智能车竞赛 摄像头组学习项目

#include "common.h" #include "uart.h" #include "gpio.h" //buffer add struct FifoQueue MyQueue; uint8_t Queuedata; //new queue void InitFifo(Queue *Q,int size) { Q->queuesize = size; Q->q = (uint8_t *)malloc(sizeof(uint8_t) * Q->queuesize); //分配内存 Q->tail = 0; Q->head = 0; uint8_t *data=Q->q; for(int i=0;i<Q->queuesize;i++) { *data=0; data++; } } void InFifo(Queue *Q, uint8_t key) { int tail = (Q->tail+1) % Q->queuesize; //取余保证，当quil=queuesize-1时，再转回0 if (tail == Q->head) //此时队列没有空间 { //full OutFifo(Q); Q->q[Q->tail] = key; Q->tail = tail; } else { Q->q[Q->tail] = key; Q->tail = tail; } } void printFifo(Queue *Q) { uint8_t *data=Q->q; for(int i=0;i<Q->queuesize;i++) { printf("%d ",*data); data++; } printf("\r\n"); } uint32_t GetFifoBias(Queue *Q)//获取队列中数据的均值 { uint8_t *data=Q->q; uint32_t summary=0; for(int i=0;i<Q->queuesize;i++) { summary+=*data; data++; } summary=summary/Q->queuesize; return summary; } uint8_t OutFifo(Queue *Q) { uint8_t tmp=0; if(Q->tail != Q->head) //判断队列不为空 { tmp = Q->q[Q->head]; Q->head = (Q->head+1) % Q->queuesize; } return tmp; } int IsFifoEmpty(Queue *Q) { if(Q->head == Q->tail) { return 1; } else { return 0; } } int IsFifoFull(Queue *Q) { if((Q->tail+1)% Q->queuesize == Q->head) { return 1; } else { return 0; } } //end new queue void readIntHandler(uint16_t byteReceived) { QueueIn(&MyQueue,(uint8_t)byteReceived); } void QueueInit(struct FifoQueue *Queue) { Queue->rear=0; Queue->front = Queue->rear; Queue->count = 0; } uint8_t QueueIn(struct FifoQueue *Queue,ElemType sdat) { if((Queue->front == Queue->rear) && (Queue->count == QueueSize)) { return QueueFull; }else { Queue->dat[Queue->rear] = sdat; Queue->rear = (Queue->rear + 1) % QueueSize; Queue->count = Queue->count + 1; return QueueOperateOk; } } uint8_t QueueOut(struct FifoQueue *Queue,ElemType *sdat) { if((Queue->front == Queue->rear) && (Queue->count == 0)) { return QueueEmpty; }else { *sdat = Queue->dat[Queue->front]; Queue->front = (Queue->front + 1) % QueueSize; Queue->count = Queue->count - 1; return QueueOperateOk; } } uint8_t Serial_available() { if(MyQueue.count==0&&(MyQueue.front==MyQueue.rear)) return 0; else return 1; } uint8_t Serial_read() { QueueOut(&MyQueue,&Queuedata); return Queuedata; } //buffer finish added #if (!defined(UART_BASES)) #ifdef UART2 #define UART_BASES {UART0, UART1, UART2} #elif UART3 #define UART_BASES {UART0, UART1, UART2, UART3} #elif UART4 #define UART_BASES {UART0, UART1, UART2, UART3, UART4} #elif UART5 #define UART_BASES {UART0, UART1, UART2, UART3, UART4, UART5} #else #define UART_BASES {UART0, UART1} #endif #endif /* gloabl const table defination */ static UART_Type * const UARTBase[] = UART_BASES; /* callback function slot */ static UART_CallBackTxType UART_CallBackTxTable[ARRAY_SIZE(UARTBase)] = {NULL}; static UART_CallBackRxType UART_CallBackRxTable[ARRAY_SIZE(UARTBase)] = {NULL}; /* special use for printf */ static uint8_t UART_DebugInstance; /* instance clock gate table */ static const Reg_t ClkTbl[] = { {(void*)&(SIM->SCGC4), SIM_SCGC4_UART0_MASK}, {(void*)&(SIM->SCGC4), SIM_SCGC4_UART1_MASK}, {(void*)&(SIM->SCGC4), SIM_SCGC4_UART2_MASK}, #ifdef