飞思卡尔摄像头组程序.doc

文档介绍：#include <> /* common defines and macros */
#include <> /* derivative information */
#include ""
#include ""
#pragma LINK_INFO DERIVATIVE "mc9s12xs128"
extern TIME_LIMIT;
extern Time_Count;
#define FIRST 1 // 2
#define PART_LENGTH 6 //4 最短有效
#define PART_NEAREST 11 //13
#define BLACK_LENGTH 23
#define BLACK_SEARCH 10
#define LEFTRIGHT 5 //4 7-14 //5 7-12 //左右跳变
#define ROAD_MAX 30
#define COLOR_R 90
#define DATA_LENGTH 30
#define NULL_ROAD30
#define ULONG unsigned long
#define UCHAR unsigned char
#define UINT unsigned int
#define SDA PTT_PTT4
#define SCL PTT_PTT5
#define OUT_IN DDRT_DDRT4
#define MP0 PORTA //捕捉象素引脚
#define DEBUG 1 //*************调试标志非调试状态注释此句
static int temp= 0;
static int Href= FIRST;
static int image; //场计数
static int Plus; //脉冲计数
static int All_Over;
static int p_Over;
volatile UCHAR Stop=0;
static UCHAR ColorToRoads(UINT Href, UCHAR middle, int i);
static int GetMaxMin(int m, UCHAR middle);
extern UCHAR read_add(UCHAR address);
extern void write_add(UCHAR address,UCHAR date);
extern void Turn(int Max, int Min, RE_ROADS Roads[], int Plus);
static unsigned char Colors[30][90]; //象素数组
static unsigned int Judge[30];
static unsigned int JudgeMax, JudgeMin;
static unsigned char SUB;
typedef struct _ROADS_
{
unsigned char road; //转向率,0 表示直线或则没检测到黑线
}ROADS;
//没检测到黑线一般为前方有大于90 度的弯,
//行驶一会后数组会更新,不会因此丢掉跑道
//iterfaces below:
ROADS Roads[30];
int over;
unsigned char Middle;
unsigned char lp[30];
// UINT m=0,n=0;
//extern UCHAR read_add(UCHAR address) ;
/******************************************************/
//函数名:delayms()
//功能描述:ms 级延迟
//全局变量:NO!
//输入:NO
//输出:NO
//函数说明:
/******************************************************/
void delayms(UINT ms)
{
int i;
int j;
for(i= ms; i> 0; i--)
for(j= 0; j< 7500; j++);
}
/******************************************************/
//函数名:delayus()
//功能描述:us 级延迟
//全局变量:NO!
//输入:NO
//输出:NO
//函数说明:
/***********