TMFreescale Semiconductor Confidential and Proprietary Information. Freescale and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. Freescale Semiconductor, Inc. 2005.Slide 0第四届第四届“飞思卡尔飞思卡尔”杯全国大学生智能汽杯全国大学生智能汽 车竞赛西部赛区技术交流会车竞赛西部赛区技术交流会西北工业大学西北工业大学梁栋梁栋TMFreescale Semiconductor Confidential and Proprietary Information. Freescale and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. Freescale Semiconductor, Inc. 2005.Slide 1一、工作环境简介二、摄像头组的设计三、摄像头组的展望偏重软件的讨论偏重软件的讨论-摄像头组摄像头组TMFreescale Semiconductor Confidential and Proprietary Information. Freescale and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. Freescale Semiconductor, Inc. 2005.Slide 2一、工作环境简介一、工作环境简介新建工程：使用CodeWarrior程序烧录：使用监控程序混合编程：汇编语言和C语言TMFreescale Semiconductor Confidential and Proprietary Information. Freescale and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. Freescale Semiconductor, Inc. 2005.Slide 3二、摄像头组智能车设计二、摄像头组智能车设计智能车的总体组成：双输入双输出双输入双输出TMFreescale Semiconductor Confidential and Proprietary Information. Freescale and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. Freescale Semiconductor, Inc. 2005.Slide 4TMFreescale Semiconductor Confidential and Proprietary Information. Freescale and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. Freescale Semiconductor, Inc. 2005.Slide 51 1、处理器简介（、处理器简介（S12DG128BS12DG128B）以往届使用的以往届使用的S12DG128B为例，其主要特点：为例，其主要特点： 包含一个包含一个16位的中央处理器（位的中央处理器（HCS12 CPU） 128K字节的字节的Flash EEPROM，8K字节的字节的RAM，2K字节的字节的 EEPROM 2个异步串行通信接口（个异步串行通信接口（SCI），），2个同步串行通信接口个同步串行通信接口 （SPI） 一个一个8通道通道IC/OC增强计数增强计数/定时器（定时器（ECT） 2个个8通道通道10位模数转换器（位模数转换器（ADC） 一个一个8通道脉宽调制器（通道脉宽调制器（PWM） 29个数字个数字I/O通道（通道（A端口，端口，B端口，端口，K端口和端口和E端口）端口）TMTMFreescale Semiconductor Confidential and Proprietary Information. Freescale and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. Freescale Semiconductor, Inc. 2005.Slide 71.2 1.2 模数转换模数转换ATDATD模块模块资源：资源： 2个个8通道模数转换器通道模数转换器ATD可编程可编程8/10位转换结果位转换结果具有外部触发转换能力具有外部触发转换能力功能：将输入的模拟量转化为数字量功能：将输入的模拟量转化为数字量TMFreescale Semiconductor Confidential and Proprietary Information. Freescale and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. Freescale Semiconductor, Inc. 2005.Slide 81.2 1.2 模数转换模数转换ATDATD模块模块AD转换速度不够快转换速度不够快 图像采集受到限制图像采集受到限制TMFreescale Semiconductor Confidential and Proprietary Information. Freescale and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. Freescale Semiconductor, Inc. 2005.Slide 91.3 PWM1.3 PWM模块模块8通道通道PWM模块模块 可编程的周期及占空时间可编程的周期及占空时间 8位位8通道或通道或16位位4通道通道 脉宽和周期独立控制脉宽和周期独立控制 中央对齐或左对齐输出中央对齐或左对齐输出 可编程周期选择可编程周期选择 功能：功能： 输出输出PWM(脉宽调制脉宽调制)信号，一但给定输出信号，一但给定输出 格式，相应管脚就按照给定的输出，直到再格式，相应管脚就按照给定的输出，直到再 次改变或者停止。次改变或者停止。TMFreescale Semiconductor Confidential and Proprietary Information. Freescale and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. Freescale Semiconductor, Inc. 2005.Slide 101.4 1.4 存储结构存储结构MC9S12DG128单片机拥有单片机拥有128K字节的字节的Flash EEPROM，8K 字节的字节的RAM，2K字节的字节的EEPROM，其分配情况如下图所示：，其分配情况如下图所示：MC9S12DG128存储空间分配TMFreescale Semiconductor Confidential and Proprietary Information. Freescale and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. Freescale Semiconductor, Inc. 2005.Slide 112 2、视频信号、视频信号摄像头安装 视频同步信号分离 视频信号采集处理TMFreescale Semiconductor Confidential and Proprietary Information. Freescale and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. Freescale Semiconductor, Inc. 2005.Slide 122.1 2.1 摄像头安装摄像头安装摄像头安装将会影响到两个方面的性能，一是图像处理的复杂程度和摄像头安装将会影响到两个方面的性能，一是图像处理的复杂程度和 精度，一是小车的机械性能。为了获得相对于小车中心对称的图像，精度，一是小车的机械性能。为了获得相对于小车中心对称的图像， 并且不影响小车重心的左右，摄像头应安放在小车左右对称的中线上。并且不影响小车重心的左右，摄像头应安放在小车左右对称的中线上。摄像头视场示意图摄像头视场示意图安装主要涉及前安装主要涉及前 后位置、高度和后位置、高度和 俯视角度。对图俯视角度。对图 像处理影响较大像处理影响较大 的是摄像头安装的是摄像头安装 高度和俯视角。高度和俯视角。TMFreescale Semiconductor Confidential and Proprietary Information. Freescale and the Freescale logo are trademarks of Freescale Semiconductor, Inc. All other product or service nam