基于飞思卡尔图像采集.docx
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基于飞思卡尔图像采集
附录C:
程序原代码
#include/*commondefinesandmacros*/
#include/*derivativeinformation*/
#pragmaLINK_INFODERIVATIVE"mc9s12dg128b"
#definehsTFLG1_C0F
#defineclr_hsTFLG1_C0F
#definevideoATD0DR0
#defineodd_evenPTIS_PTIS2
/********************************************************\
DeclarationofValuebales
\********************************************************/
//CCDvariables//
#definer_max40
#definel_max40
charccd_d[r_max+2][l_max];
charccd[l_max];
charr_chg;
charrow;
charline;
charinterval=7;
charoeflag=0;
chary_up[r_max+2];
chartemp_up[r_max+2];
#definelatch20
#definelatch_neg-20
charw_flg[r_max+2];
intdif;
//-------------//
//SCIvariables//
charsci_d;
//-------------//
//PWMvariables//
#definemid_P20
intctl;
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第十一章总结
interr[r_max+2];
unsignedcharm_speed;
intstr;
intturn;
unsignedcharpulse[6];
unsignedcharspeed;
unsignedcharturn_S;
unsignedcharstr_S;
//-------------//
//generalvariables//
charx,y,z;
//-----------------//
/********************************************************\
DeclarationofFunctions
\********************************************************/
//overallinitiation
voidini_orall（void）{
DDRS_DDRS2=0;
DDRS_DDRS7=1;
TIOS_IOS0=0;
TIOS_IOS1=0;
TCTL4=0b00001101;
TSCR1_TEN=1;
ICPAR_PA1EN=1;
DDRH=0xff;
}
//initiatebusclock
voidini_PLL（void）{
REFDV=3;
SYNR=7;
while（0==CRGFLG_LOCK）;
CLKSEL=0x80;
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}
/****SCI****/
//initiateSCI
voidini_SCI（void）{
SCI0BD=208;
SCI0CR1=0x00;
SCI0CR2=0x0C;
}
//SCIreceive
voidre_sci（void）{
while（SCI0SR1_RDRF!
=1）;
sci_d=SCI0DRL;
}
//SCItransmit
voidtx_sci（chartx_d）{
while（SCI0SR1_TC!
=1）;
while（SCI0SR1_TDRE!
=1）;
SCI0DRL=tx_d;
}
/***********/
/****PWM****/
//PWM&33886initialization
voidini_PWM（void）{
PTS_PTS7=0;
PWME=0x00;
PWMCTL_CON01=1;
PWMPRCLK=0x33;
PWMSCLA=100;
PWMSCLB=1;
PWMCLK=0b00011100;
PWMPOL=0xff;
PWMCAE=0x00;
PWMPER0=0x4e;
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第十一章总结
PWMPER1=0x20;
PWMDTY0=0x18;
PWMDTY1=0x38;
PWME_PWME1=1;
PWMDTY2=120;
PWMPER2=200;
PWME_PWME2=1;
}
//Settheangleofsteer
voidpwm_set（intdutycycle）
{
inthigh8;
high8=dutycycle&0xFF00;
PWMDTY0=high8>>8;
PWMDTY1=dutycycle&0x00FF;
}
/*************/
/****SPEED****/
//InitiatetheAveragespeed
voidspeed_init（void）{
DDRM_DDRM0=0;
DDRM_DDRM1=0;
DDRM_DDRM2=0;
DDRM_DDRM3=0;
DDRM_DDRM4=0;
DDRM_DDRM5=0;
DDRJ_DDRJ6=0;
DDRJ_DDRJ7=0;
if（1==PTIM_PTIM0）{
m_speed=120+
2*（PTIM_PTIM1*10+PTIM_PTIM2*5+PTIM_PTIM3*2+PTIM_PTIM4*2+PTIM
_PTIM5+PTIJ_PTIJ6+PTIJ_PTIJ7）;
}else{
m_speed=120-
2*（PTIM_PTIM1*10+PTIM_PTIM2*5+PTIM_PTIM3*2+PTIM_PTIM4*2+PTIM
_PTIM5+PTIJ_PTIJ6+PTIJ_PTIJ7）;
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}
PWMDTY2=m_speed;
str_S=m_speed/2-10;
}
//Getthecurrentspeed
voidget_speed（）{
chark;
for（k=0;k<5;k++）{
pulse[k]=pulse[k+1];
}
pulse[5]=PACN1;
speed=pulse[5]-pulse[0];
}
//Setthecurrentspeed
voidset_speed（unsignedchara）{
if（speedPWMDTY2=200;
}
if（speed>a）{
PWMDTY2=0;
}
}
/*************/
/****CONTROL****/
voidvhcl_pid（void）{
get_speed（）;
if（err[8]>0）{
ctl=6250+42*err[8];
}else{
ctl=6250+38*err[8];
}
//------------------------
dif=err[2]+err[10]-2*err[6];
if（（dif>-7）&&（dif<7）&&（err[6]>-15）&&（err[6]<15））{
str++;
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第十一章总结
turn=0;
PTH=0xff;
}else{
turn++;
if（turn>20）{
str=0;
}
PTH=0x00;
}
//------------------------
if（turn>0）{
set_speed（29）;
}else{
set_speed（str_S）;
}
//-----------------------------
if（ctl<5200）ctl=5200;
if（ctl>7400）ctl=7400;
pwm_set（ctl）;
if（1==odd_even）oeflag=1;
if（0==odd_even）oeflag=0;
}
/***********/
/****CCD****/
//InitiateA/Dregisters
voidini_AD（void）
{
ATD0CTL2=0xC0;
ATD0CTL3=0x08;
ATD0CTL4=0x81;
ATD0CTL5=0xA0;
ATD0DIEN=0x00;
}
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//ScantheCCDimage
voidccd_sc（void）{
r_chg=0;
while（r_chg<26-interval）{
if（1==hs）{
clr_hs=1;
r_chg++;
}
}
line=0;
r_chg=0;
for（row=1;row<=r_max;）{
if（1==hs）{
clr_hs=1;
r_chg++;
}
if（r_chg>=interval）{
ini_AD（）;
for（line=0;linewhile（!
ATD0STAT1_CCF0）;
ccd[line]=video;
}
line=6;
row++;
w_flg[row-1]=0;
r_chg=0;
ATD0CTL2=0x00;
}
if（（r_chgccd_d[row-1][line]=ccd[line];
dif=ccd[line]-ccd[line+3];
if（0==w_flg[row-1]）{
if（dif>latch）{
temp_up[row-1]=line+3;
w_flg[row-1]=1;
}
}else{
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第十一章总结
if（dif
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