STM32F429 使用 TCS34725 颜色传感器的驱动程序

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用到了 TCS34725 颜色传感器，网上百度一圈都没有发现驱动程序，自己照着 Arduino 的程序和数据手册写了下，记录一下 (～￣▽￣)～

第一步，先来看看数据手册，了解到 TCS34725 是 I²C 器件，那就好办了，根据以前写的 I²C 驱动改一改就好啦 b(￣▽￣)d（具体代码贴在后边）。

Communication of the TCS3472 data is accomplished over a fast, up to 400 kHz, two-wire I²C serial bus. The industry standard I²C bus facilitates easy, direct connection to microcontrollers and embedded processors.

然后干嘛嘞？当然是找器件地址和寄存器地址啦，继续翻手册…(⊙＿⊙；)…

器件地址

找到 TCS34725 地址为 0x29 ，各个寄存器的地址如下：

寄存器地址

到这里，发现这货不仅器件地址是奇数，而且还有个没有地址的 COMMAND 寄存器，嗯，隐隐感觉肯定有个坑在这里ヾ(。￣□￣)ﾂ゜゜゜

接下来就可以着手写程序啦 (o゜▽゜)o☆

首先定义一下用到的引脚：

/**********************************TCS34725相关宏定义*********************************/#define TCS_SDA_PIN_NUM       0#define TCS_SDA_PIN           GPIO_PIN_0#define TCS_SDA_GPIO          GPIOI#define TCS_SCL_PIN           GPIO_PIN_1#define TCS_SCL_GPIO          GPIOI

然后把之前写的 I²C 驱动程序粘过来改一下(＾－＾)V

//IO方向设置#define TCS_SDA_DIR_IN()     {TCS_SDA_GPIO->MODER&=~(3<<(TCS_SDA_PIN_NUM*2));TCS_SDA_GPIO>MODER|=0<<TCS_SDA_PIN_NUM*2;}//输入模式#define TCS_SDA_DIR_OUT()    {TCS_SDA_GPIO->MODER&=~(3<<(TCS_SDA_PIN_NUM*2));TCS_SDA_GPIO>MODER|=1<<TCS_SDA_PIN_NUM*2;}//输出模式#define TCS_SDA_READ          HAL_GPIO_ReadPin(TCS_SDA_GPIO, TCS_SDA_PIN)#define TCS_SDA_SET           HAL_GPIO_WritePin(TCS_SDA_GPIO, TCS_SDA_PIN, GPIO_PIN_SET)#define TCS_SDA_RESET         HAL_GPIO_WritePin(TCS_SDA_GPIO, TCS_SDA_PIN, GPIO_PIN_RESET)#define TCS_SCL_SET           HAL_GPIO_WritePin(TCS_SCL_GPIO, TCS_SCL_PIN, GPIO_PIN_SET)#define TCS_SCL_RESET         HAL_GPIO_WritePin(TCS_SCL_GPIO, TCS_SCL_PIN, GPIO_PIN_RESET)//TCS34725 I2C初始化void TCS34725_I2C_Init(void){    GPIO_InitTypeDef GPIO_Initure;     __HAL_RCC_GPIOI_CLK_ENABLE();   //使能GPIOI时钟    GPIO_Initure.Mode = GPIO_MODE_OUTPUT_PP;  //推挽输出    GPIO_Initure.Pull = GPIO_PULLUP;          //上拉    GPIO_Initure.Speed = GPIO_SPEED_FAST;     //快速     GPIO_Initure.Pin = TCS_SDA_PIN;    HAL_GPIO_Init(TCS_SDA_GPIO, &GPIO_Initure);    GPIO_Initure.Pin = TCS_SCL_PIN;    HAL_GPIO_Init(TCS_SCL_GPIO, &GPIO_Initure);    TCS_SDA_SET;    TCS_SCL_SET;    delay_ms(10);}//产生I2C起始信号void TCS34725_I2C_Start(){    TCS_SDA_DIR_OUT();//sda线输出    TCS_SDA_SET;    TCS_SCL_SET;    delay_us(4);    TCS_SDA_RESET;//START:when CLK is high,DATA change form high to low     delay_us(4);    TCS_SCL_RESET;//钳住I2C总线，准备发送或接收数据 }//产生I2C停止信号void TCS34725_I2C_Stop(){    TCS_SDA_DIR_OUT();//sda线输出    TCS_SCL_RESET;    TCS_SDA_RESET;//STOP:when CLK is high DATA change form low to high    delay_us(4);    TCS_SCL_SET;    TCS_SDA_SET;//发送I2C总线结束信号    delay_us(4);                                }//等待应答信号到来//返回值：1，接收应答失败//        0，接收应答成功uint8_t TCS34725_I2C_Wait_ACK(){    uint8_t timeOut = 0;    TCS_SDA_DIR_IN();//SDA设置为输入      TCS_SDA_SET; delay_us(1);    TCS_SCL_SET; delay_us(1);    while(TCS_SDA_READ)    {        timeOut++;        if(timeOut > 250)        {            TCS34725_I2C_Stop();            return 1;        }    }    TCS_SCL_RESET;//时钟输出0    return 0;   } //产生ACK应答void TCS34725_I2C_ACK(){    TCS_SCL_RESET;    TCS_SDA_DIR_OUT();//sda线输出    TCS_SDA_RESET;    delay_us(2);    TCS_SCL_SET;    delay_us(2);    TCS_SCL_RESET;}//不产生ACK应答          void TCS34725_I2C_NACK(){    TCS_SCL_RESET;    TCS_SDA_DIR_OUT();//sda线输出    TCS_SDA_SET;    delay_us(2);    TCS_SCL_SET;    delay_us(2);    TCS_SCL_RESET;}   //I2C发送一个字节       void TCS34725_I2C_Send_Byte(uint8_t byte){    uint8_t i = 0;    TCS_SDA_DIR_OUT();//sda线输出    TCS_SCL_RESET;//拉低时钟开始数据传输    for(i = 0; i < 8; i++)    {        ((byte & 0x80) >> 7) == 0x01 ? TCS_SDA_SET : TCS_SDA_RESET;        byte <<= 1;        delay_us(2);        TCS_SCL_SET;        delay_us(2);        TCS_SCL_RESET;        delay_us(2);    } } //读1个字节，ack=1时，发送ACK，ack=0，发送nACK   uint8_t TCS34725_I2C_Read_Byte(uint8_t ack){    uint8_t i,receive = 0;    TCS_SDA_DIR_IN();    for(i = 0; i < 8; i++)    {        TCS_SCL_RESET;        delay_us(2);        TCS_SCL_SET;        receive <<= 1;        if(TCS_SDA_READ) receive++;        delay_us(1);    }    if (!ack) TCS34725_I2C_NACK();//发送nACK    else TCS34725_I2C_ACK(); //发送ACK     return receive;}

