基于瑞薩RA MCU的手勢識別控制終端設備設計

本項目主要以啟明6M5開發(fā)板作為主控，通過AMG8833模塊獲取手部的溫度，然后通過BP神經網(wǎng)絡解析溫度數(shù)據(jù)，來識別手部動作。當手部動作和預定控制指令激活動作相匹配時，向外部設備發(fā)送控制指令，當外部設備接收到對應指令執(zhí)行對應的操作。

因為該設備是通過手部溫度作為控制變量，所以項目運行的溫度在28℃攝氏度下（設備靜態(tài)是經過傳感器測量得到的數(shù)據(jù)）。手部溫度為33℃左右，手部距離傳感器大概在5cm左右，并且處于傳感器芯片正前方。說明：環(huán)境溫度會影響傳感器的識別。

硬件部分

①設備型號

野火RA6M5開發(fā)

②外圍設備

GY- AMG8833 IR 8x8 紅外熱像

1.44寸彩色TFT顯示屏高清IPS LCD液晶屏模塊128*128

③其他配件

面包板 x 1杜邦線若干

④設備引腳配置

⑤引腳連接

以及串口：

TX : P512

RX: P511

軟件部分

項目完成使用到的軟件有：

e2 studio

vs code

字模軟件 PCtoLCD2013

野火串口調試助手

軟件部分代碼說明：

1、GY- AMG8833 IR 8x8 紅外熱像儀 驅動部分代碼說明：

AMG8833模塊使用I2C 通訊協(xié)議：(使用硬件I2C)

下面是模塊是主要的各個功能驅動函數(shù)

根據(jù)數(shù)據(jù)手冊說明：只要主機向從機發(fā)送0x80指令，從機設備 會直接 一次性按順序發(fā)送完 溫度柵格點 1-64 的溫度數(shù)據(jù)

其他指令：按照I2C 通訊協(xié)議讀取

I2C 驅動 .C 文件部分函數(shù)

// 設置傳感器模式
void AMG88_SetSensorMode(AMG88_OperatingMode Mode)
{

unsigned char buffer[2]={0x00,Mode};
R_SCI_I2C_Write(&g_i2c6_ctrl, buffer, 2, false);
return;
}

// 獲取當前傳感器模式

unsigned char AMG88_GetSensorMode(void)
{
unsigned char OperatingModeBuffer=0;
R_SCI_I2C_Write(&g_i2c6_ctrl, 0, 1, true);
R_BSP_SoftwareDelay(2, 1000);
//Read Register data
R_SCI_I2C_Read(&g_i2c6_ctrl, &OperatingModeBuffer, 1, false);
return OperatingModeBuffer;
}

// 重啟傳感器
void AMG88_SensorReset(AMG88_ResetMode Mode)
{
//
unsigned char ResetBuffer[2]={0x01,(unsigned char)Mode};
//unsigned char ResetBuffer=0x30;
R_SCI_I2C_Write(&g_i2c6_ctrl, ResetBuffer, 2, false);
return;
}

// 設置幀率
void AMG88_SetFrameRate(AMG88_Frame Frame)
{

unsigned char ResetBuffer[2]={0x02,(unsigned char)Frame};
//unsigned char ResetBuffer=0x30;
R_SCI_I2C_Write(&g_i2c6_ctrl, ResetBuffer, 2, false);
return;
}
// 獲取傳感器幀率
unsigned char AMG88_GetFrameRate(void)
{
unsigned char OperatingModeBuffer=0;
unsigned char Address[1]={0x02};
R_SCI_I2C_Write(&g_i2c6_ctrl, Address, 1, true);
R_BSP_SoftwareDelay(2, 1000);
//Read Register data
R_SCI_I2C_Read(&g_i2c6_ctrl, &OperatingModeBuffer, 1, false);
R_BSP_SoftwareDelay(2, 1000);
return OperatingModeBuffer;
}
// 設置中斷控制寄存器
void AMG88_SetICR(AMG88_ICR_REGISTER ICR)
{
unsigned char ResetBuffer[2]={0x03,(unsigned char)ICR};
//unsigned char ResetBuffer=0x30;
R_SCI_I2C_Write(&g_i2c6_ctrl, ResetBuffer, 2, false);

