单片机系统设计与制作技术报告-智能循迹小车设计.docx

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1、设计题目:单片机设计与制作任务书智能循迹小车软件程序：以下为主程序:#include Winclude include include Winclude include #define #define #define define ttdefine #define #define gpio. h“common.h uart hadc.hpit h ftm. hTSL1401_SITSL1401_CLKXDPDHSPAout(7) PAout(8) 0/Sdefine /#define /ftdefine /#define unsigned unsigned unsigned unsigned

2、unsignedmaxL maxR amid xl char char char char char710810760Pixel128; zxLl; zxoldl; oldl;kzl;int csl;int bz 1;/?D?T?e2. 4/?ii p0. 035/ ?u D-1/ ?D?4000/ ?D?/X6Z d?a/6d, d?a/ ?D? u/!?/?D?/ a?D?/a?z ?ey / ? x=b;for(j=0;jf)*(ImageData+j)=d; else*(ImageData+j)=x;for(i=7;i122;i+)if (ImageDatai-2=d & ImageD

3、atai-1=d & ImageDatai=x & ImageDatai+1=d & ImageDatai +2=d)ImageDatai=d;if(ImageDatai-2=x & ImageDatai-l=x &ImageDatai=d & ImageDatai+1=x & ImageDatai+2=x)ImageDatai二x;) for(i=0;i5;i+) /d? ?*(TmageData+i)=x;* (lmageData+127-i)=x;/ void zh (unsigned char * ImageData, unsigned char*zhong,unsigned char

4、 *zhon, int biao)/?D?/(/ unsigned char *b_point;/ int i, m, n;/ int zhcn; /?ey/ unsigned int jumpdot=0;/ unsigned intleft=0;/ unsigned intright=0;/unsigned int tb=O;/zhen=biao;/unsigned int r, z, 1, oldz;/r=0;z=0;1=0;/oldz= *(zhon); zhon a?D zhong ?D/for(i=0;i127;i+)/ /if(ImageDatai!=ImageDatai+l)/j

5、umpdot+;/ )/if(jumpdot=4) /?y3 / /for(i=5;i127;i+)/ /if(ImageDatai!=ImageDatai+l)/ /tb+;/if(tb=2)/e/l=i+l;if( tb=3)r=i;) if( tb=4)if(r-l)20)/ Illi / II / / /z=oldz;)/ ai?*(zhon)=z;z=(l+r) /2;*(zhon)二z;/ )/ )/ )/ )/else/z=oldz;/)/*(zhong)二z;/*(ImageData+z)=240;/jumpdot=0;/)/a?3iDdcharvoid zh (unsigne

6、d char * ImageData, unsigned *zhong, unsigned char *zhon)？D?(unsigned char *b_point;int i, m, n;unsigned int jumpdot=0;unsigned intleft=0;unsigned intright=0;unsigned int tb=O;unsigned int r, z, 1, oldz;r=0;z=0;l=0;oldz= *(zhon); zhon a?D zhong ?Dfor(i=0;i127;i+)if(ImageDatai!=ImageDatai+l)jumpdot+;

7、)if(jumpdot=4) /?y3 for(i=5;i127;i+)(if(ImageDatai!=ImageDatai+l)(tb+;if(tb=2)( l=i+l;)if( tb=3)( r=i;)if( tb=4)( if(r-l)=64) /( 6d?)c=z-64; if(c=XD)c=0;)pw=amid+(c*P- (c-r)*D);if(pw=810)(pw=810; ) else /X6? (c=64-z;if (c=XD)(c=0;pw=amid-(c*P-(c-r)*D); /c bi li r jifen if (pw=30)jianshu=1;*(oldcishu

8、)二cs;) else ( sudu=3500;)if (jianshu=l)if (cs-oldcs)1000&(cs-oldcs)6000) (sudu=3500;jianshu=0;) else (jianshu=0; 6i?uif(jianshu=l&(cs-oldcs)=2000)/ 6 6 u 30o 1?D? ?u?sudu=1500;FTM_PWM_ChangeDuty(HW_FTMO, HW_FTM_CH2, pw);FTM_PWM_ChangeDuty (HW_FTM1, HW_FTM_CH1, S);/ duoji/if(c10)/ lk=3200;/ if(c10)/

9、/Ik=2600;/ )/ if(c20)/ / lk=2800;/ )/int abs(int m)(if (m0)m=m;else m=-m ;return m;unsigned short CRC CHECK(unsigned char *Buf, unsigned char CRC_CNT)unsigned short CRC_Temp;unsigned char i, j;CRC Temp = Oxffff;for (i=O;iCRC_CNT; i+) CRCTemp = Bufi;for (j=0;j 1;) 一return(CRCTemp);void OutPut_Data()(

10、int temp4 = 0;unsigned int tempi4=0;unsigned char databuf10=0;unsigned char i;unsigned short CRC16 = 0;for(i=0;i4;i+)(tempi = (intl6_t)0utDatai;tempii = (uintl6 t)tempi;)for (i=0;i4;i+)unsigned char PIT CNT;unsigned char CT;float 0utData4;int 1;int ccd,zhi;void DELAY Us 1( int x );void ImageCapture(

11、unsigned char * ImageData);/ccdstatic void PIT_ISR(void);void SendlmageData(unsigned char * ImageData);void Sendllex (unsigned char hex);void LP_image(unsigned char * ImageData);/?2void EZH(unsigned char * ImageData);/?t? u ? void zh(unsigned char * ImageData, unsigned char*zhong, unsigned char *zho

