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Révision 258

Ajouté par gamatteozz il y a plus de 6 ans

erreur suite à l'implementation de la tache capteur

Voir les différences:

branch/matteozzi/Emb_App.tws
[GENERAL_DATA]
[BREAKPOINTS]
[OPEN_WORKSPACE_FILES]
"E:\tp_info6_2018_matteozzi\tp_info6\bsp\periph.c"
"E:\tp_info6_2018_matteozzi\tp_info6\bsp\radiocommande.c"
"E:\tp_info6_2018_matteozzi\tp_info6\bsp\uart0.c"
"E:\tp_info6_2018_matteozzi\tp_info6\Emb_App\conf_noyau.cfg"
"E:\tp_info6_2018_matteozzi\tp_info6\Emb_App\crt0mr.a30"
"E:\tp_info6_2018_matteozzi\tp_info6\Emb_App\Debug\mr308.inc"
"E:\tp_info6_2018_matteozzi\tp_info6\Emb_App\programme_principal_etud.c"
[WORKSPACE_FILE_STATES]
"E:\tp_info6_2018_matteozzi\tp_info6\Emb_App\Debug\mr308.inc" 75 75 1430 346 0 3
"E:\tp_info6_2018_matteozzi\tp_info6\Emb_App\conf_noyau.cfg" 100 100 1380 444 0 4
"E:\tp_info6_2018_matteozzi\tp_info6\Emb_App\crt0mr.a30" 25 25 1405 405 0 1
"E:\tp_info6_2018_matteozzi\tp_info6\Emb_App\programme_principal_etud.c" -8 -30 1596 682 1 0
"E:\tp_info6_2018_matteozzi\tp_info6\bsp\periph.c" 125 125 1380 444 0 5
"E:\tp_info6_2018_matteozzi\tp_info6\bsp\radiocommande.c" 50 50 1405 405 0 2
"E:\tp_info6_2018_matteozzi\tp_info6\bsp\uart0.c" 150 150 1380 444 0 6
[LOADED_PROJECTS]
"EmbM32C87App"
[END]
branch/matteozzi/Emb_App/SessionM32C_E8a_system.ini
[Target]
M32C E8a SYSTEM=Renesas Communications
[USER_DATA]
RESET=ff0018
RESET=ff001c
branch/matteozzi/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" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_0" "000000000000FF01"
"{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" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF0014"
"{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_15" "0000000000000512"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF3063"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_17" "0000000000FFF800"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000B10"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000828"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "00000000000000FF"
"{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_27" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_28" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_29" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_3" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_3" "0000000000000001"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_30" "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" "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" "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_4" "0000000000000B14"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "0000000000000B1C"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000B24"
"{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"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_COUNT" "36"
......
"{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" "retour, 2, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000" "distance, 2, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001" "distance, 2, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001" "ang_lu, 2, 0, P, Col, Dec, MA"
"{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"
......
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 2 "0.08" 222 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 2 "0.07" 222 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" 222 0 0 350 200 18 0 "32774|32775|32777|<<separator>>|32780|<<separator>>" "0.0"
"{WK_00000001_EVENT}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59422 0 0 "0.13" 222 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"
"{WK_00000001_OUTPUT}" "WINDOW" 59422 0 1 "0.37" 222 0 0 350 200 18 0 "36756|36757|36758|36759|<<separator>>|36746|36747|<<separator>>|39531|<<separator>>|39500|39534|<<separator>>|36687" "0.0"
"{WK_00000001_OUTPUT}" "WINDOW" 59422 0 1 "0.35" 222 0 0 350 200 18 0 "36756|36757|36758|36759|<<separator>>|36746|36747|<<separator>>|39531|<<separator>>|39500|39534|<<separator>>|36687" "0.0"
"{WK_00000001_PDMR}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59422 0 3 "0.03" 222 0 0 350 200 18 0 "47300|47301|47302|47303|47304|47305|47314|47306|47307|47308|47311|47312|47313|42211|42509|42303" "0.0"
"{WK_00000001_REGISTERS}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59421 0 0 "1.00" 236 0 0 350 200 2065 0 "" "0.0"
