#include?“stm32f10x.h“
#include?“stdio.h“

#define?R?38//行
#define?C?90//列
#define?PUTCHAR_PROTOTYPE?int?fputc（int?ch?FILE?*f）


#define???White???244???//白色設(shè)為244
#define???Black???0?????//黑色設(shè)為0

#define?STRM??504
#define?STRL??420
#define?STRR??580
//#define?STRE??1200

u16?Data1[R][C];
u8?imageOld[R][C];
u8?InterruptLine=0;
u8?TrueLine;
u8?DataReadyFlag=0;
u16?*?Data=&Data1[0][0];

u8?BlackLineData[R];
u8?Left[R]={1};
u8?Right[R]={C-1};
//uchar?Mid[R]={R/2};

u8?LastFieldMid1=45;
u8?LastFieldMid2=45;

u8?ThresholdValue=130;
s16?Err?=?0;
s16?Errlast???=?0;
s16?Errd??=?0;
s16?Errdlast??=?0;
s16?Erri??=?0;
s16?Roadtype??=?0;
s16?Errhistory[8]={0};
u16??Steerangle??=?0;




u8?Abs8（u8?a）;
void?send_pic（void）;
void?ImageProcess（）;
void?DataAnalyse（u8?l）?;

void?mygetLmr（）;
void?SmoothMid（）?;
void?Steer_control（void）?;
void?AddMtoPic（void）;
void??SteerControl（u16?steer）;
void??SpeedControl（u16?speed）;


const?u16?SlampeLine[R]=?????//采樣行，校準(zhǔn)縱向畸變
??{?
?????56//???
?????57//????
?????58//???
?????59//???
?????60//???
?????61//121.5???
?????62//118???
?????64//114.5???
?????66//111???
?????68//107.5???
?????70//104
?????72//100.5
?????74//97
?????76//93.5
?????79//90
?????82//86.5
?????85//83
?????88//79.5
?????91//76
?????94//72.5
?????97?//69
?????101//65.5
?????105//62
?????110//58.5
?????115//55
?????120//51.5
?????126//48
?????134//44.5
?????142//41
?????150//37.5
?????158//34
?????166//30.5
?????174//27
?????182//23.5cm
?????190//20cm
?????204//16.5cm
?????220//13cm
?????238?//9.5cm
??};

void?NVIC_Configuration（void）;
void?RCC_Configuration（void）;
void?USART_Configuration（void）;
void?GPIO_init（void）;
void?Timer1_configuration（void）;
void?Timer2_configuration（void）;
void?Timer3_configuration（void）;
void?EXIT_configuration（void）;
void?delay_ms（u16?nms）;
void?delay_us（u32?nus）?;

?void?Init（void）;

int?main（void）
{
??
?
???Init（）;
???
?????delay_ms（300）;??
??while（1）
??{
???????
?????if（DataReadyFlag）?
?????{
??????EXTI->IMR?&=~（1<<5）;??//屏蔽中斷
??????EXTI->IMR?&=~（1<<6）;??//屏蔽中斷
??????EXTI->PR?|=（1<<5）;??//清楚懸掛標(biāo)記位；
??????EXTI->PR?|=（1<<6）;??//清楚懸掛標(biāo)記位；
??????
??????DataReadyFlag=0;???//將標(biāo)志位清零
??????
????????/*************************在下面完成你的任務(wù)**************************/
??????
??????//?用戶代碼區(qū)
??????
??????DataAnalyse（1）;??//處理圖像，濾波，二值化
??????mygetLmr（）;??????//找到中線
??????SmoothMid（）?;????//平滑中線
??????Steer_control（）;?//控制舵機(jī)
??????SpeedControl（420）;
??????
??????
????//?send_pic（）;
??????
??????/****************************************在上面完成你的任務(wù)************************************/
???????
????????EXTI->IMR?&=~（1<<5）;??//屏蔽中斷
????????EXTI->IMR?&=~（1<<6）;??//屏蔽中斷
????????EXTI->IMR?|=（1<<5）;??//開中斷
??
?????}
???
??
??}
}

void?RCC_Configuration（void）
{???
???SystemInit（）;
???/*?Enable?GPIO?clock?*/
???RCC_APB2PeriphClockCmd（RCC_APB2Periph_GPIOA|RCC_APB2Periph_GPIO