OK，以上就是最基本 I²C 的驱动程序，下边就到了第一个重点啦(～￣▽￣)～，也就是为毛这货的器件地址是个奇数，我们知道 I²C 的从机地址是 8 bit ，前 7 bit 是器件地址，最后 1 bit 代表是读操作（1）还是写操作（0），所以一般来说器件地址应该是偶数。但是，有的厂家给的地址是低 7 bit （例如这货），所以就会出现奇数的情况，这样就需要给它左移 1 bit 。

好了，地址的问题解决了，就可以写读操作和写操作的程序了

/***************************************************************************//** * @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){    unsigned char 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(uint8_t slaveAddress,                         uint8_t* dataBuffer,                         uint8_t bytesNumber,                         uint8_t stopBit){    unsigned char 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();}

基本驱动通讯搞定，接下来就给跟它唠唠嗑儿了，先定义一下暗号 (๑≧∀≦๑) ，暗号摘自 Arduino 下的驱动程序文件。

#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 */

发现其中有个 TCS34725_COMMAND_BIT ，而且发现 Arduino 代码中只要发送寄存器地址的地方都有它 (๑°ㅁ°๑)‼，此处必有蹊跷！翻开我们的葵花宝典，啊不，是数据手册，居然发现了这个！

CMD寄存器

宝典告诉我们，若要寻址，此 bit 必须置 1 ，也就是说我们在发送需要操作的寄存器地址时，必需要将 MSB 置为 1 。怪不得你丫儿没地址，原来哪都有你 (°ー°〃)

知道了这个就好办了，我们先封装一下基本的读写操作

/***************************************************************************//** * @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(unsigned char subAddr, unsigned char* dataBuffer, unsigned char bytesNumber){    unsigned char sendBuffer[10] = {0, };    unsigned char 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(unsigned char subAddr, unsigned char* dataBuffer, unsigned char bytesNumber){    subAddr |= TCS34725_COMMAND_BIT;    TCS34725_I2C_Write(TCS34725_ADDRESS, (unsigned char*)&subAddr, 1, 0);    TCS34725_I2C_Read(TCS34725_ADDRESS, dataBuffer, bytesNumber, 1);}

