com)
- STM32 HAL庫快速實戰【九】《超聲波傳感器的使用以及自由避障》--基於黑龍江科技大學機電工業機器人實訓 - USTHzhanglu - 博客園 (cnblogs.com)
- STM32 HAL庫快速實戰【十】《顏色傳感器的使用》--基於黑龍江科技大學機電工業機器人實訓 - USTHzhanglu - 博客園 (cnblogs.com)
模塊介紹
TCS34725是一款低成本，高性價比的RGB全彩顏色識別傳感器，傳感器通過光學感應來識別物體的表面顏色。支持紅、綠、藍(RGB)三基色，支持明光感應，可以輸出對應的具體數值，幫助您還原顏色本真。 為了提高精度，防止周邊環境干擾，我們特意在傳感器底部添加了一塊紅外遮光片，最大程度減小了入射光的紅外頻譜成份，讓顏色管理更加准確。板載自帶高亮LED，可以讓傳感器在低環境光的情況下依然能夠正常使用，實現“補光”的功能。模塊采用I2C通信。
接線
直接接到SD1，SA1接口上。
CubeMX配置
采用GPIO模擬I2C。PA0,PA1都配置成推挽輸出，高速模式，默認無輸出。
點擊查看具體配置
編寫代碼
該模塊采用IIC協議通訊，需要大量的地址讀寫操作，這里不一一贅述，這里直接使用從眾靈科技官方代碼移植的驅動代碼。
新建color.c和color.h，將一下驅動代碼復制進對應文件，添加進工程。
color.c
#include "color.h"
COLOR_RGBC rgb;
COLOR_HSL hsl;
/******************************************************************************/
void delay_s(uint32_t i)
{
while(i--);
}
/******************************************************************************/
void TCS34725_I2C_Init()
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
GPIO_InitStruct.Pin = TCS_SDA_Pin|TCS_SCL_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
HAL_GPIO_WritePin(GPIOA, TCS_SDA_Pin|TCS_SCL_Pin, GPIO_PIN_SET);
}
/*********************************************/
void TCS34725_I2C_Start()
{
TCS_SDA_OUT();
TCS_SDA_H;
TCS_SCL_H;
delay_s(40);//delay_us(4);
TCS_SDA_L;
delay_s(40);//delay_us(4);
TCS_SCL_L;
}
/*********************************************/
void TCS34725_I2C_Stop()
{
TCS_SDA_OUT();
TCS_SCL_L;
TCS_SDA_L;
delay_s(40);//delay_us(4);
TCS_SCL_H;
TCS_SDA_H;
delay_s(40);//delay_us(4);
}
/*********************************************/
//返回值：1，接收應答失敗
// 0，接收應答成功
uint8_t TCS34725_I2C_Wait_ACK()
{
uint32_t t=0;
TCS_SDA_IN();//SDA設置為輸入
TCS_SDA_H;
delay_s(10);//delay_us(1);
TCS_SCL_H;
delay_s(10);//delay_us(1);
while(TCS_SDA_READ)
{
t++;
if(t > 250)
{
TCS34725_I2C_Stop();
return 1;
}
}
TCS_SCL_L;
return 0;
}
/*********************************************/
//產生ACK應答
void TCS34725_I2C_ACK()
{
TCS_SCL_L;
TCS_SDA_OUT();//sda線輸出
TCS_SDA_L;
delay_s(20);//delay_us(2);
TCS_SCL_H;
delay_s(20);//delay_us(2);
TCS_SCL_L;
}
/*********************************************/
//不產生ACK應答
void TCS34725_I2C_NACK()
{
TCS_SCL_L;
TCS_SDA_OUT();//sda線輸出
TCS_SDA_H;
delay_s(20);//delay_us(2);
TCS_SCL_H;
delay_s(20);//delay_us(2);
TCS_SCL_L;
}
/*********************************************/
//I2C發送一個字節
void TCS34725_I2C_Send_Byte(uint8_t byte)
{
uint8_t i;
TCS_SDA_OUT();//sda線輸出
TCS_SCL_L;//拉低時鍾開始數據傳輸
for(i = 0; i < 8; i++)
{
if(((byte&0x80)>>7)==1)TCS_SDA_H;
else
TCS_SDA_L;
byte <<= 1;
delay_s(20);//delay_us(2);
TCS_SCL_H;
delay_s(20);//delay_us(2);
TCS_SCL_L;
delay_s(20);//delay_us(2);
}
}
/*********************************************/
//讀1個字節，ack=1時，發送ACK，ack=0，發送nACK
uint8_t TCS34725_I2C_Read_Byte(uint8_t ack)
{
uint8_t i,receive = 0;
TCS_SDA_IN();
for(i = 0; i < 8; i++)
{
TCS_SCL_L;
delay_s(20);//delay_us(2);
TCS_SCL_H;
receive <<= 1;
if(TCS_SDA_READ) receive++;
delay_s(10);//delay_us(1);
}
if (!ack) TCS34725_I2C_NACK();//發送nACK
else TCS34725_I2C_ACK(); //發送ACK
return receive;
}
/*********************************************/
/*******************************************************************************
* @brief Writes data to a slave device.
