自己写的一份程序，但是不知道为什么不能跑...

时空幻影 · 发表于 2013-1-29 10:25:09

本帖最后由时空幻影于 2013-1-29 10:28 编辑

自己写的一份程序，但是不知道为什么不能跑...是不是我摄像头采集写得不对？不是说有场信号和行信号吗？我在示波器上面看不到...虽然说黑线提取那部分写得不怎么样，但是我在纠结究竟是黑线写得不好，还是我采集根本没写对...可以的话，各位哥哥姐姐能不能给我解释一下ov7620摄像头怎么发送数据给MC9s12xs128啊？帮我看看我的问题所在吧...

#include <hidef.h>    /* common defines and macros */
#include "derivative.h"    /* derivative-specific definitions */
#include "MC9S12XS128.h"
#define  ROW 40//采集行数
#define  COLUMN 120//最多采集点
#define hangjiange 6//采集行间隔数
#define    hangzuiduo  120
#define    fa_zhi 60
unsigned char m,hangshu,hang,chang,x;
int k1,k2;
unsigned char Image[ROW][COLUMN];
unsigned char L[40];
unsigned int l1,l2,l3;//三段式
unsigned char x1,x2; //检查到黑白跳变的瞬间行列点
unsigned char kx;    //舵机参数
unsigned int angle[9]={666,833,1055,1277,1500,1722,1944,2166,2333}; //角度
               //-75 -60  -40  -20  0 20 40  60 75
unsigned char speed; //电机参数

void PLLINIT(void) //时钟PLL初始化
{
CLKSEL=0x00; //48mhz 总线是24mhz
SYNR=0xC5;
REFDV=0xC3;
PLLCTL_PLLON=1;
POSTDIV=0x00;
asm(nop);
asm(nop);
while(0==CRGFLG_LOCK);
CLKSEL_PLLSEL=1;
}
void PWMINIT(void)//pwm初始化
{
//PWM45舵机控制
PWMCTL_CON45=1;    //4,5通道级联
PWMCAE_CAE5=0;    //左对齐
PWMCNT45=0;       //计数器从0开始
PWMPOL_PPOL5=1;    //先输高电平
PWMPRCLK=0;       //A，B不分频，A=B=24MHz
PWMSCLA=12;       //SA分频，SA=1MHz
PWMPER45=5000;    //周期
PWMCLK_PCLK5=1; //SA为时钟源
PWMDTY45=1500;    //行直线
PWME_PWME5=1;    //PWM5通道使能

//PWM01,IN1驱动电机控制
PWMCTL_CON01=1;    //0,1通道级联
PWMCAE_CAE1=0;    //左对齐
PWMCNT01=0;       //计数器从0开始
PWMPOL_PPOL1=0;    //先输低电平
PWMPER01=2400;    //频率10KHz
PWMCLK_PCLK1=0; //A为时钟源
PWMDTY01=2400;
PWME_PWME1=1;    //PWM1通道使能

//PWM23,IN2驱动电机控制
PWMCTL_CON23=1;    //2，3通道级联
PWMCAE_CAE3=0;    //左对齐
PWMCNT23=0;       //计数器从0开始
PWMPOL_PPOL3=0;    //先输低电平
PWMPER23=2400;    //频率10KHz
PWMCLK_PCLK3=0; //B为时钟源
PWMDTY23=1700;
PWME_PWME3=1;    //PWM3通道使能

}
void changhangINIT(void)//行场中断初始化
{
TIOS=0X00;//定时器通道1，0为输入捕捉
TSCR1=0X08;//定时器使能
TCTL4=0X09;//通道0捕捉上升沿通道1捕捉下降沿
TIE=0X03;//通道0，1中断使能
TFLG1=0XFF;//清中断标志位
}
void er_zhi_hua(void)
{
for(hangshu=0;hangshu<ROW;hang++)
{
for(x=0;x<hangzuiduo;x++)
{
   if(Image[hangshu][x]>fa_zhi)
            Image[hangshu][x]=1;
   else
   Image[hangshu][x]=0;//暂时不知道白色的数值是多少，现在是大于阀值=0，小于阀值=1  bai=0
}
}
}
void hei_xian_ti_qv(void)
{
  for(hangshu=0;hangshu<ROW;hangshu++)
  {
for(x1=0;x1<=120;x1++)
{
   if(Image[hangshu][x1]==1)             //寻找跳变，两点跳变的中点即道路中心
         break;
}
for(x2=120;x2>=0;x2++)
{
   if(Image[hangshu][x2]==1)
         break;
}
L[hangshu]=(x1+x2)/2;
  }
   l1=(L[0]+L[1]+L[2]+L[3]+L[4]+L[5]+L[6]+L[7]+L[8]+L[9]+L[10]+L[11]+L[12] )/13;
   l2=(L[13]+L[14]+L[15]+L[16]+L[17]+L[18]+L[19]+L[20]+L[21]+L[22]+L[23]+L[24]+L[25]+L[26])/14;
   l3=(L[27]+L[28]+L[29]+L[30]+L[31]+L[32]+L[33]+L[34]+L[35]+L[36]+L[37]+L[38]+L[39])/13;
   k1=l1-l2;
   k2=l2-l3;
   if(k1<2&&k2<2)
   {
      kx=8;
   }
   else if(k1>2&&k2>2)
   {
      kx=0;
   }
   else
   kx=4;

