STM32F103C8T6读取颜色识别模块，并把读取到的原始数据转换为HSL格式。
/**********************************************************************************/
20201023更新
TCS34725只接GND、VCC、SCL、SDA四个引脚，
STM32F103C8T6的引脚接PB10-SCL，PB11-SDA。PA3是LED指示灯，
1、修改SCL和SDA引脚在文件 tcs34725.c 中，
2、修改读取颜色频率，直接在main函数的主循环中修改时间，
/**********************************************************************************/
![%9PI}$WL7KPOW7_]_I5F@`O.png](data/attachment/forum/202206/20/221716rflthijmjfi9a9jn.png "%9PI}$WL7KPOW7_]_I5F@`O.png")
读取TCS34725的源代码很多，也很简单，但只是读取原始数据，也不知道怎么转换，官方手册也没说清楚，一般RGB的数据它偏偏是RGBC，到现在我也没搞清楚这个“C”代表啥意思。网上能搜到的RGB转HSL都是以RGB888的格式为准，转换之前除以255归一化，得到0-1之间的小数，然后转换，年前这个程序我调试了很久，今天突然搞明白了，把TCS的原始数据RGB除以C得到0-1之间的小数，这个C就相当于上面的255。上代码：
- /******************************************************************************/
- #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() {GPIOB->CRH&=0xFFFF0FFF;GPIOB->CRH|=8<<12;}
- #define TCS_SDA_OUT() {GPIOB->CRH&=0xFFFF0FFF;GPIOB->CRH|=3<<12;}
- #define TCS_SDA_READ GPIOB->IDR&(1<<11)
- #define TCS_SCL_H GPIO_SetBits(GPIOB,GPIO_Pin_10)
- #define TCS_SCL_L GPIO_ResetBits(GPIOB,GPIO_Pin_10)
- #define TCS_SDA_H GPIO_SetBits(GPIOB,GPIO_Pin_11)
- #define TCS_SDA_L GPIO_ResetBits(GPIOB,GPIO_Pin_11)
- /******************************************************************************/
- #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
- COLOR_RGBC rgb;
- COLOR_HSL hsl;
- /******************************************************************************/
- void delay_s(u32 i)
- {
- while(i--);
- }
- /******************************************************************************/
- void TCS34725_I2C_Init()
- {
- GPIO_InitTypeDef GPIO_InitStructure;
-
- GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10|GPIO_Pin_11;//PB10/PB10=外接I2C
- GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;//通用推挽输出
- GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;//速度
- GPIO_Init(GPIOB, &GPIO_InitStructure);//对选中管脚初始化
- GPIO_SetBits(GPIOB,GPIO_Pin_10|GPIO_Pin_11); //高电平
- }
- /*********************************************/
- 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，接收应答失败
- // 0，接收应答成功
- u8 TCS34725_I2C_Wait_ACK()
- {
- u32 t=0;
-
- TCS_SDA_IN();//SDA设置为输入
- 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;
- }
- /*********************************************/
- //产生ACK应答
- void TCS34725_I2C_ACK()
- {
- TCS_SCL_L;
- TCS_SDA_OUT();//sda线输出
- TCS_SDA_L;
- delay_s(20);//delay_us(2);
- TCS_SCL_H;
- delay_s(20);//delay_us(2);
- TCS_SCL_L;
- }
- /*********************************************/
- //不产生ACK应答
- void TCS34725_I2C_NACK()
- {
- TCS_SCL_L;
- TCS_SDA_OUT();//sda线输出
- TCS_SDA_H;
- delay_s(20);//delay_us(2);
- TCS_SCL_H;
- delay_s(20);//delay_us(2);
- TCS_SCL_L;
- }
- /*********************************************/
- //I2C发送一个字节
- void TCS34725_I2C_Send_Byte(u8 byte)
- {
- u8 i;
-
- TCS_SDA_OUT();//sda线输出
- TCS_SCL_L;//拉低时钟开始数据传输
- 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);
- }
- }
- /*********************************************/
- //读1个字节，ack=1时，发送ACK，ack=0，发送nACK
- u8 TCS34725_I2C_Read_Byte(u8 ack)
- {
- u8 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();//发送nACK
- else TCS34725_I2C_ACK(); //发送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(u8 slaveAddress, u8* dataBuffer,u8 bytesNumber, u8 stopBit)
- {
- u8 i = 0;
-
- TCS34725_I2C_Start();
- TCS34725_I2C_Send_Byte((slaveAddress << 1) | 0x00); //发送从机地址写命令
- 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(u8 slaveAddress, u8* dataBuffer, u8 bytesNumber, u8 stopBit)
- {
- u8 i = 0;
-
- TCS34725_I2C_Start();
- TCS34725_I2C_Send_Byte((slaveAddress << 1) | 0x01); //发送从机地址读命令
- TCS34725_I2C_Wait_ACK();
- for(i = 0; i < bytesNumber; i++)
- {
- if(i == bytesNumber - 1)
- {
- *(dataBuffer + i) = TCS34725_I2C_Read_Byte(0);//读取的最后一个字节发送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(u8 subAddr, u8* dataBuffer, u8 bytesNumber)
- {
- u8 sendBuffer[10] = {0, };
