globe.h

Freescale 智能车竞赛代码

#ifndef _GLOBE_H_
#define _GLOBE_H_

#include "BaseInc.h"



#define STRAIGHT_LIST_X   5			//用于定义直线模糊控制表的大小
#define STRAIGHT_LIST_K   5
#define RIGHT_LIST_X      5     //用于定义右弯模糊控制表的大小
#define RIGHT_LIST_K      5   
#define LEFT_LIST_X       5			//用于定义左弯模糊控制表的大小
#define LEFT_LIST_K       5  

#define YES       1
#define NON       0

#define DISVALID  0xff
//===========CCD interface ==================
#define CCD_VS        PORTA_BIT0
#define CCD_ODDEVEN   PORTA_BIT3
//CCD_MS connect to MCU interrupt pin
//CCD_AN connect to MCU AN06
#define CCD_ROWS      20//200			 //CCD输出共279行
#define CCD_COLS      34

typedef struct 
{
  uchar xPosition;			 //横坐标
  char  K;							 //斜率
}_RoadParamUnit;
typedef struct
{
  uchar ValidStart;
  uchar ValidNum;
  _RoadParamUnit Unit[CCD_COLS];
}_RoadParam;

typedef struct 
{
  
  char  angle;
  char  state;
}PreviousParam;




//场消隐期25H(2.5H+2.5H+2.5H+17.5H)
//每场312.5H,行消隐期12us(2+4+6),
#define VIRTICL_BLANKING_CNT 	 10+11    //2.5H(场同步脉冲5个)
                                        //  +2.5H(后均衡脉冲5个)
                                        //+17.5H (图像场头18个)

#define SAMPLE_START_ROWS      1//10+35       
#define SAMPLE_START_CNT       VIRTICL_BLANKING_CNT+SAMPLE_START_ROWS

extern uchar m_cFrameSampeFlag;
extern char m_cFrameCompleteFlag;
extern uchar m_cCCDFrameShiftFlag;
extern char m_cFrameSyncFlag;
extern int m_cMuxPulseCnt;

extern uint m_nCnt;
extern uint m_nCnt2;
extern int m_cRowNum;
extern int m_cCCDRowNum;
extern char m_cSampNum;
extern uchar m_aImage[CCD_ROWS][CCD_COLS];

extern char m_aLineDot[CCD_ROWS-2];
extern _RoadParam m_aRoadParam;
extern uchar m_cRoadLenth[CCD_COLS];
extern char m_cValidParamNum;
extern char m_cValidParamStart;
extern char m_aStraightFuzzyList[STRAIGHT_LIST_X][STRAIGHT_LIST_K];
extern char m_aRightBendFuzzyList[RIGHT_LIST_X][RIGHT_LIST_K];
extern char m_aLeftBendFuzzyList[LEFT_LIST_X][LEFT_LIST_K];

extern  char chTemp1[CCD_COLS-2];
extern   char chTemp2[CCD_COLS-3];
extern char m_Temp;

extern char m_flag;
extern PreviousParam previousparam;
//==================PID part==================
extern uint m_nUo;
extern PID  sPID;
#endif