ccdbit.c

用C语言写的CCD摄像头数据采集源代码

/** ###################################################################
**     Filename  : CCDBIT.C
**     Project   : CCDBIT
**     Processor : MC9S12DG128BCPV
**     Version   : Driver 01.11
**     Compiler  : Metrowerks HC12 C Compiler
**     Date/Time : 2008-3-21, PM 07:45
**     Abstract  :
**         Main module.
**         Here is to be placed user's code.
**     Settings  :
**     Contents  :
**         No public methods
**
**     (c) Copyright UNIS, spol. s r.o. 1997-2005
**     UNIS, spol. s r.o.
**     Jundrovska 33
**     624 00 Brno
**     Czech Republic
**     http      : www.processorexpert.com
**     mail      : [e-mail]
** ###################################################################*/
/* MODULE CCDBIT */

/* Including used modules for compiling procedure */
#include "Cpu.h"
#include "PWM8.h"
/* Include shared modules, which are used for whole project */
#include "PE_Types.h"
#include "PE_Error.h"
#include "PE_Const.h"
#include "IO_Map.h"

int  white_point,black_point;
int ccd_line_num,threeline;
int see[3];
int midsee[10];
int ccd_sum;
int ccd_ave;
int ccd_ave_key;
int ccd_lim;
int road;

void delay(unsigned int count){
  unsigned int iu;
  for(iu=0;iu<=count;iu++){
   asm{
   nop
     }
  }
}

unsigned int mid_val(unsigned int big0,unsigned int big1,unsigned int big2){
  unsigned int biger[3];
  unsigned int hh;
  unsigned int kk;
  unsigned int t;
  biger[0] =big0;
  biger[1] =big1;
  biger[2] =big2;                         
  for (hh=0;hh<=1;hh++)
  {
      for (kk=hh+1;kk<=2;kk++)
  	    {
          if(biger[hh]<biger[kk])
  		      {
  		        t=biger[hh];
          		biger[hh]=biger[kk];
          		biger[kk]=t;
  		      }
  	    }
  }
  return biger[1];
}


void ccd_get(){
while(PORTA_BIT0); 
while(!PORTA_BIT0);
delay(1100); 
for (ccd_line_num=1;ccd_line_num<=10;ccd_line_num++) {
midsee[ccd_line_num]=0;
    for (threeline=0;threeline<3;threeline++)
    {    
        see[threeline]=0;
        white_point=0;
        black_point=0;
        
        
       next_line: 
        while(PORTA_BIT1); 
        while(!PORTA_BIT1); 
        while(PORTA_BIT2);
        while(!PORTA_BIT2) {white_point++;}
        while(PORTA_BIT2)  {black_point++;}
        if(white_point>0&&white_point<=119){
          
            if(black_point>50){delay(400);goto next_line;} 
            else{
              see[threeline]=white_point+black_point;
            }
        }
            
    }
midsee[ccd_line_num]=mid_val(see[0],see[1],see[2]);
delay(100);
}
}

void ccd_find(){ 
ccd_sum=0;
ccd_ave_key=30;
ccd_lim=0;

/*for(ccd_line_num=1;ccd_line_num<=10;ccd_line_num++){
if(midsee[ccd_line_num]>60){ PORTB++;Cpu_Delay100US(1000); }
  }*/
if((midsee[5]>40)&&(midsee[5]<80)){
  road=0;
}else if(midsee[5]>=80){
  road=-1;
}else if(midsee[5]<=40){
  road=1;
}

 
}

void road_pwm(){
ccd_lim=midsee[5]-60;  
  if(road==0){
    if(PWMDTY01<58900){PWMDTY01=PWMDTY01+50;}else if(PWMDTY01>59100) {PWMDTY01=PWMDTY01-50;}else{};
  }else if(road==1){
    if(PWMDTY01<60300){PWMDTY01=PWMDTY01+50;}else if(PWMDTY01>60500) {PWMDTY01=PWMDTY01-50;}else{};
  }else if(road==-1){
    if(PWMDTY01<58100){PWMDTY01=PWMDTY01+50;}else if(PWMDTY01>58300) {PWMDTY01=PWMDTY01-50;}else{};
  }
}
      



void main(void)
{
  /*** Processor Expert internal initialization. DON'T REMOVE THIS CODE!!! ***/
  PE_low_level_init();
  /*** End of Processor Expert internal initialization.                    ***/

  DDRA=0X00;
  DDRB=0XFF;
  PORTB=0X00;
  PWMDTY01=59000;
  for(;;){
  ccd_get();
  ccd_find();
  road_pwm();
  }
  
  /*** Processor Expert end of main routine. DON'T MODIFY THIS CODE!!! ***/
  for(;;){}
  /*** Processor Expert end of main routine. DON'T WRITE CODE BELOW!!! ***/
} /*** End of main routine. DO NOT MODIFY THIS TEXT!!! ***/



/* END CCDBIT */
/*
** ###################################################################
**
**     This file was created by UNIS Processor Expert 2.96 [03.76]
**     for the Freescale HCS12 series of microcontrollers.
**
** ###################################################################
*/