Révision 117
Ajouté par khmbaye il y a plus de 6 ans
| branch/mbaye/Emb_App/programme_principal_etud.c | ||
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#include "carte_io.h"
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#include "carte_m32.h"
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#include <math.h>
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int a;
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unsigned int a; //valeur de l'angle lue
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unsigned int d; //distance telemetre
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unsigned int com; //commande
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// Potentiometre: lire les registres ad00 et ad01, les valeurs sont sur 10 bits.
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| ... | ... | |
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LED_J=0;
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dly_tsk(100);*/
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CanFrame comm;
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comm.data.id='T'; comm.data.rtr=0; comm.data.val=120;
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comm.data.id='T'; comm.data.rtr=0; comm.data.val=45;
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snd_dtq (CanTx,comm.msg);
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dly_tsk(100);
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dly_tsk(100);
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comm.data.id='R'; comm.data.rtr=1;
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snd_dtq (CanTx,comm.msg);
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a= periph[ADDR('R')].val;
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if(a >90)
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dly_tsk(100);
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comm.data.id='V'; comm.data.rtr=0; comm.data.val=35;
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snd_dtq (CanTx,comm.msg);
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dly_tsk(100);
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comm.data.id='U'; comm.data.rtr=1;
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snd_dtq (CanTx,comm.msg);
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d= periph[ADDR('R')].val;
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dly_tsk(100);
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comm.data.id='T'; comm.data.rtr=0; comm.data.val=com= 1.2*(45-a);
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snd_dtq (CanTx,comm.msg);
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dly_tsk(100);
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if(d > 0x002d)
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{
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comm.data.id='T'; comm.data.rtr=0; comm.data.val=0;
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comm.data.id='D'; comm.data.rtr=0; comm.data.val=-45;
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snd_dtq (CanTx,comm.msg);
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}
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}
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dly_tsk(100);
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}
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}
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| ... | ... | |
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LED_V=!LED_V;
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}
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/*void envoi_commande()
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{
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CanFrame comm;
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comm.data.id='T'; comm.data.rtr=0; comm.data.val=45;
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snd_dtq (CanTx,comm.msg);
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}*/
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/*void reception_valeur()
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{
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CanFrame demande;
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CanFrame reponse;
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demande.data.id='R'; demande.data.rtr=1;
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snd_dtq (CanTx,demande.msg); // Interrogation du peripherique
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rcv_dtq (CanRx,&reponse.msg); // Attente de la reponse
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a=reponse.data.val; //contient la valeur de retour du simulateur.
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}*/
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