Révision 183
Ajouté par vidaval il y a plus de 6 ans
| branch/daval/Emb_App/SessionM32C_E8a_system.ini | ||
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[Target]
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M32C E8a SYSTEM=Renesas Communications
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[USER_DATA]
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RESET=ff0022
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RESET=ff002a
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| branch/daval/Emb_App/programme_principal_etud.c | ||
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int k=1; //gain du correcteur
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int valeur = 0 ; //valeur envoyee
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int consigne_roue=700;
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int C=1;
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int orientation_roue =0;
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CanFrame vitesse;
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CanFrame requete;
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int distance_mesure=0;
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void avance()
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{
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vitesse.data.id='V'; //Envoi d'une commande
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vitesse.data.rtr=0; //Indique une ecriture
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vitesse.data.val=15;
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snd_dtq (CanTx,vitesse.msg);
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}
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void asservissement()
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{
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CanFrame comm;
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CanFrame commande;
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CanFrame requete;
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CanFrame reponse;
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| ... | ... | |
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angle = periph[ADDR('R')].val; // Contient la valeur de retour du simulateur.
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comm.data.id='T'; //Envoi d'une commande
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comm.data.rtr=0; //Indique une ecriture
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commande.data.id='T'; //Envoi d'une commande
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commande.data.rtr=0; //Indique une ecriture
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valeur=k*(consigne-angle);
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comm.data.val=valeur;
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snd_dtq (CanTx,comm.msg); //Envoi modif
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dly_tsk(2);
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commande.data.val=valeur;
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snd_dtq (CanTx,commande.msg); //Envoi modif
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dly_tsk(5);
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}
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}
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void avance()
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{
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vitesse.data.id='V'; //Envoi d'une commande en vitesse
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vitesse.data.rtr=0; //Indique une ecriture
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vitesse.data.val=25;
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snd_dtq (CanTx,vitesse.msg);
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dly_tsk(15);
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}
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void distance_bord()
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{
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CanFrame requete_dist;
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UINT flag;
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while(1)
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{
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requete_dist.data.id= 'U' ;
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requete_dist.data.rtr= 1 ; //requete lecture
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periph[ADDR('U')].ev= 0x02 ;
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snd_dtq(CanTx, requete_dist.msg);
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wai_flg (ev_periph, 0x02, TWF_ANDW, &flag); //Attente lecture
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distance_mesure=periph[ADDR('U')].val;
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dly_tsk(15);
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}
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}
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void angle_roue()
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{
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CanFrame requete,commande;
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UINT flag;
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while (1)
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{
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requete.data.id='D';
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requete.data.rtr=1;
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periph[ADDR('D')].ev=0x01;
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snd_dtq(CanTx, requete.msg);
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wai_flg (ev_periph, 0x01, TWF_ANDW, &flag);
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orientation_roue=periph[ADDR('D')].val;
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commande.data.id='D';
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commande.data.rtr=0;
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commande.data.val= C*(distance_mesure-consigne_roue);
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snd_dtq(CanTx, commande.msg);
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dly_tsk(5);
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}
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}
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void main()
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| ... | ... | |
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sta_cyc(ID_acqui);
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sta_tsk(ID_periph_rx); //Si on utilise cette t?che on ne doit plus utiliser canRX
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sta_tsk(ID_asservissement);
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sta_tsk(ID_distance_bord);
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sta_tsk(ID_angle_roue);
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sta_tsk(ID_avance);
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while(1);
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| branch/daval/Emb_App/conf_noyau.cfg | ||
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name = ID_avance;
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stack_size = 256;
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stack_section = stack;
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priority = 5;
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initial_start = OFF;
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exinf = 0x0;
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};
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task[]{
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entry_address = distance_bord();
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name = ID_distance_bord;
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stack_size = 256;
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stack_section = stack;
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priority = 4;
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initial_start = OFF;
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exinf = 0x0;
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};
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task[]{
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entry_address = oriente_roue();
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name = ID_oriente_roue;
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entry_address = angle_roue();
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name = ID_angle_roue;
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stack_size = 256;
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stack_section = stack;
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priority = 5;
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priority = 4;
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initial_start = OFF;
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exinf = 0x0;
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};
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flag[]{
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name = ev_bus_fin_tr;
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initial_pattern = 0x0000;
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Formats disponibles : Unified diff
Implantation de la mesure de distance par le telemetre + asservissement de l'orientation des roues le tout des tâches