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Révision 249

Ajouté par ninoisette il y a plus de 6 ans

Changement de toutes les fonctions en tâche

Voir les différences:

branch/noisette/Emb_App.tws
"E:\tp_info6_2018_noisette\tp_info6\bsp\dma0.c"
"E:\tp_info6_2018_noisette\tp_info6\bsp\lcd.c"
"E:\tp_info6_2018_noisette\tp_info6\bsp\periph.c"
"E:\tp_info6_2018_noisette\tp_info6\bsp\uart0.c"
"E:\tp_info6_2018_noisette\tp_info6\Emb_App\conf_noyau.cfg"
"E:\tp_info6_2018_noisette\tp_info6\Emb_App\crt0mr.a30"
"E:\tp_info6_2018_noisette\tp_info6\Emb_App\programme_principal_etud.c"
[WORKSPACE_FILE_STATES]
"E:\tp_info6_2018_noisette\tp_info6\Emb_App\conf_noyau.cfg" 0 0 790 335 0 7
"E:\tp_info6_2018_noisette\tp_info6\Emb_App\crt0mr.a30" -8 -30 956 523 1 1
"E:\tp_info6_2018_noisette\tp_info6\Emb_App\programme_principal_etud.c" 0 0 956 523 0 0
"E:\tp_info6_2018_noisette\tp_info6\bsp\can.c" 0 0 956 523 0 2
......
"E:\tp_info6_2018_noisette\tp_info6\bsp\dma0.c" 125 125 790 335 0 5
"E:\tp_info6_2018_noisette\tp_info6\bsp\lcd.c" 150 150 790 335 0 6
"E:\tp_info6_2018_noisette\tp_info6\bsp\periph.c" 75 75 790 335 0 3
"E:\tp_info6_2018_noisette\tp_info6\bsp\uart0.c" 25 25 790 335 0 8
[LOADED_PROJECTS]
"EmbM32C87App"
[END]
branch/noisette/Emb_App/SessionM32C_E8a_system.hsf
"{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" "0000000000000020"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_1" "0000000000000120"
"{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" "0000000000FF0578"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF056C"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_17" "0000000000FFF800"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "00000000000009CC"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "00000000000007F6"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000C0C"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "000000000000082E"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_20" "0000000000000040"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_20" "0000000000004044"
"{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_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" "00000000000009F2"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000C2A"
"{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, 2, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000" "alpha, 1, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000_SCOPE" "Global,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001" "distance_tourelle, 1, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001_SCOPE" "Current Scope,"
......
[WINDOW_Z_ORDER]
"E:\tp_info6_2018_noisette\tp_info6\Emb_App\crt0mr.a30"
"E:\tp_info6_2018_noisette\tp_info6\Emb_App\programme_principal_etud.c"
"E:\tp_info6_2018_noisette\tp_info6\bsp\uart0.c"
"E:\tp_info6_2018_noisette\tp_info6\bsp\periph.c"
"E:\tp_info6_2018_noisette\tp_info6\Emb_App\conf_noyau.cfg"
"E:\tp_info6_2018_noisette\tp_info6\bsp\can.c"
"E:\tp_info6_2018_noisette\tp_info6\bsp\dma0.c"
"E:\tp_info6_2018_noisette\tp_info6\bsp\clavier.c"
"E:\tp_info6_2018_noisette\tp_info6\bsp\periph.c"
"E:\tp_info6_2018_noisette\tp_info6\bsp\can.c"
"E:\tp_info6_2018_noisette\tp_info6\bsp\lcd.c"
[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 100602392 1 "{00000000-0000-0000-C000-000000000046}" ""
"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 91165208 1 "{00000000-0000-0000-C000-000000000046}" ""
[END]
branch/noisette/Emb_App/programme_principal_etud.c
// 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 short alpha;
