Révision 200
Ajouté par gamatteozz il y a plus de 6 ans
| branch/matteozzi/Emb_App.tws | ||
|---|---|---|
|
[OPEN_WORKSPACE_FILES]
|
||
|
"E:\tp_info6_2018_matteozzi\tp_info6\bsp\radiocommande.c"
|
||
|
"E:\tp_info6_2018_matteozzi\tp_info6\Emb_App\crt0mr.a30"
|
||
|
"E:\tp_info6_2018_matteozzi\tp_info6\Emb_App\Debug\mr308.inc"
|
||
|
"E:\tp_info6_2018_matteozzi\tp_info6\Emb_App\programme_principal_etud.c"
|
||
|
[WORKSPACE_FILE_STATES]
|
||
|
"E:\tp_info6_2018_matteozzi\tp_info6\Emb_App\Debug\mr308.inc" 75 75 1430 346 0 3
|
||
|
"E:\tp_info6_2018_matteozzi\tp_info6\Emb_App\crt0mr.a30" 25 25 1405 405 0 1
|
||
|
"E:\tp_info6_2018_matteozzi\tp_info6\Emb_App\programme_principal_etud.c" -8 -30 1596 618 1 0
|
||
|
"E:\tp_info6_2018_matteozzi\tp_info6\Emb_App\programme_principal_etud.c" -8 -30 1596 682 1 0
|
||
|
"E:\tp_info6_2018_matteozzi\tp_info6\bsp\radiocommande.c" 50 50 1405 405 0 2
|
||
|
[LOADED_PROJECTS]
|
||
|
"EmbM32C87App"
|
||
| branch/matteozzi/Emb_App/SessionM32C_E8a_system.ini | ||
|---|---|---|
|
[Target]
|
||
|
M32C E8a SYSTEM=Renesas Communications
|
||
|
[USER_DATA]
|
||
|
RESET=ff0014
|
||
|
RESET=ff0016
|
||
| branch/matteozzi/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" "0000000000004044"
|
||
|
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_1" "0000000000000020"
|
||
|
"{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_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" "0000000000FF0577"
|
||
|
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_17" "0000000000FFF800"
|
||
|
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000AAE"
|
||
|
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "00000000000007E8"
|
||
|
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "0000000000000001"
|
||
|
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_20" "0000000000004044"
|
||
|
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_15" "0000000000000000"
|
||
|
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF0014"
|
||
|
"{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_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" "000000000000036A"
|
||
|
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_34" "0000000000000000"
|
||
|
"{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_4" "0000000000000000"
|
||
|
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "0000000000000000"
|
||
|
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000AE4"
|
||
|
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_7" "0000000000000512"
|
||
|
"{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_8" "0000000000000000"
|
||
|
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_9" "0000000000000000"
|
||
|
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_COUNT" "36"
|
||
| ... | ... | |
|
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ColWidth2" "120"
|
||
|
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ColWidth3" "200"
|
||
|
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH" "c,buff,n,rx,flag,"
|
||
|
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000" "dma0_fin_tr, 2, 0, P, Col, Hex, MN"
|
||
|
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000" "retour, 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" "0"
|
||
|
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001" "distance, 2, 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}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" 286 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" 222 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" 286 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" 222 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 "0.69" 286 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" 286 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 1 "0.37" 222 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 "0.03" 222 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 "0.09" 286 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 "0.49" 222 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_POSITION_STATE_DATA_VD4]
|
||
|
[WINDOW_Z_ORDER]
|
||
|
"E:\tp_info6_2018_matteozzi\tp_info6\Emb_App\programme_principal_etud.c"
|
||
