Main.c
#include /* common defines and macros */
#include /* 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_sub(unsigned char num1, unsigned char num2) { unsigned char difference;
if(num1>=num2){
difference=num1-num2;
}else{
difference=num2-num1;
}
return difference;
}
void pwm_set(unsigned int dutycycle)
{
PWMDTY1=dutycycle&0x00FF;
PWMDTY0=dutycycle>>8;
}
void get_black_wire(void) // used to extract black wire
{ unsigned char i;
for(row=0;rowfor(line=LINE_MIN;lineif(image_data[row][line]>image_data[row][line+3]+VALVE){
for(i=3;i<10;i++){
if(image_data[row][line+i]+VALVEi=10;
}
}
line=LINE_MAX;
} else{
//black_x[row]=(black_x[row]/45)*78;
}
}
}
}
/*----------------------------------------------------------------------------*\
speed_control
\*----------------------------------------------------------------------------*/
