------------------------------------------------------------------------基于飛思卡爾圖像采集附錄C:程序原代碼#include<hidef.h>/*commondefinesandmacros*/#include<mc9s12dg128.h>/*derivativeinformation*/#pragmaLINK_INFODERIVATIVE"mc9s12dg128b"#definehsTFLG1_C0F#defineclr_hsTFLG1_C0F#definevideoATD0DR0#defineodd_evenPTIS_PTIS2/********************************************************\DeclarationofValuebales\********************************************************///CCDvariables//#definer_max40#definel_max40charccd_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-20charw_flg[r_max+2];intdif;//-------------////SCIvariables//charsci_d;//-------------////PWMvariables//#definemid_P20intctl;第VI頁第十一章總結interr[r_max+2];unsignedcharm_speed;intstr;intturn;unsignedcharpulse[6];unsignedcharspeed;unsignedcharturn_S;unsignedcharstr_S;//-------------////generalvariables//charx,y,z;//-----------------///********************************************************\DeclarationofFunctions\********************************************************///overallinitiationvoidini_orall(void){DDRS_DDRS2=0;DDRS_DDRS7=1;TIOS_IOS0=0;TIOS_IOS1=0;TCTL4=0b00001101;TSCR1_TEN=1;ICPAR_PA1EN=1;DDRH=0xff;}//initiatebusclockvoidini_PLL(void){REFDV=3;SYNR=7;while(0==CRGFLG_LOCK);CLKSEL=0x80;VII第頁}/****SCI****///initiateSCIvoidini_SCI(void){SCI0BD=208;SCI0CR1=0x00;SCI0CR2=0x0C;}//SCIreceivevoidre_sci(void){while(SCI0SR1_RDRF!=1);sci_d=SCI0DRL;}//SCItransmitvoidtx_sci(chartx_d){while(SCI0SR1_TC!=1);while(SCI0SR1_TDRE!=1);SCI0DRL=tx_d;}/***********//****PWM****///PWM&33886initializationvoidini_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頁第十一章總結PWMPER1=0x20;PWMDTY0=0x18;PWMDTY1=0x38;PWME_PWME1=1;PWMDTY2=120;PWMPER2=200;PWME_PWME2=1;}//Settheangleofsteervoidpwm_set(intdutycycle){inthigh8;high8=dutycycle&0xFF00;PWMDTY0=high8>>8;PWMDTY1=dutycycle&0x00FF;}/*************//****SPEED****///InitiatetheAveragespeedvoidspeed_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);IX第頁}PWMDTY2=m_speed;str_S=m_speed/2-10;}//Getthecurrentspeedvoidget_speed(){chark;for(k=0;k<5;k++){pulse[k]=pulse[k+1];}pulse[5]=PACN1;speed=pulse[5]-pulse[0];}//Setthecurrentspeedvoidset_speed(unsignedchara){if(speed<a){PWMDTY2=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++;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=1;if(0==odd_even)oeflag=0;}/***********//****CCD****///InitiateA/Dregistersvoidini_AD(void){ATD0CTL2=0xC0;ATD0CTL3=0x08;ATD0CTL4=0x81;ATD0CTL5=0xA0;ATD0DIEN=0x00;}XI第頁//ScantheCCDimagevoidccd_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;line<l_max;line++){while(!ATD0STAT1_CCF0);ccd[line]=video;}line=6;row++;w_flg[row-1]=0;r_chg=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;}}else{第XII頁第十一章總結if(dif<latch_neg){y_up[row-1]=temp_up[row-1];err[row-1]=y_up[row-1]-mid_P;w_flg[row-1]=2;}}line++;}}if(1==odd_even)oeflag=1;if(0==odd_even)oeflag=0;}intget_mid(chara,charb,charc){if(a>b){x=b;b=a;a=x;}if(b>c){x=c;c=b;b=x;}if(a>b){x=b;b=a;a=x;}returnb;}voidccd_deal(void){for(row=2;row<r_max-1;row++){temp_up[row]=get_mid(y_up[row-1],y_up[row],y_up[row+1]);}for(row=2;row<r_max-1;row++){y_up[row]=temp_up[row];XIII第頁}if(1==odd_even)oeflag=1;if(0==odd_even)oeflag=0;}/********//********///CCDmodulefunctio