main.c

Freescale 智能车竞赛代码

#include <hidef.h>      /* common defines and macros */
#include <mc9s12dg128.h>     /* derivative information */
#include "BaseInc.h"

#pragma LINK_INFO DERIVATIVE "mc9s12dg128b"

int i,j;
int l;
void Delay(uint k){
  uint m,n;
  for(m=0; m<k; m++)
  for(n=0; n<1000; n++);
}

void main(void) {
  /* put your own code here */
  SystemInit();
  PIDInit();
 	 EnableInterrupts;
 	 
 	 
 	 
 	// OpenMDC();
  #if 1
  SteerZero();
 
  while(PTT_PTT4);             //启动按键
  
  //run_arithmetic(450);
  //SetSteerAngle(-70);
  //SetSteerAngle(70);
  m_cFrameSampeFlag = 0;
  m_cFrameCompleteFlag = 0;
  m_cCCDFrameShiftFlag = 0;
  m_cRowNum = -1;
  m_cCCDRowNum = -1;
  m_nCnt = 0;
  m_nCnt2 = 0;
  #endif
  //ATD0CTL5=0x06;	     //启动AD转换
  
  #if 0
  for(i=0; i<CCD_ROWS; i++)
  for(j=0; j<CCD_COLS; j++)
    m_aImage[i][j] = 100; 
  for(i=90; i<110; i++)
  for(j=0; j<CCD_COLS; j++)
  {
    m_aImage[i][j] = 50;
  }
  RoadCenterDetect(m_aImage,m_aRoadParam);
  #endif
  
  //#if 0
  //OpenMDC();
  //ATD0CTL5 = 0x06;
  //#endif
  
 
  for(;;) 
  {
    if(m_cFrameCompleteFlag == 1)
    {
      
      m_cFrameCompleteFlag = 0;
      //RoadCenterDetect();
      //CaculRoadParamK();       
     // FuzzyCtrl();
      //m_nCnt++;
     //if(m_aRoadParam[0].xPosition>120)SetSteerAngle(-60);
      //else if(m_aRoadParam[0].xPosition<80)SetSteerAngle(60);
      //else SetSteerAngle(0);
      #if 0 
      SCI_PutByte(1,m_aRoadParam.ValidStart);
      SCI_PutByte(1,m_aRoadParam.ValidNum);
      SCI_PutByte(1,m_Temp);
      for(i = 0; i<CCD_COLS ;i++)
      {
        SCI_PutByte(1,m_aRoadParam.Unit[i].xPosition);
        SCI_PutByte(1,m_aRoadParam.Unit[i].K);
      }
      SCI_PutByte(1,0); 
      SCI_PutByte(1,0); 
      #endif 
      l++;
      if(l >= 100)
      {
        l = 0;
        
        #if 0
        
        for(i=0; i<CCD_COLS+1; i++)SCI_PutByte(0,0);
        for(j=0; j<CCD_COLS; j++)
        {
          SCI_PutByte(0,m_aRoadParam[j].xPosition);
        }
        SCI_PutByte(0,0);
        for(j=0; j<CCD_COLS-1; j++)
        {
          SCI_PutByte(0,m_aRoadParam[j].K);
        }
        SCI_PutByte(0,0);
        for(j=0; j<CCD_COLS-2; j++)
        {
          SCI_PutByte(0,chTemp1[j]);
        }
        SCI_PutByte(0,0);
        for(j=0; j<CCD_COLS-3; j++)
        {
          SCI_PutByte(0,chTemp2[j]);
        }
        SCI_PutByte(0,0);
        
        #endif
        
        #if 0
        
        //m_nCnt2 = 0;
        for(i=0; i<26; i++)SCI_PutByte(0,0);
        for(i=0; i<CCD_ROWS; i++)
          {
        for(j=0; j<CCD_COLS; j++) 
        {
          
          
          
            
          	SCI_PutByte(0,m_aImage[i][j]);
          	if((i%25) == 24)SCI_PutByte(0,0); 
          }
        }
        //m_nCnt2 = 0;
        #endif
      }
      
      
      
    }
      
  } /* wait forever */
}