附件A程序源代码

1、程序源代码中国民航大学三队PAGE PAGE XLIX程序源代码附件 A#include /* common defines and macros */#include /* derivative information */#pragma LINK_INFO DERIVATIVE mc9s12dg128b#define FIELD PTIJ_PTIJ1#define LINE 39#define DOT 68#define DIV 7char go_ready;char begin,t,deal;unsigned char field;unsigned int line;unsigned c

2、har dot;unsigned char oddLINEDOT,evenLINEDOT,*p,*q,*q0,centerLINE,root;unsigned char oddfinish,evenfinish;unsigned char i,j,k,l;unsigned char left,right,width;float slope0;float absoluteslope0;unsigned char overnumber;unsigned char dark0,dark,white,white0,white1,dif,ndark,nwhite;unsigned int sumwhit

3、e;unsigned char blackarea8,blacknum;unsigned char maybe4;unsigned char findoutline;unsigned char start,end;unsigned char finish;char beline,beline0,lasting;unsigned char findstartline;unsigned char startlinedally;unsigned char s0,e0,n;unsigned char breakpoint15;char breaknumber;char getlineslope142;

4、float lineslope14,diflineslope13;char turnleft,turnright,difrise,difdown;char beS,rightcircle,leftcircle;int endwarp,startwarp;unsigned char horizontallength;float turn;char roadfalse,falsetimes;float angle,angle0,absangle;unsigned char portK;unsigned char count,speed,neededspeed,turnspeed;float kee

5、pspeed;int p0,p1,espeed;float warp;float sumwarp;float averagewarp;float sumx,sumy;float sumxsumx,sumxx,sumxy;float slope,constnum;char ADDSPEED;char SLOWSPEED;/*initialization AD0*/void init_AD(void)/初始化 ATD0CTL2=0 xC0; ATD0CTL3=0 x08; ATD0CTL4=0 x81; ATD0CTL5=0 xA0; ATD0DIEN=0 x00; /*initializatio

6、n Port H6*/Port H6为电触开关，作为中断信号void init_intPortH6(void) PTH_PTH6 = 0; DDRH_DDRH6 = 0; PPSH_PPSH6 = 0; PIFH_PIFH6 = 1; PIEH_PIEH6 = 1; /*initialization Port J1*/void init_intPortJ1(void) PTJ_PTJ1 = 0; DDRJ_DDRJ1 = 0; PERJ_PERJ1 = 1; /*initialization Port J0*/void init_PortJ0(void) PTJ_PTJ0 = 0; DDRJ_

7、DDRJ0 = 0; PPSJ_PPSJ0 = 1; PIFJ_PIFJ0 = 1; PIEJ_PIEJ0 = 1; /*initalization PWM*/ void init_PWM(void) PWMPOL = 0 x0F; PWMCLK = 0 x00; PWMPRCLK = 0 x04; PWMCAE = 0 x00; PWMCTL = 0 x30; PWMPER01 = 60000; PWMDTY01 = 0 x0E30; PWMPER23 = 6000; PWMDTY23 = 0; PWME = 0 x0F;/*init_ECT*/void init_ECT(void) TIO

8、S = 0 x00; TSCR2 = 0 x07; PACTL = 0 x10; ICPAR_PA3EN = 1; TCTL4 = 0 xc0; TSCR1 = 0 x90;/*readcount*/void readcount(void) count=PACN3; PACN3=0;/* setspeed */void setspeed(unsigned char *s1,unsigned char *s2) if(findstartline2|go_ready=0) *s2=0; PORTK_BIT5=0; PWMDTY23=0; p0=0; p1=0; espeed=0; keepspee

9、d=SLOWSPEED; else if(*s2!=0) p0=(*s2-*s1)*200+espeed; if(p0=2000) PORTK_BIT5=0; if(p06000) p0=6000; else p0*=3; p0-=4000; if(p0=0) PORTK_BIT5=0; else PORTK_BIT5=1; p0+=6000; if(p05&line0) finish-; p+=(t-6)*DOT; for(dot=0;dot6;dot+) while(!ATD0STAT1_CCF0); *p=ATD0DR0L; for(dot=0;dot0;i-) q=q0+i*DOT;

