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Révision 199

Ajouté par casotty il y a plus de 6 ans

Asservissement des roues effectif

Voir les différences:

branch/sotty/Emb_App.tws
[BREAKPOINTS]
[OPEN_WORKSPACE_FILES]
"E:\tp_info6_2018_sotty\bsp\periph.c"
"E:\tp_info6_2018_sotty\bsp\uart0.c"
"E:\tp_info6_2018_sotty\Emb_App\conf_noyau.cfg"
"E:\tp_info6_2018_sotty\Emb_App\crt0mr.a30"
"E:\tp_info6_2018_sotty\Emb_App\programme_principal_etud.c"
[WORKSPACE_FILE_STATES]
"E:\tp_info6_2018_sotty\Emb_App\conf_noyau.cfg" 0 0 1380 431 0 3
"E:\tp_info6_2018_sotty\Emb_App\crt0mr.a30" -8 -30 1596 669 1 2
"E:\tp_info6_2018_sotty\Emb_App\programme_principal_etud.c" 25 25 1426 347 0 0
"E:\tp_info6_2018_sotty\Emb_App\crt0mr.a30" 0 0 1596 669 0 2
"E:\tp_info6_2018_sotty\Emb_App\programme_principal_etud.c" -8 -30 1596 669 1 0
"E:\tp_info6_2018_sotty\bsp\periph.c" 50 50 1430 351 0 1
"E:\tp_info6_2018_sotty\bsp\uart0.c" 100 100 1380 431 0 4
[LOADED_PROJECTS]
"EmbM32C87App"
[END]
branch/sotty/Emb_App/SessionM32C_E8a_system.ini
[Target]
M32C E8a SYSTEM=Renesas Communications
[USER_DATA]
RESET=ff001a
RESET=ff002a
branch/sotty/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" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_1" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_0" "0000000000004044"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_1" "0000000000000120"
"{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" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF0016"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_17" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000700"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_20" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_15" "0000000000000512"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF0584"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_17" "0000000000FFF800"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "00000000000009A2"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "00000000000007FE"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "0000000000000512"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_20" "0000000000004044"
"{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_31" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_32" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_33" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_34" "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" "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" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_7" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "00000000000009DC"
"{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"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_COUNT" "36"
......
"{AC411480-6F0A-11D5-8EB6-00004CC34E9D}ECX_IMAGE_VIEW" "0,0,0,0,0,0"
"{AC411480-6F0A-11D5-8EB6-00004CC34E9D}ImageCtrlViews" "0"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchCtrlViews" "4"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ColWidth0" "148"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ColWidth0" "237"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ColWidth1" "186"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ColWidth12" "200"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ColWidth2" "120"
......
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000_SCOPE" "Global,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001" "k, 10, 0, P, Col, Hex, N"
"{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_mesuree, 1, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0003" "reponse, 10, 0, P, Col, Hex, N"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0003_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "4"
"{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" 235 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 "0.08" 235 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" 235 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 "0.47" 235 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 "0.25" 235 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 "0.29" 235 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 "0.10" 235 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 "0.17" 235 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 "0.50" 235 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"
......
"E:\tp_info6_2018_sotty\Emb_App\programme_principal_etud.c"
"E:\tp_info6_2018_sotty\Emb_App\conf_noyau.cfg"
"E:\tp_info6_2018_sotty\bsp\periph.c"
"E:\tp_info6_2018_sotty\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 92408704 1 "{00000000-0000-0000-C000-000000000046}" ""
"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 91096424 1 "{00000000-0000-0000-C000-000000000046}" ""
[END]
branch/sotty/Emb_App/programme_principal_etud.c
// disponible. 0xab avec a-> nombre de couleurs bien plac?es et b -> couleurs pr?sentes mais mal plac?es.