*
* @param slaveAddress - Adress of the slave device.
* @param dataBuffer - Pointer to a buffer storing the transmission data.
* @param bytesNumber - Number of bytes to write.
* @param stopBit - Stop condition control.
* Example: 0 - A stop condition will not be sent;
* 1 - A stop condition will be sent.
*******************************************************************************/
void TCS34725_I2C_Write(uint8_t slaveAddress, uint8_t* dataBuffer,uint8_t bytesNumber, uint8_t stopBit)
{
uint8_t i = 0;
TCS34725_I2C_Start();
TCS34725_I2C_Send_Byte((slaveAddress << 1) | 0x00); //發送從機地址寫命令
TCS34725_I2C_Wait_ACK();
for(i = 0; i < bytesNumber; i++)
{
TCS34725_I2C_Send_Byte(*(dataBuffer + i));
TCS34725_I2C_Wait_ACK();
}
if(stopBit == 1) TCS34725_I2C_Stop();
}
/*******************************************************************************
* @brief Reads data from a slave device.
*
* @param slaveAddress - Adress of the slave device.
* @param dataBuffer - Pointer to a buffer that will store the received data.
* @param bytesNumber - Number of bytes to read.
* @param stopBit - Stop condition control.
* Example: 0 - A stop condition will not be sent;
* 1 - A stop condition will be sent.
*******************************************************************************/
void TCS34725_I2C_Read(uint8_t slaveAddress, uint8_t* dataBuffer, uint8_t bytesNumber, uint8_t stopBit)
{
uint8_t i = 0;
TCS34725_I2C_Start();
TCS34725_I2C_Send_Byte((slaveAddress << 1) | 0x01); //發送從機地址讀命令
TCS34725_I2C_Wait_ACK();
for(i = 0; i < bytesNumber; i++)
{
if(i == bytesNumber - 1)
{
*(dataBuffer + i) = TCS34725_I2C_Read_Byte(0);//讀取的最后一個字節發送NACK
}
else
{
*(dataBuffer + i) = TCS34725_I2C_Read_Byte(1);
}
}
if(stopBit == 1) TCS34725_I2C_Stop();
}
/*******************************************************************************
* @brief Writes data into TCS34725 registers, starting from the selected
* register address pointer.
*
* @param subAddr - The selected register address pointer.
* @param dataBuffer - Pointer to a buffer storing the transmission data.
* @param bytesNumber - Number of bytes that will be sent.
*
* @return None.
*******************************************************************************/
void TCS34725_Write(uint8_t subAddr, uint8_t* dataBuffer, uint8_t bytesNumber)
{
uint8_t sendBuffer[10] = {0, };
uint8_t byte = 0;
sendBuffer[0] = subAddr | TCS34725_COMMAND_BIT;
for(byte = 1; byte <= bytesNumber; byte++)
{
sendBuffer[byte] = dataBuffer[byte - 1];
}
TCS34725_I2C_Write(TCS34725_ADDRESS, sendBuffer, bytesNumber + 1, 1);
}
/*******************************************************************************
* @brief Reads data from TCS34725 registers, starting from the selected
* register address pointer.
