Révision 190
Ajouté par vidaval il y a plus de 6 ans
| branch/daval/Emb_App.tws | ||
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"E:\tp_info6_2018_daval\bsp\uart0.c"
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"E:\tp_info6_2018_daval\Emb_App\conf_noyau.cfg"
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"E:\tp_info6_2018_daval\Emb_App\crt0mr.a30"
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"E:\tp_info6_2018_daval\Emb_App\Debug\mr308.inc"
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"E:\tp_info6_2018_daval\Emb_App\Debug\mrtable.a30"
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"E:\tp_info6_2018_daval\Emb_App\programme_principal_etud.c"
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[WORKSPACE_FILE_STATES]
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"E:\tp_info6_2018_daval\Emb_App\Debug\mr308.inc" 25 25 1430 351 0 8
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"E:\tp_info6_2018_daval\Emb_App\Debug\mrtable.a30" 150 150 1430 351 0 6
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"E:\tp_info6_2018_daval\Emb_App\conf_noyau.cfg" 0 0 1430 351 0 7
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"E:\tp_info6_2018_daval\Emb_App\crt0mr.a30" 25 25 1430 351 0 1
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| 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=ff002c
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RESET=ff0030
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| branch/daval/Emb_App/SessionM32C_E8a_system.hsf | ||
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"{4B022541-3E95-11D7-909C-00201898052D}ElfDwarf2Objects" "1"
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"{4B022541-3E95-11D7-909C-00201898052D}LoadModule0OBJ_ELFDWARF2_ARRAY_EXPAND_LIMIT" "-1"
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"{4B022541-3E95-11D7-909C-00201898052D}LoadModule0OBJ_STATUS_OF_EBD_CMD" "0"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRCtrlViews" "1"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRCtrlViews" "2"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd0EnableRRam" "0"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd0MrType" "2"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd0MrType2ColumnSizeMode0Column0" "4"
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| ... | ... | |
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd0MrType2StatusBarMode0" "1"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd0MrType2StatusBarMode1" "1"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd0Sampling" "100"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1EnableRRam" "0"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType" "2"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode0Column0" "4"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode0Column1" "11"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode0Column2" "5"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode0Column3" "19"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode0Column4" "8"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode0Column5" "8"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode0Column6" "7"
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||
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode0Column7" "8"
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||
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode0Column8" "9"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode1Column0" "5"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode1Column1" "130"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode2Column0" "7"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode2Column1" "35"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode3Column0" "4"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode3Column1" "29"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode3Column2" "8"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode3Column3" "91"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode4Column0" "4"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode4Column1" "10"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode4Column2" "8"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode4Column3" "113"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode5Column0" "4"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode5Column1" "21"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode5Column2" "55"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode5Column3" "55"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode6Column0" "8"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode6Column1" "10"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode6Column2" "7"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode6Column3" "7"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode6Column4" "53"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode6Column5" "53"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode7Column0" "4"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode7Column1" "11"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode7Column2" "8"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode7Column3" "8"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode7Column4" "7"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode7Column5" "10"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode8Column0" "4"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode8Column1" "11"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode8Column2" "8"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode8Column3" "10"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode9Column0" "9"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode9Column1" "10"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode9Column2" "11"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode9Column3" "7"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode9Column4" "8"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode9Column5" "9"
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||
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode9Column6" "81"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2MrMode" "0"
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||
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2StatusBarMode0" "1"
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||
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2StatusBarMode1" "1"
|
||
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1Sampling" "100"
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||
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWndInstanceKey0" "{WK_00000001_PDMR}EmbM32C87AppSessionM32C_E8a_system"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWndInstanceKey1" "{WK_00000001_PDMR}EmbM32C87AppSessionM32C_E8a_system0"
|
||
|
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_EVAL_DENORMAL_MODE" "0"
|
||
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_EVAL_ROUND_MODE" "0"
|
||
|
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_0" "0000000000004044"
|
||