}

void duo_ji(void)
{ switch(kx)
  {
case 0: PWMDTY45=angle[0];speed=1;break;
case 1: PWMDTY45=angle[1];speed=1;break;
case 2: PWMDTY45=angle[2];speed=1;break;
case 3: PWMDTY45=angle[3];speed=1;break;
case 4: PWMDTY45=angle[4];speed=2;break;
case 5: PWMDTY45=angle[5];speed=1;break;
case 6: PWMDTY45=angle[6];speed=1;break;
case 7: PWMDTY45=angle[7];speed=1;break;
case 8: PWMDTY45=angle[8];speed=1;break;

  }
}
void dianji()
{
switch(speed)
{
  case 0

WMDTY01=2400; PWMDTY23=2400;break;
  case 1:PWMDTY01=2400; PWMDTY23=2000;break;
  case 2:PWMDTY01=2400; PWMDTY23=1700;break;
}
}
void qing_0(void)
{
chang=0;
hangshu=0;
}
/************************/
void main(void)
{
  DDRA=0x00; //初始化PA，摄像头数字传输
  DisableInterrupts;//关闭中断
  PLLINIT();//时钟PLL初始化
PWMINIT();//pwm初始化
  changhangINIT();//行场中断初始化

EnableInterrupts;
while(1)
  {
   if(chang==1)//一场收集完成
   {
   er_zhi_hua();
   hei_xian_ti_qv();
   duo_ji();
   dianji();
   qing_0();
   }

  }

}
/***************************************************中断系列*/
#pragma CODE_SEG NON_BANKED
interrupt 8 void hangzhongduan(void)
{
  TFLG1_C0F = 1;
  m++;
  if (m<6 || m>240)
  {
return;//判断是否从新的一场开始
  }
  if(m%hangjiange==0)
  {


