Révision 231
Ajouté par melepogam il y a plus de 6 ans
| branch/lepogam/Emb_App/SessionM32C_E8a_system.ini | ||
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[Target]
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M32C E8a SYSTEM=Renesas Communications
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[USER_DATA]
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RESET=ff0030
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RESET=ff0034
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| branch/lepogam/Emb_App/programme_principal_etud.c | ||
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unsigned int distance=0;
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unsigned int vitesse=0;
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unsigned int couleur=0; // vert -> ligne droie
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unsigned int npiste=0;
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unsigned int distance_ref=700;
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unsigned int consigne=450;
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unsigned int consigne_vitesse=34;
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unsigned int vitesse_min=24;
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unsigned int valeur_t=0;
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unsigned int valeur_r=0;
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int go=0;
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int k1=2;
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int k2=1;
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void piste(){
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//'M'/77/0x7D?: Mode de course :
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// Bit 15?: Etat feu tricolore ( 1 -> Vert, 0 -> Orange ou Rouge),
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// Bits 14-8?: 1 Attente, 2 course, 3 essais libres)
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// Bits 7-0?: numero de la piste
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CanFrame comm;
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CanFrame demande;
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CanFrame reponse;
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while(1){
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demande.data.id='M';
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demande.data.rtr=1;
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snd_dtq (CanTx,demande.msg); // Interrogation du peripherique
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dly_tsk(500);
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npiste=periph[ADDR('M')].val<<8; // contient la valeur de retour du simulateur.
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switch(npiste){
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case(256) : //verte
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consigne_vitesse =60;
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vitesse_min =35;
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distance_ref = 880;
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go=1;
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break;
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case(512) : //bleue
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consigne_vitesse =40;
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vitesse_min =22;
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distance_ref = 700;
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go=1;
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break;
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case(768) : //rouge
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consigne_vitesse =34;
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vitesse_min =24;
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distance_ref = 700;
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go=1;
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break;
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case(1024) : //noir
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consigne_vitesse =25;
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vitesse_min =25;
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distance_ref = 700;
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go=1;
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break;
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}
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ext_tsk();
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}
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}
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void asserv_tourelle(){
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| ... | ... | |
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sta_cyc(ID_acqui);
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sta_tsk(ID_periph_rx);
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sta_tsk(ID_piste);
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sta_tsk(ID_asserv_tourelle);
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sta_tsk(ID_asserv_roue);
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sta_cyc(ID_asserv1);
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sta_cyc(ID_asserv2);
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dly_tsk(600); // attente mise en place de la tourelle
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sta_tsk(ID_asserv_vitesse);
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sta_cyc(ID_asserv3);
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| branch/lepogam/Emb_App/conf_noyau.cfg | ||
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exinf = 0x0;
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};
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task[]{
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entry_address = piste();
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name = ID_piste;
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stack_size = 256;
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stack_section = stack;
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priority = 3;
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initial_start = OFF;
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exinf = 0x0;
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};
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task[]{
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entry_address = asserv_tourelle();
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name = ID_asserv_tourelle;
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stack_size = 256;
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Formats disponibles : Unified diff
ajout switch pour parametre en fonction de la piste