12、n) ;？D?/ void zh(unsigned char * ImageData, unsigned char *zhong,unsigned char *zhon, int biao);/int control(unsigned char*zhong, unsigned char*oldzhong, int cishu, int oldcishu); /?u?int control (unsigned char*zhong, unsigned char*oldzhong, int cishu, int *oldcishu, int *biao);void OutPut_Data();un

13、signed short CRCCHECK(unsigned char *Buf, unsigned char CRC CNT);int abs (int m) ;?？ u *(zhon) =64;int main (void)FTM_PWM_Quicklnit(FTM0_CH2_PC03, kPWM_EdgeAligned, 50); /FTM_PWM_Quicklnit(FTM1_CH1_PBO1,databufi*2= (int8 t)(tempii%256);databufi*2+l = (int8 t)(tempii/256);) CRC16 = CRC_CHECK(databuf,

14、8);databuf8 = CRC16%256;databufL9 = CRC16/256;for (i=0;i=64) /(6d?)/c=z-64;/ else/c=64-z;/ if(c10)/ Ik=3200;/)/ if(c10)/ / lk=2600; / if(c20)/ /lk=2800;/ )/ return (Ik);/)/ / /if(jumpdot=2)/ X? (jumpdot=O;for(i=32;i=64;i+)(if (ImageDatai!=ImageDatai+1 ) ( jumpdot+;left+;)for(i=96;iCHANNEL0. TFLG |=

15、PIT_TFLG_TIF_MASK;PIT CNT+;/ cjjs+； if(P!T_CNT=20) (CT+; e ? e ?/e?o?ao? ImageCapture(Pixel) ;/2e? LP image (Pixel) ;/?2 EZII( Pixel) ;/?t? u ? zh(Pixel,zx, zxold);/?D?/kanshu ( Pixel, zx);ccd=control(zx, old, CT, cs,bz);/?u/zhi=con(zx);/ccd=control(zx) ;/?(!/zhi=con (zx);/ printf (z，%dzz, 122);/pri

16、ntf (，z )；PIT_CNT=0;void DELAY_Usl ( int x ) (int xl=0 ,yl=0;for (xl=0;xlx;xl+) (for (yl=0;yl 4;if(temp 10) / uart_putchar(UARTO,temp + O);UART_WriteByte(HW_UARTO, temp + O); else / uart_putchar (UARTO, temp - 10 + A);UART_WriteByte(HW_UARTO, temp - 10 + A);)temp = hex & OxOF;if(temp 10) / uart_putc

17、har(UARTO, temp + O); UART_WriteByte(HW_UARTO, temp + O); else / uart putchar (UARTO, temp - 10 + A);UART_WriteByte(HW_UARTO, temp - 10 + A);) void SendlmageData(unsigned char * ImageData) /i?2e?unsigned char i;unsigned char crc = 0;/* Send Data */uart_putchar(UARTO,;/uart_putchar(UARTO, L);/uart_pu

18、tchar(UARTO, D);UART_WriteByte(HWJJARTO,;UART_Wr it eByte (HWJJARTO, L);UART_WriteByte(HW_UARTO, ,);SendHex(0);SendHex(0);SendHex (0);SendHex (0);for(i=0; i128; i+) SendHex(*ImageData+);)SendHex (crc);/ uart_putchar (UARTO,;UART WriteByte(HW UARTO,;void TmageCapture(unsigned char * ImageData)/2e? un

19、signed char i;TSL1401 SI = 0;TSL1401_CLK = 0;DELAY_Usl(l);TSL1401_SI = 1;DELAY_Usl(l);TSL1401_CLK = 1;DELAY_Usl(l);TSL140LSI = 0;DELAY_Usl(l); for(i=0;i20;i+) DELAY_Usl(l);/* SI = 1 ad el7 */* CLK = 1 txd biO bllA SI = 0 */* ImageData=ADC QuickReadValue(ADC1 SE4 PEO ) ;/6?6ii26? CCDlmageData+;TSL140

20、1_CLK = 0;for(i=0; i127; i+)DELAY_Usl(l);/* CLK = 0 */TSL1401_CLK = 1;DELAY_Usl(l);/* CLK = 1 */* ImageData=ADC_Qui ckReadValue(ADC1_SE4_PEO );/6?6u2e? _ CCD *2. 5200*sin(2*3. 1415926/45*i -)(70-i)*10TmageData +;/ 16/2e? AD?uTSL1401_CLK =0;/* CLK = 0 */DELAY_Usl(l);TSL1401_CLK =1;/* CLK = 1 */DELAYJ

21、Jsl(l);TSL1401_CLK = 0;)void LP image (unsigned char * ImageData)/ccd?2 o - ey unsigned char *a_point, *b_point, *c point;unsigned int a, b, c, d, j;unsigned int jumpdot=0;for(j=l;j=b)(d二b; b 二a; a二 d;if(a=c)(d=c;c=a;a=d;*(ImageData+j)=b;)void EZH(unsigned char * ImageData)/?t? u? unsigned char *b_point;unsigned int a, b, f, x, j, d;unsigned int 1,r,z;int i;unsigned int jumpdot=0;unsigned int tb=0;x=0;d=0;for(j=0;j128;j+)(b_point=ImageData+j;b=*b_point;a=b+a;)f=a/128;for(j=0;jd)(d=b;)