Index: branch/dupriet/Emb_App.tws
===================================================================
--- branch/dupriet/Emb_App.tws	(revision 187)
+++ branch/dupriet/Emb_App.tws	(revision 188)
@@ -7,6 +7,8 @@
 [GENERAL_DATA]
 [BREAKPOINTS]
 [OPEN_WORKSPACE_FILES]
+"E:\tp_info6_2018_dupriet\tp_info6\bsp\periph.c" 
+"E:\tp_info6_2018_dupriet\tp_info6\bsp\periph.h" 
 "E:\tp_info6_2018_dupriet\tp_info6\Emb_App\conf_noyau.cfg" 
 "E:\tp_info6_2018_dupriet\tp_info6\Emb_App\crt0mr.a30" 
 "E:\tp_info6_2018_dupriet\tp_info6\Emb_App\programme_principal_etud.c" 
@@ -13,7 +15,9 @@
 [WORKSPACE_FILE_STATES]
 "E:\tp_info6_2018_dupriet\tp_info6\Emb_App\conf_noyau.cfg" 75 75 1430 351 0 2 
 "E:\tp_info6_2018_dupriet\tp_info6\Emb_App\crt0mr.a30" 25 25 1430 351 0 1 
-"E:\tp_info6_2018_dupriet\tp_info6\Emb_App\programme_principal_etud.c" -8 -30 1596 539 1 0 
+"E:\tp_info6_2018_dupriet\tp_info6\Emb_App\programme_principal_etud.c" -8 -30 1596 607 1 0 
+"E:\tp_info6_2018_dupriet\tp_info6\bsp\periph.c" 100 100 1405 394 0 4 
+"E:\tp_info6_2018_dupriet\tp_info6\bsp\periph.h" 75 75 1405 394 0 3 
 [LOADED_PROJECTS]
 "EmbM32C87App" 
 [END]
Index: branch/dupriet/Emb_App/SessionM32C_E8a_system.ini
===================================================================
--- branch/dupriet/Emb_App/SessionM32C_E8a_system.ini	(revision 187)
+++ branch/dupriet/Emb_App/SessionM32C_E8a_system.ini	(revision 188)
@@ -25,4 +25,4 @@
 [Target]
 M32C E8a SYSTEM=Renesas Communications
 [USER_DATA]
-RESET=ff0018
+RESET=ff0024
Index: branch/dupriet/Emb_App/SessionM32C_E8a_system.hsf
===================================================================
--- branch/dupriet/Emb_App/SessionM32C_E8a_system.hsf	(revision 187)
+++ branch/dupriet/Emb_App/SessionM32C_E8a_system.hsf	(revision 188)
@@ -149,11 +149,11 @@
 "{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" "0000000000000512" 
-"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF3153" 
+"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF3281" 
 "{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_17" "0000000000FFF800" 
-"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000A0C" 
-"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000810" 
-"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "0000000000003115" 
+"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000A34" 
+"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000838" 
+"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "0000000000000000" 
 "{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_20" "00000000000000C0" 
 "{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_21" "0000000000000000" 
 "{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_22" "0000000000000000" 
@@ -171,9 +171,9 @@
 "{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_33" "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" "0000000000000004" 
-"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "0000000000000000" 
-"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000A0C" 
+"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_4" "0000000000000003" 
+"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "0000000000120000" 
+"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000A34" 
 "{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" 
@@ -207,7 +207,11 @@
 "{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH" "c,buff,n,rx,flag," 
 "{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000" "alpha, 2, 0, P, Col, Dec, MA" 
 "{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" "d, 2, 0, P, Col, Dec, MA" 
+"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001_SCOPE" "Current Scope," 
+"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002" "lecturevit, 2, 0, P, Col, Dec, MA" 
+"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002_SCOPE" "Current Scope," 
+"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "3" 
 "{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth0" "120" 
 "{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth1" "150" 
 "{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth12" "200" 
@@ -277,14 +281,14 @@
 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_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" 
 "{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_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" 
 "{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 "0.55" 365 0 0 350 200 18 0 "36756|36757|36758|36759|<<separator>>|36746|36747|<<separator>>|39531|<<separator>>|39500|39534|<<separator>>|36687" "0.0" 
-"{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" 
+"{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" 
+"{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" 
 "{WK_00000001_REGISTERS}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59421 0 0 "1.00" 236 0 0 350 200 2065 0 "" "0.0" 
-"{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" 
+"{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" 
 "{WK_00000002_WORKSPACE}" "WINDOW" 59420 0 0 "1.00" 308 0 0 350 200 18 0 "" "0.0" 
 "{WK_TB00000001_STANDARD}" "TOOLBAR 0" 59419 0 2 "0.00" 0 0 0 0 0 18 0 "" "0.0" 
 "{WK_TB00000002_EDITOR}" "TOOLBAR 0" 59419 0 0 "0.00" 0 0 0 0 0 18 0 "" "0.0" 
@@ -311,6 +315,8 @@
 [WINDOW_Z_ORDER]
 "E:\tp_info6_2018_dupriet\tp_info6\Emb_App\programme_principal_etud.c" 
 "E:\tp_info6_2018_dupriet\tp_info6\Emb_App\crt0mr.a30" 
+"E:\tp_info6_2018_dupriet\tp_info6\bsp\periph.c" 
+"E:\tp_info6_2018_dupriet\tp_info6\bsp\periph.h" 
 "E:\tp_info6_2018_dupriet\tp_info6\Emb_App\conf_noyau.cfg" 
 [TARGET_NAME]
 "M32C E8a SYSTEM" "" 0 
@@ -358,5 +364,5 @@
 [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 95680416 1 "{00000000-0000-0000-C000-000000000046}" "" 
+"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 96532928 1 "{00000000-0000-0000-C000-000000000046}" "" 
 [END]
Index: branch/dupriet/Emb_App/programme_principal_etud.c
===================================================================
--- branch/dupriet/Emb_App/programme_principal_etud.c	(revision 187)
+++ branch/dupriet/Emb_App/programme_principal_etud.c	(revision 188)
@@ -122,24 +122,51 @@
 