return;
}
// 獲取中斷控制寄存器的數(shù)據(jù)
unsigned char AMG88_GetICR(void)
{
unsigned char OperatingModeBuffer=0;
unsigned char Address[1]={0x03};
R_SCI_I2C_Write(&g_i2c6_ctrl, Address, 1, true);
// R_SCI_I2C_Write(&g_i2c6_ctrl, 0x03, 1, true);
R_BSP_SoftwareDelay(2, 1000);
//Read Register data
R_SCI_I2C_Read(&g_i2c6_ctrl, &OperatingModeBuffer, 1, false);
return OperatingModeBuffer;
}
// 獲取當前傳感器狀態(tài)
unsigned char AMG88_GetStatus(void)
{
unsigned char OperatingModeBuffer=0;
unsigned char Address[1]={0x04};
R_SCI_I2C_Write(&g_i2c6_ctrl, Address, 1, true);
// R_SCI_I2C_Write(&g_i2c6_ctrl, 0x04, 1, true);
R_BSP_SoftwareDelay(2, 1000);
//Read Register data
R_SCI_I2C_Read(&g_i2c6_ctrl, &OperatingModeBuffer, 1, false);
return OperatingModeBuffer;

}
// 清除傳感器標志位
void AMG88_SetStatusClear(AMG_Status_FLAG ClearStatus)
{

unsigned char ResetBuffer[2]={0x05,(unsigned char)ClearStatus};
//unsigned char ResetBuffer=0x30;
R_SCI_I2C_Write(&g_i2c6_ctrl, ResetBuffer, 2, false);
return;
}

//
void AMG88_SetAverage(BOOL Flag)
{
unsigned char ResetBuffer[2]={0x07,(Flag==TRUE)?(0xFF):(0)};
//unsigned char ResetBuffer=0x30;
R_SCI_I2C_Write(&g_i2c6_ctrl, ResetBuffer, 2, false);

}
//
unsigned char AMG88_GetAverage(void)
{
unsigned char OperatingModeBuffer=0;
// R_SCI_I2C_Write(&g_i2c6_ctrl, 0x07, 1, true);
unsigned char Address[1]={0x07};
R_SCI_I2C_Write(&g_i2c6_ctrl, Address, 1, true);

R_BSP_SoftwareDelay(2, 1000);
//Read Register data
R_SCI_I2C_Read(&g_i2c6_ctrl, &OperatingModeBuffer, 1, false);
return OperatingModeBuffer;
}

// 設置中斷優(yōu)先級
void AMG88_SetILR(unsigned char *ValueBuffer,unsigned char ArrayLenth)
{
unsigned char ResetBuffer[7]={0x08,0x00,0x00,0x00,
0x00,0x00,0x00};
if(ArrayLenth<=7 && ArrayLenth >= 1)
return;
for(unsigned char i= 1 ;i<7;i++)
{

if(i%2==0)
{
ResetBuffer[i]=(0x0F & ValueBuffer[i-1]);
}else
{
ResetBuffer[i]=ValueBuffer[i-1];

}
}
//unsigned char ResetBuffer=0x30;
R_SCI_I2C_Write(&g_i2c6_ctrl, ResetBuffer, ArrayLenth+1, false);

return;
}
unsigned char Tempeture_Flag[2];
// 獲取傳感器 熱敏電阻 電阻值
unsigned short AMG88_GetThermistor(void)
{

unsigned short buffer_flag=0;
unsigned char Address[1]={0x0E};
R_SCI_I2C_Write(&g_i2c6_ctrl, Address, 1, true);
// R_SCI_I2C_Write(&g_i2c6_ctrl, 0x0E, 1, true);
R_BSP_SoftwareDelay(2, 1000);
//Read Register data
R_SCI_I2C_Read(&g_i2c6_ctrl, &Tempeture_Flag[0], 1, false);
R_BSP_SoftwareDelay(2, 1000);
Address[0]=0x0F;
R_SCI_I2C_Write(&g_i2c6_ctrl, Address, 1, true);
R_BSP_SoftwareDelay(2, 1000);
R_SCI_I2C_Read(&g_i2c6_ctrl, &Tempeture_Flag[1], 1, false);
R_BSP_SoftwareDelay(2, 1000);
buffer_flag=Tempeture_Flag[1]<<8;
buffer_flag|=Tempeture_Flag[0];
return buffer_flag;
}
unsigned char Buffer[10];
unsigned char Revice[128];
// 獲取傳感器的溫度
void AMG88_SensorData(void)
{
/*
* register address
*
* */
Buffer[0]=0x80;
//Send slave address
R_SCI_I2C_Write(&g_i2c6_ctrl, Buffer, 1, true);
R_BSP_SoftwareDelay(2, 1000);
//Read Register data
R_SCI_I2C_Read(&g_i2c6_ctrl, Revice, 128, false);
}