10、blacknum=0; maybe0=0; maybe1=0; maybe2=0; maybe3=0; findoutline=1; for(j=0;j*(q+j+2)+20&blacknum%2=0) if(*(q+j)*(q+j+1)+15) blackareablacknum=j+1; blacknum+; else blackareablacknum=j+2; blacknum+; else if(*(q+j)+20*(q+j+2)&blacknum%2=1) if(*(q+j)+15=8) findoutline=0; break; if(findoutline=1) blacknu

11、m/=2; findoutline=0; for(k=0;k1&width0) for(k=0;kblacknum;k+) if(maybek=1) centeri=(blackarea2*k+1+blackarea2*k)/2; for(l=0;l*(q-DOT*2+centeri+l) break; else if(*(q+centeri)+5*(q-DOT*2+centeri-l) break; if(l=5) maybek=0; findoutline-; if(findoutline=1) break; if(i20) start=i; q=q0; q+=i*DOT; for(k=0

12、;kblacknum;k+) if(maybek=1) centeri=(blackarea2*k+1+blackarea2*k)/2; break; for(j=0;jDOT;j+) if(*(q+j)=dark0) dark=dark0; dark0=*(q+j); else if(*(q+j)=white0) white=white1; white1=white0; white0=*(q+j); else if(*(q+j)=white1) white=white1; white1=*(q+j); else if(*(q+j)white) white=*(q+j); dif=(white

13、-dark)*2/3; for(i=start;i0;i-) q=q0; q+=i*DOT; right=DOT; left=0; for(k=0;kk&*(q-DOT+centeri-k)dark+dif/2) root=centeri-k; break; else if(centeri+kDOT&*(q-DOT+centeri+k)=3) break; for(j=root+1;jdif+dark&sumwhite+dif/4*(q-DOT+j)&sumwhite*(q-DOT+j)+dif/4) if(sumwhitewhite+dif/2&whitesumwhite+dif&dark/

14、2*(q-DOT+root)+dif/2&*(q-DOT+root)3;j-)/ sumwhite=(*(q-DOT+j-1)+*(q-DOT+j-2)+*(q-DOT+j-3)/3; if(*(q-DOT+j)dif+dark&sumwhite+dif/4*(q-DOT+j)&sumwhite(8-(LINE-i)/20)*(absoluteslope0+1) if(i3) break; else for(k=0;k6;k+) if(*(q-2*DOT+centeri+k)dark+dif/2) centeri-1=centeri+k; break; else if(*(q-2*DOT+ce

15、nteri-k)=6) break; overnumber+; else centeri-1=(right+left)/2; if(overnumber4) break; if(centeri-1centeri+3|centeri-1+3centeri&absoluteslope0=3) slope0=(float)(centeri+3-centeri-1)/5; absoluteslope0=slope0; if(slope0end;i-) if(centeri-1=centeri+1) if(centeri=centeri-1-1|centeri=centeri-1+1) centeri=

16、centeri-1; for(i=start-1;iend;i-) if(centeri-1centeri¢eri+1centeri)| (centeri-1centeri¢eri+1centeri) centeri=(centeri-1+centeri+1)/2; s0=start; e0=end; breakpoint0=end; j=1; while(j15) n=s0-e0; for(i=e0+1;is0;i+) warp=centeri*n-centere0*(s0-i)-centers0*(i-e0); if(warpn) break; if(i2) for(j=1

17、;jbreaknumber;j+) n=breakpointj+1-breakpointj-1; warp=centerbreakpointj*n-centerbreakpointj-1*(breakpointj+1-breakpointj)-centerbreakpointj+1*(breakpointj-breakpointj-1); if(warp0) warp=-warp; if(warpn) for(i=j;ibreaknumber;i+) breakpointi=breakpointi+1; j-; breaknumber-; for(i=0;i0) turnright+; els

18、e if(getlineslopei00) turnleft+; for(i=0;i4) for(i=1;i0&diflineslopei-10&diflineslopei+10)| (diflineslopei0&diflineslopei+10) if(getlineslopei1*8getlineslopei-11+getlineslopei+11) lineslopei=(lineslopei-1+lineslopei+1)/2; diflineslopei=lineslopei-lineslopei+1; diflineslopei-1=lineslopei-1-lineslopei