*
* @param subAddr - The selected register address pointer.
* @param dataBuffer - Pointer to a buffer that will store the received data.
* @param bytesNumber - Number of bytes that will be read.
*
* @return None.
*******************************************************************************/
void TCS34725_Read(uint8_t subAddr, uint8_t* dataBuffer, uint8_t bytesNumber)
{
subAddr |= TCS34725_COMMAND_BIT;
TCS34725_I2C_Write(TCS34725_ADDRESS, (uint8_t*)&subAddr, 1, 0);
TCS34725_I2C_Read(TCS34725_ADDRESS, dataBuffer, bytesNumber, 1);
}
/*******************************************************************************
* @brief TCS34725設置積分時間
*
* @return None
*******************************************************************************/
void TCS34725_SetIntegrationTime(uint8_t time)
{
TCS34725_Write(TCS34725_ATIME, &time, 1);
}
/*******************************************************************************
* @brief TCS34725設置增益
*
* @return None
*******************************************************************************/
void TCS34725_SetGain(uint8_t gain)
{
TCS34725_Write(TCS34725_CONTROL, &gain, 1);
}
/*******************************************************************************
* @brief TCS34725使能
*
* @return None
*******************************************************************************/
void TCS34725_Enable(void)
{
uint8_t cmd = TCS34725_ENABLE_PON;
TCS34725_Write(TCS34725_ENABLE, &cmd, 1);
cmd = TCS34725_ENABLE_PON | TCS34725_ENABLE_AEN;
TCS34725_Write(TCS34725_ENABLE, &cmd, 1);
//delay_s(600000);//delay_ms(3);//延時應該放在設置AEN之后
}
/*******************************************************************************
* @brief TCS34725失能
*
* @return None
*******************************************************************************/
void TCS34725_Disable(void)
{
uint8_t cmd = 0;
TCS34725_Read(TCS34725_ENABLE, &cmd, 1);
cmd = cmd & ~(TCS34725_ENABLE_PON | TCS34725_ENABLE_AEN);
TCS34725_Write(TCS34725_ENABLE, &cmd, 1);
}
void TCS34725_LedON(uint8_t enable) {
uint8_t cmd = 0;
TCS34725_Read(TCS34725_ENABLE, &cmd, 1);
if(enable) {
cmd |= TCS34725_ENABLE_AIEN;
} else {
cmd &= ~TCS34725_ENABLE_AIEN;
}
TCS34725_Write(TCS34725_ENABLE, &cmd, 1);
}
/*******************************************************************************
* @brief TCS34725初始化
*
* @return ID - ID寄存器中的值
*******************************************************************************/
uint8_t TCS34725_Init(uint8_t time,uint8_t gain)
{
uint8_t id=0;
uint8_t cmd_return[100];
TCS34725_I2C_Init();
TCS34725_Read(TCS34725_ID, &id, 1); //TCS34725 的 ID 是 0x44 可以根據這個來判斷是否成功連接
sprintf((char *)cmd_return, "{id=%x\r\n}", id);
usart_send_str(&huart3,cmd_return);
if(id==0x44)
{
TCS34725_SetIntegrationTime(time);
TCS34725_SetGain(gain);
TCS34725_Enable();
return 1;
}
return 0;
}
/*******************************************************************************
* @brief TCS34725獲取單個通道數據
*
