Index: branch/zemeta/Emb_App.tws
===================================================================
--- branch/zemeta/Emb_App.tws	(revision 172)
+++ branch/zemeta/Emb_App.tws	(revision 173)
@@ -9,6 +9,7 @@
 [OPEN_WORKSPACE_FILES]
 "E:\tp_info6_2018_zemeta\tp_info6\bsp\can.c" 
 "E:\tp_info6_2018_zemeta\tp_info6\bsp\dma0.c" 
+"E:\tp_info6_2018_zemeta\tp_info6\bsp\uart0.c" 
 "E:\tp_info6_2018_zemeta\tp_info6\Emb_App\conf_noyau.cfg" 
 "E:\tp_info6_2018_zemeta\tp_info6\Emb_App\crt0mr.a30" 
 "E:\tp_info6_2018_zemeta\tp_info6\Emb_App\programme_principal_etud.c" 
@@ -18,6 +19,7 @@
 "E:\tp_info6_2018_zemeta\tp_info6\Emb_App\programme_principal_etud.c" -8 -30 1596 539 1 3 
 "E:\tp_info6_2018_zemeta\tp_info6\bsp\can.c" 50 50 1430 351 0 1 
 "E:\tp_info6_2018_zemeta\tp_info6\bsp\dma0.c" 75 75 1430 351 0 2 
+"E:\tp_info6_2018_zemeta\tp_info6\bsp\uart0.c" 125 125 1430 351 0 5 
 [LOADED_PROJECTS]
 "EmbM32C87App" 
 [END]
Index: branch/zemeta/Emb_App/SessionM32C_E8a_system.ini
===================================================================
--- branch/zemeta/Emb_App/SessionM32C_E8a_system.ini	(revision 172)
+++ branch/zemeta/Emb_App/SessionM32C_E8a_system.ini	(revision 173)
@@ -25,4 +25,4 @@
 [Target]
 M32C E8a SYSTEM=Renesas Communications
 [USER_DATA]
-RESET=ff0016
+RESET=ff0018
Index: branch/zemeta/Emb_App/SessionM32C_E8a_system.hsf
===================================================================
--- branch/zemeta/Emb_App/SessionM32C_E8a_system.hsf	(revision 172)
+++ branch/zemeta/Emb_App/SessionM32C_E8a_system.hsf	(revision 173)
@@ -141,20 +141,20 @@
 "{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWndInstanceKey0" "{WK_00000001_PDMR}EmbM32C87AppSessionM32C_E8a_system" 
 "{64753FED-D387-4B8C-A91D-D3419C869C07}C_EVAL_DENORMAL_MODE" "0" 
 "{64753FED-D387-4B8C-A91D-D3419C869C07}C_EVAL_ROUND_MODE" "0" 
-"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_0" "0000000000000000" 
-"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_1" "0000000000000000" 
+"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_0" "0000000000004044" 
+"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_1" "0000000000000020" 
 "{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_10" "0000000000000000" 
 "{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_11" "0000000000000000" 
 "{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_12" "0000000000000000" 
 "{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_13" "0000000000000000" 
 "{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_14" "0000000000000000" 
-"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_15" "0000000000000000" 
-"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF0014" 
-"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_17" "0000000000000000" 
-"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000000" 
-"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000700" 
-"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "0000000000000000" 
-"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_20" "0000000000000000" 
+"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_15" "0000000000000512" 
+"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF0572" 
+"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_17" "0000000000FFF800" 
+"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000B08" 
+"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000840" 
+"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "0000000000000001" 
+"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_20" "0000000000000044" 
 "{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_21" "0000000000000000" 
 "{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_22" "0000000000000000" 
 "{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_23" "0000000000000000" 
@@ -169,12 +169,12 @@
 "{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_31" "0000000000000000" 
 "{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_32" "0000000000000000" 
 "{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_33" "0000000000000000" 
-"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_34" "0000000000000000" 
+"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_34" "000000000000036A" 
 "{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_35" "0000000000000000" 
-"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_4" "0000000000000000" 
+"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_4" "0000000000000008" 
 "{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "0000000000000000" 
-"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000000" 
-"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_7" "0000000000000000" 
+"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000B3C" 
+"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_7" "0000000000000512" 
 "{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_8" "0000000000000000" 
 "{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_9" "0000000000000000" 
 "{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_COUNT" "36" 
@@ -205,9 +205,15 @@
 "{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ColWidth2" "120" 
 "{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ColWidth3" "200" 
 "{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH" "c,buff,n,rx,flag," 
-"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000" "alpha, 10, 0, P, Col, Hex, N" 
+"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000" "alpha, 2, 0, P, Col, Dec, MN" 
 "{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000_SCOPE" "Current Scope," 
-"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "1" 
+"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001" "angle_reel, 2, 0, P, Col, Dec, MN" 
+"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001_SCOPE" "Current Scope," 
+"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002" "error, 2, 0, P, Col, Dec, MN" 
+"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002_SCOPE" "Current Scope," 
+"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0003" "comm.data.val, 2, 0, P, Col, Dec, MN" 
+"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0003_SCOPE" "Current Scope," 
+"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "4" 
 "{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth0" "120" 
 "{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth1" "150" 
 "{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth12" "200" 
@@ -277,8 +283,8 @@
 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 "0.08" 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_CmdLine}" "WINDOW" 59422 0 1 "0.07" 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" 0 150 150 1430 351 10 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" 
 "{WK_00000001_OUTPUT}" "WINDOW" 59422 0 2 "0.40" 365 0 0 350 200 18 0 "36756|36757|36758|36759|<<separator>>|36746|36747|<<separator>>|39531|<<separator>>|39500|39534|<<separator>>|36687" "0.0" 
@@ -312,6 +318,8 @@
 "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\uart0.c" 
+"E:\tp_info6_2018_zemeta\tp_info6\Emb_App\Debug\Disassembly" 
 "E:\tp_info6_2018_zemeta\tp_info6\bsp\dma0.c" 
 "E:\tp_info6_2018_zemeta\tp_info6\bsp\can.c" 
 [TARGET_NAME]
@@ -360,5 +368,5 @@
 [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 99318680 1 "{00000000-0000-0000-C000-000000000046}" "" 
+"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 101890600 1 "{00000000-0000-0000-C000-000000000046}" "" 
 [END]
Index: branch/zemeta/Emb_App/programme_principal_etud.c
===================================================================
--- branch/zemeta/Emb_App/programme_principal_etud.c	(revision 172)
+++ branch/zemeta/Emb_App/programme_principal_etud.c	(revision 173)
@@ -122,6 +122,9 @@
 CanFrame comm; 
 unsigned short alpha ;
 unsigned short k=1, angle_reel, error ;
+unsigned short consigne= 450 ; 
+CanFrame requete, reponse ; 
+
 
