智能车制作

标题: ccd融合后无法采集到正确数据 [打印本页]

作者: 智能.卓越 时间: 2013-7-9 12:17
标题: ccd融合后无法采集到正确数据
void main(void) {
  unsigned char i;
  unsigned char send_data_cnt = 0;
  unsigned char *pixel_pt;

inticlock();
AD_init();
SCI_init();
CCD_IO_init();
PIT_init();
inti_Motor0();
inti_Motor1();
inti_Motor2();
inti_Motor3();
Init_TIM();
Init_CD4520();

pixel_pt = Pixel;
for(i = 0;i < 128+10;i++){
*pixel_pt++ = 0;
  }
EnableInterrupts;
for(;;)
{
if(TimerFlag20ms == 1){
      TimerFlag20ms = 0;

      ImageCapture(Pixel);
      CalculateIntegrationTime();
      if(++send_data_cnt >= 5){
      send_data_cnt = 0;
      SendImageData(Pixel);
      }
}

if(flag == 1){
static unsigned char TimerCnt20ms = 0;
unsigned char integration_point;
unsigned char IntegrationTime;

PITTF_PTF = 1;
TimerCnt20ms++;

integration_point = 20- IntegrationTime;
if(integration_point >= 2){
if(integration_point == TimerCnt20ms)
StartIntegration();
  }

  if(TimerCnt20ms >= 20){
TimerCnt20ms = 0;
TimerFlag20ms = 1;
  }
flag = 0;
}
}
}


//5ms中断
#pragma CODE_SEG __NEAR_SEG NON_BANKED
void interrupt 66 timer0(void) {

   static int i = 0;
   static int j = 0;
   _asm(MOVB #$01,PITTF); //clear interrupt falg
   i++ ;
   if(i == 1000){
      ADGYRO_GetValue0();
      GYRO_ZERO = GYRO_zero;
   }
      if((i> 1000) && (i < 3000) )
      {
      ADGYRO_GetValue0();
      GYRO_ZERO = ( GYRO_zero + GYRO_ZERO )/2.0;
   }
   if(i>=3000){

   j++;
   if(j == 1){
   ADGYRO_GetValue1();
   ADGYRO_GetValue2();

   }
   if(j == 2){
   AngelCalculate();

   }
   if(j == 3){
   Pluse_Get();
   Speed_Calculate();
   }
   if(j == 4){
   //sendInt(GYRO_VAL);
   //sendInt(ACC_VAL);
   //sendInt(ACC_Angle);
   //sendInt(GYRO_Angle);
   //sendInt(Car_Angle);
   }
   if(j == 5){

   Angle_Control_Output();
   MotorOutControl();
   init_ZLSU();

   j = 0;
   }
   flag = 1;
   i = 3001;
   }
  }
#pragma CODE_SEG DEFAULT

这是主函数和中断部分，ccd单独测没问题，加进去主程序后一直没法得到正确的反馈数据，在线调试一直是7~15，AD数值很低，到底是怎么回事求解？

作者: 肥过猪 时间: 2013-7-12 16:54
曝光时间，估计是

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