基于飞思卡尔图像采集Word文档下载推荐.docx

基于飞思卡尔图像采集Word文档下载推荐.docx

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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;

第VI页

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;

VII

第页

/****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!

while（SCI0SR1_TDRE!

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;

第VIII页

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-

IX

}

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（speed<

a）{

PWMDTY2=200;

if（speed>

PWMDTY2=0;

/****CONTROL****/

voidvhcl_pid（void）{

get_speed（）;

if（err[8]>

0）{

ctl=6250+42*err[8];

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++;

第X页

turn=0;

PTH=0xff;

turn++;

if（turn>

20）{

str=0;

PTH=0x00;

set_speed（29）;

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;

XI

//ScantheCCDimage

voidccd_sc（void）{

r_chg=0;

while（r_chg<

26-interval）{

if（1==hs）{

clr_hs=1;

r_chg++;

line=0;

for（row=1;

row<

=r_max;

）{

if（r_chg>

=interval）{

ini_AD（）;

for（line=0;

line<

l_max;

line++）{

while（!

ATD0STAT1_CCF0）;

ccd[line]=video;

line=6;

row++;

w_flg[row-1]=0;

ATD0CTL2=0x00;

if（（r_chg<

interval-2）&

（line<

l_max-3））{

ccd_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;

第XII页

if（dif<

latch_ne