飞思卡尔智能车.docx

飞思卡尔智能车.docx

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飞思卡尔智能车

Main.c

#include/*commondefinesandmacros*/

#include/*derivativeinformation*/

#pragmaLINK_INFODERIVATIVE"mc9s12db128b"

#include"define.h"

#include"init.h"

//variableusedinvideoprocess

volatileunsignedcharimage_data[ROW_MAX][LINE_MAX];//dataarrayofpicture

unsignedcharblack_x[ROW_MAX];//0ne-dimensionalarray

unsignedcharrow;//x-positionofthearray

unsignedcharline;//y-positionofthearray

unsignedintrow_count;//rowcounter

unsignedcharline_sample;//usedtocounterinAD

unsignedcharrow_image;

unsignedcharline_temp;//temperaryvariableusedindatatransfer

unsignedcharsample_data[LINE_MAX];//usedtosaveone-dimensionarraygotin

interruption

//variablesbelowareusedinspeedmeasure

Unsignedcharpulse[5];//usedtosavedatainPAprocess

Unsignedcharcounter;//temporarycounterinSpeeddetect

Unsignedcharcur_speed;//currentspeed

shortstand;

shortdata;

unsignedcharcurve;//valveusedtodecidestraightorturn

shortBounds（shortdata）;

shortFuzzyLogic（shortstand）;

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

receive_sci

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

unsignedcharreceive_sci（void）//receivedatathroughsci

{unsignedcharsci_data;

while（SCI0SR1_RDRF!

=1）;

sci_data=SCI0DRL;

returnsci_data;

}

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

transmit_sci

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

voidtransmit_sci（unsignedchartransmit_data）//senddatathroughsci

{

while（SCI0SR1_TC!

=1）;

while（SCI0SR1_TDRE!

=1）;

SCI0DRL=transmit_data;

}

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

***/

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

abs_sub

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

unsignedcharabs_sub（unsignedcharnum1,unsignedcharnum2）

{unsignedchardifference;

if（num1>=num2）{

difference=num1-num2;

}else{

difference=num2-num1;

}

returndifference;

}

voidpwm_set（unsignedintdutycycle）

{

PWMDTY1=dutycycle&0x00FF;

PWMDTY0=dutycycle>>8;

}

voidget_black_wire（void）//usedtoextractblackwire

{unsignedchari;

for（row=0;row

for（line=LINE_MIN;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

black_x[row]=line+i/2+2;

i=10;

}

}

line=LINE_MAX;

}else{

//black_x[row]=（black_x[row]/45）*78;

}

}

}

}

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

speed_control

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

voidspeed_control（void）

{

unsignedintsum,average;

sum=0;

for（row=0;row

sum=sum+black_x[row];

}

average=sum/FIRST_FIVE;

curve=0;

for（row=0;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

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

voidsteer_control（void）

{unsignedintdutycycle;

unsignedcharvideo_center;

unsignedintcoefficient;

intE,U;//current

staticinte=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）;

}

//makesureitiswithinbounds

shortBounds（shortdata）{

if（data>right_limit）{

data=right_limit;

}

if（data

data=left_limit;

}

returndata;

}

Voidspeed_get（void）

{

Unsignedchartemp;

Counter++;

Temp=PACN1;

cur_speed=temp-pulse[counter-1];

pulse[counter-1]=temp;

if（counter==5）

{

counter=0;

}

}

Voidset_speed（unsignedchardesired_speed）

{

If（desired_speed

{

PWMDTY2=low_speed;

}

Else

{

PWMDTY2=high_speed;

}

}

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

*\

Main

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

*/

voidmain（void）{

//mainfunctiion

init_PORT（）;

//portinitialization

init_PLL（）;

//settingofthePLL

init_ECT（）;

init_PWM（）;

//PWMINITIALIZATION

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

get_black_wire（）;

speed_control（）;

steer_control（）;

}

DisableInterrupts;

}

else{//odd->even

while（field_signal==1）;

row_count=0;

row_image=0;

EnableInterrupts;

while（row_count