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Révision 169

Ajouté par crzemeta il y a plus de 6 ans

Acquisition position validée
Premiers essais d'asservissement : non valide encore

Voir les différences:

branch/zemeta/Emb_App/SessionM32C_E8a_system.ini
[Target]
M32C E8a SYSTEM=Renesas Communications
[USER_DATA]
RESET=ff0014
RESET=ff0016
branch/zemeta/Emb_App/SessionM32C_E8a_system.hsf
0
[WINDOW_POSITION_STATE_DATA_VD1]
"Help" "TOOLBAR 0" 59419 2 4 "0.00" 0 0 0 0 0 17 0 "" "0.0"
"{WK_00000001_CmdLine}" "WINDOW" 59422 0 1 "0.09" 365 0 0 350 200 17 0 "32771|32772|32778|<<separator>>|32773|32774|<<separator>>|32820|<<separator>>|32801|32824" "0.0"
"{WK_00000001_CmdLine}" "WINDOW" 59422 0 1 "0.08" 365 0 0 350 200 17 0 "32771|32772|32778|<<separator>>|32773|32774|<<separator>>|32820|<<separator>>|32801|32824" "0.0"
"{WK_00000001_DISASSEMBLY}" "WINDOW" 0 0 0 "0.00" 0 -4 -30 948 486 9 0 "" "0.0"
"{WK_00000001_EVENT}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59422 0 0 "0.11" 365 0 0 350 200 18 0 "32774|32775|32777|<<separator>>|32780|<<separator>>" "0.0"
"{WK_00000001_MEMORY}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59422 0 1 "0.23" 365 2 -1 350 200 2065 0 "42202|42203|42204|42233|<<separator>>|42206|42205|42230|42229|42207|<<separator>>|42208|42209|42210|49076|42228|42227|<<separator>>|42231|42232|42234|42235|<<separator>>|42211|<<separator>>|32796|32797" "0.0"
......
"E:\tp_info6_2018_zemeta\tp_info6\Emb_App\programme_principal_etud.c"
"E:\tp_info6_2018_zemeta\tp_info6\Emb_App\crt0mr.a30"
"E:\tp_info6_2018_zemeta\tp_info6\Emb_App\conf_noyau.cfg"
"E:\tp_info6_2018_zemeta\tp_info6\bsp\dma0.c"
"E:\tp_info6_2018_zemeta\tp_info6\bsp\can.c"
"E:\tp_info6_2018_zemeta\tp_info6\bsp\dma0.c"
[TARGET_NAME]
"M32C E8a SYSTEM" "" 0
[STATUSBAR_STATEINFO_VD1]
......
[FLASH_DETAILS]
"" 0 0 "" 0 "" 0 0 "" 0 0 0 0 0 0 0 "" "" "" "" ""
[BREAKPOINTS]
"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 127837712 1 "{00000000-0000-0000-C000-000000000046}" ""
"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 99318680 1 "{00000000-0000-0000-C000-000000000046}" ""
[END]
branch/zemeta/Emb_App/programme_principal_etud.c
//'I'/73/Ox49 : D?finition du nom du v?hicule. Doit d?buter par le caract?re '#' et entraine le chargement de la configuration de piste
// correspondant au nom du v?hicule si le nom se termine par '*'
CanFrame comm;
unsigned short alpha ;
unsigned short k=1, angle_reel, error ;
void main()
{
{
//short vitesse = 120 ;
ports_mcu();
lcd_init();
periph_init();
......
can_init();
clavier_init(1);
capture_init();
//sta_cyc(ID_acqui);
//sta_tsk(id_acqui_pos);
sta_tsk(id_avance);
//sta_tsk(id_telemetre);
sta_tsk(id_ass);
// sta_tsk(ID_periph_rx);
while(1)
......
comm.data.val = 120 ;
snd_dtq(CanTx, comm.msg) ;
dly_tsk (1000) ;
/*dly_tsk (1000) ;
comm.data.id = 'T' ;
comm.data.rtr = 0 ;
comm.data.val = 0 ;
snd_dtq(CanTx, comm.msg) ;
dly_tsk (1000) ;
dly_tsk (1000) ; */
}
......
void acqui_pos()
{
CanFrame requete, reponse ;
unsigned short alpha ;
while (1)
{
requete.data.id = 'R' ; // variable requete sert a envoyter une requete.
......
}
//Envoie commande vitesse voiture
void avance_voiture()
{
while(1)
{
comm.data.id = 'V' ;
comm.data.rtr = 0 ;
comm.data.val = 120 ;
comm.data.val = 50 ;
snd_dtq(CanTx, comm.msg) ;
}
}
void asservissement_voiture()
{
CanFrame requete, reponse ;
unsigned short K=1, angle_reel, error ;
while(1)
{
// envoie commande deplacement voiture
/*// envoie commande deplacement voiture
comm.data.id = 'V' ;
comm.data.rtr = 0 ;
comm.data.val = 20 ;
snd_dtq(CanTx, comm.msg) ;
snd_dtq(CanTx, comm.msg) ;*/
// envoie commande tourelle
comm.data.id = 'T' ;
......
//asservissement position tourelle
error = comm.data.val - angle_reel ;
com = k*error ;
// envoie nouvelle commande tourelle
comm.data.id = 'T' ;
comm.data.rtr = 0 ;
comm.data.val = k*error ;
snd_dtq(CanTx, comm.msg) ;
}
branch/zemeta/Emb_App/conf_noyau.cfg
exinf = 0x0;
};
task[]{
entry_address = asservissement_voiture();
name = id_ass;
stack_size = 256;
stack_section = stack;
priority = 2;
initial_start = OFF;
exinf = 0x0;
};
flag[]{
name = ev_bus_fin_tr;
initial_pattern = 0x0000;
branch/zemeta/Emb_App/EmbM32C87App.tps
"SessionM32C_E8a_system"
[GENERAL_DATA_PROJECT]
[GENERAL_DATA_CONFIGURATION_Debug]
"PROJECT_FILES_MODIFIED_DATA_TAG" "FALSE"
"PROJECT_FILES_MODIFIED_DATA_TAG" "TRUE"
[SESSIONS_Debug]
"DefaultSession"
"SessionM32C_E8a_system"

Formats disponibles : Unified diff