飞思卡尔智能车摄像头程序实现

Main.c 
 
#include <hidef.h>           /* common defines and macros */ 
#include <mc9s12db128.h>     /* derivative information */ 
#pragma LINK_INFO DERIVATIVE "mc9s12db128b" 
#include "define.h" 
#include "init.h" 
 
// variable used in video process 
volatile unsigned char image_data[ROW_MAX][LINE_MAX] ;       // data array of picture 
unsigned char black_x[ROW_MAX]           ;  // 0ne-dimensional array  
unsigned char row                          ;  // x-position of the array 
unsigned char line                          ;  // y-position of the array 
unsigned int  row_count                    ;  // row counter 
                                                    unsigned char line_sample                   ;  // used to counter in AD 
unsigned char row_image                    ;        
unsigned char line_temp                      ;  // temperary variable used in data transfer 
unsigned char sample_data[LINE_MAX]  ; // used to save one-dimension array got in 
interruption 
// variables below are used in speed measure 
Unsigned char pulse[5] ;               // used to save data in PA process 
Unsigned char counter;                // temporary counter in Speed detect 
Unsigned char cur_speed;              // current speed 
 
short stand;                
short data; 
unsigned char curve                         ; // valve used to decide straight or turn 
short Bounds(short data); 
short FuzzyLogic(short stand); 
/*----------------------------------------------------------------------------*\