1、#include include.h#include math.huint8 SCI_Finish_Flag=0;uint8 DMA_Finish_Flag=0;unsigned char L_BlackEndL=0;unsigned char L_BlackEndM=0;unsigned char L_BlackEndR=0;unsigned char LL_BlackEndL=0;unsigned char LL_BlackEndM=0;unsigned char LL_BlackEndR=0;unsigned char *Source_image;unsigned int Time;un

2、signed char Cross_Time;unsigned char Cross_flag;unsigned char FaChe=0;unsigned char kai_Start_Line=0;void Cross_Stop(void) if(Cross_flag=1) Cross_Time+; if(Cross_Time75) Cross_flag=0; void Start_TwoMiao(void) static unsigned char i=0; if(FaChe=1&Work_Mode=1) if(i150) FaChe=0; Work_Mode=0; /Motor_PWM

3、=1500; Motor_Base=Speed_Base; void main(void) /uint32 count=0; /uint8 j=0,a=0; /uint16 ADValue; /unsigned char cross_Recognition=0; DisableInterrupts; All_Init(); EnableInterrupts; enable_irq(87);/使能A口中斷 ，A24場中斷 enable_irq(90);/使能D口中斷 ，D6,D7 enable_irq(68);/定時器0 enable_irq(69);/定時器1 LED_P8x16Str(0,0

4、,000); Excursion=0; Per_E=0; Last_Per_E=0; Motor_PWM=0; Time=0; Cross_Time=0; Cross_flag=0; / if(gpio_get(PORTA,14)=1 & gpio_get(PORTA,16)=1 ) /保守速度/ / Speed_Max=135;/ Speed_Min=125;/ straight_Speed=135;/ / else if(gpio_get(PORTA,14)=0 & gpio_get(PORTA,16)=1 ) /最大速度/ / Speed_Max=160;/ Speed_Min=90;/

5、 straight_Speed=140;/ / else if(gpio_get(PORTA,14)=0 & gpio_get(PORTA,16)=0 ) /中檔速度/ / Speed_Max=150;/ Speed_Min=140;/ straight_Speed=140;/ / else if(gpio_get(PORTA,14)=0 & gpio_get(PORTA,16)=0 )/ / Speed_Max=150;/ Speed_Min=110;/ straight_Speed=150;/ for(;) /cross_Recognition=0; #if Control_one if(

6、DMA_Finish_Flag=0) /DMA傳輸完成 /gpio_ctrl(PORTA,16,1); /Servo_PWM=5350; SCI_Finish_Flag=1; Denoising(uc_FrameBuffer_Even0); /去噪 EdgeDetection(uc_FrameBuffer_Even0,EdgeData0); /提取邊緣 Get_Edge(uc_FrameBuffer_Even0); /求邊緣 /SCI(); if(XuXian_Flag=1) /XuXian_Find(uc_FrameBuffer_Even0); /SCI(); if(White_Row_En

7、d!=IMAGE_ROW-1 & White_Row_End10) Cross_Connect(); /SCI(); Edge_Filtering(); /邊緣濾波 Edge_Repair(); Cross(1); /SCI(); / if(cross_Recognition!=1) / Repair_Edge(); / New_Control(); /Servo_PWM=5450; /Servo_PWM=4600; /Servo_PWM=6300; if(Work_Mode=0) /Motor_Control(); Motor_PWM=2000; /Key(); SCI(); /Projec

8、t(); /gpio_ctrl(PORTA,16,0); AT_LED_P8x16Str(30,0,L_Edge_Zero_StartRow1); AT_LED_P8x16Str(62,0,L_Edge_Zero_End1); AT_LED_P8x16Str(30,2,R_Edge_Zero_StartRow1); AT_LED_P8x16Str(62,2,R_Edge_Zero_End1); AT_LED_P8x16Str(104,2,(L_Edge_Zero_StartRow1+L_Edge_Zero_End1)/2); AT_LED_P8x16Str(104,4,(R_Edge_Zero

9、_StartRow1+R_Edge_Zero_End1)/2); AT_LED_P8x16Str_4w_int(0,4,L_Inflexion_Slope_Value); AT_LED_P8x16Str_4w_int(48,4,Left_Inflexion_Point); AT_LED_P8x16Str_4w_int(0,6,R_Inflexion_Slope_Value); AT_LED_P8x16Str_4w_int(48,6,Right_Inflexion_Point); AT_LED_P8x16Str(104,0,XuXian_Flag); AT_LED_P8x16Str(104,6,

