Révision 188
Ajouté par louisdupriet il y a plus de 6 ans
| branch/dupriet/Emb_App.tws | ||
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[GENERAL_DATA]
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[BREAKPOINTS]
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[OPEN_WORKSPACE_FILES]
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"E:\tp_info6_2018_dupriet\tp_info6\bsp\periph.c"
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"E:\tp_info6_2018_dupriet\tp_info6\bsp\periph.h"
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"E:\tp_info6_2018_dupriet\tp_info6\Emb_App\conf_noyau.cfg"
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"E:\tp_info6_2018_dupriet\tp_info6\Emb_App\crt0mr.a30"
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"E:\tp_info6_2018_dupriet\tp_info6\Emb_App\programme_principal_etud.c"
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[WORKSPACE_FILE_STATES]
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"E:\tp_info6_2018_dupriet\tp_info6\Emb_App\conf_noyau.cfg" 75 75 1430 351 0 2
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"E:\tp_info6_2018_dupriet\tp_info6\Emb_App\crt0mr.a30" 25 25 1430 351 0 1
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"E:\tp_info6_2018_dupriet\tp_info6\Emb_App\programme_principal_etud.c" -8 -30 1596 539 1 0
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"E:\tp_info6_2018_dupriet\tp_info6\Emb_App\programme_principal_etud.c" -8 -30 1596 607 1 0
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"E:\tp_info6_2018_dupriet\tp_info6\bsp\periph.c" 100 100 1405 394 0 4
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"E:\tp_info6_2018_dupriet\tp_info6\bsp\periph.h" 75 75 1405 394 0 3
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[LOADED_PROJECTS]
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"EmbM32C87App"
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[END]
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| branch/dupriet/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=ff0018
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RESET=ff0024
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| branch/dupriet/Emb_App/SessionM32C_E8a_system.hsf | ||
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_13" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_14" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_15" "0000000000000512"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF3153"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF3281"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_17" "0000000000FFF800"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000A0C"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000810"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "0000000000003115"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000A34"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000838"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_20" "00000000000000C0"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_21" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_22" "0000000000000000"
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| ... | ... | |
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_33" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_34" "000000000000036A"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_35" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_4" "0000000000000004"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000A0C"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_4" "0000000000000003"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "0000000000120000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000A34"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_7" "0000000000000512"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_8" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_9" "0000000000000000"
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| ... | ... | |
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH" "c,buff,n,rx,flag,"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000" "alpha, 2, 0, P, Col, Dec, MA"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000_SCOPE" "Current Scope,"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "1"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001" "d, 2, 0, P, Col, Dec, MA"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001_SCOPE" "Current Scope,"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002" "lecturevit, 2, 0, P, Col, Dec, MA"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002_SCOPE" "Current Scope,"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "3"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth0" "120"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth1" "150"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth12" "200"
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| ... | ... | |
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0
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[WINDOW_POSITION_STATE_DATA_VD1]
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"Help" "TOOLBAR 0" 59419 2 4 "0.00" 0 0 0 0 0 17 0 "" "0.0"
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"{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"
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"{WK_00000001_CmdLine}" "WINDOW" 59422 0 1 "0.07" 297 0 0 350 200 17 0 "32771|32772|32778|<<separator>>|32773|32774|<<separator>>|32820|<<separator>>|32801|32824" "0.0"
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"{WK_00000001_DISASSEMBLY}" "WINDOW" 0 0 0 "0.00" 0 -4 -30 948 486 9 0 "" "0.0"
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"{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"
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"{WK_00000001_EVENT}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59422 0 0 "0.11" 297 0 0 350 200 18 0 "32774|32775|32777|<<separator>>|32780|<<separator>>" "0.0"
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"{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"
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"{WK_00000001_OUTPUT}" "WINDOW" 59422 0 2 "0.55" 365 0 0 350 200 18 0 "36756|36757|36758|36759|<<separator>>|36746|36747|<<separator>>|39531|<<separator>>|39500|39534|<<separator>>|36687" "0.0"
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"{WK_00000001_PDMR}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59422 0 3 "0.01" 365 0 0 350 200 18 0 "47300|47301|47302|47303|47304|47305|47314|47306|47307|47308|47311|47312|47313|42211|42509|42303" "0.0"
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"{WK_00000001_OUTPUT}" "WINDOW" 59422 0 2 "0.55" 297 0 0 350 200 18 0 "36756|36757|36758|36759|<<separator>>|36746|36747|<<separator>>|39531|<<separator>>|39500|39534|<<separator>>|36687" "0.0"
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"{WK_00000001_PDMR}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59422 0 3 "0.01" 297 0 0 350 200 18 0 "47300|47301|47302|47303|47304|47305|47314|47306|47307|47308|47311|47312|47313|42211|42509|42303" "0.0"
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"{WK_00000001_REGISTERS}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59421 0 0 "1.00" 236 0 0 350 200 2065 0 "" "0.0"
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"{WK_00000001_WATCH}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59422 0 4 "0.33" 365 0 0 350 200 18 0 "32781|32783|<<separator>>|32771|32772|32773|<<separator>>|32786|<<separator>>|32810|32811" "0.0"
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"{WK_00000001_WATCH}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59422 0 4 "0.33" 297 0 0 350 200 18 0 "32781|32783|<<separator>>|32771|32772|32773|<<separator>>|32786|<<separator>>|32810|32811" "0.0"
