智能车光电组程序.doc

#include hidef.h /* common defines and macros */ #include MC9S12XS128.h /* derivative information */ #pragma LINK_INFO DERIVATIVE mc9s12xs128 #define ui unsigned int ui average_yuanshi[12]; ui average_daxiao; ui average_daxiao_former; ui kuai; ui zhong; ui man; ui chengxuleixing; ui tingcheshineng; ui qipaoxian_shineng;/////方案中是否有起跑线 ui qipaoxian_geshu; //////现场数出来的起跑线个数 ui qipaoxian; ui shousuokongzhi;////////出现波动情况下的收敛 ui xiuzhengliang;/////////通过连续记录得到的路径对当前舵量进行修正 ui flag_yunsu; ui flag_shache;///////////刹车标志 ui flag_tuxiang;//////////图像采集标志 ui flag_caijiwancheng;////黑线提取标志 ui heidian;///////////////一排图像中黑点的个数 ui heidianjilu[10];///////记录一排中黑点的位数 ui i; ui counter; ui add;///////////////////全白情况下舵量的增量 ui LED[5];////////////////下排光电五路 ui DOWN;//////////////////下排黑线位置 ui DOWN_former; ui DOWN_biaozhun; ui heidian_down;//////////下排黑点个数，用于判断起跑线、坡道、十字交叉 /////速度、舵量 ui zhiturn[12]; ui Speed[100]; ui sudu[12]; ui SPEED; ui wansu; ui speed; ui mid; ui fast; /////记录走过的路径用于宏观控制速度 ui AVERAGE; ui lushu_servo; ui lushu_speed; ui lushu_bodong; ui heixianjishu_bodong; ui heixianjishu_servo; ui heixianjishu_speed; ui heixianjilu_bodong[20]; ui heixianjilu_servo[20]; ui heixianjilu_speed[20]; /////采集到的值 ui heixianbiaozhun[12]; ui baixianbiaozhun[12]; ui average[12]; ui BLACKLINEUP; ui LASER[12]; ui LASER_chucai[12]; ui BLACKLINEUP_former; /////////////////PLL初始化（时钟选择PLL输入）/////////////// void PLLInit(void) { REFDV=1; SYNR=5; //总线时钟=16MHz*（SYNR+1）/（REFDV+1)=48MHz while(CRGFLG_LOCK==0); // wait here till the PLL is locked. CLKSEL=0x80; } void PIT_init(void) { PITCFLMT_PITE=0; //定时中断通道0关 //中断的触发周期=（高8位时基）×（低16位计数器）/（总线时钟平率) //周期=100×5001ms ////点亮1ms PITCE_PCE0=1;//采集定时器通道0使能 PITMTLD0=100-1; //(8位 0～255) PITLD0=500-1; //(16位0～65535) PITINTE_PINTE0=1; //定时器中断通道0中断使能 //周期=200×1000250ms //每隔记录一次黑线位置 PITCE_PCE1=1;//记录黑线位置定时器通道1使能 PITMTLD1=200-1; PITLD1=5000-1; PI