HAL庫(kù)驅(qū)動(dòng)TCS3200顏色識(shí)別模塊-STM32F103ZET6

ID:478644 · 發(fā)表于 2019-2-20 21:36

最近在做一個(gè)智能物料搬運(yùn)小車(chē)，用到了顏色識(shí)別，最開(kāi)始用OpenMv實(shí)現(xiàn)功能，由于實(shí)際需求有變，改用顏色識(shí)別模塊實(shí)現(xiàn)響應(yīng)功能。環(huán)境：keil5、STM32CubeMX 5.0、STM32F103ZET6開(kāi)發(fā)板
本例程僅用于粗略的分辨紅綠藍(lán)顏色
首先根據(jù)TCS3200模塊使用手冊(cè)配置管腳
在STM32CubeMX中根據(jù)需求設(shè)置管腳
PE4--- OUT
PE5--- OE
PE6--- S3
PE7--- S2
PE8--- S1
PE9--- S0
PE4為外部中斷模式，打開(kāi)EXTI line4外部中斷
其余管腳配置為輸出模式
生成代碼

根據(jù)模塊的工作方式配置函數(shù)：
白平衡函數(shù)
紅色通道檢測(cè)函數(shù)
綠色通道檢測(cè)函數(shù)
藍(lán)色通道檢測(cè)函數(shù)
即可對(duì)顏色進(jìn)行識(shí)別，代碼如附件所示：

TCS3200實(shí)物

單片機(jī)源程序如下:

/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "TCS3200.h"
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
/* USER CODE END PTD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_NVIC_Init(void);
/* USER CODE BEGIN PFP */
// printf()重定向
#ifdef __GNUC__
#define PUTCHAR_PROTOTYPE int __io_putchar(int ch)
#else
#define PUTCHAR_PROTOTYPE int fputc(int ch, FILE *f)
#endif
PUTCHAR_PROTOTYPE
{
HAL_UART_Transmit(&huart1 , (uint8_t *)&ch, 1, 0xFFFF);
return ch;
}
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
extern uint16_t Rgena,Ggena,Bgena;
extern uint16_t count,dir;
/* USER CODE END 0 */
/**
* @brief The application entry point.
* @retval int
*/
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration--------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* USER CODE BEGIN Init */
/* USER CODE END Init */
/* Configure the system clock */
SystemClock_Config();
/* USER CODE BEGIN SysInit */
/* USER CODE END SysInit */
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_USART1_UART_Init();
MX_TIM6_Init();
/* Initialize interrupts */
MX_NVIC_Init();
/* USER CODE BEGIN 2 */
HAL_TIM_Base_Start_IT(&htim6);
TCS3200_Init();
WhiteBalance();
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
if(Color_test(1) == 1)
printf("Red\r\n");
else
printf("None\r\n");
// printf("%f\t%f\t%f\r\n",255.0/Rgena,255.0/Ggena,255.0/Bgena);
// printf("%d\t%d\t%d\r\n\r\n",Rgena,Ggena,Bgena);
// printf("%d\t%d\t%d\r\n",TCS3200_RED(),TCS3200_GREEN(),TCS3200_BLUE());
HAL_Delay(500);
// printf("%d",Color_test());
}
/* USER CODE END 3 */
}
/**
* @brief System Clock Configuration
* @retval None
*/
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
/**Initializes the CPU, AHB and APB busses clocks
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV2;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL15;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
Error_Handler();
}
/**Initializes the CPU, AHB and APB busses clocks
*/
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
{
Error_Handler();
}
}
/**
* @brief NVIC Configuration.
* @retval None
*/
static void MX_NVIC_Init(void)
{
/* EXTI4_IRQn interrupt configuration */
HAL_NVIC_SetPriority(EXTI4_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(EXTI4_IRQn);
/* USART1_IRQn interrupt configuration */
HAL_NVIC_SetPriority(USART1_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(USART1_IRQn);
/* TIM6_IRQn interrupt configuration */
HAL_NVIC_SetPriority(TIM6_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(TIM6_IRQn);
}
/* USER CODE BEGIN 4 */
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
UNUSED(htim);
if(htim == &htim6)
{
if(dir == 200)
{
HAL_GPIO_TogglePin(GPIOB,LED_Pin);
dir = 0;
}
}
}
/* USER CODE END 4 */
/**
* @brief This function is executed in case of error occurrence.
* @retval None
*/
void Error_Handler(void)
{
/* USER CODE BEGIN Error_Handler_Debug */
/* User can add his own implementation to report the HAL error return state */
/* USER CODE END Error_Handler_Debug */
}
#ifdef USE_FULL_ASSERT
/**
* @brief Reports the name of the source file and the source line number
* where the assert_param error has occurred.
* @param file: pointer to the source file name
* @param line: assert_param error line source number
* @retval None
*/
void assert_failed(uint8_t *file, uint32_t line)
{
/* USER CODE BEGIN 6 */
/* User can add his own implementation to report the file name and line number,
tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
/* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

復(fù)制代碼

所有資料51hei提供下載:

TCS3200-TEST.7z (254.87 KB, 下載次數(shù): 128)

ID:471751 · 發(fā)表于 2019-3-17 11:41

樓主也是參加工訓(xùn)比賽的嗎

ID:478644 · 發(fā)表于 2019-3-17 20:57

死不悔改發(fā)表于 2019-3-17 11:41
樓主也是參加工訓(xùn)比賽的嗎

嗯嗯，還有一周就比賽了

ID:464371 · 發(fā)表于 2019-4-28 15:49

很有用，下載看一下

ID:478644 · 發(fā)表于 2019-5-14 15:33

xddddd 發(fā)表于 2019-4-28 15:49
很有用，下載看一下

嗯嗯，互相幫助，共同進(jìn)步

ID:244290 · 發(fā)表于 2019-12-27 17:49

下載一個(gè)，沒(méi)用過(guò)這個(gè)庫(kù)

ID:684752 · 發(fā)表于 2020-1-15 14:38

樓主，請(qǐng)問(wèn)為什么沒(méi)有重寫(xiě)外部中斷回調(diào)呀，那個(gè)count是在外部中斷回調(diào)里面自加的吧

ID:584195 · 發(fā)表于 2021-8-11 07:18

樓主，這個(gè)可以測(cè)試燈的顏色變化嗎？

ID:875327 · 發(fā)表于 2023-7-6 09:33

樓主您好，我目前在嘗試做一個(gè)搬運(yùn)小車(chē)，看到您發(fā)的帖子之后想和您交流學(xué)習(xí)一下，如果可以的話請(qǐng)您

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HAL庫(kù)驅(qū)動(dòng)TCS3200顏色識(shí)別模塊-STM32F103ZET6

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