飛思卡爾智能車CCD攝像頭程序

Main.c

#include<hidef.h>/*commondefinesandmacros*/

#include<mc9s12db128.h>/*derivativeinformation*/

#pragmaLINK_INFODERIVATIVE"mc9s12db128b"

#include"define.h"

#include"init.h"

//variableusedinvideoprocess

volatileunsignedcharimage_data[ROW_MAX][LINE_MAX];//dataarrayofpicture

unsignedcharblack_x[ROW_MAX];//0ne-dimensionalarray

unsignedcharrow;//x-positionofthearray

unsignedcharline;//y-positionofthearray

unsignedintrow_count;//rowcounter

unsignedcharline_sample;//usedtocounterinAD

unsignedcharrow_image;

unsignedcharline_temp;//temperaryvariableusedindatatransfer

unsignedcharsample_data[LINE_MAX];//usedtosaveone-dimensionarraygotin

interruption

//variablesbelowareusedinspeedmeasure

Unsignedcharpulse[5];//usedtosavedatainPAprocess

Unsignedcharcounter;//temporarycounterinSpeeddetect

Unsignedcharcur_speed;//currentspeed

shortstand;

shortdata;

unsignedcharcurve;//valveusedtodecidestraightorturn

shortBounds(shortdata);

shortFuzzyLogic(shortstand);

/*----------------------------------------------------------------------------*\

receive_sci

\*----------------------------------------------------------------------------*/

unsignedcharreceive_sci(void)//receivedatathroughsci

{unsignedcharsci_data;

while(SCI0SR1_RDRF!=1);

sci_data=SCI0DRL;

returnsci_data;

}

/*----------------------------------------------------------------------------*\

transmit_sci

\*----------------------------------------------------------------------------*/

voidtransmit_sci(unsignedchartransmit_data)//senddatathroughsci

{

while(SCI0SR1_TC!=1);

while(SCI0SR1_TDRE!=1);

SCI0DRL=transmit_data;

}

/*****************************************************************************

***/

/*----------------------------------------------------------------------------*\

abs_sub

\*----------------------------------------------------------------------------*/

unsignedcharabs_sub(unsignedcharnum1,unsignedcharnum2)

{unsignedchardifference;

if(num1>=num2){

difference=num1-num2;

}else{

difference=num2-num1;

}

returndifference;

}

voidpwm_set(unsignedintdutycycle)

{

PWMDTY1=dutycycle&0x00FF;

PWMDTY0=dutycycle>>8;

}

voidget_black_wire(void)//usedtoextractblackwire

{unsignedchari;

for(row=0;row<ROW_MAX;row++){

for(line=LINE_MIN;line<LINE_MAX-3;line++){

if(image_data[row][line]>image_data[row][line+3]+VALVE){

for(i=3;i<10;i++){

if(image_data[row][line+i]+VALVE<image_data[row][line+i+3]){

black_x[row]=line+i/2+2;

i=10;

}

}

line=LINE_MAX;