?屬性????????????大小?????日期????時(shí)間???名稱
-----------?---------??----------?-----??----

????..A..H.?????16384??2013-10-19?19:47??STM32-OV7620\.main.c.swp

?????文件??????????0??2013-10-18?19:40??STM32-OV7620\data.h

?????文件??????17286??2013-11-13?00:04??STM32-OV7620\Debug\Exe\SmartCar_5.3.0.hex

?????文件?????208340??2013-11-13?00:04??STM32-OV7620\Debug\Exe\SmartCar_5.3.0.out

?????文件??????14259??2013-10-21?17:56??STM32-OV7620\Debug\Exe\SmartCar_5.3.0.sim

?????文件???????4387??2013-10-18?16:08??STM32-OV7620\Debug\Exe\SmartCar_5.3.0.sim._1

?????文件??????66732??2013-11-13?00:04??STM32-OV7620\Debug\Obj\main.o

?????文件??????13496??2013-10-19?19:54??STM32-OV7620\Debug\Obj\misc.o

?????文件???????2363??2013-11-28?22:25??STM32-OV7620\Debug\Obj\SmartCar_5.3.pbd

?????文件??????37208??2013-10-19?19:54??STM32-OV7620\Debug\Obj\startup_stm32f10x_md.o

?????文件??????68452??2013-10-19?19:54??STM32-OV7620\Debug\Obj\stm32f10x_adc.o

?????文件??????23224??2013-10-19?19:54??STM32-OV7620\Debug\Obj\stm32f10x_bkp.o

?????文件??????58512??2013-10-19?19:54??STM32-OV7620\Debug\Obj\stm32f10x_can.o

?????文件??????27132??2013-10-19?19:54??STM32-OV7620\Debug\Obj\stm32f10x_cec.o

?????文件??????13580??2013-10-19?19:54??STM32-OV7620\Debug\Obj\stm32f10x_crc.o

?????文件??????25252??2013-10-19?19:54??STM32-OV7620\Debug\Obj\stm32f10x_dac.o

?????文件???????9152??2013-10-19?19:54??STM32-OV7620\Debug\Obj\stm32f10x_dbgmcu.o

?????文件??????25260??2013-10-19?19:54??STM32-OV7620\Debug\Obj\stm32f10x_dma.o

?????文件??????18152??2013-10-19?19:54??STM32-OV7620\Debug\Obj\stm32f10x_exti.o

?????文件??????56132??2013-10-19?19:54??STM32-OV7620\Debug\Obj\stm32f10x_flash.o

?????文件??????41392??2013-10-19?19:54??STM32-OV7620\Debug\Obj\stm32f10x_fsmc.o

?????文件??????37596??2013-10-19?19:54??STM32-OV7620\Debug\Obj\stm32f10x_gpio.o

?????文件??????62112??2013-10-19?19:54??STM32-OV7620\Debug\Obj\stm32f10x_i2c.o

?????文件??????23756??2013-11-10?16:45??STM32-OV7620\Debug\Obj\stm32f10x_it.o

?????文件??????13696??2013-10-19?19:54??STM32-OV7620\Debug\Obj\stm32f10x_iwdg.o

?????文件??????18944??2013-10-19?19:54??STM32-OV7620\Debug\Obj\stm32f10x_pwr.o

?????文件??????60264??2013-10-19?19:54??STM32-OV7620\Debug\Obj\stm32f10x_rcc.o

?????文件??????26788??2013-10-19?19:54??STM32-OV7620\Debug\Obj\stm32f10x_rtc.o

?????文件??????52112??2013-10-19?19:54??STM32-OV7620\Debug\Obj\stm32f10x_sdio.o

?????文件??????45332??2013-10-19?19:54??STM32-OV7620\Debug\Obj\stm32f10x_spi.o

............此處省略135個(gè)文件信息