/*!
*?????COPYRIGHT?NOTICE
*?????Copyright?（c）?2013山外科技
*?????All?rights?reserved.
*?????技術(shù)討論：山外論壇?http://www.vcan123.com
*
*?????除注明出處外，以下所有內(nèi)容版權(quán)均屬山外科技所有，未經(jīng)允許，不得用于商業(yè)用途，
*?????修改內(nèi)容時(shí)必須保留山外科技的版權(quán)聲明。
*
*?@file???????main.c
*?@brief??????山外K60?平臺(tái)主程序
*?@author?????山外科技
*?@version????v5.0
*?@date???????2013-08-28
*/

#include?“common.h“
#include?“include.h“
#include?“handle.h“
uint8?imgbuff[CAMERA_SIZE];?????????????????????????????//定義存儲(chǔ)接收?qǐng)D像的數(shù)組
uint8?stopline_num?=?0;?????????????????????????////第一次檢測(cè)到起跑線不算，第二次才是停車
//uint8?img[CAMERA_W*CAMERA_H];

//函數(shù)聲明
void?PORTA_IRQHandler（）;
void?DMA0_IRQHandler（）;
void?zet_motor（void）;
void?steer（void）;
void?zet_oled（）;
void?zet_camera（）;
//void?PIT0_IRQHandler（void）;
void?zf_oled（int16?val）;
void?PIT1_IRQHandler（）;
void?wzt_bluetooth（void）;
uint16?speed_rember_R[3]?=?{0};
uint16?speed_rember_L[3]?=?{0};
//char?*?int_to_char（int?a）;
//void?img_extract（uint8?*dst?uint8?*src?uint32?srclen）;

/*!
*??@brief??????main函數(shù)
*??@since??????v5.3
*??@note???????山外攝像頭?LCD?測(cè)試實(shí)驗(yàn)

*/


void??main（void）
{
??//zet_bluetooth（）;
??uint16?send_data[3]?=?{0};
??uint8?time1=0;
??sum_time?=?0;
??char?nrf_data=0;
??uint8?Edge_R[3]=?{0};
??uint8?Edge_L[3]=?{0};
??
??//uint32?time2?=??0;
??DisableInterrupts;
??NVIC_SetPriority（PORTA_IRQn1）;
??NVIC_SetPriority（DMA0_IRQn2）;
??
??Init_All（）;
??DELAY_MS（1000）;
??
??EnableInterrupts;
??
??set_vector_handler（PORTA_VECTORn??PORTA_IRQHandler）;??
??set_vector_handler（DMA0_VECTORn??DMA0_IRQHandler）;????
??int?a=nrf_link_check（）;
??
??//uint8?Chaoche_stop_time=0;
??uint8?Chaoche_start_time=0;
??uint8?rember_time=0;
??uint32??ABDistance_rember=0;
??while（a）
??{
????pit_time_start（PIT1）;
????camera_get_img（）;???????????????????????????????????//攝像頭獲取圖像
????img_extract（（uint8*）imgimgbuffCAMERA_SIZE）;???????????//二值化圖像
????Search_Line（）;
????nrf_rx（buff4）;???????????????//等待接收一個(gè)數(shù)據(jù)包，數(shù)據(jù)存儲(chǔ)在buff里??????
??????
????if（Car==2）
????{
??????
??????if（buff[3]==0&&buff[2]==0&&buff[1]==0&&buff[0]==1）
??????{
????????Car=1;
????????Overtake++;//超車次數(shù)加1
????????ABDistance=0;
????????ABDistance_last=0;
????????gpio_set（PTE251）;//后車開啟超聲波
????????gpio_set（PTE241）;
????????ChaoChe_Cross_temp=0;
??????}
??????if（buff[3]==0&&buff[2]==0&&buff[1]==0&&buff[0]==3）
??????{
????????Car=1;
????????Ring_OverTake++;
????????ABDistance=0;
????????ABDistance_last=0;
????????gpio_set（PTE251）;//后車開啟超聲波
????????gpio_set（PTE241）;
????????ChaoChe_Cross_temp=0;
??????}
??????if（buff[3]==0&&buff[2]==0&&buff[1]==0&&buff[0]==2）
????????ChaoChe_Cross_temp=1;
??????
??????if（ChaoChe_Cross_temp==1）
??????{
????????Cross_Flag=1;
??????}
??????
????}
????if（Car==1）
????{
??????if（buff[3]==0&&buff[2]==0&&buff[1]==1&&buff[0]==1）//距離正常
??????{
????????Distance_temp=1;
????????Distance_temp_rember=Distance_temp;
??????}
??????else?if（buff[3]==0&&buff[2]==0&&buff[1]==1&&buff[0]==0）//距離過小
??????{
????????Distance_temp=0;

