k60-keil

K60-Keil版本（下载安装MDK4.23）

#define RowMax	    51	  //图像行数
#define ColumnMax	70	  //图像列数

#define DirectMiddle  	2428 // 1870//	  //舵机中值，原始数据为1233
#define DirectLeft	   (DirectMiddle-255)// 1340	  //舵机左值
#define DirectRight	   (DirectMiddle+255) //舵机右值


								  
#define  MotorMax  1125
#define  MotorMin  -1225
#define  MotorMiddle  0

#define Black        0
#define White        255
#define A (PTE->PDIR&0x04000000)	  //遥控开关按钮
#define B (PTE->PDIR&0x01000000)
#define C (PTE->PDIR&0x08000000)
#define D (PTE->PDIR&0x02000000)
//#define Boma (uint8_t)((PTC->PDIR&0x0000007f8)>>3)
#define BomaA  (uint8_t)((PTC->PDIR&0x000000078)>>3)
#define BomaB  (uint8_t)((PTC->PDIR&0x000000780)>>7)

#define BomaC  (uint8_t)((PTB->PDIR&0x000070000)>>16)

#define Counter_REST_L 		PTB->PDOR &=~0x00000800		 	 //PE4复位  
#define Counter_REST_H 		PTB->PDOR |= 0x00000800			 //外部计数器清零口
/*液晶按钮*/
#define	 Button3	((TouchX>=300&&TouchX<=900)&&(TouchY>=3200&&TouchY<=3800))
#define	 Button2	((TouchX>=1800&&TouchX<=2200)&&(TouchY>=3400&&TouchY<=3800))
#define	 Button1	((TouchX>=3200&&TouchX<=3800)&&(TouchY>=3200&&TouchY<=3800))
#define	 LED1_On  PTA->PDOR &=~ (1<<14)
#define	 LED1_Off  PTA->PDOR |= (1<<14)
#define	 LED2_On  PTA->PDOR &=~ (1<<15)
#define	 LED2_Off  PTA->PDOR |= (1<<15)
#define	 LED3_On  PTA->PDOR &=~ (1<<16)
#define	 LED3_Off  PTA->PDOR |= (1<<16)
#define	 LED4_On  PTA->PDOR &=~ (1<<17)
#define	 LED4_Off  PTA->PDOR |= (1<<17)

#define	 StartLineValue  200



extern unsigned char ImageFlag;
extern unsigned char ImageOK;
extern unsigned char FarWeight;

extern float SteerErrorArray[5];
extern int SteerTimeCount;
extern unsigned char SteerErrorOk;
extern int LineWeight[RowMax];


extern int Boma1;
extern int Boma2;
extern int Boma3;

extern int16_t SteerCounter;
extern int16_t MotorRunFlag;
extern uint16_t FTM0_Val;


extern unsigned char SendByte;
extern signed short g_PwmValue;

//====================================================================================
extern unsigned char ImageData[RowMax][ColumnMax];//图像数据数组			 
extern unsigned char ThresholdData[RowMax][ColumnMax];//二值化数据数组 		 
extern unsigned char LineCount;	//列计数值							 
extern unsigned char RowCount; //行计数值
extern unsigned char LineCount1;	//列计数值							 
extern unsigned char RowCount1; //行计数值	
extern unsigned char StartLineBuf[RowMax][ColumnMax];	//起跑线数据数组							 
extern signed char LeftBlack[RowMax];	//左边缘黑线数组					 
extern signed char RightBlack[RowMax];//右边缘黑线数组					 
extern signed char BlackLineData[RowMax];// 提取黑线值数据
//=====================================================================================

//=====================================================================================        			
extern signed char RoadType;//赛道类型
extern signed char LastRoadType;
extern int ThresholdValue;//二值化阈值
extern int ThresholdValue1;								    
extern uint16_t  MotorSpeed;
extern unsigned short ADVal[5];

extern volatile unsigned char IsStartLine;//起跑线标志
extern unsigned char SlectedCheckStartLine;//拨码开关检测起跑线标志
extern unsigned char IsOutRoad;//冲出赛道标志
extern unsigned char BeginCheck;//开始检测起跑线标志
extern unsigned int TimeCount;//检测起跑线的时间延迟
extern uint8_t SerialBuf[24];
extern uint8_t SerialAdd;	
extern uint8_t SerialFlag;
extern int16_t MotorPidVal;
//=====================================================================================

extern int SpeedPid;//速度给定值

//==========================================
extern int  StraightSpeed;
extern int	SmallSSpeed;
extern int	BigSSpeed;
extern int	BendSpeed;
extern int	CommonSpeed;
extern int  StraightToBendSpeed;
extern int  SpecialSpeed;


extern int CanSpeedUp;
extern int CanFullSpeed;


extern int TopLen1;
extern int TopLen2;

//==========================================

extern unsigned char WhiteRow1;

extern unsigned char g_Derict;
//==========================================
extern float StraightK;
extern float SmallSK;
extern float BigSK;
extern float BendK;
extern float StraightToBendK;
extern float CommonK;
//==========================================


extern unsigned char StraightEnd;
extern unsigned char SmallSEnd;
extern unsigned char BigSEnd;
extern unsigned char BendEnd;
extern unsigned char CommonEnd;
extern unsigned char StraightToBenEnd;

//============================================
extern unsigned char StraightFS;//直道前瞻
extern unsigned char SmallSFS;//小s前瞻
extern unsigned char BigFS;//大S前瞻
extern unsigned char BendFS;//急弯前瞻
extern unsigned char CommonFS;//普通前瞻
extern unsigned char StraightToBendFS;
//=============================================

//============================================
extern int AllStraightCount;
extern int AllSmallSCount;
extern int AllBigSCount;
extern int AllBendCount;
//============================================


extern unsigned char BlackRow;
extern unsigned char WhiteRow;
extern unsigned char LineType[RowMax];


extern int	LCrossingTripPos;
extern int	RCrossingTripPos;


extern signed char TripPointPos[RowMax];
extern signed char SubValue[RowMax];
extern unsigned char ValidLine[RowMax];//1 - 左找到线 2--右找到线  两边都找到线-3 都找不到线-0
extern int NoValidMax;//连续两边找不到线计数


extern int StableNumbers;
extern int StableNumbers2;
extern int CompensateCount;
extern unsigned int Area;
extern float SteerError;

extern int TopE1;
extern int TopE2;
extern int SubBasePoint;
extern float Mid_K1;
extern float Mid_K2;
extern unsigned char IsCrossing;
extern double CrossingError;

extern unsigned char StandardRoadType;

extern unsigned char BlackEndL;
extern unsigned char BlackEndM;
extern unsigned char BlackEndR;
extern unsigned char BlackEndMax;
extern unsigned char BlackEndLMR;

extern int ValidLineCount;
extern int ValidLineCount1;
extern int ValidLineCount2;
extern int ValidExcursionCount;

extern int Excursion;
extern float EPerCount;
extern int LastExcursion;
extern double MidLineVariance;
extern int MidLineExcursion;

extern int FullSpeedFlag;

extern int CanCheck;

extern int FullSpeedTime;  //起跑满占空时间
extern int CheckTime;//检测时间

//公共函数声明
int fabss(int n);
#define MAX(a,b)            (((a) > (b)) ? (a) : (b))
#define Min(a,b)            (((a) < (b)) ? (a) : (b))