10、Find_Base_Edge_Flag); SCI_Finish_Flag=0; DMA_Finish_Flag=2; #elif Control_two if(ImageOverEven=TRUE) /AT_LED_P8x16Str_4w(48,6,ADValue); Source_image=uc_FrameBuffer_Even0; /gpio_ctrl(PORTA,16,1); Denoising(uc_FrameBuffer_Even0); /去噪 EdgeDetection(uc_FrameBuffer_Even0,EdgeData0); /提取邊緣 Get_Edge(uc_Fra

11、meBuffer_Even0); /求邊緣 if(XuXian_Flag=1) /XuXian_Find(uc_FrameBuffer_Even0); if(White_Row_End!=IMAGE_ROW-1 & White_Row_End10) Cross_Connect(); Edge_Filtering(); /邊緣濾波 Edge_Repair(); Cross(1); /if(cross_Recognition!=1) / Repair_Edge(); / /Cross_Stop(); New_Control(); if(Work_Mode=0) Motor_Control(); /

12、Motor_PWM=1400; /Motor_PWM=DJ; Key(); Start_TwoMiao(); /Project(); /SCI(); /SCI傳輸 ImageOverEven=FALSE; /gpio_ctrl(PORTA,16,0); else if(ImageOverOdd=TRUE) /gpio_ctrl(PORTA,16,1); Source_image=uc_FrameBuffer_Odd0; Denoising(uc_FrameBuffer_Odd0); /去噪 EdgeDetection(uc_FrameBuffer_Odd0,EdgeData0); /提取邊緣

13、Get_Edge(uc_FrameBuffer_Odd0); /求邊緣 if(XuXian_Flag=1) /XuXian_Find(uc_FrameBuffer_Even0); if(White_Row_End!=IMAGE_ROW-1 & White_Row_End10) Cross_Connect(); Edge_Filtering(); /邊緣濾波 Edge_Repair(); Cross(1); /if(cross_Recognition!=1) / Repair_Edge(); / /Cross_Stop(); New_Control(); if(Work_Mode=0) Moto

14、r_Control(); /Motor_PWM=1400; /Motor_PWM=DJ; Key(); Start_TwoMiao(); /Project(); /SCI(); ImageOverOdd=FALSE; /gpio_ctrl(PORTA,16,0); #elif Control_three /1 主程序使用的變量定義 uint32 runcount;/運行計數器 uint16 ADValue; /2 關中斷 DisableInterrupts; /禁止總中斷 /3 模塊初始化 light_init(Light_Run_PORT,Light_Run1,Light_OFF); /指示

15、燈初始化 uart_init (UART0,periph_clk_khz,9600); /串口初始化 /ADC adc_init(0); adc_init(1); uart_sendstring(UART0, (uint8 *)Welcome to K60 ADC Examplern); uart_sendstring(UART0,(uint8 *)Preparing for ADC operate!rn); uart_sendstring(UART0,(uint8 *)Start ADC0.taccuracy is 10.rn); uart_sendstring(UART0,(uint8 *

16、)Start ADC1.taccuracy is 16.rn); /主循環 while(1) /1 主循環計數到一定的值，使小燈的亮、暗狀態切換 runcount+; if(runcount=10) light_change(Light_Run_PORT,Light_Run1);/指示燈的亮、暗狀態切換 runcount=0; /進行一次模塊0通道16采樣 ADValue = ad_ave(0, ADchannel,10,10); uart_sendstring(UART0,(uint8 *)rn); uart_sendnumber(UART0, ADValue); /進行一次模塊1通道16采

17、樣 uart_sendstring(UART0,(uint8 *)t-); ADValue = ad_ave(1, ADchannel,16,10); uart_sendnumber(UART0, ADValue); #else #endif /Control C文件#include include.hunsigned char ConRowSta=40;unsigned char ConRowEnd=60;unsigned short int Speed=100;/按鍵unsigned char Button_work_flag=0;unsigned char Shake_Count=0;u

18、nsigned char Work_Button=0;unsigned char Work_Mode=1;/保護unsigned char Project_Start=0;unsigned char Start_Count=0;/PID/float Kp=0.555;/float Kd=0.509;/float Kp=0.370;/float Kd=0.120;/float Kp=0.420;/float Kd=0.530;/float Kp=0.300;/float Kd=1.900;float Kd=0.200;unsigned short int Motor_P=50;unsigned

19、char Motor_I=1;unsigned char Motor_D=10;short int Speed_Output=0;/有關剎車unsigned short int Speed_Base=0;unsigned short int DJ=3300;unsigned short int Speed_Max=100;unsigned short int Speed_Min=100;/Max 120 Min 100 穩定 十字還有問題 Max 130 Min 105 稍微有點不穩unsigned char straight_Speed=100;unsigned char StaLine_d

