首先要感谢EEPW给这次学习的机会。
本次学习PAJ7620U2手势识别，并通过手势控制继电器开关灯。
识别手势：上、下、左、右、靠近、远离、顺时针旋转、逆时针旋转、挥动。
控制灯：上开左右灯、下关左右灯、左开左灯、右开右灯、靠近左灯闪烁、远离右灯闪烁、挥动左右灯闪烁。
课程1中已经搭建串口等环境，本次只需要在课程1基础上增加I2C通讯和继电器控制IO口即可。
课程1：https://forum.eepw.com.cn/thread/382646/1
一、准备工作
1、NUCLEO-H503RB开发板套件：这里就不做过多介绍；
2、PAJ7620U2手势识别小板；
3、继电器小板；
4、灯：临时手焊搭建LED灯。
二、硬件配置
1、I2C接口：使用PB6/PB7。
PAJ7620U2手势识别小板为I2C通讯，供电为3.3V，接至CN10。由于开发板CN10没有3.3V电源，所以采样飞线将第一脚接至3.3V，方便杜邦线接线。
2、继电器：使用PC10/PC11。
继电器使用IO控制，供电为5V，接至CN6。
3、灯：调试采用LED指示灯，共阳极，控制阴极亮灭。
总体接线图如下：
三、软件配置
代码在课程1的基础上增加I2C(PB6/PB7)和控制继电器IO(PC10/PC11)。
1、I2C配置
a.点击课程1工程，打开。
b.使能I2C1，并重新配置IO口PB6/PB7为I2C1。
c.设置I2C1的IO口为上拉/输出高速。
d.导出代码，并打开工程。（若工程已经打开，可直接关闭，Keil5会自动更新代码）
e.若不行用户代码被替换，需要将新增代码写在用户区。
四、代码编写
PAJ7620U2代码比较简单，但是有点值得注意的是，PAJ7620U2必须要先初始化才能正常使用。很多博主在编写代码时，都自动跳过这节介绍。这里重点说一下。
也可参考：https://blog.csdn.net/qq_57178105/article/details/136558564
1、PAJ7620初始化定义
#include "stdio.h" //PAJ7620地址寄存器定义 #define PAJ7620_I2C_ADDRESS 0x73<<1 //paj7620的i2c地址，7bit #define PAJ_BANK_SELECT 0xEF //寄存器页选择寄存器：Bank0=0x00, Bank1=0x01 #define PAJ_INT_FLAG1 0x43 //检测结果数据低八位数据所在地址 #define PAJ_INT_FLAG2 0x44 //检测结果数据高八位数据所在地址 //手势状态 #define PAJ_UP 0x01 //上 #define PAJ_DOWN 0x02 //下 #define PAJ_LEFT 0x04 //左 #define PAJ_RIGHT 0x08 //右 #define PAJ_FORWARD 0x10 //接近 #define PAJ_BACKWARD 0x20 //远离 #define PAJ_CLOCKWISE 0x40 //顺时针旋转 #define PAJ_COUNT_CLOCKWISE 0x80 //逆时针旋转 #define PAJ_WAVE 0x100 //挥动 //继电器控制灯IO定义 #define LED0_ON HAL_GPIO_WritePin(GPIOC, GPIO_PIN_10, GPIO_PIN_SET); #define LED0_OFF HAL_GPIO_WritePin(GPIOC, GPIO_PIN_10, GPIO_PIN_RESET); #define LED0_TOG HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_10); #define LED1_ON HAL_GPIO_WritePin(GPIOC, GPIO_PIN_11, GPIO_PIN_SET); #define LED1_OFF HAL_GPIO_WritePin(GPIOC, GPIO_PIN_11, GPIO_PIN_RESET); #define LED1_TOG HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_11);
2、PAJ7620U2初始化写入寄存器数组，219组。
//PAJ7620初始化寄存器数组：219个
uint8_t Paj7620Init_Reg_Array[][2] = {
{0xEF, 0x00},
{0x32, 0x29},
{0x33, 0x01},
{0x34, 0x00},
{0x35, 0x01},
{0x36, 0x00},
{0x37, 0x07},
{0x38, 0x17},
{0x39, 0x06},
{0x3A, 0x12},
{0x3F, 0x00},
{0x40, 0x02},
{0x41, 0xFF},
{0x42, 0x01},
{0x46, 0x2D},
{0x47, 0x0F},
{0x48, 0x3C},
