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Révision 246

Ajouté par anfichot1 il y a plus de 6 ans

circuit vert réussi avec une vitesse de 10km/h

Voir les différences:

branch/fichot/Emb_App/SessionM32C_E8a_system.ini
[Target]
M32C E8a SYSTEM=Renesas Communications
[USER_DATA]
RESET=ff0016
RESET=ff0018
branch/fichot/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" "0000000000004044"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_1" "0000000000000120"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_0" "0000000000000001"
"{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" "0000000000FF057C"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF3116"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_17" "0000000000FFF800"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "00000000000009B6"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "00000000000007F2"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "00000000000009FC"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000800"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "00000000000000C0"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_20" "0000000000000044"
"{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_23" "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" "0000000000000008"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "00000000000009E6"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_4" "0000000000000004"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "0000000000550055"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "00000000000009FC"
"{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"
......
"{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, 10, 0, P, Col, Hex, N"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000" "distance, 10, 0, P, Col, Hex, N"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "1"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001" "angle, 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 "0.09" 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"
......
[WINDOW_POSITION_STATE_DATA_VD4]
[WINDOW_Z_ORDER]
"E:\tp_info6_2018_fichot\Emb_App\programme_principal_etud.c"
"E:\tp_info6_2018_fichot\Emb_App\conf_noyau.cfg"
"E:\tp_info6_2018_fichot\Emb_App\crt0mr.a30"
"E:\tp_info6_2018_fichot\Emb_App\conf_noyau.cfg"
"E:\tp_info6_2018_fichot\bsp\carte_io.h"
"E:\tp_info6_2018_fichot\bsp\periph.c"
"E:\tp_info6_2018_fichot\bsp\carte_m32.h"
"E:\tp_info6_2018_fichot\bsp\clavier.c"
"E:\tp_info6_2018_fichot\bsp\carte_io.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 89880264 1 "{00000000-0000-0000-C000-000000000046}" ""
"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 92734744 1 "{00000000-0000-0000-C000-000000000046}" ""
[END]
branch/fichot/Emb_App/programme_principal_etud.c
// correspondant au nom du v?hicule si le nom se termine par '*'
int k=4;
int vitesse = 40;
int k=2;
int k2=1;
int vitesse = 10;
CanFrame vit_roue; //canal de commande de la vitesse
/*void demarrer()
void demarrer()
{
vit_roue.data.id='V';
vit_roue.data.rtr=0;
vit_roue.data.val=vitesse;
snd_dtq (CanTx,vit_roue.msg);
}*/
}
void asserv_tourelle()
{
CanFrame comm;
short angle;
CanFrame req, reponse;
comm.data.id = 'T';
comm.data.rtr = 0;
comm.data.val = 120;
snd_dtq(CanTx, comm.msg);
while(1){
req.data.id = 'R';
req.data.rtr = 1;
while(1){
req.data.id = 'R';
req.data.rtr = 1;
snd_dtq(CanTx, req.msg);
angle = periph[ADDR('R')].val; //r?ponse de l'angle
snd_dtq(CanTx, req.msg);
rcv_dtq(CanRx, &reponse.msg);
angle = reponse.data.val;
comm.data.id = 'T';
comm.data.rtr = 0;
comm.data.val = k*(450 - angle);
snd_dtq(CanTx, comm.msg);
comm.data.id = 'T';
comm.data.rtr = 0;
comm.data.val = k*(450 - angle);
snd_dtq(CanTx, comm.msg);
dly_tsk(100);
}
}
short distance_telemetre(void){
CanFrame requete, reponse;
short distance;
requete.data.id = 'U';
requete.data.rtr = 1;
snd_dtq(CanTx, requete.msg);
rcv_dtq(CanRx, &reponse.msg);
void asserv2()
{
CanFrame comm;
CanFrame req, reponse;
unsigned short consigne = 770;
unsigned short distance;
return distance;
}
/*void asserv_roue(){
while(1){
req.data.id = 'U';
req.data.rtr = 1;
snd_dtq(CanTx, req.msg);
periph[ADDR('U')].val;
short dist;
const distance_au_centre = 719;
// avoir l'angle des roues
CanFrame comm;
comm.data.id = 'D';
comm.data.rtr = 0;
comm.data.val = 0;
snd_dtq(CanTx, comm.msg);
distance = periph[ADDR('U')].val; //r?ponse de distance
// rester au centre
dist = distance_telemetre();
//if(dist > distance_au_centre)
}*/
comm.data.id = 'D';
comm.data.rtr = 0;
comm.data.val = k2*(distance-consigne);
snd_dtq(CanTx, comm.msg);
dly_tsk(100);
}
}
void main()
{
......
can_init();
clavier_init(1);
capture_init();
sta_cyc(ID_acqui);
sta_tsk(ID_periph_rx);
sta_tsk(ID_asserv_tourelle);
//asserv_roue();
//demarrer();
sta_tsk(ID_asserv2);
dly_tsk(2000);
while(1){
demarrer();
}
}
branch/fichot/Emb_App/conf_noyau.cfg
//
// kernel.cfg : building file for MR308 Ver.4.00
//
// Generated by M3T-MR308 GUI Configurator at 2018/12/11 17:01:15
// Generated by M3T-MR308 GUI Configurator at 2018/12/14 14:41:44
//
////////////////////////////////////////////////////////////////////////////////
// system definition
system{
stack_size = 256;
priority = 9;
priority = 10;
system_IPL = 4;
message_pri = 1;
timeout = YES;
......
// max definition
maxdefine{
max_task = 4;
max_task = 5;
max_flag = 3;
max_dtq = 2;
max_cyh = 1;
......
initial_start = OFF;
exinf = 0x0;
};
task[]{
entry_address = asserv2();
name = ID_asserv2;
stack_size = 256;
stack_section = stack;
priority = 10;
initial_start = OFF;
exinf = 0x0;
};
flag[]{
name = ev_bus_fin_tr;
branch/fichot/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