赛区-民航附件源程序

#include<hidef.h> /*commondefinesandmacros*/#include<mc9s12dg128.h> /*derivativeinformation*/#include<math.h>voidinit_PLL(void){ //pll _LOCK==0);//waitpllclocksteadyCLKSEL=0x80;//setbusclock=pllclock/2}voidinit_AD(void)//初始化{ATD0CTL2=0xC0;AD模块上电,快速清零,无等待模式,忽略触发,转换完成中断ATD0CTL3=0x08;//转换的通道数为1,NoFIFO,Freeze模式下不停止ATD0CTL4=0x81;//8位精度,采样2个时钟周期ATD0DIEN=0x00;//数字输入}/************initializationPort//PortH6void{PTH_PTH6=0; DDRH_DDRH6=0; PPSH_PPSH6=0; PIFH_PIFH6=1; PIEH_PIEH6=1; //中断使能}/***********initializationPortJ1******************/voidinit_intPortJ1(void){PTJ_PTJ1=DDRJ_DDRJ1=PERJ_PERJ1= //PullDevice}/************initializationPortJ0*****************/voidinit_PortJ0(void){PTJ_PTJ0=DDRJ_DDRJ0=0;//PORTJDataDirection:INPUTPPSJ_PPSJ0=1;//PORTJRisingEdgePIFJ_PIFJ0=1;//ClearPORTJInterruptPIEJ_PIEJ0=1;//PORTJInterrupt//} voidinit_(void){POL=0x0F; //Polarity CLK=0x00; //PRCLK=0x04; //ClockA=BusClock/16 ClockB=BusClock CAE=0x00; //LeftAligeOutputModeCTL=0x30; //Concatenatechannel0and1 2and3PER01=50000;//50HzDTY01=3650;PER23=6000; DTY23=0;E= //Channel1andChannel3}voidinit_ECT(void){ =0x00; //inputcaptureTSCR2=0x07; TCTL4 //下降沿捕捉脉冲PBCTL=0x40; ICPAR=0X03; 10=TSCR1 //计数器使能，读时自动}void{MCCTL=MCCTL&0Xfb;//模数计数器运MCCTL //MCCTL=MCCTL|0X04;//模数计数器使能T=2500;//(1/40M)*16*2500=MCCTLMCCTL|0X08}#defineFIELDPTIJ_PTIJ1#defineLINE39#defineDOT#defineDIV#defineTIME_INTER5chargo_ready;charbegin,t,deal;unsignedcharfield;unsignedintline;unsignedchardot;unsignedcharoddfinish,evenfinish;unsignedchari,j,k,l,m;unsignedcharleft,right,width,width0,inflag,inflag1,outflag;inttime;unsignedcharunsignedchardark0,dark,dark1,white,white0,white1,dif,dif1,ndark,nwhite;unsignedintsumwhite;unsignedcharblackarea[8],blacknum;unsignedcharmaybe[4];unsignedcharfindoutline;unsignedcharfinish;charunsignedcharfindstartline,leftoutflag=0,rightoutflag=0,outnumber;unsignedcharstartlinedally,canstop;int reaknumber;//计算曲线用charfloatturn,angle,angle0,absangle,anglechange;unsignedcharbreakpoint[20];chargetlineslope[14][2],sanjiaoout=1,sanjiaoin=0;floatlineslope[14];charturnleft,turnright,beS;intendwarp,startwarp;charroadfalse;unsignedcharintfloatkeepspeed,kp1,difu,intp0,p1,espeed,difspeed,sespeed,oldespeed=0, unsignedintnumber_count;floatwarp;floatsumwarp;floataveragewarp,a,b;floatsumx,sumy;floatsumxsumx,sumxx,sumxy;floatslope,constnum;charADDSPEED;charSLOWSPEED;#defineeclkdiv(*((volatileunsignedchar*)(0x0110)))#defineecnfg(*((volatileunsignedchar*)(0x0113)))#defineeprot(*((volatileunsignedchar*)(0x0114)))#defineestat(*((volatileunsignedchar*)(0x0115)))#defineecmd(*((volatileunsignedchar*)(0x0116)))unsignedcharrelative_addr;#defineEE_BASE((volatileunsignedint*)(0x2000))volatileunsignedint*ee_addr=EE_BASE;voidwreeprom(void)//putyourowncodehereECLKDIV=0x4b;*ee_addr=n;ECMD=0x20;ESTAT|=0x80;*ee_addr=turn;ECMD=0x20;ESTAT|=0x80;*ee_addr=count;ECMD=0x20;ESTAT|=0x80;*ee_addr=p0;ECMD=0x20;ESTAT|=0x80;}voidreadcount(void){}/************setspeed**********************/voidsetspeed(int*s1,int*s2) //speedneeddespeed{{}else{{}elseif(sespeed<=-{sespeed=-} {{}}{{}{{}}}}{}}voidgetdot(unsignedchar*c){ //现在为偶{} //{}{{finish--}{}{}}{{}{}}}voidmain(void){/*REFDV=3; //设置pll _LOCK==0);//waitpllclocksteadyCLKSEL=0x80;//setbusclock=pllclock/2 DDRK=0xFF;DDRA=0x00;if{ }else{}else{}else{}else{}else{}else{}else{}{findstartline=1;}elsefindstartline=0;{{}else{}{ {for(j=0;j<DOT-{{{}{}}elseif(*(q+j)+20<*(q+j+2)&&blacknum%2==1) {}{}}{}}{ {{}{}}}{ {{{if(*(q+center[i])+5>*(q-{}{}}{}}}}if(findoutline>=1)//真正找到{}}{{{}}{if(*(q+j)<=dark0)//找到{}else{}{}else{}else{}}for(i=start;i>0;i--{q+=i*DOTi{if(center[i]+1>k&&*(q-DOT+center[i]-{} { } {{{if(*(q-DOT+center[i]- dark0=*(q-DOT+center[i]-}elseif(*(q-DOT+center[i]-{dark=*(q-DOT+center[i]-}if(*(q-DOT+center[i]-{white0=*(q-DOT+center[i]-}elseif(*(q-DOT+center[i]-{white1=*(q-DOT+center[i]-}elseif(*(q-DOT+center[i]-{white=*(q-DOT+center[i]-}}}else{{{}elseif(*(q-{}if(*(q-{white0=*(q-}elseif(*(q-{white1=*(q-}elseif(*(q-{white=*(q-}}}{}{if(center[i]+1>k&&*(q-DOT+center[i]-{} if(center[i]+k<DOT&&*(q-{}}{}}for(j=root+1;j<DOT-{sumwhite=(*(q-DOT+j+1)+*(q-DOT+j+2)+*(q-if(*(q-DOT+j)>dif+dark&&sumwhite+dif/2>*(q-DOT+j)&&sumwhite<*(q-{{}}}for(j=root-1;j>3;j--{sumwhite=(*(q-DOT+j-1)+*(q-DOT+j-2)+*(q-DOT+j-if(*(q-DOT+j)>dif+dark&&sumwhite+dif/2>*(q-DOT+j)&&sumwhite<*(q-{}}width=right-{{{}}}{}}{}else{}}{}{}{{}{PORTK&=0xf0;}else}else}{{}{{if(*(q-{}elseif(*(q-2*DOT+center[i]-{}{}}} {} //3--{}{}if(center[i-1]>center[i]+5||center[i-1]<center[i]- {} for(i=start-1;i>end;i--{if(center[i-{if(center[i]==center[i-1]-1||center[i]==center[i-{}}}for(i=start-1;i>end;i--{{}}{horizontallength=(center[start]-}{} //15--{{{warp=-} {}}{{}}else}{}for(i=0;i<breaknumber-{ lineslope[i]/=getlineslope[i][1];//斜率{}else{}}if(breaknumber<=2)//直 {beS=0;}else{} {}{{{}{}}}{}{}a2=center[end]-center[end+1];{}a3=center[end+1]-center[end+2];{}a4=center[end+2]-center[end+3];{}{{}}if(start-end+horizontallength>20||((center[end]>DOT-2||center[end]<2)&&start-{}{{if(breakpoint[i]-breakpoint[i-{}}}{startlinedally--}else{{{if(*(q+center[i]-{{{{} *(q+(root-{}}{}}if(k<center[i]-2&&k>center[i]-{ //iffindstartline>1thenstop}}}{{{{{}elseif(*(q+(root-*(q+(root-{}}{}}{ //iffindstartline>1thenstop}}}}}////else}{} //roadfalse{n=start- {for(i=start+1;i>end;i--{sumxy+=i*center[i-sumxx+=(i-1)*(i-}for(i=start+1;i>end;i--{}{{}}{{}} {if(start-end<30||angle>10||angle<-{{}}}turn=((float)(endwarp-startwarp)*(start-10)/(start- {}elseif(turn<-{{} {}{}{}else{ }else{}if(angle-angle0>0.1||angle0-{{}elseif(angle<=-{}}{DTY01=(int)(3700-}if(angle<-{DTY01=(int)(3700-}if({}if( { }{{}else{slow--}}else{}{{slow--}else}{}{}else{{}///}else{}/*else{ {{{{