智能车制作

标题: 主控芯片为MC9S12DG128的c语言程序 [打印本页]

作者: ice001 时间: 2010-3-4 21:46
标题: 主控芯片为MC9S12DG128的c语言程序
Main.c

#include <hidef.h>          /* common defines and macros */
#include <mc9s12db128.h>    /* derivative information */
#pragma LINK_INFO DERIVATIVE "mc9s12db128b"
#include "define.h"
#include "init.h"

// variable used in video process
volatile unsigned char image_data[ROW_MAX][LINE_MAX] ;    // data array of picture
unsigned char black_x[ROW_MAX]          ;  // 0ne-dimensional array
unsigned char row                         ;  // x-position of the array
unsigned char line                         ;  // y-position of the array
unsigned int  row_count                   ;  // row counter
                                                unsigned char line_sample                ;  // used to counter in AD
unsigned char row_image                   ;
unsigned char line_temp                   ;  // temperary variable used in data transfer
unsigned char sample_data[LINE_MAX]  ; // used to save one-dimension array got in
interruption
// variables below are used in speed measure
Unsigned char pulse[5] ;             // used to save data in PA process
Unsigned char counter;             // temporary counter in Speed detect
Unsigned char cur_speed;             // current speed

short stand;
short data;
unsigned char curve                      ; // valve used to decide straight or turn
short Bounds(short data);
short FuzzyLogic(short stand);
/*----------------------------------------------------------------------------*\
                           receive_sci
\*----------------------------------------------------------------------------*/
unsigned char receive_sci(void)          // receive data through sci
{ unsigned char sci_data;
  while(SCI0SR1_RDRF!=1);
  sci_data=SCI0DRL;
  return sci_data;
}

/*----------------------------------------------------------------------------*\
                           transmit_sci
\*----------------------------------------------------------------------------*/
void transmit_sci(unsigned char transmit_data)  // send data through sci
{
  while(SCI0SR1_TC!=1);
  while(SCI0SR1_TDRE!=1);
  SCI0DRL=transmit_data;
}
/*****************************************************************************
***/
/*----------------------------------------------------------------------------*\
                           abs_sub
\*----------------------------------------------------------------------------*/
unsigned char abs_sub(unsigned char num1, unsigned char num2)
{  unsigned char  difference;

if(num1>=num2){
   difference=num1-num2;
}else{
   difference=num2-num1;
}
  return difference;
}

void pwm_set(unsigned int dutycycle)
{
  PWMDTY1=dutycycle&0x00FF;
  PWMDTY0=dutycycle>>8;
}

void get_black_wire(void)       // used to extract black wire
{ unsigned char i;
  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;
   } else{
      //black_x[row]=(black_x[row]/45)*78;
   }
}
  }
}
/*----------------------------------------------------------------------------*\

这是第一届上海交通大学CyberSmart技术报告里面的.
智能车论坛里有很多.

作者: 那边的天空 时间: 2010-5-5 15:23
这个代码不错

作者: zhangluhuixing 时间: 2010-5-5 18:39
加油

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