附件A序源代码.docVIP

附件 A #include hidef.h /* common defines and macros */ #include mc9s12dg128.h /* derivative information */ #pragma LINK_INFO DERIVATIVE mc9s12dg128b #define FIELD PTIJ_PTIJ1 #define LINE 39 #define DOT 68 #define DIV 7 char go_ready; char begin,t,deal; unsigned char field; unsigned int line; unsigned char dot; unsigned char odd[LINE][DOT],even[LINE][DOT],*p,*q,*q0,center[LINE],root; unsigned char oddfinish,evenfinish; unsigned char i,j,k,l; unsigned char left,right,width; float slope0; float absoluteslope0; unsigned char overnumber; unsigned char dark0,dark,white,white0,white1,dif,ndark,nwhite; unsigned int sumwhite; unsigned char blackarea[8],blacknum; unsigned char maybe[4]; unsigned char findoutline; unsigned char start,end; unsigned char finish; char beline,beline0,lasting; unsigned char findstartline; unsigned char startlinedally; unsigned char s0,e0,n; unsigned char breakpoint[15]; char breaknumber; char getlineslope[14][2]; float lineslope[14],diflineslope[13]; char turnleft,turnright,difrise,difdown; char beS,rightcircle,leftcircle; int endwarp,startwarp; unsigned char horizontallength; float turn; char roadfalse,falsetimes; float angle,angle0,absangle; unsigned char portK; unsigned char count,speed,neededspeed,turnspeed; float keepspeed; int p0,p1,espeed; float warp; float sumwarp; float averagewarp; float sumx,sumy; float sumxsumx,sumxx,sumxy; float slope,constnum; char ADDSPEED; char SLOWSPEED; /************initialization AD0************/ void init_AD(void) //初始化 { ATD0CTL2=0xC0; ATD0CTL3=0x08; ATD0CTL4=0x81; ATD0CTL5=0xA0; ATD0DIEN=0x00; } /************initialization Port H6***************/ //Port H6为电触开关，作为中断信号 void init_intPortH6(void) { PTH_PTH6 = 0; DDRH_DDRH6 = 0; PPSH_PPSH6 = 0; PIFH_PIFH6 = 1; PIEH_PIEH6 = 1; } /***********initialization Port J1******************/ void init_intPortJ1(void) { PTJ_PTJ1 = 0; DDRJ_DDRJ1 = 0; PERJ_PERJ1 = 1; } /************initialization Port J0*****************/