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Révision 209

Ajouté par anbelin1 il y a plus de 6 ans

position, distance, télémètre implantées. Manque asservissement position

Voir les différences:

branch/belin/Emb_App.tws
[GENERAL_DATA]
[BREAKPOINTS]
[OPEN_WORKSPACE_FILES]
"E:\tp_info_2018_belin\bsp\can.c"
"E:\tp_info_2018_belin\bsp\clavier.c"
"E:\tp_info_2018_belin\bsp\dma0.c"
"E:\tp_info_2018_belin\bsp\mli.c"
"E:\tp_info_2018_belin\bsp\periph.c"
"E:\tp_info_2018_belin\bsp\radiocommande.c"
"E:\tp_info_2018_belin\bsp\uart0.c"
"E:\tp_info_2018_belin\Emb_App\conf_noyau.cfg"
"E:\tp_info_2018_belin\Emb_App\crt0mr.a30"
"E:\tp_info_2018_belin\Emb_App\Debug\kernel_id.h"
"E:\tp_info_2018_belin\Emb_App\Debug\kernel_sysint.h"
"E:\tp_info_2018_belin\Emb_App\programme_principal_etud.c"
[WORKSPACE_FILE_STATES]
"E:\tp_info_2018_belin\Emb_App\conf_noyau.cfg" 0 474 160 38 0 0
"E:\tp_info_2018_belin\Emb_App\crt0mr.a30" -8 -30 1596 539 1 2
"E:\tp_info_2018_belin\Emb_App\programme_principal_etud.c" 0 0 1596 539 0 1
"E:\tp_info_2018_belin\bsp\periph.c" 75 75 1430 351 0 3
"E:\tp_info_2018_belin\Emb_App\Debug\kernel_id.h" 50 50 790 335 0 1
"E:\tp_info_2018_belin\Emb_App\Debug\kernel_sysint.h" 75 75 790 335 0 2
"E:\tp_info_2018_belin\Emb_App\conf_noyau.cfg" 50 50 765 416 0 10
"E:\tp_info_2018_belin\Emb_App\crt0mr.a30" 100 100 790 335 0 3
"E:\tp_info_2018_belin\Emb_App\programme_principal_etud.c" -8 -30 956 629 1 0
"E:\tp_info_2018_belin\bsp\can.c" 100 100 765 416 0 4
"E:\tp_info_2018_belin\bsp\clavier.c" 125 125 765 416 0 5
"E:\tp_info_2018_belin\bsp\dma0.c" 150 150 765 416 0 6
"E:\tp_info_2018_belin\bsp\mli.c" 175 175 765 416 0 7
"E:\tp_info_2018_belin\bsp\periph.c" 25 25 765 416 0 9
"E:\tp_info_2018_belin\bsp\radiocommande.c" 0 0 765 416 0 8
"E:\tp_info_2018_belin\bsp\uart0.c" 75 75 765 416 0 11
[LOADED_PROJECTS]
"EmbM32C87App"
[END]
branch/belin/Emb_App/SessionM32C_E8a_system.hsf
"{4B022541-3E95-11D7-909C-00201898052D}ElfDwarf2Objects" "1"
"{4B022541-3E95-11D7-909C-00201898052D}LoadModule0OBJ_ELFDWARF2_ARRAY_EXPAND_LIMIT" "-1"
"{4B022541-3E95-11D7-909C-00201898052D}LoadModule0OBJ_STATUS_OF_EBD_CMD" "0"
"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRCtrlViews" "1"
"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRCtrlViews" "0"
"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd0EnableRRam" "0"
"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd0MrType" "2"
"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd0MrType2ColumnSizeMode0Column0" "4"
......
"{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" "0000000000000020"
"{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" "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_15" "0000000000000512"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF057E"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_17" "0000000000FFF800"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000AEC"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000824"
"{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_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" "0000000000000B20"
"{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"
......
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH" "c,buff,n,rx,flag,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000" "Distance, 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" "correction, 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}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 "0.07" 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 1 "0.07" 259 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 1 "0.11" 365 0 0 350 200 2065 0 "32774|32775|32777|<<separator>>|32780|<<separator>>" "0.0"
"{WK_00000001_IO}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59422 0 0 "0.21" 365 0 0 350 200 18 0 "32817|32826|32819|32820|32821|32829" "0.0"
"{WK_00000001_IO}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59422 0 0 "0.21" 259 0 0 350 200 18 0 "32817|32826|32819|32820|32821|32829" "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 "0.41" 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 "0.01" 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_OUTPUT}" "WINDOW" 59422 0 2 "0.34" 259 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 "0.02" 259 0 0 350 200 2065 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 "0.37" 365 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 3 "0.44" 259 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_VD3]
