飞思卡尔智能车程序.doc

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1、Main.c#include/*commondefinesandmacros*/#include/*derivativeinformation*/#pragmaLINK_INFODERIVATIVE"mc9s12db128b"#include"define.h"#include"init.h"//variableusedinvideoprocessvolatileunsignedcharimage_data[ROW_MAX][LINE_MAX];//dataarrayofpictureunsignedcharblack_x[ROW_MAX

2、];//0ne-dimensionalarrayunsignedcharrow;//x-positionofthearrayunsignedcharline;//y-positionofthearrayunsignedintrow_count;//rowcounterunsignedcharline_sample;//usedtocounterinADunsignedcharrow_image;unsignedcharline_temp;//temperaryvariableusedindatatransferunsignedcharsample_data[LINE_MAX];//us

3、edtosaveone-dimensionarraygotininterruption//variablesbelowareusedinspeedmeasureUnsignedcharpulse[5];//usedtosavedatainPAprocessUnsignedcharcounter;//temporarycounterinSpeeddetectUnsignedcharcur_speed;//currentspeedshortstand;shortdata;unsignedcharcurve;//valveusedtodecidestraightorturnshortBoun

4、ds(shortdata);shortFuzzyLogic(shortstand);/*----------------------------------------------------------------------------*receive_sci*----------------------------------------------------------------------------*/unsignedcharreceive_sci(void)//receivedatathroughsci{unsignedcharsci_data;while(SCI

5、0SR1_RDRF!=1);sci_data=SCI0DRL;returnsci_data;}/*----------------------------------------------------------------------------*transmit_sci*----------------------------------------------------------------------------*/voidtransmit_sci(unsignedchartransmit_data)//senddatathroughsci{while(SCI0SR1

6、_TC!=1);while(SCI0SR1_TDRE!=1);SCI0DRL=transmit_data;}/********************************************************************************//*----------------------------------------------------------------------------*abs_sub*-----------------------------------------------------------------------

7、-----*/unsignedcharabs_sub(unsignedcharnum1,unsignedcharnum2){unsignedchardifference;if(num1>=num2){difference=num1-num2;}else{difference=num2-num1;}returndifference;}voidpwm_set(unsignedintdutycycle){PWMDTY1=dutycycle&0x00F