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Révision 205

Ajouté par hanzhang1 il y a plus de 6 ans

1. complete Tourelle
2. mesure distance par le telemetre et affiche la distance dans lcd
3. faire bouger la voiture(vitesse = 10)
4. pas fini le direct de voiture (cherche la consigne)

Voir les différences:

branch/zhang/Emb_App.tws
[GENERAL_DATA]
[BREAKPOINTS]
[OPEN_WORKSPACE_FILES]
"E:\tp_info6_zhan\bsp\periph.c"
"E:\tp_info6_zhan\bsp\periph.h"
"C:\Program Files (x86)\Renesas\Hew\Tools\Renesas\nc308wa\v542r00\inc308\stdlib.h"
"E:\tp_info6_zhan\bsp\lcd.c"
"E:\tp_info6_zhan\Emb_App\conf_noyau.cfg"
"E:\tp_info6_zhan\Emb_App\crt0mr.a30"
"E:\tp_info6_zhan\Emb_App\Debug\kernel_id.h"
"E:\tp_info6_zhan\Emb_App\Debug\mrtable.a30"
"E:\tp_info6_zhan\Emb_App\programme_principal_etud.c"
[WORKSPACE_FILE_STATES]
"E:\tp_info6_zhan\Emb_App\Debug\kernel_id.h" 75 75 1430 351 0 6
"E:\tp_info6_zhan\Emb_App\Debug\mrtable.a30" 50 50 1430 351 0 5
"E:\tp_info6_zhan\Emb_App\conf_noyau.cfg" 50 50 1430 351 0 2
"E:\tp_info6_zhan\Emb_App\crt0mr.a30" 0 0 1426 347 0 0
"E:\tp_info6_zhan\Emb_App\programme_principal_etud.c" -8 -30 1596 539 1 1
"E:\tp_info6_zhan\bsp\periph.c" 25 25 1430 351 0 4
"E:\tp_info6_zhan\bsp\periph.h" 75 75 1430 351 0 3
"C:\Program Files (x86)\Renesas\Hew\Tools\Renesas\nc308wa\v542r00\inc308\stdlib.h" 150 150 1430 351 0 6
"E:\tp_info6_zhan\Emb_App\Debug\kernel_id.h" 75 75 1430 351 0 5
"E:\tp_info6_zhan\Emb_App\conf_noyau.cfg" 25 25 1430 351 0 4
"E:\tp_info6_zhan\Emb_App\crt0mr.a30" 125 125 1426 347 0 1
"E:\tp_info6_zhan\Emb_App\programme_principal_etud.c" 0 0 1596 539 0 2
"E:\tp_info6_zhan\bsp\lcd.c" -8 -30 1596 539 1 3
[LOADED_PROJECTS]
"EmbM32C87App"
[END]
branch/zhang/Emb_App/SessionM32C_E8a_system.ini
[Target]
M32C E8a SYSTEM=Renesas Communications
[USER_DATA]
RESET=ff0012
RESET=ff0122
branch/zhang/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" "0000000000000258"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_1" "0000000000000001"
"{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" "0000000000FF056A"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF2FBF"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_17" "0000000000FFF800"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "00000000000009DC"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "00000000000007FE"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000001466"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000BCE"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_20" "0000000000004004"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_20" "00000000000000C8"
"{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_4" "00000000000014A4"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "00000000000009FA"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "000000000000146C"
"{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"
......
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_DISASSEMBLY}" "WINDOW" 0 0 0 "0.00" 0 -4 -30 948 486 9 0 "" "0.0"
"{WK_00000001_CmdLine}" "WINDOW" 59422 0 1 "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 50 50 1430 351 10 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 "0.52" 365 0 0 350 200 18 0 "36756|36757|36758|36759|<<separator>>|36746|36747|<<separator>>|39531|<<separator>>|39500|39534|<<separator>>|36687" "0.0"
......
[WINDOW_POSITION_STATE_DATA_VD3]
[WINDOW_POSITION_STATE_DATA_VD4]
[WINDOW_Z_ORDER]
"E:\tp_info6_zhan\bsp\lcd.c"
"E:\tp_info6_zhan\Emb_App\crt0mr.a30"
"C:\Program Files (x86)\Renesas\Hew\Tools\Renesas\nc308wa\v542r00\inc308\stdlib.h"
"E:\tp_info6_zhan\Emb_App\programme_principal_etud.c"
"E:\tp_info6_zhan\Emb_App\crt0mr.a30"
"E:\tp_info6_zhan\Emb_App\conf_noyau.cfg"
"E:\tp_info6_zhan\bsp\periph.h"
"E:\tp_info6_zhan\Emb_App\Debug\kernel_id.h"
"E:\tp_info6_zhan\Emb_App\Debug\mrtable.a30"
"E:\tp_info6_zhan\bsp\periph.c"
"E:\tp_info6_zhan\Disassembly"
[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 91688328 1 "{00000000-0000-0000-C000-000000000046}" ""
"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 91677544 1 "{00000000-0000-0000-C000-000000000046}" ""
[END]
branch/zhang/Emb_App/programme_principal_etud.c
// Pour qu'un evenement soit declenche lors de la reception d'une donnee pour un peripherique:
// periph[ADDR('R')].ev=0x01;