 void main()
 {
@@ -139,7 +142,7 @@
 	
 	//sta_cyc(ID_acqui);
 	//sta_tsk(id_acqui_pos);
-	sta_tsk(id_avance);
+	//sta_tsk(id_avance);
 	//sta_tsk(id_telemetre);
 	sta_tsk(id_ass);
 //	sta_tsk(ID_periph_rx);
@@ -200,7 +203,7 @@
 	{
 		comm.data.id = 'V' ;
 		comm.data.rtr = 0 ;
-		comm.data.val = 50 ; 
+		comm.data.val = 10 ; 
 		snd_dtq(CanTx, comm.msg) ;
 	}
 }
@@ -208,7 +211,6 @@
 
 void asservissement_voiture()
 {
-	CanFrame requete, reponse ; 
 	
 	while(1)
 	{
@@ -219,10 +221,10 @@
 		snd_dtq(CanTx, comm.msg) ;*/
 		
 		// envoie commande tourelle 
-		comm.data.id = 'T' ;
+		/*comm.data.id = 'T' ;
 		comm.data.rtr = 0 ;
-		comm.data.val = 45 ; 
-		snd_dtq(CanTx, comm.msg) ;
+		comm.data.val = consigne ; 
+		snd_dtq(CanTx, comm.msg) ;*/
 		
 		//recuperation position tourelle
 		requete.data.id = 'R' ; // variable requete sert a envoyter une requete.
@@ -232,7 +234,7 @@
 		angle_reel = reponse.data.val ; 
 		
 		//asservissement position tourelle
-		error = comm.data.val - angle_reel ;
+		error = consigne - angle_reel ;
 		// envoie nouvelle commande tourelle 
 		comm.data.id = 'T' ;
 		comm.data.rtr = 0 ;
Index: branch/zemeta/Emb_App/EmbM32C87App.tps
===================================================================
--- branch/zemeta/Emb_App/EmbM32C87App.tps	(revision 172)
+++ branch/zemeta/Emb_App/EmbM32C87App.tps	(revision 173)
@@ -18,7 +18,7 @@
 "SessionM32C_E8a_system" 
 [GENERAL_DATA_PROJECT]
 [GENERAL_DATA_CONFIGURATION_Debug]
-"PROJECT_FILES_MODIFIED_DATA_TAG" "TRUE" 
+"PROJECT_FILES_MODIFIED_DATA_TAG" "FALSE" 
 [SESSIONS_Debug]
 "DefaultSession" 
 "SessionM32C_E8a_system" 
