Travaux Pratiques » Polytech Ge Info6 2018

"E:\tp_info6_2018_schiano\tp_info6\bsp\uart0.c"

"E:\tp_info6_2018_schiano\tp_info6\Emb_App\conf_noyau.cfg"

"E:\tp_info6_2018_schiano\tp_info6\Emb_App\crt0mr.a30"

"E:\tp_info6_2018_schiano\tp_info6\Emb_App\programme_principal_etud.c"

[WORKSPACE_FILE_STATES]

"E:\tp_info6_2018_schiano\tp_info6\Emb_App\conf_noyau.cfg" 25 25 1430 351 0 1

"E:\tp_info6_2018_schiano\tp_info6\Emb_App\crt0mr.a30" 0 0 1596 539 0 2

[LOADED_PROJECTS]

"EmbM32C87App"

[END]

[Target]

M32C E8a SYSTEM=Renesas Communications

[USER_DATA]

"{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_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_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_35" "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}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_ITEM0002_SCOPE" "Current Scope,"

"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0003_SCOPE" "Current Scope,"

"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0005_SCOPE" "Current Scope,"

"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0007_SCOPE" "Current Scope,"

"{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_DISASSEMBLY}" "WINDOW" 0 0 0 "0.00" 0 -4 -30 948 486 9 0 "" "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_REGISTERS}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59421 0 0 "1.00" 236 0 0 350 200 2065 0 "" "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_VD4]

[WINDOW_Z_ORDER]

"E:\tp_info6_2018_schiano\tp_info6\Emb_App\programme_principal_etud.c"

"E:\tp_info6_2018_schiano\tp_info6\Emb_App\crt0mr.a30"

"E:\tp_info6_2018_schiano\tp_info6\Emb_App\conf_noyau.cfg"

[TARGET_NAME]

"M32C E8a SYSTEM" "" 0

[STATUSBAR_STATEINFO_VD1]

[FLASH_DETAILS]

"" 0 0 "" 0 "" 0 0 "" 0 0 0 0 0 0 0 "" "" "" "" ""

[BREAKPOINTS]

[END]

// disponible. 0xab avec a-> nombre de couleurs bien plac?es et b -> couleurs pr?sentes mais mal plac?es.

//'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 '*'

unsigned int alpha =0;

unsigned int teta =100;

unsigned int angleRoue =0;

unsigned int distancemur =725;

unsigned int vitesselignedroite =0;

unsigned int vitessevirage =0;

int go=0;

int numero;

int Couleurperso =0;

void main()

{

CanFrame start;

ports_mcu();

lcd_init();

sta_cyc(ID_asservangleroue); //assservissement angle roue

sta_tsk(ID_asservRoue);

sta_tsk(ID_numpiste);

while(go!=1); //attente detection de la piste

//sta_cyc(ID_asservVitesseCyc);

{

void numpiste()

{

while(1){

switch(numero){

case(256) : //verte

vitesselignedroite =80;

vitessevirage =35;

consignealpha = 400;

go =1;

break;

vitessevirage =25;

consignealpha = 400;

consignedistance = 775;

go =1;

break;

vitessevirage =25;

consignealpha = 450;

consignedistance = 700;

go=1;

break;

vitesselignedroite =25;

vitessevirage =25;

consignealpha = 450;

go=1;

break;

}

}

void asserv0()

{

CanFrame comm;

CanFrame reponse;

while(1){

comm.data.id='T';

comm.data.rtr=0;

comm.data.val=teta; //consigne de vitesse de rotation de la tourelle

CanFrame reponseU;

while(1){

angleroues.data.id='D';

angleroues.data.rtr=0;

angleroues.data.val=angleRoue; //consigne d'angle des roues de la voiture

CanFrame demandeCapteur;

while(1){

demandeCapteur.data.id='C';

demandeCapteur.data.rtr=1;

};

task[]{

entry_address = numpiste();

name = ID_numpiste;

stack_size = 256;

exinf = 0x0;

start = OFF;

phsatr = OFF;

phs_counter = 0x0;

};

"SessionM32C_E8a_system"

[GENERAL_DATA_PROJECT]

[GENERAL_DATA_CONFIGURATION_Debug]

[SESSIONS_Debug]

"DefaultSession"

"SessionM32C_E8a_system"