2、1.44寸彩色TFT顯示屏高清IPS LCD液晶屏模塊128*128 部分代碼說明

該LCD 液晶屏使用SPI 通訊協(xié)議：(使用模擬SPI)

驅動芯片為ST7735SPI

驅動 .C 文件部分函數(shù)

void SPI_init(void)
{

SET_LED();
SET_CS();
SET_CDX();
SET_RST();
SET_CLK();
SET_SDA();

return;
}

void SPI_SendData(unsigned char Data) // CDX = 1
{

unsigned char i;

for (i = 0; i < 8; i++)
{
CLEAR_CLK();

if ((Data & 0x80) != 0)
SET_SDA();
else
CLEAR_SDA();

Data <<= 1;

SET_CLK();

}

return;
}

void SPI_WriteCommand(unsigned char Data) //CDX = 0
{

CLEAR_CS();
CLEAR_CDX();

SPI_SendData (Data);

SET_CS();

return;
}
void SPI_WriteData(unsigned char Data) //CDX = 1
{

CLEAR_CS();
SET_CDX();

SPI_SendData (Data);

SET_CS();

return;

}

void WriteDispData(unsigned char DataH, unsigned char DataL)
{

SPI_SendData (DataH);
SPI_SendData (DataL);


}
void LCD_Init(void)
{

SET_RST();
R_BSP_SoftwareDelay (100, BSP_DELAY_UNITS_MILLISECONDS);

CLEAR_RST();
R_BSP_SoftwareDelay (100, BSP_DELAY_UNITS_MILLISECONDS);

SET_RST();
R_BSP_SoftwareDelay (200, BSP_DELAY_UNITS_MILLISECONDS);

SPI_WriteCommand (0x11); //Exit Sleep
R_BSP_SoftwareDelay (120, BSP_DELAY_UNITS_MILLISECONDS);

SPI_WriteCommand (0xB1);
SPI_WriteData (0x05); //0a
SPI_WriteData (0x3c); //14
SPI_WriteData (0x3c);

SPI_WriteCommand (0xB2);
SPI_WriteData (0x05);
SPI_WriteData (0x3c);
SPI_WriteData (0x3c);

SPI_WriteData (0xB3);
SPI_WriteData (0x05);
SPI_WriteData (0x3c);
SPI_WriteData (0x3c);

SPI_WriteData (0x05);
SPI_WriteData (0x3c);
SPI_WriteData (0x3c);

SPI_WriteCommand (0xB4); // 前面的b1-b5 是設置幀速率
SPI_WriteData (0x03);

SPI_WriteCommand (0xC0); // Set VRH1[4:0] & VC[2:0] for VCI1 & GVDD Power Control
SPI_WriteData (0x28);
SPI_WriteData (0x08);
SPI_WriteData (0x04);

SPI_WriteCommand (0xC1); // Set BT[2:0] for AVDD & VCL & VGH & VGL
SPI_WriteData (0xC0);

SPI_WriteCommand (0xC2); // Set VMH[6:0] & VML[6:0] for VOMH & VCOML
SPI_WriteData (0x0D); //54h
SPI_WriteData (0x00); //33h

SPI_WriteCommand (0xC3);
SPI_WriteData (0x8D);
SPI_WriteData (0x2A);

SPI_WriteCommand (0xC4);
SPI_WriteData (0x8D);
SPI_WriteData (0xEE);

SPI_WriteCommand (0xC5);
SPI_WriteData (0x1A);

SPI_WriteCommand (0x36); //MX,MY,RGB MODE
SPI_WriteData (0x08);

SPI_WriteCommand (0xe0);
SPI_WriteData (0x04); //2c
SPI_WriteData (0x22);
SPI_WriteData (0x07);
SPI_WriteData (0x0A);
SPI_WriteData (0x2E);
SPI_WriteData (0x30);
SPI_WriteData (0x25);
SPI_WriteData (0x2A);
SPI_WriteData (0x28);
SPI_WriteData (0x26);
SPI_WriteData (0x2E);
SPI_WriteData (0x3A);
SPI_WriteData (0x00);
SPI_WriteData (0x01);
SPI_WriteData (0x03);
SPI_WriteData (0x03);