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"{WK_00000002_WORKSPACE}" "WINDOW" 59420 0 0 "1.00" 308 0 0 350 200 18 0 "" "0.0"
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"{WK_TB00000001_STANDARD}" "TOOLBAR 0" 59419 0 2 "0.00" 0 0 0 0 0 18 0 "" "0.0"
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"{WK_TB00000002_EDITOR}" "TOOLBAR 0" 59419 0 0 "0.00" 0 0 0 0 0 18 0 "" "0.0"
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| ... | ... | |
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[WINDOW_Z_ORDER]
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"E:\tp_info6_2018_dupriet\tp_info6\Emb_App\programme_principal_etud.c"
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"E:\tp_info6_2018_dupriet\tp_info6\Emb_App\crt0mr.a30"
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"E:\tp_info6_2018_dupriet\tp_info6\bsp\periph.c"
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"E:\tp_info6_2018_dupriet\tp_info6\bsp\periph.h"
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"E:\tp_info6_2018_dupriet\tp_info6\Emb_App\conf_noyau.cfg"
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[TARGET_NAME]
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"M32C E8a SYSTEM" "" 0
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| ... | ... | |
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[FLASH_DETAILS]
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"" 0 0 "" 0 "" 0 0 "" 0 0 0 0 0 0 0 "" "" "" "" ""
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[BREAKPOINTS]
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"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 95680416 1 "{00000000-0000-0000-C000-000000000046}" ""
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"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 96532928 1 "{00000000-0000-0000-C000-000000000046}" ""
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[END]
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| branch/dupriet/Emb_App/programme_principal_etud.c | ||
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unsigned int consigne_angulaire = 450;
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unsigned int consigne_angulaire =350;// 900;
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unsigned int alpha;
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unsigned int k = 3;
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unsigned int d;
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float roue=1;
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unsigned int celerite=40;
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unsigned int norme= 870;//494;
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unsigned int lecturevit;
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float gain=1;
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unsigned int z;
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void avancer(){
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CanFrame comm;
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comm.data.id='V';
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comm.data.rtr=0;
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comm.data.val=10;
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snd_dtq(CanTx,comm.msg);
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CanFrame req;
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UINT flag;
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dly_tsk(1000);
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while (1){/*
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req.data.id='D';
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req.data.rtr=1;
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periph[ADDR('D')].ev=0x01;
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snd_dtq(CanTx,req.msg);
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wai_flg(ev_periph,0x01,TWF_ANDW,&flag);
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z=periph[ADDR('D')].val;
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if z<700{
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comm.data.id='V';
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comm.data.rtr=0;
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comm.data.val=celerite;
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snd_dtq(CanTx,comm.msg);}
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else{
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comm.data.id='V';
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comm.data.rtr=0;
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comm.data.val=celerite/2;
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snd_dtq(CanTx,comm.msg);
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}*/
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dly_tsk(10);
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}
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}
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void asserv_direction(){
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CanFrame comm;
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CanFrame req;
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CanFrame com;
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UINT flag;
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dly_tsk(1000);
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while (1){
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req.data.id='U';
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req.data.rtr=1;
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| ... | ... | |
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dly_tsk(4);
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if (d<1700){
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comm.data.id='D';
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comm.data.rtr=0;
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comm.data.val=roue*(-norme+d);
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snd_dtq(CanTx,comm.msg);}
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comm.data.id='D';
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comm.data.rtr=0;
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comm.data.val=(-724+d);
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snd_dtq(CanTx,comm.msg);
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com.data.id='V';
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com.data.rtr=0;
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lecturevit=(celerite - gain*(abs(-norme+d)/norme));
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com.data.val=lecturevit;
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snd_dtq(CanTx,com.msg);
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dly_tsk(10);
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}
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}
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void asserv_tourelle(){
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| ... | ... | |
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can_init();
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clavier_init(1);
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capture_init();
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sta_tsk(ID_avancer);
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//sta_tsk(ID_avancer);
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sta_cyc(ID_acqui);
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sta_tsk(ID_asserv_tourelle);
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sta_tsk(ID_asserv_direction);
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Formats disponibles : Unified diff
commit fin séance, ajustement vitesse à faire