HAL库驱动TCS3200颜色识别模块-STM32F103ZET6

最近在做一个智能物料搬运小车，用到了颜色识别，最开始用OpenMv实现功能，由于实际需求有变，改用颜色识别模块实现响应功能。环境：keil5、STM32CubeMX 5.0、STM32F103ZET6开发板
本例程仅用于粗略的分辨红绿蓝颜色
首先根据TCS3200模块使用手册配置管脚
在STM32CubeMX中根据需求设置管脚
PE4--- OUT
PE5--- OE
PE6--- S3
PE7--- S2
PE8--- S1
PE9--- S0
PE4为外部中断模式，打开EXTI line4外部中断
其余管脚配置为输出模式
生成代码


根据模块的工作方式配置函数：
白平衡函数
红色通道检测函数
绿色通道检测函数
蓝色通道检测函数
即可对颜色进行识别，代码如附件所示：


单片机源程序如下:

1. /* USER CODE END Header */
   
2. 
   
3. /* Includes ------------------------------------------------------------------*/
   
4. #include "main.h"
   
5. #include "tim.h"
   
6. #include "usart.h"
   
7. #include "gpio.h"
   
8. 
   
9. /* Private includes ----------------------------------------------------------*/
   
10. /* USER CODE BEGIN Includes */
    
11. #include "TCS3200.h"
    
12. /* USER CODE END Includes */
    
13. 
    
14. /* Private typedef -----------------------------------------------------------*/
    
15. /* USER CODE BEGIN PTD */
    
16. 
    
17. /* USER CODE END PTD */
    
18. 
    
19. /* Private define ------------------------------------------------------------*/
    
20. /* USER CODE BEGIN PD */
    
21. 
    
22. /* USER CODE END PD */
    
23. 
    
24. /* Private macro -------------------------------------------------------------*/
    
25. /* USER CODE BEGIN PM */
    
26. 
    
27. /* USER CODE END PM */
    
28. 
    
29. /* Private variables ---------------------------------------------------------*/
    
30. 
    
31. /* USER CODE BEGIN PV */
    
32. 
    
33. /* USER CODE END PV */
    
34. 
    
35. /* Private function prototypes -----------------------------------------------*/
    
36. void SystemClock_Config(void);
    
37. static void MX_NVIC_Init(void);
    
38. /* USER CODE BEGIN PFP */
    
39. // printf()重定向
    
40. #ifdef __GNUC__
    
41. #define PUTCHAR_PROTOTYPE int __io_putchar(int ch)
    
42. #else
    
43. #define PUTCHAR_PROTOTYPE int fputc(int ch, FILE *f)
    
44. #endif
    
45. PUTCHAR_PROTOTYPE
    
46. {
    
47.   HAL_UART_Transmit(&huart1 , (uint8_t *)&ch, 1, 0xFFFF);
    
48.   return ch;
    
49. }
    
50. /* USER CODE END PFP */
    
51. 
    
52. /* Private user code ---------------------------------------------------------*/
    
53. /* USER CODE BEGIN 0 */
    
54. extern uint16_t Rgena,Ggena,Bgena;
    
55. extern uint16_t count,dir;
    
56. 
    
57. /* USER CODE END 0 */
    
58. 
    
59. /**
    
60.   * @brief  The application entry point.
    
61.   * @retval int
    
62.   */
    
63. int main(void)
    
64. {
    
65.   /* USER CODE BEGIN 1 */
    
66. 
    
67.   /* USER CODE END 1 */
    
68. 
    
69.   /* MCU Configuration--------------------------------------------------------*/
    
70. 
    
71.   /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
    
72.   HAL_Init();
    
73. 
    
74.   /* USER CODE BEGIN Init */
    
75. 
    
76.   /* USER CODE END Init */
    
77. 
    
78.   /* Configure the system clock */
    
79.   SystemClock_Config();
    
80. 
    
81.   /* USER CODE BEGIN SysInit */
    
82. 
    
83.   /* USER CODE END SysInit */
    
84. 
    
85.   /* Initialize all configured peripherals */
    
86.   MX_GPIO_Init();
    
87.   MX_USART1_UART_Init();
    
88.   MX_TIM6_Init();
    
89. 
    
90.   /* Initialize interrupts */
    
91.   MX_NVIC_Init();
    
92.   /* USER CODE BEGIN 2 */
    
93.   HAL_TIM_Base_Start_IT(&htim6);
    
94.   TCS3200_Init();
    
95.   WhiteBalance();
    
96.   /* USER CODE END 2 */
    
97. 
    
98.   /* Infinite loop */
    
99.   /* USER CODE BEGIN WHILE */
    
100.   while (1)
     
101.   {
     
102.     /* USER CODE END WHILE */
     
103. 
     
