摄像头 程序.doc

最终还是没能赶上校内赛，虽然是很伤心，在这里只想现在的，以后的孩子不要再话那么多的时间在图像采集方面，可以放多点时间在数据处理方面，以免重蹈我们的悲剧，现在上传上位机程序，如果你喜欢，可以买个20块的上位机（淘宝有），这样就可以看到图像。（PS:绝对没有帮他们卖广告的嫌疑，只是想同学们可以早点搞好图像。）/T0接受行中断，上升沿触发，T1接受场中断，下降沿触发/数据口为PA0-PA7/波特率为115200/串口分别接单片机S0 S1/图像大小选择 60*30 /设置帧头帧尾为0x01#include /* common defines and macros */#include derivative.h /* derivative-specific definitions */#define uint unsigned int#define uchar unsigned charuchar hang_count;#define hangshu 30#define lieshu 100#define Mid 1365#define THRESHOLD 0x70unsigned char Dianji_data;unsigned int Duoji_data;unsigned int zuo_danxian=1,you_danxian=1;uint hang,lie,centerhangshu,lefthangshu,righthangshu,image_center;uchar row,line1,line2;uint steer;uchar shuzuhangshulieshu;uint hang_table=65,69,74,79,83,86,93,100, 107,114,121,128,135,142,145,149,152,156,160,163,166, 169,173,176,180,183,187,190,193,197,; byte count,second;void Delay(int De_a) int De_b; for(De_b=0;De_bDe_a;De_b+) _asm(nop); / _asm(nop); /*/void crg_init(void) CLKSEL=0x00; / 脱离锁相环 PLLCTL_PLLON=1; / 打开锁相环 SYNR=0XC0 | 0X09; / SYNR =3,REFDV=1 REFDV=0X80 | 0X01; / pllclock=2*16*(1+SYNR)/(1+REFDV)=96MHz; POSTDIV=0X00; / 锁相环时钟为96MHz _asm(nop); _asm(nop); while(0=CRGFLG_LOCK); / 锁相环锁定 CLKSEL_PLLSEL=1; void PWM_Init(void) PWME=0X00; /禁止通道PWMPRCLK=0X33; /A=B=80/8=10MHZPWMSCLA=5; /SA=A/2/5=1MHZPWMSCLB=5; /SB=B/2/5=1MHZ /*PWM 0,1级联初始化*/PWMCTL_CON01=1; /0,1级联，寄存器为通道1的PWMCLK_PCLK1=1; /选时钟SBPWMPOL_PPOL1=1; /初始电平为高PWMCAE_CAE1=0; /左对齐方式PWMCNT01=0; /计数器清零PWMPER01=20000; /输出周期=SB/10000=100HZPWMDTY01=1580; /舵机静止占空比为7.5%=1500/20000PWME_PWME1=1; /使能PWMCTL_CON23=1;PWMCLK_PCLK3=0;PWMPOL_PPOL3=1; PWMCAE_CAE3=0;PWMCNT23=0;PWMPER23=600;PWMDTY23=0;PWME_PWME3=1; PWMCTL_CON45=1;PWMCLK_PCLK5=0;PWMPOL_PPOL5=1; PWMCAE_CAE5=0;PWMCNT45=0; PWMPER45=0;PWMDTY45=500; PWME_PWME5=1; /*舵机控制*/void PWMDuo_Dutycycle(int a) PWMDTY01=a;void PWMDian_Dutycycle(int b) PWMDTY45=b; /* - 功能描述：T0接受行中断，上升沿触发，T1接受场中断，下降沿触发，T7计数- 参数说明：- 返回说明： - 修改记录：- 注意事项：总线时钟为40M时，该程序适用。*/void ect_init()TIOS=0x00; /T0、T1设置为输入捕捉,摄像头行场中断-关输出比较通道7TCTL4=0x09; /通道0为上升沿捕捉，1为下降沿捕捉TIE=0x03; /开场中断，行中断TSCR1=0x80; /定时器正常工作TSCR2=0x00; /最后三位为预分频因子选择位TFLG1=0xFF; /清除该位TFLG2=0x80; /清除 TOF /*/ IO初始化子函数/*/ void IO_init(void) / IO初始化函数 DDRA = 0X00; void photo()unsigned char i,j;for(i=0;i=29;i+) for(j=0;j=65;j+) if(shuzuj发送移位寄存器中 while (!SCI0SR1_TC); / 等待发送移位寄存器中的数值发送完成 SCI0DRL = data; /* - 功能描述：SCI发送一个字符串 - 参数说明：- 返回说明： - 修改记录：- 注意事项：*/ void SCI_Send_Uchar_String(unsigned char *putchar, uint num) uint counter = 0; while (counter+) num) / 判断字符串是否发送完毕 SCI_Send_Byte(*(putchar+); void SCI_Send_Image_String(unsigned char *putchar, uint num) uint counter = 0; for(counter=0;counternum;counter+) if(putcharcounter=0x01) putcharcounter=0x02; SCI_Send_Byte(putcharcounter); void main(void) /* put your own code here */ /* uchar x,data; */ crg_init(); ect_init(); IO_init() ; Init_SCI(); PWM_Init();EnableInterrupts; for(;) _FEED_COP(); /* feeds the dog */ /* loop forever */ /* please make sure that you never leave main */* 功能描述：行中断服务程序，接PT0参数说明：返回说明： 修改记录：注意事项：*/#pragma CODE_SEG