  Image[hangshu][0] = PORTA;
  Image[hangshu][1] = PORTA;
  Image[hangshu][2] = PORTA;
  Image[hangshu][3] = PORTA;
  Image[hangshu][4] = PORTA;
  Image[hangshu][5] = PORTA;
  Image[hangshu][6] = PORTA;
  Image[hangshu][7] = PORTA;
  Image[hangshu][8] = PORTA;
  Image[hangshu][9] = PORTA;
  Image[hangshu][10] = PORTA;
  Image[hangshu][11] = PORTA;
  Image[hangshu][12] = PORTA;
  Image[hangshu][13] = PORTA;
  Image[hangshu][14] = PORTA;
  Image[hangshu][15] = PORTA;
  Image[hangshu][16] = PORTA;
  Image[hangshu][17] = PORTA;
  Image[hangshu][18] = PORTA;
  Image[hangshu][19] = PORTA;
  Image[hangshu][20] = PORTA;
  Image[hangshu][21] = PORTA;
  Image[hangshu][22] = PORTA;
  Image[hangshu][23] = PORTA;
  Image[hangshu][24] = PORTA;
  Image[hangshu][25] = PORTA;
  Image[hangshu][26] = PORTA;
  Image[hangshu][27] = PORTA;
  Image[hangshu][28] = PORTA;
  Image[hangshu][29] = PORTA;
  Image[hangshu][30] = PORTA;
  Image[hangshu][31] = PORTA;
  Image[hangshu][32] = PORTA;
  Image[hangshu][33] = PORTA;
  Image[hangshu][34] = PORTA;
  Image[hangshu][35] = PORTA;
  Image[hangshu][36] = PORTA;
  Image[hangshu][37] = PORTA;
  Image[hangshu][38] = PORTA;
  Image[hangshu][39] = PORTA;
  Image[hangshu][40] = PORTA;
  Image[hangshu][41] = PORTA;
  Image[hangshu][42] = PORTA;
  Image[hangshu][43] = PORTA;
  Image[hangshu][44] = PORTA;
  Image[hangshu][45] = PORTA;
  Image[hangshu][46] = PORTA;
  Image[hangshu][47] = PORTA;
  Image[hangshu][48] = PORTA;
  Image[hangshu][49] = PORTA;
  Image[hangshu][50] = PORTA;
  Image[hangshu][51] = PORTA;
  Image[hangshu][52] = PORTA;
  Image[hangshu][53] = PORTA;
  Image[hangshu][54] = PORTA;
  Image[hangshu][55] = PORTA;
  Image[hangshu][56] = PORTA;
  Image[hangshu][57] = PORTA;
  Image[hangshu][58] = PORTA;
  Image[hangshu][59] = PORTA;
  Image[hangshu][60] = PORTA;
  Image[hangshu][61] = PORTA;
  Image[hangshu][62] = PORTA;
  Image[hangshu][63] = PORTA;
  Image[hangshu][64] = PORTA;
  Image[hangshu][65] = PORTA;
  Image[hangshu][66] = PORTA;
  Image[hangshu][67] = PORTA;
  Image[hangshu][68] = PORTA;
  Image[hangshu][69] = PORTA;
  Image[hangshu][70] = PORTA;
  Image[hangshu][71] = PORTA;
  Image[hangshu][72] = PORTA;
  Image[hangshu][73] = PORTA;
  Image[hangshu][74] = PORTA;
  Image[hangshu][75] = PORTA;
  Image[hangshu][76] = PORTA;
  Image[hangshu][77] = PORTA;
  Image[hangshu][78] = PORTA;
  Image[hangshu][79] = PORTA;
  Image[hangshu][80] = PORTA;
  Image[hangshu][81] = PORTA;
  Image[hangshu][82] = PORTA;
  Image[hangshu][83] = PORTA;
  Image[hangshu][84] = PORTA;
  Image[hangshu][85] = PORTA;
  Image[hangshu][86] = PORTA;
  Image[hangshu][87] = PORTA;
  Image[hangshu][88] = PORTA;
  Image[hangshu][89] = PORTA;
  Image[hangshu][90] = PORTA;
  Image[hangshu][91] = PORTA;
  Image[hangshu][92] = PORTA;
  Image[hangshu][93] = PORTA;
  Image[hangshu][94] = PORTA;
  Image[hangshu][95] = PORTA;
  Image[hangshu][96] = PORTA;
  Image[hangshu][97] = PORTA;
  Image[hangshu][98] = PORTA;
  Image[hangshu][99] = PORTA;
  Image[hangshu][100] = PORTA;
  Image[hangshu][101] = PORTA;
  Image[hangshu][102] = PORTA;
  Image[hangshu][103] = PORTA;
  Image[hangshu][104] = PORTA;
  Image[hangshu][105] = PORTA;
  Image[hangshu][106] = PORTA;
  Image[hangshu][107] = PORTA;
  Image[hangshu][108] = PORTA;
  Image[hangshu][109] = PORTA;
  Image[hangshu][110] = PORTA;
  Image[hangshu][111] = PORTA;
  Image[hangshu][112] = PORTA;
  Image[hangshu][113] = PORTA;
  Image[hangshu][114] = PORTA;
  Image[hangshu][115] = PORTA;
  Image[hangshu][116] = PORTA;
  Image[hangshu][117] = PORTA;
  Image[hangshu][118] = PORTA;
  Image[hangshu][119] = PORTA;
hangshu++;
  }
}

interrupt 9 void changzhongduan(void)
{
  TFLG1_C1F = 1; //清场中断
  TFLG1_C0F = 1; //清行中断
  hang = 0; //行计数器
  chang = 1;


}
#pragma CODE_SEG DEFAULT

时空幻影 · 发表于 2013-1-29 10:27:52

不知道为什么会有几个笑脸，怎么改都改不了，那些笑脸是";p”":p"来的

心静0189 · 发表于 2013-1-29 11:04:03

x2应该是减减，
还有情况考虑的有点少，假如有一边找不到跳变点呢。

时空幻影 · 发表于 2013-1-29 11:07:40

心静0189 发表于 2013-1-29 11:04
x2应该是减减，
还有情况考虑的有点少，假如有一边找不到跳变点呢。

刚刚做了一下测试，程序根本就没入中断，我HREF接的是单片机的Pt0，VSYN接的是单片机的PT1，应该没写错吧？但是就是看不到中断发生...

心静0189 · 发表于 2013-1-29 11:17:51

看看摄像头有莫有正常工作。

时空幻影 · 发表于 2013-1-29 11:31:58

心静0189 发表于 2013-1-29 11:17
看看摄像头有莫有正常工作。

请问您是用什么看摄像头是不是正常工作的？我试过用示波器看，但是是一堆杂波...按照资料记载，应该是方波才对啊...纠结纠结...

心静0189 · 发表于 2013-1-29 11:39:11

你可以看一下这个

时空幻影 · 发表于 2013-3-7 19:07:22

谢谢啦！

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[摄像头] 自己写的一份程序，但是不知道为什么不能跑...

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