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_1" "0000000000000020"
|
||
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_0" "0000000000000001"
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||
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_1" "0000000000000000"
|
||
|
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_10" "0000000000000000"
|
||
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_11" "0000000000000000"
|
||
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_12" "0000000000000000"
|
||
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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"
|
||
|
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_15" "0000000000000512"
|
||
|
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF058C"
|
||
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF3285"
|
||
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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" "0000000000000ABE"
|
||
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "00000000000007F8"
|
||
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "0000000000000001"
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||
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_20" "0000000000004044"
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||
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000A4E"
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||
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000852"
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||
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "0000000000000005"
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||
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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"
|
||
|
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_22" "0000000000000000"
|
||
|
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_23" "0000000000000000"
|
||
| ... | ... | |
|
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_33" "0000000000000000"
|
||
|
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_34" "000000000000036A"
|
||
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_35" "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" "0000000000000AF4"
|
||
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_4" "0000000000000005"
|
||
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "0000000000000512"
|
||
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000A4E"
|
||
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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"
|
||
|
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_9" "0000000000000000"
|
||
| ... | ... | |
|
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000_SCOPE" "Current Scope,"
|
||
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001" "angle, 1, 0, P, Col, Dec, MN"
|
||
|
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001_SCOPE" "Current Scope,"
|
||
|
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "2"
|
||
|
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002" "distance_mesure, 1, 0, P, Col, Dec, MN"
|
||
|
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002_SCOPE" "Global,"
|
||
|
"{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"
|
||
| ... | ... | |
|
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 2 "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"
|
||
|
"{WK_00000001_OUTPUT}" "WINDOW" 59422 0 2 "0.58" 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 3 "0.52" 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_system0" "WINDOW" 59422 0 1 "0.07" 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_PDMR}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59422 0 4 "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_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 "0.30" 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 5 "0.30" 365 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"
|
||
| ... | ... | |
|
[WINDOW_Z_ORDER]
|
||
|
"E:\tp_info6_2018_daval\Emb_App\programme_principal_etud.c"
|
||
|
"E:\tp_info6_2018_daval\Emb_App\crt0mr.a30"
|
||
|
"E:\tp_info6_2018_daval\bsp\uart0.c"
|
||
|
"E:\tp_info6_2018_daval\Emb_App\Debug\mr308.inc"
|
||
|
"E:\tp_info6_2018_daval\Emb_App\conf_noyau.cfg"
|
||
|
"E:\tp_info6_2018_daval\Emb_App\Debug\mrtable.a30"
|
||
|
"E:\tp_info6_2018_daval\bsp\periph.c"
|
||
|
"E:\tp_info6_2018_daval\bsp\mli.c"
|
||
|
"E:\tp_info6_2018_daval\Emb_App\Debug\mrtable.a30"
|
||
|
"E:\tp_info6_2018_daval\bsp\radiocommande.c"
|
||
|
"E:\tp_info6_2018_daval\bsp\uart0.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 91168816 1 "{00000000-0000-0000-C000-000000000046}" ""
|
||
|
"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 92744024 1 "{00000000-0000-0000-C000-000000000046}" ""
|
||
|
[END]
|
||
| branch/daval/Emb_App/programme_principal_etud.c | ||
|---|---|---|
|
|
||
|
int consigne = 450; //valeur de la consigne
|
||
|
int angle=0 ; //valeur retournee
|
||
|
int k=1; //gain du correcteur
|
||
|
float k=1.9; //gain du correcteur
|
||
|
int valeur = 0 ; //valeur envoyee
|
||
|
|
||
|
int consigne_roue=750;
|
||
|
int C=1.5;
|
||
|
int orientation_roue =0;
|
||
|
int vitesse_voulue=20;
|
||
|
int consigne_roue=735; // Consigne en angle pour que les roues soient un peu pr?s droite
|
||
|
float C=1.; // Gain asservissment des roues
|
||
|
int orientation_roue =0; // valeur corrigee pour l orientation des roues
|
||
|
int vitesse_voulue=45; // Commande de vitesse que l'on envoie
|
||
|
CanFrame vitesse;
|
||
|
CanFrame requete;
|
||
|
|
||
| ... | ... | |
|
commande.data.rtr=0; //Indique une ecriture
|
||
|
valeur=k*(consigne-angle);
|
||
|
commande.data.val=valeur;
|
||
|
snd_dtq (CanTx,commande.msg); //Envoi modif
|
||
|
snd_dtq (CanTx,commande.msg); //Envoi modification
|
||
|
dly_tsk(5);
|
||
|
}
|
||
|
}
|
||
|
|
||
|
void avance()
|
||
|
{
|
||
|
vitesse.data.id='V'; //Envoi d'une commande en vitesse
|
||
|
vitesse.data.rtr=0; //Indique une ecriture
|
||
|
vitesse.data.val=vitesse_voulue;
|
||
|
vitesse.data.id='V'; //Envoi d'une commande en vitesse
|
||
|
vitesse.data.rtr=0; //Indique une ecriture
|
||
|
vitesse.data.val=vitesse_voulue;
|
||
|
snd_dtq (CanTx,vitesse.msg);
|
||
|
dly_tsk(15);
|
||
|
|
||
| ... | ... | |
|
while(1)
|
||
|
{
|
||
|
|
||
|
requete_dist.data.id= 'U' ;
|
||
|
requete_dist.data.rtr= 1 ; //requete lecture
|
||
|
periph[ADDR('U')].ev= 0x02 ;
|
||
|
requete_dist.data.id= 'U' ;
|
||
|
requete_dist.data.rtr= 1 ; //requete lecture distance donne par le telemetre
|
||
|
periph[ADDR('U')].ev= 0x01 ; //L evenement est declenche a chaque fois que la valeur du periph U et mise ? jour
|
||
|
snd_dtq(CanTx, requete_dist.msg);
|
||
|
wai_flg (ev_periph, 0x02, TWF_ANDW, &flag); //Attente lecture
|
||
|
wai_flg (ev_periph, 0x01, TWF_ANDW, &flag); //Attente lecture
|
||
|
distance_mesure=periph[ADDR('U')].val;
|
||
|
dly_tsk(15);
|
||
|
|
||
| branch/daval/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
Amélioration contrôle voiture en modifiant les valeurs de gain le tour de la piste verte se fait en moins de 20secondes mais les virages sont pas propres