* @return data - 該通道的轉換值
*******************************************************************************/
uint16_t TCS34725_GetChannelData(uint8_t reg)
{
uint8_t tmp[2] = {0,0};
uint16_t data;
TCS34725_Read(reg, tmp, 2);
data = (tmp[1] << 8) | tmp[0];
return data;
}
/*******************************************************************************
* @brief TCS34725獲取各個通道數據
*
* @return 1 - 轉換完成，數據可用
* 0 - 轉換未完成，數據不可用
*******************************************************************************/
uint8_t TCS34725_GetRawData(COLOR_RGBC *rgbc)
{
uint8_t status = TCS34725_STATUS_AVALID;
TCS34725_Read(TCS34725_STATUS, &status, 1);
if(status & TCS34725_STATUS_AVALID)
{
rgbc->c = TCS34725_GetChannelData(TCS34725_CDATAL);
rgbc->r = TCS34725_GetChannelData(TCS34725_RDATAL);
rgbc->g = TCS34725_GetChannelData(TCS34725_GDATAL);
rgbc->b = TCS34725_GetChannelData(TCS34725_BDATAL);
return 1;
}
return 0;
}
uint16_t TCS34725_GetR(void) {
// COLOR_RGBC rgbc;
uint8_t status = TCS34725_STATUS_AVALID;
TCS34725_Read(TCS34725_STATUS, &status, 1);
if(status & TCS34725_STATUS_AVALID){
return TCS34725_GetChannelData(TCS34725_RDATAL);
}
return 0;
}
uint16_t TCS34725_GetG(void) {
// COLOR_RGBC rgbc;
uint8_t status = TCS34725_STATUS_AVALID;
TCS34725_Read(TCS34725_STATUS, &status, 1);
if(status & TCS34725_STATUS_AVALID){
return TCS34725_GetChannelData(TCS34725_GDATAL);
}
return 0;
}
uint16_t TCS34725_GetB(void) {
// COLOR_RGBC rgbc;
uint8_t status = TCS34725_STATUS_AVALID;
TCS34725_Read(TCS34725_STATUS, &status, 1);
if(status & TCS34725_STATUS_AVALID){
return TCS34725_GetChannelData(TCS34725_BDATAL);
}
return 0;
}
uint16_t TCS34725_GetC(void) {
// COLOR_RGBC rgbc;
uint8_t status = TCS34725_STATUS_AVALID;
TCS34725_Read(TCS34725_STATUS, &status, 1);
if(status & TCS34725_STATUS_AVALID){
return TCS34725_GetChannelData(TCS34725_CDATAL);
}
return 0;
}
/******************************************************************************/
//RGB轉HSL
void RGBtoHSL(COLOR_RGBC *Rgb, COLOR_HSL *Hsl)
{
uint8_t maxVal,minVal,difVal;
uint8_t r = Rgb->r*100/Rgb->c; //[0-100]
uint8_t g = Rgb->g*100/Rgb->c;
uint8_t b = Rgb->b*100/Rgb->c;
maxVal = max3v(r,g,b);
minVal = min3v(r,g,b);
difVal = maxVal-minVal;
//計算亮度
Hsl->l = (maxVal+minVal)/2;
if(maxVal == minVal)//若r=g=b,灰度
{
Hsl->h = 0;
Hsl->s = 0;
}
else
{
//計算色調
if(maxVal==r)
{
if(g>=b)
Hsl->h = 60*(g-b)/difVal;
else
Hsl->h = 60*(g-b)/difVal+360;
}
else
{
if(maxVal==g)Hsl->h = 60*(b-r)/difVal+120;
else
if(maxVal==b)Hsl->h = 60*(r-g)/difVal+240;
}
//計算飽和度
if(Hsl->l<=50)Hsl->s=difVal*100/(maxVal+minVal); //[0-100]
else
Hsl->s=difVal*100/(200-(maxVal+minVal));
}
}
color.h
#ifndef __Z_COLOR_H__
#define __Z_COLOR_H__
#include "stdint.h"
#include "gpio.h"
#include "motor.h"
/******************************************************************************/
#define TCS_SCL_PIN GPIO_PIN_1
#define TCS_SDA_PIN GPIO_PIN_0
#define TCS_SDA_GPIO GPIOA
#define TCS_SCL_GPIO GPIOA