int alpha;
int consigne_tourelle;
int consigne_distance;
unsigned short k;
......
int erreur_distance;
int vitesse;
int distance_tourelle;
UINT flag;
UINT flag;
CanFrame comm, requete, reponse, req;
void asserv_tourelle()
{
while(1){
req.data.id='R';
req.data.rtr=1;
periph[ADDR('R')].ev=0x01;
snd_dtq(CanTx,req.msg);
wai_flg(ev_periph,0x01, TWF_ANDW, &flag);
alpha=periph[ADDR('R')].val;
k=2;
erreur_tourelle = 450 - alpha;
consigne_tourelle = k*erreur_tourelle;
comm.data.id= 'T';
comm.data.rtr=0;
comm.data.val=consigne_tourelle;
snd_dtq(CanTx, comm.msg);
}
dly_tsk(10);
}
void asserv_virage() {
while(1) {
req.data.id='U';
req.data.rtr=1;
periph[ADDR('U')].ev=0x01;
snd_dtq(CanTx,req.msg);
wai_flg(ev_periph,0x01, TWF_ANDW, &flag);
distance_tourelle=periph[ADDR('U')].val;
k = 12;
erreur_distance = 720 - distance_tourelle;
consigne_distance = k*erreur_distance;
consigne_distance = consigne_distance/10;
comm.data.id= 'D';
comm.data.rtr=0;
comm.data.val=-consigne_distance;
snd_dtq(CanTx, comm.msg);
dly_tsk(10);
}
}
void command(vitesse){
comm.data.id= 'V';
comm.data.rtr=0;
comm.data.val=vitesse;
snd_dtq(CanTx, comm.msg);
dly_tsk(10);
}
void main()
{
CanFrame comm, requete, reponse, req;
ports_mcu();
lcd_init();
periph_init();
......
capture_init();
sta_cyc(ID_acqui);
sta_tsk(ID_periph_rx);
sta_tsk(ID_periph_rx);
sta_tsk(ID_asserv_tourelle);
dly_tsk(2500);
sta_tsk(ID_asserv_virage);
while(1)
{
......
LED_J=0;
dly_tsk(100);
/*comm.data.id= 'T';
comm.data.rtr=0;
comm.data.val=100;
snd_dtq(CanTx, comm.msg);
dly_tsk(10);
comm.data.id= 'T';
comm.data.rtr=0;
comm.data.val=0;
snd_dtq(CanTx, comm.msg);
requete.data.id='R';
requete.data.rtr=1;
snd_dtq(CanTx, requete.msg);
rcv_dtq(CanRx, &reponse.msg);
alpha=reponse.data.val;*/
req.data.id='R';
req.data.rtr=1;
periph[ADDR('R')].ev=0x01;
snd_dtq(CanTx,req.msg);
wai_flg(ev_periph,0x01, TWF_ANDW, &flag);
alpha=periph[ADDR('R')].val;
dly_tsk(10);
req.data.id='U';
req.data.rtr=1;
periph[ADDR('U')].ev=0x01;
snd_dtq(CanTx,req.msg);
wai_flg(ev_periph,0x01, TWF_ANDW, &flag);
distance_tourelle=periph[ADDR('U')].val;
dly_tsk(10);
/*requete.data.id='U';
requete.data.rtr=1;
snd_dtq(CanTx, requete.msg);
rcv_dtq(CanRx, &reponse.msg);
distance_tourelle=reponse.data.val;*/
comm.data.id= 'T';
comm.data.rtr=0;
comm.data.val=asserv_tourelle(450);
snd_dtq(CanTx, comm.msg);
dly_tsk(50);
comm.data.id= 'V';
comm.data.rtr=0;
comm.data.val=10;
snd_dtq(CanTx, comm.msg);
dly_tsk(10);
comm.data.id= 'D';
comm.data.rtr=0;
comm.data.val=-asserv_virage(719);
snd_dtq(CanTx, comm.msg);
dly_tsk(10);
command(50);
}
}
......
LED_V=!LED_V;
}
int asserv_tourelle(consigne_tourelle)
{
k=1;
erreur_tourelle = consigne_tourelle - alpha;
consigne_tourelle = k*erreur_tourelle;
return consigne_tourelle;
}
int asserv_virage(consigne_distance) {
if (alpha==450)
k = 3;
erreur_distance = consigne_distance - distance_tourelle;
consigne_distance = k*erreur_distance;
consigne_distance = consigne_distance/10;
return consigne_distance;
}
branch/noisette/Emb_App/conf_noyau.cfg
initial_start = ON;
exinf = 0x0;
};
task[]{
entry_address = asserv_tourelle();
name = ID_asserv_tourelle;
stack_size = 256;
stack_section = stack;
priority = 3;
initial_start = OFF;
exinf = 0x0;
};
task[]{
entry_address = asserv_virage();
name = ID_asserv_virage;
stack_size = 256;
stack_section = stack;
priority = 3;
initial_start = OFF;
exinf = 0x0;
};
task[]{
entry_address = periph_tx();
name = ID_periph_tx;
stack_size = 256;
......
exinf = 0x0;
};
flag[]{
name = ev_bus_fin_tr;
initial_pattern = 0x0000;

Formats disponibles : Unified diff