[WINDOW_POSITION_STATE_DATA_VD4]
[WINDOW_Z_ORDER]
"E:\tp_info_2018_belin\Emb_App\programme_principal_etud.c"
"E:\tp_info_2018_belin\Emb_App\crt0mr.a30"
"E:\tp_info_2018_belin\Emb_App\programme_principal_etud.c"
"E:\tp_info_2018_belin\bsp\periph.c"
"E:\tp_info_2018_belin\Emb_App\conf_noyau.cfg"
"E:\tp_info_2018_belin\Emb_App\Debug\kernel_id.h"
"E:\tp_info_2018_belin\bsp\uart0.c"
"E:\tp_info_2018_belin\bsp\dma0.c"
"E:\tp_info_2018_belin\bsp\radiocommande.c"
"E:\tp_info_2018_belin\bsp\mli.c"
"E:\tp_info_2018_belin\bsp\clavier.c"
"E:\tp_info_2018_belin\bsp\can.c"
"E:\tp_info_2018_belin\Emb_App\Debug\kernel_sysint.h"
[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 85010816 1 "{00000000-0000-0000-C000-000000000046}" ""
"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 101788032 1 "{00000000-0000-0000-C000-000000000046}" ""
[END]
branch/belin/Emb_App/programme_principal_etud.c
unsigned short Distance;
unsigned short pos_tourelle;
void asservissementTourelle(){
CanFrame reponse, comm, requete;
CanFrame req;
UINT flag;
CanFrame comm;
unsigned short correction, retour, consigne;
consigne=450;
consigne=450; //consigne (on veut 45 degrees)
while(1){
//Lecture de R
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);
requete.data.id = 'R';
retour=periph[ADDR('R')].val;
requete.data.rtr = 1;
snd_dtq(CanTx, requete.msg);
rcv_dtq(CanRx, &reponse.msg);
retour=reponse.data.val; //Mesure retour
if(consigne!=retour){
correction=1*(consigne-retour);
//Asservissement
correction=5*(consigne-retour);
comm.data.id='T';
comm.data.rtr = 0;
comm.data.val = correction;
snd_dtq(CanTx,comm.msg);
dly_tsk(100);
}
else{
comm.data.id='T';
comm.data.rtr = 0;
comm.data.val = 0;
snd_dtq(CanTx,comm.msg);
}
}
void commMoteur(){
void commMoteur(unsigned short vitessemoteur){
CanFrame commMoteur;
commMoteur.data.id='V';
commMoteur.data.rtr = 0;
commMoteur.data.val = 30;
commMoteur.data.val = vitessemoteur;
snd_dtq(CanTx,commMoteur.msg);
}
unsigned short CalculDistance(){
void CalculDistance(){
CanFrame req;
UINT flag;
while(1){
req.data.id = 'U';
req.data.rtr = 1;
periph[ADDR('R')].ev=0x01;
snd_dtq(CanTx, req.msg);
wai_flg(ev_periph,0x01,TWF_ANDW, &flag);
CanFrame request, response;
request.data.id = 85;
request.data.rtr = 1;
snd_dtq(CanTx, request.msg);
rcv_dtq(CanRx, &response.msg);
Distance=response.data.val;
return Distance;
Distance=periph[ADDR('U')].val;
dly_tsk(100);
}
}
void position(){
unsigned short correction;
CanFrame comm;
while(1){
correction=1*(720-Distance);
comm.data.id='D';
comm.data.rtr = 0;
comm.data.val = correction;
snd_dtq(CanTx,comm.msg);
dly_tsk(100);
LED_R=1;
}
}
void main()
{
{
ports_mcu();
lcd_init();
periph_init();
periph_nom("Matthias");
can_init();
periph_nom("Matthias");
can_init();
clavier_init(1);
capture_init();
sta_cyc(ID_acqui);
// sta_tsk(ID_periph_rx);
sta_tsk(ID_periph_rx);
commMoteur(5);
sta_tsk(ID_tourelle);
sta_tsk(ID_CalculDistance);
sta_tsk(ID_position);
while(1)
{
LED_J=1;
dly_tsk(100);
LED_J=0;
dly_tsk(100);
commMoteur();
asservissementTourelle();
dly_tsk(10);
CalculDistance();
}
}
branch/belin/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 16:36:34
//
////////////////////////////////////////////////////////////////////////////////
......
// max definition
maxdefine{
max_task = 3;
max_task = 6;
max_flag = 3;
max_dtq = 2;
max_cyh = 1;
......
initial_start = OFF;
exinf = 0x0;
};
task[]{
entry_address = asservissementTourelle();
name = ID_tourelle;
stack_size = 256;
stack_section = stack;
priority = 4;
initial_start = OFF;
exinf = 0x0;
};
task[]{
entry_address = CalculDistance();
name = ID_CalculDistance;
stack_size = 256;
stack_section = stack;
priority = 5;
initial_start = OFF;
exinf = 0x0;
};
task[]{
entry_address = position();
name = ID_position;
stack_size = 256;
stack_section = stack;
priority = 6;
initial_start = OFF;
exinf = 0x0;
};
flag[]{
name = ev_bus_fin_tr;
branch/belin/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