SPI_WriteCommand (0xe1);
SPI_WriteData (0x04);
SPI_WriteData (0x16);
SPI_WriteData (0x06);
SPI_WriteData (0x06);
SPI_WriteData (0x0D);
SPI_WriteData (0x2D);
SPI_WriteData (0x26);
SPI_WriteData (0x23);
SPI_WriteData (0x27);
SPI_WriteData (0x27);
SPI_WriteData (0x25);
SPI_WriteData (0x2D);
SPI_WriteData (0x3B);
SPI_WriteData (0x00);
SPI_WriteData (0x01);
SPI_WriteData (0x04);
SPI_WriteData (0x13);

SPI_WriteCommand (0x3A);
SPI_WriteData (0x05);

SPI_WriteCommand (0x29); // Display On
R_BSP_SoftwareDelay (20, BSP_DELAY_UNITS_MILLISECONDS);

}
void BlockWrite(unsigned short Xstart, unsigned short Xend, unsigned short Ystart, unsigned short Yend)
{
SPI_WriteCommand (0x2A);
SPI_WriteData (Xstart >> 8);
SPI_WriteData (Xstart + 2);
// SPI_WriteData(Xstart);
SPI_WriteData (Xend >> 8);
SPI_WriteData (Xend + 2);
// SPI_WriteData(Xstart);

SPI_WriteCommand (0x2B);
SPI_WriteData (Ystart >> 8);
SPI_WriteData (Ystart + 1);
SPI_WriteData (Yend >> 8);
SPI_WriteData (Yend + 1);

SPI_WriteCommand (0x2c);
}
void DispColor(unsigned short color)
{
unsigned short i, j;

BlockWrite (0, COL - 1, 0, ROW - 1);

for (i = 0; i < ROW; i++)
{
for (j = 0; j < COL; j++)
{
SPI_WriteData (color >> 8);
SPI_WriteData (color);
// DelayMs(1);
}
}

}
void ClearFullScreen(void)
{

unsigned short i, j;
BlockWrite (0, COL - 1, 0, ROW - 1);
for (j = 0; j < COL; j++)
{
SPI_WriteData (i + 50);
SPI_WriteData (j + 50);

}

return;
}
void DrawColor(unsigned short ColorNumber)
{

SPI_WriteData (0xFF);
SPI_WriteData (0xFF);
return;
}

3、BP 神經網(wǎng)絡：

代碼說明：

三層網(wǎng)絡結構：

第一層是輸入層，第二層是隱藏層，第三層是輸出層

神經網(wǎng)絡預測代碼說明：

神經網(wǎng)絡預測的原理是，將目標數(shù)據(jù)輸入到神經網(wǎng)絡中，經過神經網(wǎng)絡中參數(shù)的迭代，使之得到符合要求的數(shù)據(jù)數(shù)據(jù)，然后保存神經網(wǎng)絡中的參數(shù)（各個節(jié)點的權重參數(shù)）。使用該網(wǎng)絡預測時，將訓練好的參數(shù)，導入到神經網(wǎng)絡中，該神經網(wǎng)絡就預測和神經網(wǎng)絡中相符合的數(shù)據(jù)。

該神經網(wǎng)絡的相關信息如下：

三層BP神經網(wǎng)絡：

輸入層有64個元素 ， 隱藏層有34個元素， 輸出層有10個元素

訓練次數(shù)為：10000次，最終的錯誤率為：0.00658，學習率為：0.1 ，動量因子：0.1 訓練數(shù)據(jù)總共160組 （160組中 ，分成三份）總共訓練了三個手勢

手勢1 36組數(shù)據(jù) 手勢2 68組數(shù)據(jù) 手勢3 54組數(shù)據(jù) 上圖：為編寫文檔時所拍，非傳感器測量時圖片，僅說明在采集測試數(shù)據(jù)時的手勢動作

訓練數(shù)據(jù)示例：

[[0.0000,0.0000,0.0000,0.0000,0.5,0.0000,0.0000,0.5,0.0000,0.0000,0.0000,0.5,0.5,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.5,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.5,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.5,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.5,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000],[0,1,0,0,0,0,0,0,0,0]],
// 手勢 1 要求輸出 結果 -----> [0,1,0,0,0,0,0,0,0,0]

[[0.0000,0.0000,0.5,0.5,0.0000,0.5,0.5,0.5,0.0000,0.0000,0.5,0.0000,0.0000,0.5,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.5,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.5,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.5,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.5,0.5,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000],[0,0,1,0,0,0,0,0,0,0]],
// 手勢 2 要求輸出 結果 -----> [0,0,1,0,0,0,0,0,0,0]