#define TCS_GPIO GPIOA
#define TCS34725_ADDRESS (0x29)
#define TCS34725_COMMAND_BIT (0x80)
#define TCS34725_ENABLE (0x00)
#define TCS34725_ENABLE_AIEN (0x10) /* RGBC Interrupt Enable */
#define TCS34725_ENABLE_WEN (0x08) /* Wait enable - Writing 1 activates the wait timer */
#define TCS34725_ENABLE_AEN (0x02) /* RGBC Enable - Writing 1 actives the ADC, 0 disables it */
#define TCS34725_ENABLE_PON (0x01) /* Power on - Writing 1 activates the internal oscillator, 0 disables it */
#define TCS34725_ATIME (0x01) /* Integration time */
#define TCS34725_WTIME (0x03) /* Wait time (if TCS34725_ENABLE_WEN is asserted) */
#define TCS34725_WTIME_2_4MS (0xFF) /* WLONG0 = 2.4ms WLONG1 = 0.029s */
#define TCS34725_WTIME_204MS (0xAB) /* WLONG0 = 204ms WLONG1 = 2.45s */
#define TCS34725_WTIME_614MS (0x00) /* WLONG0 = 614ms WLONG1 = 7.4s */
#define TCS34725_AILTL (0x04) /* Clear channel lower interrupt threshold */
#define TCS34725_AILTH (0x05)
#define TCS34725_AIHTL (0x06) /* Clear channel upper interrupt threshold */
#define TCS34725_AIHTH (0x07)
#define TCS34725_PERS (0x0C) /* Persistence register - basic SW filtering mechanism for interrupts */
#define TCS34725_PERS_NONE (0b0000) /* Every RGBC cycle generates an interrupt */
#define TCS34725_PERS_1_CYCLE (0b0001) /* 1 clean channel value outside threshold range generates an interrupt */
#define TCS34725_PERS_2_CYCLE (0b0010) /* 2 clean channel values outside threshold range generates an interrupt */
#define TCS34725_PERS_3_CYCLE (0b0011) /* 3 clean channel values outside threshold range generates an interrupt */
#define TCS34725_PERS_5_CYCLE (0b0100) /* 5 clean channel values outside threshold range generates an interrupt */
#define TCS34725_PERS_10_CYCLE (0b0101) /* 10 clean channel values outside threshold range generates an interrupt */
#define TCS34725_PERS_15_CYCLE (0b0110) /* 15 clean channel values outside threshold range generates an interrupt */
#define TCS34725_PERS_20_CYCLE (0b0111) /* 20 clean channel values outside threshold range generates an interrupt */
#define TCS34725_PERS_25_CYCLE (0b1000) /* 25 clean channel values outside threshold range generates an interrupt */
#define TCS34725_PERS_30_CYCLE (0b1001) /* 30 clean channel values outside threshold range generates an interrupt */
#define TCS34725_PERS_35_CYCLE (0b1010) /* 35 clean channel values outside threshold range generates an interrupt */
#define TCS34725_PERS_40_CYCLE (0b1011) /* 40 clean channel values outside threshold range generates an interrupt */
#define TCS34725_PERS_45_CYCLE (0b1100) /* 45 clean channel values outside threshold range generates an interrupt */
#define TCS34725_PERS_50_CYCLE (0b1101) /* 50 clean channel values outside threshold range generates an interrupt */
#define TCS34725_PERS_55_CYCLE (0b1110) /* 55 clean channel values outside threshold range generates an interrupt */
