智能车制作

标题: 摄像头程序 [打印本页]

作者: 阿洋 时间: 2012-3-29 18:30
标题: 摄像头程序

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;

}

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

speed_control

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

void speed_control(void)

{

unsigned int sum,average;

sum=0;

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

sum=sum+black_x[row];

}

average=sum/FIRST_FIVE;

curve=0;

for(row=0;row<FIRST_FIVE;row++)

{

curve=curve+abs_sub(black_x[row],average);

if(curve>CURVE_MAX){

curve_flag=0;

speed=low_speed;}

else{

curve_flag=1;

speed=hign_speed;

}

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

steer_control

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

void steer_control(void)

{ unsigned int dutycycle;

unsigned char video_center;

unsigned int coefficient;

int E,U; //current

static int e=0;

video_center=(LINE_MIN+LINE_MAX)/2;

stand=abs_sub(black_x[1]+ black_x[9],2*black_x[5]);

E=video_center-black_x[8];

coefficient=30+1*FuzzyLogic(stand);

U=coefficient*E;

dutycycle=Bounds(center+U);

pwm_set(dutycycle);

}

// make sure it is within bounds

short Bounds(short data){

if(data>right_limit){

data = right_limit;

}

if(data<left_limit){

data = left_limit;

}

return data;

}

Void speed_get(void)

{

Unsigned char temp;

Counter++;

Temp=PACN1;

cur_speed=temp-pulse[counter-1];

pulse[counter-1]=temp;

if(counter==5)

{

counter=0;

}

Void set_speed(unsigned char desired_speed)

{

If(desired_speed<cur_speed)

{

PWMDTY2=low_speed;

}

Else

{

PWMDTY2=high_speed;

}

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

Main

\*****************************************************************************

void main(void) {

// main functiion

init_PORT() ;

// port initialization

init_PLL() ;

// setting of the PLL

init_ECT();

init_PWM() ;

// PWM INITIALIZATION

init_SPEED() ;

init_SCI() ;

for(;;) {

if(field_signal==0){ // even->odd

while(field_signal==0);

row_count=0;

row_image=0;

EnableInterrupts;

while(row_count<ROW_END){

get_black_wire();

speed_control();

steer_control();

}

DisableInterrupts;

作者: yukunlinykl 时间: 2012-3-29 18:48
这样粘贴出来的代码，没有人会看的！

作者: dongpinbo 时间: 2012-3-31 17:52
跟上楼一样

作者: wanyfe 时间: 2012-3-31 18:44
怎么没有注释呢？

作者: hpz 时间: 2012-11-4 21:18

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