//'I'/73/Ox49 : D?finition du nom du v?hicule. Doit d?buter par le caract?re '#' et entraine le chargement de la configuration de piste
// correspondant au nom du v?hicule si le nom se termine par '*'
// Definition des codes commandes et requetes
#define VITESSE_ROUES 'V'
#define ANGLE_ROUES 'D'
#define VITESSE_TOURELLE 'T'
#define ANGLE_TOURELLE 'R'
#define DISTANCE_TELEMETRE 'U'
#define MODE_COURSE 'M'
#define INFO_CAPTEUR 'C'
void rotation_tourelle(void);
short position_tourelle(void);
void init(void);
void rotation_tourelle(short angle);
int position_tourelle(void);
void asserv_tourelle(VP_INT stacd);
short distance_telemetre(void);
void vitesse_roue(char vitesse);
void angle_roue(short angle);
void asserv_angle_roue(void);
void asserv_roue(void);
int send_requete(unsigned char id_periph);
void send_commande(unsigned char id_periph, short val);
short distance_mesuree = 0;
const distance_au_centre = 719;
short distance_mur = 0;
short angle_tourelle = 450;
short vit_roue = 30;
void main()
{
ports_mcu();
lcd_init();
periph_init();
periph_nom("#AutoTest*");
can_init();
clavier_init(1);
capture_init();
sta_cyc(ID_acqui);
sta_tsk(ID_asserv_tourelle);
// sta_tsk(ID_periph_rx);
init();
//dly_tsk(1000);
while(1)
{
LED_J=1;
dly_tsk(100);
LED_J=0;
distance_mesuree = distance_telemetre();
vitesse_roue(10);
asserv_angle_roue();
asserv_roue();
}
}
......
}
void rotation_tourelle()
{
CanFrame comm;
comm.data.id = 'T';
comm.data.rtr = 0; //Ecriture
comm.data.val = 120; //Rotation de 12?/s
snd_dtq(CanTx, comm.msg);
void rotation_tourelle(short angle){
send_commande(VITESSE_TOURELLE,angle);
}
short position_tourelle(){
int position_tourelle(){
//Renseigne sur la position de la tourelle (angle en dizieme de degre)
CanFrame requete, reponse;
short angle;
int angle;
requete.data.id = 'R'; //Position tourelle
requete.data.rtr = 1; //Lecture
snd_dtq(CanTx, requete.msg);
rcv_dtq(CanRx, &reponse.msg);
angle = reponse.data.val;
angle = send_requete(ANGLE_TOURELLE);
return angle;
}
void asserv_tourelle(VP_INT stacd){
//Maintient de la tourelle orientee a 45 degre
CanFrame comm;
short vitesse_tourelle;
char K = 2;
while(1){
comm.data.id = 'T'; //Rotation de la tourelle
comm.data.rtr = 0; //Ecriture
comm.data.val = K*(450 - position_tourelle()); //Rotation
snd_dtq(CanTx, comm.msg);
vitesse_tourelle = K*(angle_tourelle - position_tourelle());
send_commande(VITESSE_TOURELLE, vitesse_tourelle);
}
}
short distance_telemetre(void){
//Renseigne la distance mesuree par le telemetre
CanFrame requete, reponse;
short distance;
requete.data.id = 'U'; //Distance mesuree par le telemetre
requete.data.rtr = 1; //Lecture
snd_dtq(CanTx, requete.msg);
rcv_dtq(CanRx, &reponse.msg);
if(reponse.data.id != 'U' ) {rcv_dtq(CanRx, &reponse.msg); }
distance = reponse.data.val;
distance = send_requete(DISTANCE_TELEMETRE);
return distance;
}
void vitesse_roue(char vitesse){
CanFrame comm;
send_commande(VITESSE_ROUES,vitesse);
}
void angle_roue(short angle){
send_commande(ANGLE_ROUES,angle);
}
void asserv_roue(void){
//Maintient de la voiture au centre de la piste
char K = 1.5;
short ang_roue;
comm.data.id = 'V'; //Vitesse des roues
comm.data.rtr = 0; //Ecriture
comm.data.val = vitesse; //Rotation
snd_dtq(CanTx, comm.msg);
while(1){
vitesse_roue(vit_roue);
distance_mur = distance_telemetre()*sin(3.1415*angle_tourelle/1800.0);
ang_roue = K*(distance_mur-500);
angle_roue(ang_roue);
}
}
void angle_roue(short angle){
int send_requete(unsigned char id_periph){
//Envoi la requete correspondant a lidentifiant id_periph
CanFrame req;
int val;
UINT flag;
req.data.id = id_periph;
req.data.rtr = 1; // envoie d'une requete de lecture
periph[ADDR(id_periph)].ev = 0x01; //declenche un evenement quand mise a jour du peripherique id_periph
snd_dtq(CanTx, req.msg); // attente de la reponse
wai_flg(ev_periph, 0x01, TWF_ANDW, &flag);
periph[ADDR(id_periph)].ev = 0x00;
val = periph[ADDR(id_periph)].val;
return val;
}
void send_commande(unsigned char id_periph, short val){
//Envoi la commande correspondant a lidentifiant id_periph avec la valeur val
CanFrame comm;
comm.data.id = 'D'; //Angle des roues
comm.data.id = id_periph;
comm.data.rtr = 0; //Ecriture
comm.data.val = 0; //Angle de 0?C
comm.data.val = val;
snd_dtq(CanTx, comm.msg);
}
void asserv_angle_roue(void){
//Maintient de la voiture au centre de la piste
CanFrame comm;
char K = 1;
short dist;
void init(void) {
//Initialise tous les peripheriques, taches et cycliques handler
comm.data.id = 'D'; //Angle des roues
comm.data.rtr = 0; //Ecriture
dist = distance_telemetre();
if(dist > distance_au_centre) //on est trop a gauche
{
comm.data.val = 3;
}
else {
if(dist < distance_au_centre) //on est trop a droite
{
comm.data.val = -3;
}
else //on est deja au centre
{
comm.data.val = 0;
}
}
snd_dtq(CanTx, comm.msg);
}
ports_mcu();
lcd_init();
periph_init();
periph_nom("#AutoTest*");
can_init();
clavier_init(1);
capture_init();
sta_cyc(ID_acqui);
sta_tsk(ID_asserv_tourelle);
sta_tsk(ID_periph_rx);
}

Formats disponibles : Unified diff