简单可跑程序 CCD

三幕 · 发表于 2012-6-6 23:34:12

由于是第一次接触该小车，有些问题请见谅。
场中断：PT1；行中断：PT2；舵机：PP0、PP1；电机：PP3；采集：AD0；摄像头转90°；
采集程序大家都很熟悉，不多说了。
舵机控制程序比较简单，采用两个黑线中点的比较来决定舵机转角，转角大小通过试验得到。
由于是第一次接触该小车，有些问题请见谅。

#include <hidef.h>
#include <MC9S12XS128.h>
#pragma LINK_INFO DERIVATIVE "mc9s12xs128"
//------------------------------------------------

  #define column_end  72
  #define row 52
  unsigned char c_row=0,g_row=0;
  unsigned int row_count=0,column_count=0;
  unsigned char data[row][column_end];
  unsigned char ucRow,ucColumn,floag=0;
int x1=0,x2=0,x3=0,i,j,k,m,w,y,z;
int a1,a2;
  unsigned int get_n[]={ 16,29,41,52,62,71,79,86,92,98,
                     103,108,112,116,120,124,128,132,135,138,
                     141,144,147,150,153,156,159,162,165,168,
                     170,172,174,176,178 ,180,182,184,186,188,
                     190,192,194,196,198,200,202,204,206,208,
                        210,211,212,242,243,245,246,247,248,249,250};

  void PLL_init(void)
  {
CLKSEL=0X00;    //64MHZ
PLLCTL_PLLON=1;
SYNR =0xc0 | 0x07;
REFDV=0xc0 | 0x01;
POSTDIV=0x00;
_asm(nop);
_asm(nop);
_asm(nop);
_asm(nop);
while(!(CRGFLG_LOCK==1));
CLKSEL_PLLSEL =1; }

void ATD_init(void)
{

ATD0CTL1=0x00;
      ATD0CTL2=0X40;  //禁止中断转换后自动清除寄存器
      ATD0CTL3=0X88;  //没有断点  没有FIFO 通道0开始单通道继续转换右对齐转换序列1
      ATD0CTL4=0X00; //4周期，64/2，最快
      ATD0CTL5=0X30;  // 连续转换多通道转换通道AN0开始
   ATD0DIEN=0x00; //相应的数字信号输入禁止

}

void AD_init(void)
{

TIOS =0x00;//定时器通道0，1 为输入捕捉
TSCR1=0x80;//定时器使能
TCTL4=0x18;//通道 1 捕捉下降沿通道 2 捕捉上升沿
TIE=0x06;  //通道 1，2 中断使能
TFLG1=0xFF;//清中断标志位

}

void PWM_int(void) {

                     //舵机初始化
PWMCTL_CON01=1; //0和1联合成16位PWM；
PWMCAE_CAE1=0; //选择输出模式为左对齐输出模式
PWMCNT01 = 0;    //计数器清零；
PWMPOL_PPOL1=1; //先输出高电平，计数到DTY时，反转电平
PWMPRCLK = 0X62; //clockA  4分频,clockA=busclock/4=16MHz;CLK B 16分频:1Mhz
PWMSCLA = 0x08; //对clock SA 16分频,pwm clock=clockA/16=1MHz;
PWMCLK_PCLK1 = 1; //选择clock SA做时钟源
PWMPER01 = 20000; //周期20ms； 50Hz;
PWMDTY01 = 1500; //高电平时间为1.5ms;
PWME_PWME1 = 1;

   //驱动电机初使化
PWMPRCLK=0X72;
PWMCLK_PCLK3=1;
PWMSCLB=0X7D;
PWMPOL_PPOL3=0XFF;
PWMCAE_CAE3=0X00;
PWMPER3=0X13;
PWMDTY3=0X04;
PWME_PWME3=1;
}

  void image_int(void)//去噪

{

  for(ucRow=0;ucRow<row;ucRow++)
  {
for(ucColumn=0;ucColumn<column_end;ucColumn++)
{

   if(data[ucRow][ucColumn]==0)
   {
      if((data[ucRow][ucColumn-1]==1)&&(data[ucRow][ucColumn+1]==1))

      {
      data[ucRow][ucColumn]=1;