[[0.0000,0.0000,0.0000,0.5,0.5,0.5,0.5,0.5,0.0000,0.0000,0.0000,0.5,0.5,0.5,0.0000,0.5,0.0000,0.0000,0.5,0.0000,0.0000,0.5,0.0000,0.5,0.0000,0.5,0.0000,0.0000,0.0000,0.5,0.0000,0.0000,0.0000,0.5,0.0000,0.0000,0.0000,0.0000,0.0000,0.5,0.0000,0.0000,0.0000,0.0000,0.5,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.5,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000],[0,0,0,1,0,0,0,0,0,0]]
// 手勢 3 要求輸出 結果 -----> [0,0,0,1,0,0,0,0,0,0]

// 注：以上數(shù)據(jù)僅為 測試數(shù)據(jù)中的手勢數(shù)據(jù)的 一部分 ，不代表整體數(shù)據(jù)

// 預測輸出數(shù)據(jù) 示例：
[-0.0023248156377385144, 0.035785164105157696, 0.05889932014156386, 0.9992514065884543, 0.0003713636538696458, -0.002541229896438062, -0.0033772818188316607, -0.0023972941452978813, 0.001043452650557289, -0.0026320033807735485]

輸出數(shù)據(jù)說明：

該網(wǎng)絡有10個數(shù)據(jù)輸出 ，（如：[0,0,0,1,0,0,0,0,0,0] （從左往右）依次是 0 - 9 手勢 ，但本次訓練 僅僅訓練了3個手勢， 結果如上。

其他信息說明：

本次的隱藏層的數(shù)目依次經歷了 12->24->128->34 的變化 ，具體的數(shù)目和輸入輸出的元素個數(shù)，沒有實際的關聯(lián)（網(wǎng)上雖然有建議） ，具體看情況而論，因為是三層網(wǎng)絡，隱藏層的數(shù)量不可以太少，也不可以太多，太少，說簡單的，輸出的數(shù)據(jù)不在[0,1]的區(qū)間，太多，輸出的都是0.9左右的數(shù)據(jù)

輸出的數(shù)據(jù)不在[0,1]的區(qū)間

?可以調整 學習率 或者 訓練次數(shù)（增加），或者是動量因子（修改該參數(shù)時，學習率不變）

調整隱藏層的節(jié)點數(shù)目（往大了調）?

輸出的都是0.9左右的數(shù)據(jù)（過擬合）

調整隱藏層的節(jié)點數(shù)目（往小了調）（按實際情況調節(jié)）

輸出數(shù)據(jù)的設定，按照激活函數(shù)的取值選擇

輸入數(shù)據(jù)的選擇，[0-1]之間 ，為了提供訓練的成功率，在輸入數(shù)據(jù)中做了一些處理

訓練的前提是保證網(wǎng)絡正常（代碼沒有寫錯）

優(yōu)化訓練的操作說明：

對數(shù)據(jù)進行了非0即0.5 的處理 ，對于超過 特定溫度值的數(shù)據(jù)為0.5 ，不超過為 0（只要有相對應的特征即可）

網(wǎng)絡訓練成功的標志，輸出的數(shù)據(jù)在（本網(wǎng)絡）[0,1]之間，并且輸出的數(shù)據(jù) 對應符合 輸入的數(shù)據(jù)（只要有符合的即可嘗試在在設備上運行），建議訓練完成的網(wǎng)絡，在預測時，要同時多預測幾個，防止是誤差

// 激活函數(shù)
double sigmoid(double x)
{
return tanh(x);
}

// 前向傳播
void Forward()
{
unsigned char i=0,j=0;
double Temp=0.0;
double *InputValueTemp;
InputValueTemp=InputValue;
for( i=0 ;i< HIDDENSIZE ; i++)
{
Temp=0;
for(j=0 ; j < INPUTSIZE ; j++ )
{

Temp+=InputValue[j]*InputWeight[j*HIDDENSIZE+i];
}
HiddenValue[i]=sigmoid(Temp);
}

for( i=0 ;i < OUTPUTSIZE ; i++)
{
Temp=0;
for( j = 0; j < HIDDENSIZE ;j++ )
{
Temp+=HiddenValue[j]*OutputWeight[j*OUTPUTSIZE+i];
}
OutputValue[i]=sigmoid(Temp);

}

}


}

左上角

手勢1 白色

手勢2 淺綠色

手勢3 淺紫色

本項目還有需要優(yōu)化的地方，也有著許多不足。作者水平有限，希望廣大網(wǎng)友批評指正。

審核編輯：湯梓紅