接下来就可以根据宝典里对各个寄存器的说明来编程了，我就写了我用到的几个功能 (๑・ิ-・ิ๑) ，各位看官有需要可以自己补充。废话不多说，上代码：

TCS34725 的 ID 是 0x44 可以根据这个来判断是否成功连接。

/***************************************************************************//** * @brief TCS34725初始化 * * @return ID - ID寄存器中的值*******************************************************************************/unsigned char TCS34725_Init(void){    unsigned char status[1] = {0};    TCS34725_I2C_Init();     TCS34725_Read(TCS34725_ID, status, 1);    return status[0];}

两个个主要设置，设置积分时间（ATIME 寄存器）和增益（CONTROL 寄存器）。这个直接和最后获取到的数据相关，积分时间越长，增益越大，最后获得值越大，需要根据实际应用情况进行设置。

积分时间的计算如下文所示：

The actual time can be calculated as follows:ATIME = 256 − Integration Time / 2.4 msInversely, the time can be calculated from the register value as follows:Integration Time = 2.4 ms × (256 − ATIME)For example, if a 100-ms integration time is needed, the device needs to be programmed to:256 − (100 / 2.4) = 256 − 42 = 214 = 0xD6Conversely, the programmed value of 0xC0 would correspond to:(256 − 0xC0) × 2.4 = 64 × 2.4 = 154 ms.

/***************************************************************************//** * @brief TCS34725设置积分时间 * * @return None*******************************************************************************/void TCS34725_SetIntegrationTime(uint8_t time){    unsigned char cmd = time;    TCS34725_Write(TCS34725_ATIME, &cmd, 1);}/***************************************************************************//** * @brief TCS34725设置增益 * * @return None*******************************************************************************/void TCS34725_SetGain(uint8_t gain){    unsigned char cmd = gain;    TCS34725_Write(TCS34725_CONTROL, &cmd, 1);}/***************************************************************************//** * @brief TCS34725设置寄存器 * * @return None*******************************************************************************/void TCS34725_Setup(void){    TCS34725_SetIntegrationTime(TCS34725_INTEGRATIONTIME_240MS);    TCS34725_SetGain(TCS34725_GAIN_4X);}

器件上电后默认是在睡觉（Sleep 模式），得踹一脚（Enable）才醒（Idle 模式），然后告诉它是等一会干活还是马上滚去干活 (╯﹏╰)b

系统模式

我这里让它直接干活去了，注意从 Idle 模式退出后，需要 2.4 ms 的时间来进行 RGBC 初始化，所以给个 3 ms 的延时就可以了。干完一次活后，如果不让它回去睡觉（Disable），就会自动继续干活，开始一个新的循环。

/***************************************************************************//** * @brief TCS34725使能 * * @return None*******************************************************************************/void TCS34725_Enable(void){    unsigned char cmd = TCS34725_ENABLE_PON;    TCS34725_Write(TCS34725_ENABLE, &cmd, 1);    delay_ms(3);    cmd = TCS34725_ENABLE_PON | TCS34725_ENABLE_AEN;    TCS34725_Write(TCS34725_ENABLE, &cmd, 1);}/***************************************************************************//** * @brief TCS34725失能 * * @return None*******************************************************************************/void TCS34725_Disable(void){    unsigned char cmd = 0x00;    TCS34725_Read(TCS34725_ENABLE, &cmd, 1);    cmd = cmd & ~(TCS34725_ENABLE_PON | TCS34725_ENABLE_AEN);    TCS34725_Write(TCS34725_ENABLE, &cmd, 1);}

然后我们就可以拿到转换数据了，这里我根据自己的需要对 Arduino 的代码做了些修改

/***************************************************************************//** * @brief TCS34725获取单个通道数据 * * @return data - 该通道的转换值*******************************************************************************/uint16_t TCS34725_GetChannelData(unsigned char reg){    unsigned char tmp[2] = {0,0};    uint16_t data = 0;    TCS34725_Read(reg, tmp, 2);    data = ((uint16_t)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*******************************************************************************/uint8_t TCS34725_GetRawData(uint16_t *r, uint16_t *g, uint16_t *b, uint16_t *c){    unsigned char status[1] = {0};    status[0] = TCS34725_STATUS_AVALID;    TCS34725_Read(TCS34725_STATUS, status, 1);    if(status[0] & TCS34725_STATUS_AVALID)    {        *c = TCS34725_GetChannelData(TCS34725_CDATAL);          *r = TCS34725_GetChannelData(TCS34725_RDATAL);          *g = TCS34725_GetChannelData(TCS34725_GDATAL);          *b = TCS34725_GetChannelData(TCS34725_BDATAL);        return 1;    }    return 0;}

好了，到这里 TCS34725 的驱动程序就完成啦ヽ(=^･ω･^=)丿

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