20、elay=25;unsigned short int DuoJi_Goal=5520;unsigned char DuoJi_Value_Count=0;unsigned short int L_DuoJi_Goal=5520;signed short int DuoJi_Add=0;unsigned short int Change_error=800;void Key(void) static signed char order_num=0; static unsigned char temp=0; if(Work_Mode) if(Button_work_flag=0) if(Key_o

21、ne=0) Button_work_flag=1; else if(Key_two=0) Button_work_flag=2; else if(Key_three=0) Button_work_flag=3; else if(Key_four=0) Button_work_flag=4; else if(Shake_Count3) Shake_Count=0; if(Button_work_flag=1) Button_work_flag=0; if(Key_one=0) /while(!Key_one); Work_Button=1; order_num+; if(order_num100

22、) order_num=100; else Work_Button=0; else if(Button_work_flag=2) Button_work_flag=0; if(Key_two=0) /while(!Key_two); Work_Button=2; order_num-; if(order_num8) key_display(5); temp=0; /key_display(5);void Project(void) if(Project_Start) if(Pulse=0) Motor_PWM=0; Work_Mode=1; Project_Start=0; void butt

23、on_debug_data(char order,char anniu_number) /賽車數據按鈕在線設置函數 if(anniu_number=3) /加 switch(order) /case 1: ConRowSta+; break; /case 2: ConRowEnd+; break; /case 3: Speed+=10; break; /case 4: break; case 6: Kp+=0.01; break; case 7: Kd+=0.01; break; case 13: Speed_Base+=50; break; case 9: Change_error+=50;

24、 break; /case 9: Motor_P+=1; break; case 11: Motor_I+=1; break; case 12: Motor_D+=1; break; /case 13: DJ+=100; break; case 3: Speed_Max+=5; break; case 2: Speed_Min+=5; break; case 4: straight_Speed+=5; break; case 1: StaLine_delay+=1; break; case 8: StaLine_zhi+=1; break; default : break; else if(a

25、nniu_number=4) /減 switch(order) /case 1: ConRowSta-; break; /case 2: ConRowEnd-; break; / case 3: Speed-=10; break; / case 4: break; case 6: Kp-=0.01; break; case 7: Kd-=0.01; break; case 13: Speed_Base-=50; break; case 9: Change_error-=50; break; /case 9: Motor_P-=1; break; case 11: Motor_I-=1; bre

26、ak; case 12: Motor_D-=1; break; /case 13: DJ-=100; break; case 3: Speed_Max-=5; break; case 2: Speed_Min-=5; break; case 4: straight_Speed-=5; break; case 1: StaLine_delay-=1; break; case 8: StaLine_zhi-=1; break; default : break; void key_display(unsigned char order) /鍵盤顯示函數 AT_LED_P8x16Str(0,0,ord

27、er); LED_P8x16Str(0,2, ); switch(order) /case 1: LED_P8x16Str(0,2,ConRowSta:);AT_LED_P8x16Str(80,2,ConRowSta);break; /case 2: LED_P8x16Str(0,2,ConRowEnd:);AT_LED_P8x16Str(80,2,ConRowEnd);break; /case 3: LED_P8x16Str(0,2,Speed:);AT_LED_P8x16Str_4w(48,2,Speed);break; case 5: LED_P8x16Str(0,2,Pulse:);

28、AT_LED_P8x16Str(48,2,Pulse);break; /case 5: LED_P8x16Str(8,0,x:);LED_P8x16Str(0,2,);break; case 6: LED_P8x16Str(0,2,Kp:); AT_LED_P8x16Str_4w_Float(24,2,(uint16)(Kp*1000);break; case 7: LED_P8x16Str(0,2,Kd:); AT_LED_P8x16Str_4w_Float(24,2,(uint16)(Kd*1000);break; case 13: LED_P8x16Str(0,2,Speed_Base:

29、); AT_LED_P8x16Str(88,2,Speed_Base);break; case 9: LED_P8x16Str(0,2,Change_error); AT_LED_P8x16Str_4w(96,2,Change_error);break; case 11: LED_P8x16Str(0,2,Motor_I:); AT_LED_P8x16Str(64,2,Motor_I);break; case 12: LED_P8x16Str(0,2,Motor_D:); AT_LED_P8x16Str(64,2,Motor_D);break; /case 13: LED_P8x16Str(0,2,DJ:); AT_LED_P8x16Str_4w(24,2,DJ);break; case 3: LED_P8x16Str(0,2,Speed_Max:); AT_LED_P8x16Str_4w(80,2,Speed_Max);break; case 2: LED_P8x16Str(0,2,Speed_Min:); AT_LED_P8x16Str_4w(80,2,Speed_Min);break; case 4: LED_P8x16Str(0,2,zhi_Speed:); AT_LED_P8x16Str_4w(80,2,