104.     /* USER CODE BEGIN 3 */
     
105.     if(Color_test(1) == 1)
     
106.       printf("Red\r\n");
     
107.     else
     
108.       printf("None\r\n");
     
109. //    printf("%f\t%f\t%f\r\n",255.0/Rgena,255.0/Ggena,255.0/Bgena);
     
110. //    printf("%d\t%d\t%d\r\n\r\n",Rgena,Ggena,Bgena);
     
111. //    printf("%d\t%d\t%d\r\n",TCS3200_RED(),TCS3200_GREEN(),TCS3200_BLUE());
     
112.     HAL_Delay(500);
     
113. //    printf("%d",Color_test());
     
114.   }
     
115.   /* USER CODE END 3 */
     
116. }
     
117. 
     
118. /**
     
119.   * @brief System Clock Configuration
     
120.   * @retval None
     
121.   */
     
122. void SystemClock_Config(void)
     
123. {
     
124.   RCC_OscInitTypeDef RCC_OscInitStruct = {0};
     
125.   RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
     
126. 
     
127.   /**Initializes the CPU, AHB and APB busses clocks
     
128.   */
     
129.   RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
     
130.   RCC_OscInitStruct.HSEState = RCC_HSE_ON;
     
131.   RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV2;
     
132.   RCC_OscInitStruct.HSIState = RCC_HSI_ON;
     
133.   RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
     
134.   RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
     
135.   RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL15;
     
136.   if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
     
137.   {
     
138.     Error_Handler();
     
139.   }
     
140.   /**Initializes the CPU, AHB and APB busses clocks
     
141.   */
     
142.   RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
     
143.                               |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
     
144.   RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
     
145.   RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
     
146.   RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
     
147.   RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
     
148. 
     
149.   if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
     
150.   {
     
151.     Error_Handler();
     
152.   }
     
153. }
     
154. 
     
155. /**
     
156.   * @brief NVIC Configuration.
     
157.   * @retval None
     
158.   */
     
159. static void MX_NVIC_Init(void)
     
160. {
     
161.   /* EXTI4_IRQn interrupt configuration */
     
162.   HAL_NVIC_SetPriority(EXTI4_IRQn, 0, 0);
     
163.   HAL_NVIC_EnableIRQ(EXTI4_IRQn);
     
164.   /* USART1_IRQn interrupt configuration */
     
165.   HAL_NVIC_SetPriority(USART1_IRQn, 0, 0);
     
166.   HAL_NVIC_EnableIRQ(USART1_IRQn);
     
167.   /* TIM6_IRQn interrupt configuration */
     
168.   HAL_NVIC_SetPriority(TIM6_IRQn, 0, 0);
     
169.   HAL_NVIC_EnableIRQ(TIM6_IRQn);
     
170. }
     
171. 
     
172. /* USER CODE BEGIN 4 */
     
173. void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
     
174. {
     
175.   UNUSED(htim);
     
176.   if(htim == &htim6)
     
177.   {
     
178.     if(dir == 200)
     
179.     {
     
180.       HAL_GPIO_TogglePin(GPIOB,LED_Pin);
     
181.       dir = 0;
     
182.     }
     
183.   }
     
184. }
     
185. /* USER CODE END 4 */
     
186. 
     
187. /**
     
188.   * @brief  This function is executed in case of error occurrence.
     
189.   * @retval None
     
190.   */
     
191. void Error_Handler(void)
     
192. {
     
193.   /* USER CODE BEGIN Error_Handler_Debug */
     
194.   /* User can add his own implementation to report the HAL error return state */
     
195. 
     
196.   /* USER CODE END Error_Handler_Debug */
     
197. }
     
198. 
     
199. #ifdef  USE_FULL_ASSERT
     
200. /**
     
201.   * @brief  Reports the name of the source file and the source line number
     
202.   *         where the assert_param error has occurred.
     
203.   * @param  file: pointer to the source file name
     
204.   * @param  line: assert_param error line source number
     
205.   * @retval None
     
206.   */
     
207. void assert_failed(uint8_t *file, uint32_t line)
     
208. {
     
209.   /* USER CODE BEGIN 6 */
     
210.   /* User can add his own implementation to report the file name and line number,
     
211.      tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
     
212.   /* USER CODE END 6 */
     
213. }
     
214. #endif /* USE_FULL_ASSERT */
     
215. 
     
216. /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
     

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TCS3200-TEST.7z (254.87 KB, 下载次数: 128)

2019-2-21 04:09 上传

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楼主也是参加工训比赛的吗

死不悔改 发表于 2019-3-17 11:41
楼主也是参加工训比赛的吗

嗯嗯，还有一周就比赛了

很有用，下载看一下

xddddd 发表于 2019-4-28 15:49
很有用，下载看一下

嗯嗯，互相帮助，共同进步

下载一个，没用过这个库

楼主，请问为什么没有重写外部中断回调呀，那个count是在外部中断回调里面自加的吧

楼主，这个可以测试灯的颜色变化吗？

楼主您好，我目前在尝试做一个搬运小车，看到您发的帖子之后想和您交流学习一下，如果可以的话请您