飞思卡尔智能车程序.docVIP

Main.c #include hidef.h /* common defines and macros */ #include mc9s12db128.h /* derivative information */ #pragma LINK_INFO DERIVATIVE mc9s12db128b #include define.h #include init.h // variable used in video process volatile unsigned char image_data[ROW_MAX][LINE_MAX] ; // data array of picture unsigned char black_x[ROW_MAX] ; // 0ne-dimensional array unsigned char row ; // x-position of the array unsigned char line ; // y-position of the array unsigned int row_count ; // row counter unsigned char line_sample ; // used to counter in AD unsigned char row_image ; unsigned char line_temp ; // temperary variable used in data transfer unsigned char sample_data[LINE_MAX] ; // used to save one-dimension array got in interruption // variables below are used in speed measure Unsigned char pulse[5] ; // used to save data in PA process Unsigned char counter; // temporary counter in Speed detect Unsigned char cur_speed; // current speed short stand; short data; unsigned char curve ; // valve used to decide straight or turn short Bounds(short data); short FuzzyLogic(short stand); /*----------------------------------------------------------------------------*\ receive_sci \*----------------------------------------------------------------------------*/ unsigned char receive_sci(void) // receive data through sci { unsigned char sci_data; while(SCI0SR1_RDRF!=1); sci_data=SCI0DRL; return sci_data; } /*----------------------------------------------------------------------------*\ transmit_sci \*----------------------------------------------------------------------------*/ void transmit_sci(unsigned char transmit_data) // send data through sci { while(SCI0SR1_TC!=1); while(SCI0SR1_TDRE!=1); SCI0DRL=transmit_data; } /***************************************************************************** ***/ /*----------------------------------------------------------------------------*\ abs_sub \*----------------------------------------------------------------------------*/ unsigned char abs_s