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Révision 224

Ajouté par melepogam il y a plus de 6 ans

Ajout zone pour saut
piste rouge ok

Voir les différences:

branch/lepogam/Emb_App.tws
"E:\tp_info6_lepogam\Emb_App\crt0mr.a30"
"E:\tp_info6_lepogam\Emb_App\programme_principal_etud.c"
[WORKSPACE_FILE_STATES]
"E:\tp_info6_lepogam\Emb_App\conf_noyau.cfg" 0 0 1430 351 0 2
"E:\tp_info6_lepogam\Emb_App\crt0mr.a30" 150 150 1430 351 0 1
"E:\tp_info6_lepogam\Emb_App\conf_noyau.cfg" 0 0 1430 351 0 1
"E:\tp_info6_lepogam\Emb_App\crt0mr.a30" 100 100 1430 351 0 2
"E:\tp_info6_lepogam\Emb_App\programme_principal_etud.c" -8 -30 1596 539 1 0
[LOADED_PROJECTS]
"EmbM32C87App"
branch/lepogam/Emb_App/SessionM32C_E8a_system.ini
[Target]
M32C E8a SYSTEM=Renesas Communications
[USER_DATA]
RESET=ff002e
RESET=ff0030
branch/lepogam/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" "0000000000FF313C"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF3297"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_17" "0000000000FFF800"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000A00"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000804"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "0000000000002CA2"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000A42"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000846"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "0000000000000004"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_20" "00000000000000C0"
"{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_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" "0000000000000002"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "00000000000800FF"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000A00"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_4" "0000000000000004"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "0000000000000512"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000A42"
"{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_CmdLine}" "WINDOW" 59422 0 1 "0.08" 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_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"
......
[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 52067208 1 "{00000000-0000-0000-C000-000000000046}" ""
"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 90544424 1 "{00000000-0000-0000-C000-000000000046}" ""
[END]
branch/lepogam/Emb_App/programme_principal_etud.c
unsigned int couleur=0; // vert -> ligne droie
unsigned int distance_ref=700;
unsigned int consigne=450;
unsigned int consigne_vitesse=60;
unsigned int vitesse_min=28;
unsigned int consigne_vitesse=34;
unsigned int vitesse_min=24;
unsigned int valeur_t=0;
unsigned int valeur_r=0;
int k1=2;
......
comm.data.rtr=0;
comm.data.val=valeur_t;
snd_dtq (CanTx,comm.msg);
dly_tsk(50);
}
}
void asserv1(){
void asserv1(){ //asservissement tourelle
if(alpha!=consigne) valeur_t=k1*(consigne-alpha);
}
......
demande.data.rtr=1;
snd_dtq (CanTx,demande.msg); // Interrogation du peripherique
if (periph[ADDR('U')].val<1000) distance=periph[ADDR('U')].val; // contient la valeur de retour du simulateur.
if (periph[ADDR('U')].val<1000) distance=periph[ADDR('U')].val; // contient la valeur de retour du simulateur et filtre
comm.data.id='D';
comm.data.rtr=0;
comm.data.val=valeur_r;
snd_dtq (CanTx,comm.msg);
dly_tsk(6);
dly_tsk(10);
}
}
void asserv2(){
if(distance!=distance_ref) valeur_r=-k2*(distance_ref-distance);
void asserv2(){ //asservissement roue
if(couleur==0x1c80) ; // bloc rouge grand valeur 2 avant saut
else {
if(distance!=distance_ref) valeur_r=-k2*(distance_ref-distance);
}
}
void asserv_vitesse(){
......
comm.data.rtr=0;
comm.data.val=vitesse;
snd_dtq (CanTx,comm.msg);
demande.data.id='C';
demande.data.rtr=1;
snd_dtq (CanTx,demande.msg); // Interrogation du peripherique
couleur=periph[ADDR('C')].val>>2; // contient la valeur de retour du simulateur.
dly_tsk(100);
}
}
void asserv3(){
if(couleur==0x1580 || couleur==0x1581 ) vitesse=consigne_vitesse;
void asserv3(){ //asservisement vitesse
if(couleur==0x1580 || couleur==0x1581 ) vitesse=consigne_vitesse; // vert=ligne droite
else if(couleur==0x1c80) vitesse=45; // vitesse saut
else if(couleur==0x1c88) vitesse=14; //vitesse apr?s saut, bloc rouge grand valeur 32 apr?s saut
else{
vitesse=vitesse_min;
vitesse=vitesse_min; //virage
}
}
......
ports_mcu();
lcd_init();
periph_init();
periph_nom("#AutoTest*");
periph_nom("#Batmobile*");
can_init();
clavier_init(1);
......
sta_cyc(ID_asserv1);
sta_cyc(ID_asserv2);
dly_tsk(600);
dly_tsk(600); // attente mise en place de la tourelle
sta_tsk(ID_asserv_vitesse);
sta_cyc(ID_asserv3);
while(1)
{
}
}
branch/lepogam/Emb_App/EmbM32C87App.tps
"SessionM32C_E8a_system"
[GENERAL_DATA_PROJECT]
[GENERAL_DATA_CONFIGURATION_Debug]
"PROJECT_FILES_MODIFIED_DATA_TAG" "TRUE"
"PROJECT_FILES_MODIFIED_DATA_TAG" "FALSE"
[SESSIONS_Debug]
"DefaultSession"
"SessionM32C_E8a_system"

Formats disponibles : Unified diff