#define TCS34725_PERS_60_CYCLE (0b1111) /* 60 clean channel values outside threshold range generates an interrupt */
#define TCS34725_CONFIG (0x0D)
#define TCS34725_CONFIG_WLONG (0x02) /* Choose between short and long (12x) wait times via TCS34725_WTIME */
#define TCS34725_CONTROL (0x0F) /* Set the gain level for the sensor */
#define TCS34725_ID (0x12) /* 0x44 = TCS34721/TCS34725, 0x4D = TCS34723/TCS34727 */
#define TCS34725_STATUS (0x13)
#define TCS34725_STATUS_AINT (0x10) /* RGBC Clean channel interrupt */
#define TCS34725_STATUS_AVALID (0x01) /* Indicates that the RGBC channels have completed an integration cycle */
#define TCS34725_CDATAL (0x14) /* Clear channel data */
#define TCS34725_CDATAH (0x15)
#define TCS34725_RDATAL (0x16) /* Red channel data */
#define TCS34725_RDATAH (0x17)
#define TCS34725_GDATAL (0x18) /* Green channel data */
#define TCS34725_GDATAH (0x19)
#define TCS34725_BDATAL (0x1A) /* Blue channel data */
#define TCS34725_BDATAH (0x1B)
#define TCS34725_INTEGRATIONTIME_2_4MS 0xFF /**< 2.4ms - 1 cycle - Max Count: 1024 */
#define TCS34725_INTEGRATIONTIME_24MS 0xF6 /**< 24ms - 10 cycles - Max Count: 10240 */
#define TCS34725_INTEGRATIONTIME_50MS 0xEB /**< 50ms - 20 cycles - Max Count: 20480 */
#define TCS34725_INTEGRATIONTIME_101MS 0xD5 /**< 101ms - 42 cycles - Max Count: 43008 */
#define TCS34725_INTEGRATIONTIME_154MS 0xC0 /**< 154ms - 64 cycles - Max Count: 65535 */
#define TCS34725_INTEGRATIONTIME_240MS 0x9C /**< 240ms - 100 cycles - Max Count: 65535 */
#define TCS34725_INTEGRATIONTIME_700MS 0x00 /**< 700ms - 256 cycles - Max Count: 65535 */
#define TCS34725_GAIN_1X 0x00 /**< No gain */
#define TCS34725_GAIN_4X 0x01 /**< 4x gain */
#define TCS34725_GAIN_16X 0x02 /**< 16x gain */
#define TCS34725_GAIN_60X 0x03 /**< 60x gain */
/******************************************************************************/
#define TCS_SDA_IN() {TCS_SDA_GPIO->CRL&=0xFFFFFFF0;TCS_SDA_GPIO->CRL|=8;}
#define TCS_SDA_OUT() {TCS_SDA_GPIO->CRL&=0xFFFFFFF0;TCS_SDA_GPIO->CRL|=3;}
#define TCS_SDA_READ TCS_GPIO->IDR&(TCS_SDA_PIN)
#define TCS_SCL_H HAL_GPIO_WritePin(TCS_GPIO,TCS_SCL_PIN,(GPIO_PinState)1)
#define TCS_SCL_L HAL_GPIO_WritePin(TCS_GPIO,TCS_SCL_PIN,(GPIO_PinState)0)
#define TCS_SDA_H HAL_GPIO_WritePin(TCS_GPIO,TCS_SDA_PIN,(GPIO_PinState)1)
#define TCS_SDA_L HAL_GPIO_WritePin(TCS_GPIO,TCS_SDA_PIN,(GPIO_PinState)0)
/******************************************************************************/
#define max3v(v1, v2, v3) ((v1)<(v2)? ((v2)<(v3)?(v3):(v2)):((v1)<(v3)?(v3):(v1)))
#define min3v(v1, v2, v3) ((v1)>(v2)? ((v2)>(v3)?(v3):(v2)):((v1)>(v3)?(v3):(v1)))
typedef struct{
unsigned short c; //[0-65536]
unsigned short r;
unsigned short g;
unsigned short b;
}COLOR_RGBC;//RGBC
typedef struct{
unsigned short h; //[0,360]
unsigned char s; //[0,100]
unsigned char l; //[0,100]
}COLOR_HSL;//HSL
uint8_t TCS34725_Init(uint8_t time,uint8_t gain);
