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Révision 191

Ajouté par sabeaussan il y a plus de 6 ans

asserv + circuit R et B ok

Voir les différences:

branch/beaussant/Emb_App.tws
[GENERAL_DATA]
[BREAKPOINTS]
[OPEN_WORKSPACE_FILES]
"E:\tp_info6_2018_beaussant\bsp\clavier.c"
"E:\tp_info6_2018_beaussant\bsp\lcd.c"
"E:\tp_info6_2018_beaussant\bsp\periph.c"
"E:\tp_info6_2018_beaussant\bsp\uart0.c"
"E:\tp_info6_2018_beaussant\Emb_App\conf_noyau.cfg"
"E:\tp_info6_2018_beaussant\Emb_App\crt0mr.a30"
"E:\tp_info6_2018_beaussant\Emb_App\Debug\sys_rom.inc"
"E:\tp_info6_2018_beaussant\Emb_App\Debug\mr308.inc"
"E:\tp_info6_2018_beaussant\Emb_App\Debug\mrtable.a30"
"E:\tp_info6_2018_beaussant\Emb_App\programme_principal_etud.c"
[WORKSPACE_FILE_STATES]
"E:\tp_info6_2018_beaussant\Emb_App\Debug\sys_rom.inc" 75 75 1430 351 0 3
"E:\tp_info6_2018_beaussant\Emb_App\conf_noyau.cfg" 0 0 1430 351 0 1
"E:\tp_info6_2018_beaussant\Emb_App\crt0mr.a30" 50 50 1430 351 0 2
"E:\tp_info6_2018_beaussant\Emb_App\Debug\mr308.inc" 50 50 1430 351 0 5
"E:\tp_info6_2018_beaussant\Emb_App\Debug\mrtable.a30" 75 75 1430 351 0 6
"E:\tp_info6_2018_beaussant\Emb_App\conf_noyau.cfg" 0 0 1430 351 0 3
"E:\tp_info6_2018_beaussant\Emb_App\crt0mr.a30" 150 150 1430 351 0 2
"E:\tp_info6_2018_beaussant\Emb_App\programme_principal_etud.c" -8 -30 1596 539 1 0
"E:\tp_info6_2018_beaussant\bsp\uart0.c" 100 100 1430 351 0 4
"E:\tp_info6_2018_beaussant\bsp\clavier.c" 125 125 1430 351 0 1
"E:\tp_info6_2018_beaussant\bsp\lcd.c" 25 25 1430 351 0 4
"E:\tp_info6_2018_beaussant\bsp\periph.c" 100 100 1430 351 0 7
"E:\tp_info6_2018_beaussant\bsp\uart0.c" 125 125 1430 351 0 8
[LOADED_PROJECTS]
"EmbM32C87App"
[END]
branch/beaussant/Emb_App/SessionM32C_E8a_system.ini
[Target]
M32C E8a SYSTEM=Renesas Communications
[USER_DATA]
RESET=ff0022
RESET=ff002a
branch/beaussant/Emb_App/SessionM32C_E8a_system.hsf
"{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" "0000000000000044"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_1" "0000000000000020"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_0" "0000000000000001"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_1" "0000000000000000"
"{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" "0000000000000512"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF0581"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF3112"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_17" "0000000000FFF800"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "00000000000009E2"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000804"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_20" "0000000000000044"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000A1C"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000820"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "000000000000FFFF"
"{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"
"{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"
"{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" "0000000000000A00"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_4" "0000000000000005"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "0000000000000512"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000A1C"
"{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"
......
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH" "c,buff,n,rx,flag,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000" "pos_obs, 1, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001" "dist_obs, 1, 0, P, Col, Hex, MN"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001" "dist_obs, 1, 0, P, Col, Dec, MA"
"{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" "consigne, 1, 0, P, Col, Hex, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0003" "c, 10, 0, P, Col, Hex, N"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0003_SCOPE" "Global,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0004" "commandeR, 1, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0004_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0005" "commandeV, 1, 0, P, Col, Dec, MN"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0005_SCOPE" "Global,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "6"