UART3 {(void*)&(SIM->SCGC4), SIM_SCGC4_UART3_MASK}, #endif #ifdef UART4 {(void*)&(SIM->SCGC1), SIM_SCGC1_UART4_MASK}, #endif #ifdef UART5 {(void*)&(SIM->SCGC1), SIM_SCGC1_UART5_MASK}, #endif }; /* interrupt handler table */ static const IRQn_Type UART_IRQnTable[] = { UART0_RX_TX_IRQn, UART1_RX_TX_IRQn, UART2_RX_TX_IRQn, #ifdef UART3 UART3_RX_TX_IRQn, #endif #ifdef UART4 UART4_RX_TX_IRQn, #endif #ifdef UART5 UART5_RX_TX_IRQn, #endif }; static const uint32_t UART_TIFOSizeTable[] = {1, 4, 8, 16, 32, 64, 128}; #ifdef __cplusplus extern "C" { #endif #ifdef __CC_ARM // MDK Support struct __FILE { int handle; /* Whatever you require here. If the only file you are using is */ /* standard output using printf() for debugging, no file handling */ /* is required. */ }; /* FILE is typedef’ d in stdio.h. */ FILE __stdout; FILE __stdin; /** * \brief put char, called by printf * \note 若串口初始化完成之后，调用printf函数会重定向到uart的发送函数 * \note 即需要打印的数据可以通过PC的串口调试助手(终端)打印出来 */ __weak int fputc(int ch,FILE *f) { UART_WriteByte(UART_DebugInstance, ch); return ch; } __weak int fgetc(FILE *f) { uint16_t ch; while(UART_ReadByte(UART_DebugInstance, &ch)); return (ch & 0xFF); } #ifdef __cplusplus } #endif #elif __ICCARM__ /* IAR support */ #include <yfuns.h> __weak size_t __write(int handle, const unsigned char * buffer, size_t size) { size_t nChars = 0; if (buffer == 0) { /* This means that we should flush internal buffers. Since we*/ /* don't we just return. (Remember, "handle" == -1 means that all*/ /* handles should be flushed.)*/ return 0; } /* This function only writes to "standard out" and "standard err",*/ /* for all other file handles it returns failure.*/ if ((handle != _LLIO_STDOUT) && (handle != _LLIO_STDERR)) { return _LLIO_ERROR; } /* Send data.*/ while (size--) { UART_WriteByte(UART_DebugInstance, *buffer++); ++nChars; } return nChars; } __weak size_t __read(int handle, unsigned char * buffer, size_t size) { size_t nChars = 0; uint16_t ch = 0; if (buffer == 0) { /* This means that we should flush internal buffers. Since we*/ /* don't we just return. (Remember, "handle" == -1 means that all*/ /* handles should be flushed.)*/ return 0; } /* This function only writes to "standard out" and "standard err",*/ /* for all other file handles it returns failure.*/ if ((handle != _LLIO_STDIN) && (handle != _LLIO_STDERR)) { return _LLIO_ERROR; } /* read data.*/ while (size--) { while(UART_ReadByte(UART_DebugInstance, &ch)); *buffer++ = (char)ch & 0xFF; ++nChars; } return nChars; } #endif /** * \brief UART putchar function * \attention 内部函数，用户无法调用 * \param[in] instance UART模块号 * \param[in] str 指向字符串常量的指针 * \retval None */ static void UART_putstr(uint32_t instance, const char *str) { while(*str != '\0') { UART_WriteByte(instance, *str++); } } /** * \brief 进制转换 * \attention 内部函数，用户无法调用 * \retval None */ static void printn(unsigned int n, unsigned int b) { static char *ntab = "0123456789ABCDEF"; unsigned int a, m; if (n / b) { a = n / b; printn(a, b); } m = n % b; UART_WriteByte(UART_DebugInstance, ntab[m]); } /** * \brief UART printf function */ int UART_printf(uint32_t instance, const char *fmt, ...) { char c; unsigned int