|
"E:\tp_info6_2018_matteozzi\tp_info6\Emb_App\crt0mr.a30"
|
||
|
"E:\tp_info6_2018_matteozzi\tp_info6\Emb_App\Debug\mr308.inc"
|
||
|
"E:\tp_info6_2018_matteozzi\tp_info6\bsp\radiocommande.c"
|
||
|
"E:\tp_info6_2018_matteozzi\tp_info6\Emb_App\crt0mr.a30"
|
||
|
[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 81851264 1 "{00000000-0000-0000-C000-000000000046}" ""
|
||
|
"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 82128104 1 "{00000000-0000-0000-C000-000000000046}" ""
|
||
|
[END]
|
||
| branch/matteozzi/Emb_App/programme_principal_etud.c | ||
|---|---|---|
|
//'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 '*'
|
||
|
|
||
|
|
||
|
unsigned short retour=0;
|
||
|
unsigned short consigne;
|
||
|
unsigned short K=6;
|
||
|
unsigned short ang_lu=0;
|
||
|
unsigned short ang_tourelle;
|
||
|
CanFrame comm;
|
||
|
CanFrame requete, reponse;
|
||
|
unsigned short vitesse;
|
||
|
unsigned short distance;
|
||
|
|
||
|
void asservissement(consigne){
|
||
|
requete.data.id='R';
|
||
|
requete.data.rtr=1;
|
||
|
snd_dtq(CanTx, requete.msg);
|
||
|
rcv_dtq(CanRx, &reponse.msg);
|
||
|
retour=reponse.data.val;
|
||
|
void tourelle(){ //asservissement de l'angle de la tourelle
|
||
|
while(1){
|
||
|
requete.data.id='R'; //demande de la requete R
|
||
|
|
||
|
requete.data.rtr=1; //demande de lecture car rtr=1
|
||
|
|
||
|
snd_dtq(CanTx, requete.msg); //envoie de la demande dans CanTx
|
||
|
|
||
|
rcv_dtq(CanRx, &reponse.msg); //recoie la demande dans CanRx
|
||
|
ang_lu=reponse.data.val; //recupere la valeur de l'angle dans retour
|
||
|
|
||
|
if(consigne!=retour)
|
||
|
{
|
||
|
comm.data.id='T';
|
||
|
comm.data.rtr=0;
|
||
|
comm.data.val=consigne-retour;
|
||
|
comm.data.id='T'; //demande de la requete T
|
||
|
comm.data.rtr=0; //commande d'ecriture car rtr=0
|
||
|
comm.data.val=K*(450-ang_lu);
|
||
|
snd_dtq(CanTx, comm.msg);
|
||
|
}
|
||
|
else
|
||
|
{
|
||
|
comm.data.id='T';
|
||
|
comm.data.rtr=0;
|
||
|
comm.data.val=0;
|
||
|
snd_dtq(CanTx, comm.msg);
|
||
|
}
|
||
|
|
||
|
}
|
||
|
|
||
|
void commande(vitesse){
|
||
|
void commande(vitesse){ //commande de la vitesse
|
||
|
comm.data.id='V';
|
||
|
comm.data.rtr=0;
|
||
|
comm.data.val=vitesse;
|
||
| ... | ... | |
|
rcv_dtq(CanRx, &reponse.msg);
|
||
|
retour=reponse.data.val; */
|
||
|
|
||
|
/*void distance(){
|
||
|
void dist_tel(){
|
||
|
requete.data.id='U';
|
||
|
requete.data.rtr=1;
|
||
|
snd_dtq(CanTx, requete.msg);
|
||
|
|
||
|
rcv_dtq(CanRx, &reponse.msg);
|
||
|
distance=reponse.data.val;
|
||
|
}*/
|
||
|
}
|
||
|
|
||
|
void main()
|
||
|
{
|
||
|
|
||
|
|
||
|
|
||
|
{
|
||
|
ports_mcu();
|
||
|
lcd_init();
|
||
|
periph_init();
|
||
| ... | ... | |
|
|
||
|
sta_cyc(ID_acqui);
|
||
|
// sta_tsk(ID_periph_rx);
|
||
|
|
||
|
|
||
|
sta_tsk(ID_tourelle);
|
||
|
// sta_tsk(ID_dist-tel);
|
||
|
while(1)
|
||
|
{
|
||
|
LED_J=1;
|
||
|
dly_tsk(100);
|
||
|
LED_J=0;
|
||
|
dly_tsk(100);
|
||
|
asservissement(450);
|
||
|
LED_J=0;
|
||
|
commande(20);
|
||
|
|
||
|
}
|
||
| branch/matteozzi/Emb_App/conf_noyau.cfg | ||
|---|---|---|
|
//
|
||
|
// kernel.cfg : building file for MR308 Ver.4.00
|
||
|
//
|
||
|
// Generated by M3T-MR308 GUI Configurator at 2013/01/08 15:28:33
|
||
|
// Generated by M3T-MR308 GUI Configurator at 2018/12/11 15:16:48
|
||
|
//
|
||
|
////////////////////////////////////////////////////////////////////////////////
|
||
|
|
||
|
// system definition
|
||
|
system{
|
||
|
stack_size = 256;
|
||
|
priority = 8;
|
||
|
priority = 10;
|
||
|
system_IPL = 4;
|
||
|
message_pri = 1;
|
||
|
timeout = YES;
|
||
| ... | ... | |
|
|
||
|
// max definition
|
||
|
maxdefine{
|
||
|
max_task = 3;
|
||
|
max_task = 4;
|
||
|
max_flag = 3;
|
||
|
max_dtq = 2;
|
||
|
max_cyh = 1;
|
||
| ... | ... | |
|
initial_start = OFF;
|
||
|
exinf = 0x0;
|
||
|
};
|
||
|
task[]{
|
||
|
entry_address = tourelle();
|
||
|
name = ID_tourelle;
|
||
|
stack_size = 256;
|
||
|
stack_section = stack;
|
||
|
priority = 10;
|
||
|
initial_start = OFF;
|
||
|
exinf = 0x0;
|
||
|
};
|
||
|
|
||
|
flag[]{
|
||
|
name = ev_bus_fin_tr;
|
||
| branch/matteozzi/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
asservissement de la tourelle mis en tache