NON_BANKEDvoid interrupt 8 Port0_Interrupt() int i=0,j=0; unsigned char *p; TFLG1=0x01; hang+; /行计数器加 1 if (hang240) return;/判断是否从新的一场开始 if(hang=hang_tablehang_count)/行数组采样变量 Delay(1); p=&shuzuhang_count0; shuzuhang_count0=PORTA;_asm();shuzuhang_count1=PORTA;_asm();shuzuhang_count2=PORTA;_asm();shuzuhang_count3=PORTA;_asm();shuzuhang_count4=PORTA;_asm(); shuzuhang_count5=PORTA;_asm();shuzuhang_count6=PORTA;_asm();shuzuhang_count7=PORTA;_asm();shuzuhang_count8=PORTA;_asm();shuzuhang_count9=PORTA;_asm(); shuzuhang_count10=PORTA;_asm();shuzuhang_count11=PORTA;_asm();shuzuhang_count12=PORTA;_asm();shuzuhang_count13=PORTA;_asm();shuzuhang_count14=PORTA;_asm(); shuzuhang_count15=PORTA;_asm();shuzuhang_count16=PORTA;_asm();shuzuhang_count17=PORTA;_asm();shuzuhang_count18=PORTA;_asm();shuzuhang_count19=PORTA;_asm(); shuzuhang_count20=PORTA;_asm();shuzuhang_count21=PORTA;_asm();shuzuhang_count22=PORTA;_asm();shuzuhang_count23=PORTA;_asm();shuzuhang_count24=PORTA;_asm(); shuzuhang_count25=PORTA;_asm();shuzuhang_count26=PORTA;_asm();shuzuhang_count27=PORTA;_asm();shuzuhang_count28=PORTA;_asm();shuzuhang_count29=PORTA;_asm(); shuzuhang_count30=PORTA;_asm();shuzuhang_count31=PORTA;_asm();shuzuhang_count32=PORTA;_asm();shuzuhang_count33=PORTA;_asm();shuzuhang_count34=PORTA;_asm(); shuzuhang_count35=PORTA;_asm();shuzuhang_count36=PORTA;_asm();shuzuhang_count37=PORTA;_asm();shuzuhang_count38=PORTA;_asm();shuzuhang_count39=PORTA;_asm(); shuzuhang_count40=PORTA;_asm();shuzuhang_count41=PORTA;_asm();shuzuhang_count42=PORTA;_asm();shuzuhang_count43=PORTA;_asm();shuzuhang_count44=PORTA;_asm(); shuzuhang_count45=PORTA;_asm();shuzuhang_count46=PORTA;_asm();shuzuhang_count47=PORTA;_asm();shuzuhang_count48=PORTA;_asm();shuzuhang_count49=PORTA;_asm(); shuzuhang_count50=PORTA;_asm();shuzuhang_count51=PORTA;_asm();shuzuhang_count52=PORTA;_asm();shuzuhang_count53=PORTA;_asm();shuzuhang_count54=PORTA;_asm(); shuzuhang_count55=PORTA;_asm();shuzuhang_count56=PORTA;_asm();shuzuhang_count57=PORTA;_asm();shuzuhang_count58=PORTA;_asm();shuzuhang_count59=PORTA;_asm(); shuzuhang_count60=PORTA;_asm();shuzuhang_count61=PORTA;_asm();shuzuhang_count62=PORTA;_asm();shuzuhang_count63=PORTA;_asm();shuzuhang_count64=PORTA;_asm(); shuzuhang_count65=PORTA;_asm();shuzuhang_count66=PORTA;_asm();shuzuhang_count67=PORTA;_asm();shuzuhang_count68=PORTA;_asm();shuzuhang_count69=PORTA;_asm(); shuzuhang_count70=PORTA;_asm();shuzuhang_count71=PORTA;_asm();shuzuhang_count72=PORTA;_asm();shuzuhang_count73=PORTA;_asm();shuzuhang_count74=PORTA;_asm(); shuzuhang_count75=PORTA;_asm();shuzuhang_count76=PORTA;_asm();shuzuhang_count77=PORTA;_asm();shuzuhang_count78=PORTA;_asm();shuzuhang_count79=PORTA;_asm(); shuzuhang_count80=PORTA;_asm();shuzuhang_count81=PORTA;_asm();shuzuhang_count82=PORTA;_asm();shuzuhang_count83=PORTA;_asm();shuzuhang_count84=PORTA;_asm(); shuzuhang_count85=PORTA;_asm();shuzuhang_count86=PORTA;_asm();shuzuhang_count87=PORTA;_asm();shuzuhang_count88=PORTA;_asm();shuzuhang_count89=PORTA;_asm(); shuzuhang_count90=PORTA;_asm