{0x49, 0x00},
{0x4A, 0x1E},
{0x4B, 0x00},
{0x4C, 0x20},
{0x4D, 0x00},
{0x4E, 0x1A},
{0x4F, 0x14},
{0x50, 0x00},
{0x51, 0x10},
{0x52, 0x00},
{0x5C, 0x02},
{0x5D, 0x00},
{0x5E, 0x10},
{0x5F, 0x3F},
{0x60, 0x27},
{0x61, 0x28},
{0x62, 0x00},
{0x63, 0x03},
{0x64, 0xF7},
{0x65, 0x03},
{0x66, 0xD9},
{0x67, 0x03},
{0x68, 0x01},
{0x69, 0xC8},
{0x6A, 0x40},
{0x6D, 0x04},
{0x6E, 0x00},
{0x6F, 0x00},
{0x70, 0x80},
{0x71, 0x00},
{0x72, 0x00},
{0x73, 0x00},
{0x74, 0xF0},
{0x75, 0x00},
{0x80, 0x42},
{0x81, 0x44},
{0x82, 0x04},
{0x83, 0x20},
{0x84, 0x20},
{0x85, 0x00},
{0x86, 0x10},
{0x87, 0x00},
{0x88, 0x05},
{0x89, 0x18},
{0x8A, 0x10},
{0x8B, 0x01},
{0x8C, 0x37},
{0x8D, 0x00},
{0x8E, 0xF0},
{0x8F, 0x81},
{0x90, 0x06},
{0x91, 0x06},
{0x92, 0x1E},
{0x93, 0x0D},
{0x94, 0x0A},
{0x95, 0x0A},
{0x96, 0x0C},
{0x97, 0x05},
{0x98, 0x0A},
{0x99, 0x41},
{0x9A, 0x14},
{0x9B, 0x0A},
{0x9C, 0x3F},
{0x9D, 0x33},
{0x9E, 0xAE},
{0x9F, 0xF9},
{0xA0, 0x48},
{0xA1, 0x13},
{0xA2, 0x10},
{0xA3, 0x08},
{0xA4, 0x30},
{0xA5, 0x19},
{0xA6, 0x10},
{0xA7, 0x08},
{0xA8, 0x24},
{0xA9, 0x04},
{0xAA, 0x1E},
{0xAB, 0x1E},
{0xCC, 0x19},
{0xCD, 0x0B},
{0xCE, 0x13},
{0xCF, 0x64},
{0xD0, 0x21},
{0xD1, 0x0F},
{0xD2, 0x88},
{0xE0, 0x01},
{0xE1, 0x04},
{0xE2, 0x41},
{0xE3, 0xD6},
{0xE4, 0x00},
{0xE5, 0x0C},
{0xE6, 0x0A},
{0xE7, 0x00},
{0xE8, 0x00},
{0xE9, 0x00},
{0xEE, 0x07},
{0xEF, 0x01},
{0x00, 0x1E},
{0x01, 0x1E},
{0x02, 0x0F},
{0x03, 0x10},
{0x04, 0x02},
{0x05, 0x00},
{0x06, 0xB0},
{0x07, 0x04},
{0x08, 0x0D},
{0x09, 0x0E},
{0x0A, 0x9C},
{0x0B, 0x04},
{0x0C, 0x05},
{0x0D, 0x0F},
{0x0E, 0x02},
{0x0F, 0x12},
{0x10, 0x02},
{0x11, 0x02},
{0x12, 0x00},
{0x13, 0x01},
{0x14, 0x05},
{0x15, 0x07},
{0x16, 0x05},
{0x17, 0x07},
{0x18, 0x01},
{0x19, 0x04},
{0x1A, 0x05},
{0x1B, 0x0C},
{0x1C, 0x2A},
{0x1D, 0x01},
{0x1E, 0x00},
{0x21, 0x00},
{0x22, 0x00},
{0x23, 0x00},
{0x25, 0x01},
{0x26, 0x00},
{0x27, 0x39},
{0x28, 0x7F},
{0x29, 0x08},
{0x30, 0x03},
{0x31, 0x00},
{0x32, 0x1A},
{0x33, 0x1A},
{0x34, 0x07},
{0x35, 0x07},
{0x36, 0x01},
{0x37, 0xFF},
{0x38, 0x36},
{0x39, 0x07},
{0x3A, 0x00},
{0x3E, 0xFF},
{0x3F, 0x00},
{0x40, 0x77},
{0x41, 0x40},
{0x42, 0x00},
{0x43, 0x30},
{0x44, 0xA0},
