1、附錄 C: 程序原代碼 #include <hidef.h> /* common defines and macros */ #include <mc9s12dg128.h> /* derivative information */ #pragma LINK_INFO DERIVATIVE "mc9s12dg128b" #define hs TFLG1_C0F #define clr_hs TFLG1_C0F #define video ATD0DR0 #define odd_even PTIS_PTIS2 /* Declaration of Val

2、uebales */ /CCD variables/ #define r_max 40 #define l_max 40 char ccd_dr_max+2l_max; char ccdl_max; char r_chg; char row; char line; char interval=7; char oeflag=0; char y_upr_max+2; char temp_upr_max+2; #define latch 20 #define latch_neg -20 char w_flgr_max+2; int dif; /-/ /SCI variables/ char sci_

3、d; /-/ /PWM variables/ #define mid_P 20 int ctl; 第VI頁 第十一章 總結 int errr_max+2; unsigned char m_speed; int str; int turn; unsigned char pulse6; unsigned char speed; unsigned char turn_S; unsigned char str_S; /-/ /general variables/ char x,y,z; /-/ /* Declaration of Functions */ /overall initiation voi

4、d ini_orall(void) DDRS_DDRS2=0; DDRS_DDRS7=1; TIOS_IOS0=0; TIOS_IOS1 = 0; TCTL4=0b00001101; TSCR1_TEN = 1; ICPAR_PA1EN = 1; DDRH=0xff; /initiate bus clock void ini_PLL(void) REFDV=3; SYNR=7; while(0=CRGFLG_LOCK); CLKSEL=0x80; VII第 頁 /*SCI*/ /initiate SCI void ini_SCI(void) SCI0BD=208; SCI0CR1=0x00;

5、SCI0CR2=0x0C; /SCI receive void re_sci(void) while(SCI0SR1_RDRF!=1); sci_d=SCI0DRL; /SCI transmit void tx_sci(char tx_d) while(SCI0SR1_TC!=1); while(SCI0SR1_TDRE!=1); SCI0DRL=tx_d; /*/ /*PWM*/ /PWM & 33886 initialization void ini_PWM(void) PTS_PTS7 = 0; PWME = 0x00; PWMCTL_CON01= 1; PWMPRCLK = 0

6、x33 ; PWMSCLA = 100 ; PWMSCLB = 1 ; PWMCLK = 0b00011100; PWMPOL = 0xff ; PWMCAE = 0x00 ; PWMPER0 = 0x4e ; 第VIII頁 第十一章 總結 PWMPER1 = 0x20 ; PWMDTY0 = 0x18 ; PWMDTY1 = 0x38 ; PWME_PWME1 = 1 ; PWMDTY2 = 120 ; PWMPER2 = 200 ; PWME_PWME2 = 1 ; /Set the angle of steer void pwm_set(int dutycycle) int high8;

7、 high8=dutycycle&0xFF00; PWMDTY0=high8>>8; PWMDTY1=dutycycle&0x00FF; /*/ /*SPEED*/ /Initiate the Average speed void speed_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_

8、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); IX第 頁 PWMDTY2=m_speed; str_S=m_speed/2-10; /Get the current speed void get_speed() char k; for(k=0;k<5

9、;k+) pulsek=pulsek+1; pulse5=PACN1; speed=pulse5-pulse0; /Set the current speed void set_speed(unsigned char a) if(speed<a) PWMDTY2=200; if(speed>a) PWMDTY2=0; /*/ /*CONTROL*/ void vhcl_pid(void) get_speed(); if(err8>0) ctl=6250+42*err8; else ctl=6250+38*err8; /- dif=err2+err10-2*err6; if(d

10、if>-7)&&(dif<7)&&(err6>-15)&&(err6<15) str+; 第X頁 第十一章 總結 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

11、=1; if(0=odd_even) oeflag=0; /*/ /*CCD*/ /Initiate A/D registers void ini_AD(void) ATD0CTL2=0xC0; ATD0CTL3=0x08; ATD0CTL4=0x81; ATD0CTL5=0xA0; ATD0DIEN=0x00; XI第 頁 /Scan the CCD image void ccd_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<

12、=r_max;) if(1=hs) clr_hs=1; r_chg+; if(r_chg>=interval) ini_AD(); for(line=0;line<l_max;line+) while(!ATD0STAT1_CCF0); ccdline=video; line=6; row+; w_flgrow-1=0; r_chg=0; ATD0CTL2=0x00; if(r_chg<interval-2)&&(line<l_max-3) ccd_drow-1line=ccdline; dif=ccdline-ccdline+3; if(0=w_flg

13、row-1) if(dif>latch) temp_uprow-1=line+3; w_flgrow-1=1; else 第XII頁 第十一章 總結 if(dif<latch_neg) y_uprow-1=temp_uprow-1; errrow-1=y_uprow-1-mid_P; w_flgrow-1=2; line+; if(1=odd_even) oeflag=1; if(0=odd_even) oeflag=0; int get_mid(char a, char b, char c) if(a>b) x=b; b=a; a=x; if(b>c) x=c; c=

14、b; b=x; if(a>b) x=b; b=a; a=x; return b; void ccd_deal(void) for(row=2;row<r_max-1;row+) temp_uprow=get_mid(y_uprow-1,y_uprow,y_uprow+1); for(row=2;row<r_max-1;row+) y_uprow=temp_uprow; XIII第 頁 if(1=odd_even) oeflag=1; if(0=odd_even) oeflag=0; /*/ /*/ /CCD module function void ccd_m(void) if(odd_even=1)&&(oeflag=0) /even field transfers to odd field oeflag=1; ccd_sc(); ccd_deal(); vhcl_pid(); if(odd_even=0)&&(oefl