// Pour se mettre en attente de l'evenement: wai_flg (ev_periph,0x01,TWF_ORW,&flag); // Declarer la variable flag comme : FLGPTN flag
// Pour se mettre en attente de l'evenement: (ev_periph,0x01,TWF_ORW,&flag); // Declarer la variable flag comme : FLGPTN flag
// Attention l'evenement n'est pas efface apres reception, il faut donc utiliser clr_flg(ev_periph,~0x01); par example
// Les evenements:
......
//'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 '*'
int alpha; //angle
unsigned int alpha; //angle
unsigned int distance; // Distance mesuree par le telemetre (1/100 de metre)
void main()
{
......
capture_init();
sta_cyc(ID_acqui);
// sta_tsk(ID_periph_rx);
sta_cyc(ID_asserv);
// sta_tsk(ID_control_tourelle);
sta_tsk(ID_periph_rx); //config de periph, donc je peut utilise periph(R U)
/******************************************************************************************/
// sta_cyc(ID_asserv);
sta_tsk(ID_control_tourelle);
sta_tsk(ID_control_direct);
// sta_tsk(ID_angle_T);
// sta_tsk(ID_vitesse_T);
// dly_tsk(2000);
// dly_tsk(2000);
sta_tsk(ID_vitesse);
sta_cyc(ID_affiche);
/*********************************************************************************************/
while(1)
{
......
LED_J=0;
dly_tsk(100);
// sta_tsk(ID_acqui);
// dly_tsk(100);
}
}
/*
void asserv()
{
iwup_tsk(ID_control_tourelle);
}
*/
void acqui()
{
LED_V=!LED_V;
......
// et commande la vitesse de tourelle(asservissement)
CanFrame requete, reponse, comm;
FLGPTN flag;
int a,c;
int a;
while(1){
slp_tsk();
// slp_tsk();
requete.data.id = 'R'; // angle de tourelle
requete.data.rtr = 1; //indique une requ?te(demende) de lecture
periph[ADDR('R')].ev=0x01; // event mise au 0x01
snd_dtq(CanTx, requete.msg); //send demendes
rcv_dtq(CanRx, &reponse.msg); //attente reponse.msg
alpha = reponse.data.val; //le val de angle de tourelle
// rcv_dtq(CanRx, &reponse.msg); //attente reponse.msg
// alpha = reponse.data.val; //le val de angle de tourelle
wai_flg (ev_periph,0x01,TWF_ORW,&flag); //wait le potentiometre 0
c = periph[ADDR('R')].val;
clr_flg(ev_periph,0x01); //clear flag
wai_flg (ev_periph,0x01,TWF_ANDW,&flag); //wait reponse
alpha = periph[ADDR('R')].val;
// if(alpha > 900 ) a = 0; // alpha >90? stop move
a = c - alpha; // vitesse = consigne - position
a = ad00 - alpha; // vitesse = consigne - position
if(alpha > 900 ) a = 0; // alpha >90? stop move
comm.data.id = 'T'; // vitesse de tourelle
comm.data.rtr = 0;
comm.data.val = a; //val de command est c-p
snd_dtq(CanTx, comm.msg); //send command
}
}
void control_direct(){
CanFrame requete, reponse, comm;
FLGPTN flag;
while(1){
requete.data.id = 'U';
requete.data.rtr = 1; //indique une requ?te de lecture
periph[ADDR('U')].ev=0x02; //event
snd_dtq(CanTx, requete.msg); //send demande
// rcv_dtq(CanRx, &reponse.msg);
// distance = reponse.data.val;
wai_flg (ev_periph,0x02,TWF_ANDW,&flag);
distance = periph[ADDR('U')].val;
comm.data.id = 'D';
comm.data.rtr = 0;
comm.data.val = ? -distance;
snd_dtq(CanTx, comm.msg);
}
}
void affiche(){
char str[20];
lcd_com(0xC0);
sprintf(str," %d ", distance);
lcd_str(str);
}
void vitesse(){
CanFrame comm;
while (1){
comm.data.id = 'V';
comm.data.rtr = 0;
comm.data.val = 10;
snd_dtq(CanTx, comm.msg);
}
}
/*
void control_tourelle(){
// Q5 obtenir l'angle
......
if(alpha > 900 ) a = 0; // alpha >90? stop move
else a = 450 - alpha; // vitesse = consigne - position
else a = ad00 - alpha; // vitesse = consigne - position
comm.data.id = 'T'; // vitesse de tourelle
comm.data.rtr = 0;
comm.data.val = 2*a; //val de command est c-p
comm.data.val = a; //val de command est c-p
snd_dtq(CanTx, comm.msg); //send command
}
}
......
alpha = reponse.data.val;
}
}
*/
*/
branch/zhang/Emb_App/conf_noyau.cfg
exinf = 0x0;
};
task[]{
entry_address = vitesse();
name = ID_vitesse;
stack_size = 256;
stack_section = stack;
priority = 2;
initial_start = OFF;
exinf = 0x0;
};
task[]{
entry_address = control_direct();
name = ID_control_direct;
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;
entry_address = affiche();
name = ID_affiche;
exinf = 0x0;
start = OFF;
phsatr = OFF;
......
phs_counter = 0x0;
};
cyclic_hand[]{
entry_address = asserv();
name = ID_asserv;
entry_address = acqui();
name = ID_acqui;
exinf = 0x0;
start = OFF;
phsatr = OFF;
......
};
vdataqueue[]{
name = QdmTouche;
wait_queue = TA_TFIFO;

Formats disponibles : Unified diff