uint8_t TCS34725_GetRawData(COLOR_RGBC *rgbc);
void TCS34725_LedON(uint8_t enable);
void RGBtoHSL(COLOR_RGBC *Rgb, COLOR_HSL *Hsl);
uint16_t TCS34725_GetR(void);
uint16_t TCS34725_GetG(void);
uint16_t TCS34725_GetB(void);
uint16_t TCS34725_GetC(void);
#endif
然后通過調用TCS34725_GetRawData(&color_rgbc);，即可獲取采集的rgb值。通過對比不同通道的大小，可以粗略的判斷識別的RGB三原色。
打開sensor.c，定義get_color()，編寫相關代碼。
代碼如下
/**
* @brief : 識別木塊顏色,紅綠藍
* @param ：無
* @retval 識別的顏色，R G B
**/
COLOR_RGBC color_rgbc;
uint8_t get_color() {
TCS34725_GetRawData(&color_rgbc);//獲取RGB
if(color_rgbc.c>400){return 0;}
if (color_rgbc.r > color_rgbc.g && color_rgbc.r > color_rgbc.b ) {
//usart_send_str(&huart3,(uint8_t *)"May RED\r\n");
return 'R';
} else if (color_rgbc.g > color_rgbc.r && color_rgbc.g > color_rgbc.b) {
//usart_send_str(&huart3,(uint8_t *)"May GREEN\r\n");
return 'G';
} else if (color_rgbc.b > color_rgbc.g && color_rgbc.b > color_rgbc.r) {
//usart_send_str(&huart3,(uint8_t *)"May BULE\r\n");
return 'B';
}
return 0;
}
由於單次識別置信度較低，我們可以參考超聲波一節，采集多個數值返回中間值以減少誤差。定義get_adc_color_middle(),編寫對應函數。
get_adc_color_middle
/**
* @brief ：處理顏色模塊采集到的數據，取采集到的中間值
* @param ：數組地址，元素個數
* @retval 處理后的顏色值
**/
char get_adc_color_middle() {
YSSB_LED(1);
uint8_t i;
static int ad_value[5] = {0}, myvalue;// ad_value_bak[5] = {0},
for(i=0;i<5;i++){ad_value[i] = get_color();HAL_Delay(200);};
selection_sort(ad_value, 5);
myvalue = ad_value[2];
YSSB_LED(0);
return myvalue;
}
這里的YSSB_LED是宏定義的TCS34725_LedON(x)函數。用於開啟顏色傳感器的補光燈。打開color.h，加入該宏定義#define YSSB_LED(x) TCS34725_LedON(x)
現在我們獲取到了顏色傳感器傳來的顏色，根據不同顏色，我們可以執行不同動作。
在sensor.c中定義color_task函數。參考超聲波的task，這里先只打印出來，更多的功能后續添加。
color_task
/**
* @brief ：顏色傳感器對應任務
* @param ：無
* @retval 無
**/
void color_task(){
static uint32_t systick_ms_yanse = 0;
int millis=HAL_GetTick();//獲取系統時間
uint8_t cmd_return[128];
char color_value;
if (millis - systick_ms_yanse > 20) {
systick_ms_yanse = HAL_GetTick();
color_value = get_adc_color_middle();//獲取a0的ad值，計算出距離
if(color_value!=0)
{
sprintf((char *)cmd_return, "Color = [%c]\r\n", color_value);
usart_send_str(&huart3,cmd_return);
}else
{usart_send_str(&huart3,(uint8_t *)"no wood block \r\n");
}
}
}
在sensor.h中聲明定義的函數
sensor.h
#include "stdint.h"
#include "color.h"
#define sound_vol HAL_GPIO_ReadPin(sound_GPIO_Port,sound_Pin)
#define Trig(x) HAL_GPIO_WritePin(Trig_GPIO_Port,Trig_Pin,(GPIO_PinState)x)
#define Echo() HAL_GPIO_ReadPin(Echo_GPIO_Port,Echo_Pin)
#define YSSB_LED(x) TCS34725_LedON(x); //顏色識別的LED燈
void sound_task(void);
void hcsr_task(void);
void color_task(void);
uint16_t get_csb_value(void);
uint8_t get_color(void);
/* USER CODE BEGIN 2 */
//motor_init();
//arm_init();
TCS34725_Init(TCS34725_INTEGRATIONTIME_700MS,TCS34725_GAIN_1X);
並且由於顏色識別傳感器過遠，因此上電后需要等待下在初始化顏色傳感器，不然第一次會無法使用。
在主函數大概108行位置加入
/* USER CODE BEGIN SysInit */
HAL_Delay(1000);
/* USER CODE END SysInit */
工程源碼
國內用戶請使用gitee克隆或是使用代理訪問Github
https://github.com/USTHzhanglu/stm32-hal/tree/main/color