Projet

Général

Profil

« Précédent | Suivant » 

Révision 203

Ajouté par ninoisette il y a plus de 6 ans

utilisation de la fonction tri et réception de la distance tourelle

Voir les différences:

branch/noisette/Emb_App/SessionM32C_E8a_system.hsf
"{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" "0000000000FF0580"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF056C"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_17" "0000000000FFF800"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "00000000000009B8"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "00000000000007E6"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "00000000000009C8"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "00000000000007F2"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "0000000000000000"
"{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_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" "00000000000009E2"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "00000000000009EE"
"{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" "alpha, 2, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000_SCOPE" "Global,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "1"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001" "distance_tourelle, 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}WatchWnd1ColWidth0" "120"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth1" "150"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth12" "200"
......
[WINDOW_Z_ORDER]
"E:\tp_info6_2018_noisette\tp_info6\Emb_App\programme_principal_etud.c"
"E:\tp_info6_2018_noisette\tp_info6\Emb_App\crt0mr.a30"
"E:\tp_info6_2018_noisette\tp_info6\bsp\dma0.c"
"E:\tp_info6_2018_noisette\tp_info6\bsp\clavier.c"
"E:\tp_info6_2018_noisette\tp_info6\bsp\periph.c"
"E:\tp_info6_2018_noisette\tp_info6\bsp\can.c"
"E:\tp_info6_2018_noisette\tp_info6\bsp\periph.c"
"E:\tp_info6_2018_noisette\tp_info6\bsp\lcd.c"
"E:\tp_info6_2018_noisette\tp_info6\bsp\dma0.c"
"E:\tp_info6_2018_noisette\tp_info6\bsp\clavier.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 101782040 1 "{00000000-0000-0000-C000-000000000046}" ""
"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 87560728 1 "{00000000-0000-0000-C000-000000000046}" ""
[END]
branch/noisette/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 alpha;
int consigne;
int consigne_tourelle;
unsigned short k;
int erreur;
int erreur_tourelle;
int vitesse;
int distance_tourelle;
UINT flag;
void main()
{
CanFrame comm, requete, reponse;
CanFrame comm, requete, reponse, req;
ports_mcu();
lcd_init();
periph_init();
......
capture_init();
sta_cyc(ID_acqui);
// sta_tsk(ID_periph_rx);
sta_tsk(ID_periph_rx);
while(1)
{
......
comm.data.id= 'T';
comm.data.rtr=0;
comm.data.val=0;
snd_dtq(CanTx, comm.msg);*/
snd_dtq(CanTx, comm.msg);
requete.data.id='R';
requete.data.rtr=1;
snd_dtq(CanTx, requete.msg);
rcv_dtq(CanRx, &reponse.msg);
alpha=reponse.data.val;
alpha=reponse.data.val;*/
req.data.id='R';
req.data.rtr=1;
periph[ADDR('R')].ev=0x01;
snd_dtq(CanTx,req.msg);
wai_flg(ev_periph,0x01, TWF_ANDW, &flag);
alpha=periph[ADDR('R')].val;
dly_tsk(10);
req.data.id='U';
req.data.rtr=1;
periph[ADDR('U')].ev=0x02;
snd_dtq(CanTx,req.msg);
wai_flg(ev_periph,0x02, TWF_ANDW, &flag);
distance_tourelle=periph[ADDR('U')].val;
dly_tsk(10);
/*requete.data.id='U';
requete.data.rtr=1;
snd_dtq(CanTx, requete.msg);
rcv_dtq(CanRx, &reponse.msg);
distance_tourelle=reponse.data.val;*/
comm.data.id= 'T';
comm.data.rtr=0;
comm.data.val=asserv(450);
comm.data.val=asserv_tourelle(450);
snd_dtq(CanTx, comm.msg);
dly_tsk(10);
/* comm.data.id= 'V';
comm.data.rtr=0;
comm.data.val=asserv_vitesse(40);
snd_dtq(CanTx, comm.msg);
dly_tsk(10);*/
}
}
......
LED_V=!LED_V;
}
int asserv(consigne)
int asserv_tourelle(consigne_tourelle)
{
k=1;
erreur = consigne - alpha;
consigne = k*erreur;
return consigne;
erreur_tourelle = consigne_tourelle - alpha;
consigne_tourelle = k*erreur_tourelle;
return consigne_tourelle;
}
int asserv_vitesse(vitesse) {
k = 3;
vitesse = distance_tourelle/vitesse;
return vitesse;
}
branch/noisette/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