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Révision 229

Ajouté par axfont il y a plus de 6 ans

commit fin de séance

Voir les différences:

branch/font/Emb_App.tws
"E:\tp_info6_2018_font\bsp\uart0.c"
"E:\tp_info6_2018_font\Emb_App\conf_noyau.cfg"
"E:\tp_info6_2018_font\Emb_App\crt0mr.a30"
"E:\tp_info6_2018_font\Emb_App\Debug\mr308.inc"
"E:\tp_info6_2018_font\Emb_App\programme_principal_etud.c"
[WORKSPACE_FILE_STATES]
"E:\tp_info6_2018_font\Emb_App\Debug\mr308.inc" 150 150 1430 351 0 6
"E:\tp_info6_2018_font\Emb_App\conf_noyau.cfg" 75 75 1430 351 0 2
"E:\tp_info6_2018_font\Emb_App\crt0mr.a30" 0 0 1596 539 0 0
"E:\tp_info6_2018_font\Emb_App\programme_principal_etud.c" -8 -30 1596 539 1 1
"E:\tp_info6_2018_font\Emb_App\crt0mr.a30" -8 -30 1596 539 1 0
"E:\tp_info6_2018_font\Emb_App\programme_principal_etud.c" 0 0 1596 539 0 1
"E:\tp_info6_2018_font\bsp\periph.c" 100 100 1430 351 0 4
"E:\tp_info6_2018_font\bsp\sfr32c83.h" 100 100 1430 351 0 3
"E:\tp_info6_2018_font\bsp\uart0.c" 150 150 1430 351 0 5
branch/font/Emb_App/SessionM32C_E8a_system.ini
[Target]
M32C E8a SYSTEM=Renesas Communications
[USER_DATA]
RESET=ff0026
RESET=ff002a
branch/font/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" "0000000000000104"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_1" "0000000000000044"
"{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" "0000000000FF1DA9"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_17" "0000000000FFF800"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000B0C"
"{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" "0000000000004041"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_15" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF002A"
"{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" "0000000000000006"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "0000000000000007"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000B42"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_7" "0000000000000512"
"{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" "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"
......
"{AC411480-6F0A-11D5-8EB6-00004CC34E9D}ECX_IMAGE_VIEW" "0,0,0,0,0,0"
"{AC411480-6F0A-11D5-8EB6-00004CC34E9D}ImageCtrlViews" "0"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchCtrlViews" "4"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ColWidth0" "148"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ColWidth0" "180"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ColWidth1" "186"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ColWidth12" "200"
"{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" "alpha, 1, 0, P, Col, Dec, MN"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000" "feuv, 1, 0, P, Col, Hex, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001" "distance, 1, 0, P, Col, Dec, MN"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001" "feu, 1, 0, P, Col, Hex, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002" "couleur_capt, 1, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002" "num_piste1, 1, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0003" "val_capt, 10, 0, P, Col, Hex, N"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0003" "num_piste, 1, 0, P, Col, Hex, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0003_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "4"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0004" "capteur, 1, 0, P, Col, Hex, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0004_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0005" "montee, 1, 0, P, Col, Hex, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0005_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0006" "a, 1, 0, P, Col, Hex, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0006_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "7"
"{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 "0.08" 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" 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"
......
[WINDOW_POSITION_STATE_DATA_VD3]
[WINDOW_POSITION_STATE_DATA_VD4]
[WINDOW_Z_ORDER]
"E:\tp_info6_2018_font\Emb_App\crt0mr.a30"
"E:\tp_info6_2018_font\Emb_App\programme_principal_etud.c"
"E:\tp_info6_2018_font\Emb_App\crt0mr.a30"
"E:\tp_info6_2018_font\Emb_App\conf_noyau.cfg"
"E:\tp_info6_2018_font\bsp\uart0.c"
"E:\tp_info6_2018_font\Emb_App\Debug\mr308.inc"
"E:\tp_info6_2018_font\bsp\periph.c"
"E:\tp_info6_2018_font\bsp\uart0.c"
"E:\tp_info6_2018_font\Emb_App\conf_noyau.cfg"
"E:\tp_info6_2018_font\bsp\sfr32c83.h"