19、; for(i=0;i0) difrise+; else difdown+; if(breaknumber3) for(i=1;i0&diflineslopei-10)| (diflineslopei0) if(getlineslopei1*4getlineslopei-11&getlineslopei10) difrise-; else difdown-; lineslopei=(lineslopei-1+lineslopei+1)/2; diflineslopei=lineslopei-lineslopei+1; diflineslopei-1=lineslopei-1-lineslope

20、i; rightcircle=0; leftcircle=0; beS=0; if(difrise=0&difdown0) leftcircle=1; else if(difdown=0&difrise0) rightcircle=1; else if(difrise0&difdown0) beS=1; if(breaknumbercenterend) horizontallength=(centerstart-centerend); else horizontallength=(centerend-centerstart); roadfalse=1; if(start-end+horizon

21、tallength25|(centerendDOT-5|centerend5) roadfalse=0; else for(i=1;i5) roadfalse=0; break; /起始线判断/ if(startlinedally0) startlinedally-; else if(end20) q=q0; for(i=20;i15) if(*(q+centeri-15+i*DOT)*(q+centeri+i*DOT)+dif/2) root=i; k=centeri-15; while(kcenteri) for(l=0;l2;l+) if(*(q+(root+l)*DOT+k+1)*(q

22、+centeri+i*DOT)+dif/2| *(q+(root+l)*DOT+k+1)*(q+root*DOT+k)+5) root=root+l; k+; break; else if(*(q+(root-l)*DOT+k+1)*(q+centeri+i*DOT)+dif/2| *(q+(root-l)*DOT+k+1)*(q+root*DOT+k)+5) root=root-l; k+; break; if(l=2) break; if(kcenteri-8) findstartline+; startlinedally=250; break; else if(*(q+centeri+1

23、5+i*DOT)centeri) for(l=0;l2;l+) if(*(q+(root+l)*DOT+k+1)*(q+centeri+i*DOT)+dif/2| *(q+(root+l)*DOT+k+1)*(q+root*DOT+k)+5) root=root+l; k-; break; else if(*(q+(root-l)*DOT+k+1)*(q+centeri+i*DOT)+dif/2| *(q+(root-l)*DOT+k+1)centeri+3&k8) turn=8; else if(turnend;i-) sumxy+=i*centeri-1; sumy+=centeri-1;

24、 sumxx+=(i-1)*(i-1); sumx=(start+end)*n/2; sumxsumx=sumx*sumx; slope=(n*sumxy-sumx*sumy)/(n*sumxx-sumxsumx); constnum=(sumxx*sumy-sumx*sumxy)/(n*sumxx-sumxsumx); for(i=start+1;iend;i-) warp=centeri-1-slope*(i-1)-constnum; sumwarp+=warp*warp; averagewarp=sumwarp/n; if(beline0=0) if(averagewarp35&beS=

25、0) beline=1; else if(averagewarp10) beline=1; angle=turn*8; if(beline=1) if(start-end10|angle0) if(start-end+horizontallength30|(centerendDOT-3|centerend20) falsetimes=0; else falsetimes-; if(angle-angle00.1|angle0-angle0.1) if(angle30) angle=30; else if(angle-30) angle=-30; PWMDTY01=0 x0DC0-25*angl

26、e; angle0=angle; absangle=angle; if(angle30) absangle=30; if(averagewarp40) averagewarp=40; averagewarp-=10; turnspeed=ADDSPEED*(30-absangle)/100+(30-averagewarp)/150+(10-breaknumber)/100)+SLOWSPEED; neededspeed=turnspeed; if(speedkeepspeed) keepspeed+=0.2; neededspeed=keepspeed; else keepspeed=neededspeed; else keepspeed=neededspeed; if(slow1) portK=0 x07; else if(beline=1) portK=0 x01; else if(beline=0) if(leftcircle=1) portK=0 x02; else if(rightcircle=1) portK=0 x04; else portK=0 x08; PORTK&=0 xF0; PORTK+=portK; beline0=beline; else portK=0 x0F; PORTK&