{0x45, 0x5C},
{0x46, 0x00},
{0x47, 0x00},
{0x48, 0x58},
{0x4A, 0x1E},
{0x4B, 0x1E},
{0x4C, 0x00},
{0x4D, 0x00},
{0x4E, 0xA0},
{0x4F, 0x80},
{0x50, 0x00},
{0x51, 0x00},
{0x52, 0x00},
{0x53, 0x00},
{0x54, 0x00},
{0x57, 0x80},
{0x59, 0x10},
{0x5A, 0x08},
{0x5B, 0x94},
{0x5C, 0xE8},
{0x5D, 0x08},
{0x5E, 0x3D},
{0x5F, 0x99},
{0x60, 0x45},
{0x61, 0x40},
{0x63, 0x2D},
{0x64, 0x02},
{0x65, 0x96},
{0x66, 0x00},
{0x67, 0x97},
{0x68, 0x01},
{0x69, 0xCD},
{0x6A, 0x01},
{0x6B, 0xB0},
{0x6C, 0x04},
{0x6D, 0x2C},
{0x6E, 0x01},
{0x6F, 0x32},
{0x71, 0x00},
{0x72, 0x01},
{0x73, 0x35},
{0x74, 0x00},
{0x75, 0x33},
{0x76, 0x31},
{0x77, 0x01},
{0x7C, 0x84},
{0x7D, 0x03},
{0x7E, 0x01},
};
//继电器控制灯状态
uint8_t LED_Status = 0;
uint8_t paj7620_init(void); //PAJ7620U2初始化函数
void getGesture(void); //PAJ7620U2获取手势识别函数
void user_function_gesture(uint8_t status); //手势控制继电器开关灯函数
/* 串口重定义 */
int fputc(int ch, FILE *f)
{
HAL_UART_Transmit(&huart3, (uint8_t *)&ch, 1, HAL_MAX_DELAY);
return ch;
}3、编写PAJ7620U2初始化函数
//PAJ7620U2初始化，返回0则初始化失败
uint8_t paj7620_init(void)
{
uint8_t i,State,n;
State = 0;
while(HAL_OK != HAL_I2C_Mem_Write(&hi2c1, PAJ7620_I2C_ADDRESS, PAJ_BANK_SELECT, I2C_MEMADD_SIZE_8BIT, &State, 1, 500))
{
HAL_Delay(5);
printf("paj7620_init err: 1 \r\n");
}
for(i=0; i<219; i++)
{
while(HAL_OK != HAL_I2C_Mem_Write(&hi2c1, PAJ7620_I2C_ADDRESS, Paj7620Init_Reg_Array[i][0], I2C_MEMADD_SIZE_8BIT, &Paj7620Init_Reg_Array[i][1], 1, 500))
{
HAL_Delay(5);
printf("paj7620_init err: 2 \r\n");
}
HAL_Delay(5);
}
while(HAL_OK != HAL_I2C_Mem_Write(&hi2c1, PAJ7620_I2C_ADDRESS, PAJ_BANK_SELECT, I2C_MEMADD_SIZE_8BIT,&State,1,500))
{
HAL_Delay(5);
printf("paj7620_init err: 3 \r\n");
}
HAL_Delay(5);
while(HAL_OK != HAL_I2C_Mem_Read(&hi2c1, PAJ7620_I2C_ADDRESS, 0x32, I2C_MEMADD_SIZE_8BIT, &n, 1, 500))
{
HAL_Delay(5);
printf("paj7620_init err: 4 \r\n");
}
if(n != 0x29)
{
return 0;
}
return 1;
}4、编写手势识别函数
//检测手势并输出
void getGesture(void)
{
uint8_t Data[2]={0,0};
uint16_t Gesture_Data;
HAL_I2C_Mem_Read(&hi2c1, PAJ7620_I2C_ADDRESS, PAJ_INT_FLAG1, I2C_MEMADD_SIZE_8BIT, &Data[0], 1, 500);
HAL_Delay(5);
HAL_I2C_Mem_Read(&hi2c1, PAJ7620_I2C_ADDRESS, PAJ_INT_FLAG2, I2C_MEMADD_SIZE_8BIT, &Data[1], 1, 500);