- u8 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(u8 subAddr, u8* dataBuffer, u8 bytesNumber)
- {
- subAddr |= TCS34725_COMMAND_BIT;
-
- TCS34725_I2C_Write(TCS34725_ADDRESS, (u8*)&subAddr, 1, 0);
- TCS34725_I2C_Read(TCS34725_ADDRESS, dataBuffer, bytesNumber, 1);
- }
- /*******************************************************************************
- * @brief TCS34725设置积分时间
- *
- * @return None
- *******************************************************************************/
- void TCS34725_SetIntegrationTime(u8 time)
- {
- TCS34725_Write(TCS34725_ATIME, &time, 1);
- }
- /*******************************************************************************
- * @brief TCS34725设置增益
- *
- * @return None
- *******************************************************************************/
- void TCS34725_SetGain(u8 gain)
- {
- TCS34725_Write(TCS34725_CONTROL, &gain, 1);
- }
- /*******************************************************************************
- * @brief TCS34725使能
- *
- * @return None
- *******************************************************************************/
- void TCS34725_Enable(void)
- {
- u8 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);//延时应该放在设置AEN之后
- }
- /*******************************************************************************
- * @brief TCS34725失能
- *
- * @return None
- *******************************************************************************/
- void TCS34725_Disable(void)
- {
- u8 cmd = 0;
-
- TCS34725_Read(TCS34725_ENABLE, &cmd, 1);
- cmd = cmd & ~(TCS34725_ENABLE_PON | TCS34725_ENABLE_AEN);
- TCS34725_Write(TCS34725_ENABLE, &cmd, 1);
- }
- /*******************************************************************************
- * @brief TCS34725初始化
- *
- * @return ID - ID寄存器中的值
- *******************************************************************************/
- u8 TCS34725_Init(void)
- {
- u8 id=0;
-
- TCS34725_I2C_Init();
- TCS34725_Read(TCS34725_ID, &id, 1); //TCS34725 的 ID 是 0x44 可以根据这个来判断是否成功连接
- if(id==0x44)
- {
- TCS34725_SetIntegrationTime(TCS34725_INTEGRATIONTIME_240MS);
- TCS34725_SetGain(TCS34725_GAIN_1X);
- TCS34725_Enable();
- return 1;
- }
- return 0;
- }
- /*******************************************************************************
- * @brief TCS34725获取单个通道数据
- *
- * @return data - 该通道的转换值
- *******************************************************************************/
- u16 TCS34725_GetChannelData(u8 reg)
- {
- u8 tmp[2] = {0,0};
- u16 data;
-
- TCS34725_Read(reg, tmp, 2);
- data = (tmp[1] << 8) | tmp[0];
-
- return data;
- }
- /*******************************************************************************
- * @brief TCS34725获取各个通道数据
- *
- * @return 1 - 转换完成，数据可用
- * 0 - 转换未完成，数据不可用
- *******************************************************************************/
- u8 TCS34725_GetRawData(COLOR_RGBC *rgbc)
- {
- u8 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;
- }
- /******************************************************************************/
- //RGB转HSL
- void RGBtoHSL(COLOR_RGBC *Rgb, COLOR_HSL *Hsl)
- {
- u8 maxVal,minVal,difVal;
- u8 r = Rgb->r*100/Rgb->c; //[0-100]
- u8 g = Rgb->g*100/Rgb->c;
- u8 b = Rgb->b*100/Rgb->c;
-
- maxVal = max3v(r,g,b);
- minVal = min3v(r,g,b);
- difVal = maxVal-minVal;
-
- //计算亮度
- Hsl->l = (maxVal+minVal)/2;
-
- if(maxVal == minVal)//若r=g=b,灰度
- {
- Hsl->h = 0;
- Hsl->s = 0;
- }
- else
- {
- //计算色调
- 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;
- }
-
- //计算饱和度
- if(Hsl->l<=50)Hsl->s=difVal*100/(maxVal+minVal); //[0-100]
- else
- Hsl->s=difVal*100/(200-(maxVal+minVal));
- }
- }
- /******************************************************************************/
使用时只需调用三个子程序：
1、TCS34725_Init();
2、TCS34725_GetRawData(&rgb);
3、RGBtoHSL(&rgb,&hsl);
把数据打印出来
printf("R=%d G=%d B=%d C=%d\r\n",rgb.r,rgb.g,rgb.b,rgb.c);
printf("H=%d S=%d L=%d\r\n",hsl.h,hsl.s,hsl.l);
初始化中读取颜色的间隔是50ms，所以读取速度不要太频繁
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发布时间：2022-6-20 22:15
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