[TARGET_NAME]
"M32C E8a SYSTEM" "" 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 95936032 1 "{00000000-0000-0000-C000-000000000046}" ""
"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 100391144 1 "{00000000-0000-0000-C000-000000000046}" ""
[END]
branch/font/Emb_App/programme_principal_etud.c
int alpha; //angle tourelle
int distance; //distance du bord mesur?e
int distance1;
int vitesse = 45; //vitesse souhait?e
int vitesse = 60; //vitesse souhait?e
int vitesse_virage = 25; //vitesse pendant un virage souhait?e
int vitesse_montee = 25;
int angle_roue;
int kroue = 1;
int k = 1;
int num_piste;
int num_piste1;
int capteur;
int f_capt;
int s_capt;
int a = 0;
char saut = 0;
int feu;
int feuv;
int montee = 0;
void lecture_telemetre(){
CanFrame reponsed, requeted;
......
wai_flg(ev_periph, 0x03, TWF_ANDW, &flag); //Attente de lecture de l'angle des roues
comm.data.rtr = 0;
if(saut == 0) angle_roue = kroue * (distance - distance_bord); //Asservissement de l'angle
if(saut == 0){ //Aucun saut franchi
angle_roue = kroue * (distance - distance_bord); //Asservissement de l'angle
}
else angle_roue = 0;
comm.data.val = angle_roue;
snd_dtq(CanTx, comm.msg);
......
}
}
//lis la piste sur laquelle on roule
void lecture_piste(){
CanFrame requete;
UINT flag;
......
snd_dtq(CanTx, requete.msg);
wai_flg(ev_periph, 0x04, TWF_ANDW, &flag); //Attente de la r?ponse
num_piste = periph[ADDR('M')].val; //acquisition num?ro piste
num_piste1 = num_piste && 0x0fff;
num_piste1 = num_piste & 0x00ff;
}
//lis le dernier capteur franchi
void lecture_capteur(){
CanFrame requete;
UINT flag;
......
}
}
//g?re la mont?e piste bleu
void gestion_montee (){
while(1){
if(num_piste1 == 2){ //d?tection piste rouge
if( capteur == 0x5604 ){ //d?tection capteur avant saut
montee = 1;
}
else {
montee = 0;
}
}
dly_tsk(5);
}
}
//g?re le saut piste rouge
void gestion_saut (){
CanFrame comm;
while(1){
if(num_piste1 == 1){ //d?tection piste rouge
if( capteur == 0x5603 ){
if(num_piste1 == 7){ //d?tection piste rouge
if( capteur == 0x5603 ){ //d?tection capteur avant saut
saut = 1;
}
else {
saut = 0;
}
}
dly_tsk(2);
dly_tsk(5);
}
}
//detecte si le feu est vert
void detect_feuv(){
CanFrame requete;
UINT flag;
while(1){
//Lecture de la zone
requete.data.id = 'M';
requete.data.rtr = 1;
periph[ADDR('M')].ev = 0x06;
snd_dtq(CanTx, requete.msg);
wai_flg(ev_periph, 0x06, TWF_ANDW, &flag); //Attente de la r?ponse
feu = periph[ADDR('M')].val; //acquisition du dernier capteur franchi
feuv = feu & 0x8000;
dly_tsk(3);
}
}
//Fonction de demarrage de la voiture
void demarrage(){
CanFrame comm, requete;
UINT flag;
dly_tsk(4000); //Attente avant d?part
comm.data.id = 'V';
comm.data.rtr = 0;
comm.data.val = vitesse; //D?marrage
snd_dtq(CanTx, comm.msg);
while(1){
//if(feuv == 0x8000){ //D?part feu vert
comm.data.id = 'V';
comm.data.rtr = 0;
if(angle_roue > 40 || angle_roue < -40){ //ralentissement de la voiture si angle demand? trop grand
comm.data.val = vitesse_virage;
snd_dtq(CanTx, comm.msg);
}
else {
comm.data.val = vitesse;
snd_dtq(CanTx, comm.msg);
comm.data.val = vitesse; //D?marrage
snd_dtq(CanTx, comm.msg);
while(1){
comm.data.id = 'V';
comm.data.rtr = 0;
if(angle_roue > 40 || angle_roue < -40){ //ralentissement de la voiture si angle demand? trop grand
comm.data.val = vitesse_virage;
snd_dtq(CanTx, comm.msg);
}
else{
comm.data.val = vitesse;
snd_dtq(CanTx, comm.msg);
}
if(montee == 1){
comm.data.val = vitesse_montee;
snd_dtq(CanTx, comm.msg);
a = 1;
}
dly_tsk(3);
}
dly_tsk(3);
}
//} acolade if d?part feu vert
}
......
sta_tsk(ID_lecture_piste);
sta_tsk(ID_lecture_capteur);
sta_tsk(ID_demarrage);
sta_cyc(ID_acqui);
sta_cyc(ID_acqui);
sta_tsk(ID_gestion_montee);
sta_tsk(ID_tsk_asserv1);
sta_tsk(ID_lecture_telemetre);
sta_tsk(ID_detect_feuv);
sta_tsk(ID_asservissement_roue);
sta_tsk(ID_gestion_saut);
branch/font/Emb_App/conf_noyau.cfg
name = ID_lecture_telemetre;
stack_size = 512;
stack_section = stack;
priority = 3;
priority = 4;
initial_start = OFF;
exinf = 0x0;
};
task[]{
entry_address = detect_feuv();
name = ID_detect_feuv;
stack_size = 512;
stack_section = stack;
priority = 4;
initial_start = OFF;
exinf = 0x0;
};
task[]{
entry_address = gestion_montee();
name = ID_gestion_montee;
stack_size = 512;
stack_section = stack;
priority = 4;
initial_start = OFF;
exinf = 0x0;
};
task[]{
entry_address = asservissement_roue();
name = ID_asservissement_roue;
stack_size = 512;
stack_section = stack;
priority = 3;
priority = 4;
initial_start = OFF;
exinf = 0x0;
};
branch/font/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