HAL_Delay(5);
Gesture_Data = (Data[1]<<8) | Data[0];
//printf("\n %x \r\n", Gesture_Data);
if(Gesture_Data != 0)
{
//printf("\n %x \r\n", Gesture_Data);
switch(Gesture_Data)
{
case PAJ_UP: printf("Up\r\n"); LED_Status=1; break;
case PAJ_DOWN: printf("Down\r\n"); LED_Status=2; break;
case PAJ_LEFT: printf("Left\r\n"); LED_Status=3; break;
case PAJ_RIGHT: printf("Right\r\n"); LED_Status=4; break;
case PAJ_FORWARD: printf("Forward\r\n"); LED_Status=5; break;
case PAJ_BACKWARD: printf("Backward\r\n"); LED_Status=6; break;
case PAJ_CLOCKWISE: printf("Clockwise\r\n"); LED_Status=7; break;
case PAJ_COUNT_CLOCKWISE: printf("AntiClockwise\r\n"); LED_Status=8; break;
case PAJ_WAVE: printf("Wave\r\n"); LED_Status=9; break;
default: break;
}
Gesture_Data = 0;
}
}5、编写控制继电器开关灯函数
//手势控制继电器开关灯
void user_function_gesture(uint8_t status)
{
switch(status)
{
case 1: //PAJ_UP
LED0_ON;
LED1_ON;
//printf("LED_Status: 1 \r\n");
break;
case 2: //PAJ_DOWN
LED0_OFF;
LED1_OFF;
//printf("LED_Status: 2 \r\n");
break;
case 3: //PAJ_LEFT
LED0_ON;
LED1_OFF;
//printf("LED_Status: 3 \r\n");
break;
case 4: //PAJ_RIGHT
LED0_OFF;
LED1_ON;
//printf("LED_Status: 4 \r\n");
break;
case 5: //PAJ_FORWARD
LED0_TOG;
//printf("LED_Status: 5 \r\n");
break;
case 6: //PAJ_BACKWARD
LED1_TOG;
//printf("LED_Status: 6 \r\n");
break;
case 7: //PAJ_CLOCKWISE
//printf("LED_Status: 7 \r\n");
break;
case 8: //PAJ_COUNT_CLOCKWISE
//printf("LED_Status: 8 \r\n");
break;
case 9: //PAJ_WAVE
LED0_TOG;
LED1_TOG;
//printf("LED_Status: 9 \r\n");
break;
default:
break;
}
}6、main函数实现
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_USART3_UART_Init();
MX_I2C1_Init();
/* USER CODE BEGIN 2 */
printf("hello eepw! hello stm32h503! \r\n");
HAL_Delay(1000);
printf("PAJ7620U2 Gesture Sensor Test Program ...\r\n");
if(!paj7620_init())
{ printf("Gesture Sensor Error \r\n");
return 0;
}
printf("PAJ7620U2 Gesture Sensor OK \r\n");
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
getGesture();
user_function_gesture(LED_Status);
HAL_GPIO_TogglePin(GPIOA, GPIO_PIN_5);
HAL_Delay(500);
}
/* USER CODE END 3 */
}五、结果输出
完结！共进！
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