 
 
-unsigned int consigne_angulaire = 450;
+unsigned int consigne_angulaire =350;// 900;
 unsigned int alpha;
 unsigned int k = 3;
 unsigned int d;
+float roue=1;
+unsigned int celerite=40;
+unsigned int norme= 870;//494;
+unsigned int lecturevit;
+float gain=1;
+unsigned int z;
 
 void avancer(){
 	CanFrame comm;
-	comm.data.id='V';
-	comm.data.rtr=0;
-	comm.data.val=10;
-	snd_dtq(CanTx,comm.msg);
+	CanFrame req;
+	UINT flag;
+	dly_tsk(1000);
+	while (1){/*		
+		req.data.id='D';
+		req.data.rtr=1;
+		periph[ADDR('D')].ev=0x01;
+		snd_dtq(CanTx,req.msg);
+		wai_flg(ev_periph,0x01,TWF_ANDW,&flag);
+		z=periph[ADDR('D')].val;
+		
+		if z<700{
+		comm.data.id='V';
+		comm.data.rtr=0;
+		comm.data.val=celerite;
+		snd_dtq(CanTx,comm.msg);}
+		else{
+		comm.data.id='V';
+		comm.data.rtr=0;
+		comm.data.val=celerite/2;
+		snd_dtq(CanTx,comm.msg);
+			}*/
+		dly_tsk(10);
+	}
 }
 
 void asserv_direction(){
 	CanFrame comm;
 	CanFrame req;
+	CanFrame com;
 	UINT flag;
-	
+	dly_tsk(1000);
 	while (1){
 		req.data.id='U';
 		req.data.rtr=1;
@@ -150,14 +177,22 @@
 		dly_tsk(4);
 		
 		
+		if (d<1700){
+			comm.data.id='D';
+			comm.data.rtr=0;
+			comm.data.val=roue*(-norme+d);
+			snd_dtq(CanTx,comm.msg);}
 		
-		comm.data.id='D';
-		comm.data.rtr=0;
-		comm.data.val=(-724+d);
-		snd_dtq(CanTx,comm.msg);
 		
+
+		
+		com.data.id='V';
+		com.data.rtr=0;
+		lecturevit=(celerite - gain*(abs(-norme+d)/norme));
+		com.data.val=lecturevit;
+		snd_dtq(CanTx,com.msg);
+		dly_tsk(10);
 	}
-	
 }
 
 void asserv_tourelle(){
@@ -194,7 +229,7 @@
     can_init();
     clavier_init(1);
 	capture_init();
-	sta_tsk(ID_avancer);
+	//sta_tsk(ID_avancer);
 	sta_cyc(ID_acqui);
 	sta_tsk(ID_asserv_tourelle);
 	sta_tsk(ID_asserv_direction);