      }
   }

   if(data[ucRow][ucColumn]==1)
   {
      if((data[ucRow][ucColumn-1]==0)&&(data[ucRow][ucColumn+1]==0))

      {
      data[ucRow][ucColumn]=0;

      }
   }
}

  }

}

void control_int(void)// 舵机控制

{
      //两数组的黑线中点提取

for(i=0;((data[10]==0));i++)
{;}
for(j=i;((data[j][10]==1));j++)
  { ;}
x1=((j-i)/2+i);

for(k=0;((data[k][40]==0));k++)
{;}
for(m=k;((data[m][40]==1));m++)
  { ;}
x2=((m-k)/2+k);

if(k>=50)

  for(w=0;((data[51][w]==0) && (data[51][w+1]==0));w++)
{
   if(w<40)
   a1=40;
   else
   a1=(-40);
}

      //斜率的计算
else
if((x2-x1)>=0)

{
   if((x2-x1)==0)

   a1=0;
   else
   a1=30/(x2-x1);
   }

else
   a1=(-(30/(x1-x2)));

//斜率范围选择

if((a1>=10)&&(a1<=30)){a1=10;}
if((a1>=6)&&(a1<10)){a1=6;}
if((a1>=4)&&(a1<6)){a1=4;}
if((a1>=3)&&(a1<4)){a1=3;}
if((a1>0)&&(a1<3)){a1=1;}

if((a1<=(-10))&&(a1>=(-30))){a1=(-10);}
if((a1<=(-6))&&(a1>(-10))){a1=(-6);}
if((a1<=(-4))&&(a1>(-6))){a1=(-4);}
if((a1<=(-3))&&(a1>(-4))){a1=(-3);}
if((a1<0)&&(a1>(-3))){a1=(-1);}

//转角的选择

switch(a1)
{
  case 10:

            PWMDTY01 = 1700;
      break;
  case 6:

            PWMDTY01 = 1700;
      break;

case 4:

      PWMDTY01 = 1800;

      break;

case 3:

         PWMDTY01 =1900;

      break;

case 1:

         PWMDTY01 =2000;

      break;

case 0:

         PWMDTY01 = 1600;

      break;

case (-10):

         PWMDTY01 = 1600;

      break;
  case (-6):

         PWMDTY01 = 1500;

      break;

case(-4):

         PWMDTY01 =1300;

      break;

case(-3):

         PWMDTY01 =1200;

      break;

case (-1):

         PWMDTY01 = 1100;

      break;

case(40):

         PWMDTY01 =2000;

      break;

case (-40):

         PWMDTY01 = 1000;

      break;

default:

      break;
}

}

void main(void)
{
DisableInterrupts;

PLL_init();
ATD_init();
AD_init();

PWM_int();

   EnableInterrupts;

   {
   unsigned  int e,w;
   for(e=1;e<6;e++)
   for(w=0;w<10;w++);

   }

for(;;)
  {
   if(floag==1)
      {
         floag=0;

         TIE_C1I = 1;

      }

  }

}

//---------------------------------
#pragma CODE_SEG NON_BANKED
void interrupt 10 IC2ISR(void)
{

   TFLG1_C2F=1; {
   unsigned int i,j,num=1;
for(i=0;i<num;i++)
   for(j=0;j<58;j++);

  if(row_count==get_n[c_row])

  {
for(column_count=0;column_count<=column_end;column_count++)
{
   while(!ATD0STAT0_SCF);

   {
   data[c_row][column_count]=ATD0DR0L; //AD0口为信号输入
   if(data[c_row][column_count]<88) //88二值化阀值
   data[c_row][column_count]=1;
   else
   data[c_row][column_count]=0;

   }

}

c_row++;
  }
row_count++;
  if(c_row>=row)
  {floag=1;

TIE_C2I = 0;
}
else TIE_C2I = 1;

}

}

void interrupt 9 IC1ISR(void)
{

column_count=0;
row_count=0;
c_row=0;

  TFLG1_C1F=1; //清场中断标志
  TFLG1_C2F=1; //清行中断标志

image_int();

control_int();

TIE_C2I = 1; //开行中断
TIE_C1I = 0;
}

#pragma CODE_SEG DEFAULT