"{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 "0.08" 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 2 "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 -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 "0.50" 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_OUTPUT}" "WINDOW" 59422 0 1 "0.50" 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 "0.19" 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 "0.20" 365 0 0 350 200 18 0 "32781|32783|<<separator>>|32771|32772|32773|<<separator>>|32786|<<separator>>|32810|32811" "0.0"
......
[WINDOW_Z_ORDER]
"E:\tp_info6_2018_beaussant\Emb_App\programme_principal_etud.c"
"E:\tp_info6_2018_beaussant\Emb_App\crt0mr.a30"
"E:\tp_info6_2018_beaussant\bsp\periph.c"
"E:\tp_info6_2018_beaussant\bsp\clavier.c"
"E:\tp_info6_2018_beaussant\Emb_App\conf_noyau.cfg"
"E:\tp_info6_2018_beaussant\bsp\uart0.c"
"E:\tp_info6_2018_beaussant\Emb_App\Debug\sys_rom.inc"
"E:\tp_info6_2018_beaussant\Emb_App\Debug\mr308.inc"
"E:\tp_info6_2018_beaussant\Emb_App\Debug\mrtable.a30"
"E:\tp_info6_2018_beaussant\bsp\lcd.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 102114968 1 "{00000000-0000-0000-C000-000000000046}" ""
"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 101505400 1 "{00000000-0000-0000-C000-000000000046}" ""
[END]
branch/beaussant/Emb_App/programme_principal_etud.c
// correspondant au nom du v?hicule si le nom se termine par '*'
int pos_obs=0;
int commande=500;
int consigne=900;
int commandeT=500;
int commandeV=25;
int commandeR=0;
//CanFrame touche;
short consigne=450;
int dist_obs=0;
int vitesse=50;
char k=1;
int dist_consigne=709;
char kt=1;
float kv=1.1;
//char c;
void envoieFrame(unsigned char id, unsigned short val)
{
CanFrame comm;
comm.data.id=id;
comm.data.rtr=0;
comm.data.val=val;
snd_dtq (CanTx,comm.msg);
}
void main()
{
......
clavier_init(1);
capture_init();
// sta_cyc(ID_acqui);
sta_tsk(ID_ctrlt);
// sta_tsk(ID_periph_rx);
sta_tsk(ID_ctrlt);
sta_tsk(ID_asserv_v);
sta_tsk(ID_periph_rx);
while(1){};
while(1)
{
LED_J=1;
dly_tsk(100);
LED_J=0;
dly_tsk(100);
}
}
void envoieFrame(unsigned char id, unsigned short val)
int intervalle(int val,int borne)
{
CanFrame comm;
comm.data.id=id;
comm.data.rtr=0;
comm.data.val=val;
snd_dtq (CanTx,comm.msg);
//on v?rifie que la commande est quasi nulle
if(val<=borne && val>=-1*borne)
{
return 1;
}
}
int stable()
{
static int compt=0;
if(intervalle(commandeR,1)
{
cmpt++;
}
else if(cmpt==10){
return 1}
}
/*void clavier(){
//while(1){
rcv_dtq(QdmTouche,&touche.msg);
consigne=touche.data.val;
c=consigne;
//lcd_putc(c);
//}
}*/
unsigned short acquiFrame(unsigned char id)
{
unsigned short valAcqui;
CanFrame requete,reponse;
requete.data.id=id;
requete.data.rtr=1;
snd_dtq (CanTx,requete.msg);
rcv_dtq(CanRx, &reponse.msg);
valAcqui=reponse.data.val;
CanFrame comm;
comm.data.id=id; comm.data.rtr=1;
snd_dtq (CanTx,comm.msg);
valAcqui=periph[ADDR(id)].val;
return(valAcqui);
}
void ctrl_t()
{
envoieFrame('T',commande);
//envoieFrame('V',vitesse);
envoieFrame('T',commandeT);
pos_obs=acquiFrame('R');
while(1)
{
commande=(900-pos_obs);
dist_obs=acquiFrame('U');
envoieFrame('T',commande);
commandeT=kt*(consigne-pos_obs);
envoieFrame('T',commandeT);
pos_obs=acquiFrame('R');
dly_tsk(15);
}
}
void asserv_vitesse()
{
envoieFrame('V',commandeV);
dist_obs=acquiFrame('U');
}
while(1){
commandeR=-1*kv*(dist_consigne-dist_obs);
envoieFrame('D',commandeR);
dist_obs=acquiFrame('U');
dly_tsk(10);
}
}
/*int virage()
{
if(commandeR==0 && dist_obs<dist_consigne) return 1;
else
}*/
void acqui()
{
branch/beaussant/Emb_App/conf_noyau.cfg
initial_start = ON;
exinf = 0x0;
};
task[]{
entry_address = periph_rx();
name = ID_periph_rx;
entry_address = ctrl_t();
name = ID_ctrlt;
stack_size = 256;
stack_section = stack;
priority = 2;
priority = 4;
initial_start = OFF;
exinf = 0x0;
};
task[]{
entry_address = ctrl_t();
name = ID_ctrlt;
entry_address = asserv_vitesse();
name = ID_asserv_v;
stack_size = 256;
stack_section = stack;
priority = 3;
......
};
task[]{
entry_address = periph_rx();
name = ID_periph_rx;
stack_size = 256;
stack_section = stack;
priority = 2;
initial_start = OFF;
exinf = 0x0;
};
flag[]{
name = ev_bus_fin_tr;
initial_pattern = 0x0000;
......
};
cyclic_hand[]{
entry_address = acqui();
name = ID_acqui;
branch/beaussant/bsp/clavier.c
p10=0xF0;
}
#endif
#ifdef M32C83

Formats disponibles : Unified diff