?屬性????????????大小?????日期????時(shí)間???名稱
-----------?---------??----------?-----??----
?????文件????????6763??2014-02-24?04:05??2車\Lib\USB\usb.h
?????文件????????2899??2014-09-21?22:19??2車\Lib\USB\VCAN_USB_COM.inf
?????文件???????13007??2014-09-21?22:16??2車\Lib\USB\USB_Desc.h
?????文件????????1072??2013-10-25?14:45??2車\Lib\USB\USB_CDC.h
?????文件????????2104??2014-10-06?02:53??2車\Lib\USB\USB_CDC.c
?????文件???????13374??2014-10-06?04:08??2車\Lib\USB\USB.c
?????文件?????????508??2013-10-08?15:46??2車\Lib\USB\FslTypes.h
?????目錄???????????0??2017-05-10?22:27??2車\Lib\USB\
?????文件????????4840??2013-10-08?15:46??2車\Lib\FatFs\option\syscall.c
?????文件???????31442??2013-10-08?15:46??2車\Lib\FatFs\option\ccsbcs.c
?????文件??????471220??2013-10-08?15:46??2車\Lib\FatFs\option\cc950.c
?????文件??????593530??2013-10-08?15:46??2車\Lib\FatFs\option\cc949.c
?????文件??????757220??2013-10-30?14:51??2車\Lib\FatFs\option\cc936.c
?????文件??????261128??2013-10-08?15:46??2車\Lib\FatFs\option\cc932.c
?????目錄???????????0??2017-05-10?22:27??2車\Lib\FatFs\option\
?????文件?????????365??2013-10-08?15:46??2車\Lib\FatFs\integer.h
?????文件????????9414??2013-11-09?19:15??2車\Lib\FatFs\ffconf.h
?????文件???????14245??2013-10-20?14:42??2車\Lib\FatFs\ff.h
?????文件??????171915??2013-10-20?14:20??2車\Lib\FatFs\ff.c
?????文件????????3228??2014-10-02?15:27??2車\Lib\FatFs\diskio.h
?????文件???????14776??2017-03-06?22:38??2車\Lib\FatFs\diskio.c
?????文件????????6505??2013-05-23?12:30??2車\Lib\FatFs\00readme.txt
?????目錄???????????0??2017-05-10?22:27??2車\Lib\FatFs\
?????文件?????1393048??2014-02-16?19:46??2車\Lib\CMSIS\iar_cortexM4lf_math.a
?????文件?????1408032??2014-02-16?19:50??2車\Lib\CMSIS\iar_cortexM4l_math.a
?????文件???????98211??2014-02-16?20:28??2車\Lib\CMSIS\Inc\core_sc300.h
?????文件???????41744??2014-02-16?20:28??2車\Lib\CMSIS\Inc\core_sc000.h
?????文件???????20513??2014-02-16?20:28??2車\Lib\CMSIS\Inc\core_cmInstr.h
?????文件???????17146??2014-02-16?20:28??2車\Lib\CMSIS\Inc\core_cmFunc.h
?????文件???????22735??2014-02-16?20:28??2車\Lib\CMSIS\Inc\core_cm4_simd.h
?????文件??????109142??2014-02-16?20:28??2車\Lib\CMSIS\Inc\core_cm4.h
............此處省略343個(gè)文件信息