"{WK_00000001_WATCH}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59422 0 4 "0.49" 222 0 0 350 200 18 0 "32781|32783|<<separator>>|32771|32772|32773|<<separator>>|32786|<<separator>>|32810|32811" "0.0"
......
[WINDOW_POSITION_STATE_DATA_VD4]
[WINDOW_Z_ORDER]
"E:\tp_info6_2018_matteozzi\tp_info6\Emb_App\programme_principal_etud.c"
"E:\tp_info6_2018_matteozzi\tp_info6\bsp\periph.c"
"E:\tp_info6_2018_matteozzi\tp_info6\Emb_App\crt0mr.a30"
"E:\tp_info6_2018_matteozzi\tp_info6\bsp\uart0.c"
"E:\tp_info6_2018_matteozzi\tp_info6\Emb_App\conf_noyau.cfg"
"E:\tp_info6_2018_matteozzi\tp_info6\bsp\radiocommande.c"
"E:\tp_info6_2018_matteozzi\tp_info6\Emb_App\Debug\mr308.inc"
"E:\tp_info6_2018_matteozzi\tp_info6\bsp\radiocommande.c"
[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 82128104 1 "{00000000-0000-0000-C000-000000000046}" ""
"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 101862544 1 "{00000000-0000-0000-C000-000000000046}" ""
[END]
branch/matteozzi/Emb_App/programme_principal_etud.c
//'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 K=6;
unsigned short k1=6;
unsigned short k2=2;
unsigned short ang_lu=0;
unsigned short ang_tourelle;
CanFrame comm;
CanFrame requete, reponse;
unsigned short vitesse;
unsigned short vitesse=0;
unsigned short distance;
unsigned short val_cap;
unsigned short cons_angl=450;
UINT flag;
///////////////////////////
//Declaration des taches///
///////////////////////////
void capteur(){ //asservissement de l'angle de la tourelle
while(0){
requete.data.id='C'; //demande de la requete C
requete.data.rtr=1; //demande de lecture car rtr=1
snd_dtq(CanTx, requete.msg); //envoie de la demande dans CanTx
val_cap=periph[ADDR('C')].val; //recupere la valeur du capteur dans cal-cap
}
dly_tsk(100);
}
void tourelle(){ //asservissement de l'angle de la tourelle
while(1){
requete.data.id='R'; //demande de la requete R
requete.data.rtr=1; //demande de lecture car rtr=1
periph[ADDR('R')].ev=0x01;
snd_dtq(CanTx, requete.msg); //envoie de la demande dans CanTx
wai_flg(ev_periph, 0x01, TWF_ANDW, &flag); //recoie la demande dans CanRx
ang_lu=periph[ADDR('R')].val; //recupere la valeur de l'angle dans retour
comm.data.id='T'; //demande de la requete T
comm.data.rtr=0; //commande d'ecriture car rtr=0
comm.data.val=K*(cons_angl-ang_lu);
comm.data.val=k1*(cons_angl-ang_lu);
snd_dtq(CanTx, comm.msg);
}
dly_tsk(50);
dly_tsk(100);
}
void commande(vitesse){ //commande de la vitesse
comm.data.id='V';
comm.data.rtr=0;
comm.data.val=vitesse;
snd_dtq(CanTx, comm.msg);
void commande_vit(){ //commande de la vitesse //TODO a ameliorer
while(1){
comm.data.id='V';
comm.data.rtr=0;
comm.data.val=vitesse;
snd_dtq(CanTx, comm.msg);
if(val_cap==0x5603){
vitesse=60;
}
}
}
void dist_tel(){
void orient_roue(){
while(1){
requete.data.id='U';
requete.data.rtr=1;
periph[ADDR('U')].ev=0x02;
periph[ADDR('U')].ev=0x01;
snd_dtq(CanTx, requete.msg);
wai_flg(ev_periph, 0x02, TWF_ANDW, &flag);
distance=periph[ADDR('U')].val; //recupere la valeur de l'angle dans retour
wai_flg(ev_periph, 0x01, TWF_ANDW, &flag);
distance=periph[ADDR('U')].val; //recupere la valeur de l'angle dans retour // amelioration de l asservissement
comm.data.id='D'; //demande de la requete T
comm.data.rtr=0; //commande d'ecriture car rtr=0
comm.data.val=2*(distance-780);
snd_dtq(CanTx, comm.msg);
if(distance>1500){
comm.data.id='D'; //demande de la requete D
comm.data.rtr=0; //commande d'ecriture car rtr=0
comm.data.val=0;
snd_dtq(CanTx, comm.msg);
dly_tsk(700);
}
if(val_cap==0x5603){
comm.data.id='D'; //demande de la requete D
comm.data.rtr=0; //commande d'ecriture car rtr=0
comm.data.val=0;
snd_dtq(CanTx, comm.msg);
dly_tsk(100000);
}
else{
comm.data.id='D'; //demande de la requete D
comm.data.rtr=0; //commande d'ecriture car rtr=0
comm.data.val=k2*(distance-730);
snd_dtq(CanTx, comm.msg);
dly_tsk(100);
}
}
dly_tsk(200);
}
void main()
{
{
dly_tsk(50);
ports_mcu();
lcd_init();
periph_init();
periph_nom("Titine");
dly_tsk(50);
can_init();
clavier_init(1);
capture_init();
dly_tsk(50);
sta_cyc(ID_acqui);
sta_tsk(ID_periph_rx);
sta_tsk(ID_tourelle);
sta_tsk(ID_distance);
commande(0);
sta_tsk(ID_orient_roue);
sta_tsk(ID_capteur);
sta_tsk(ID_commande_vit);
dly_tsk(1000);
commande(15);
dly_tsk(200);
commande(30);
dly_tsk(200);
vitesse=15;
dly_tsk(100);
vitesse=30;
while(1)
{
LED_J=1;
LED_J=0;
commande(47);
}
}
......
LED_V=!LED_V;
}
branch/matteozzi/Emb_App/conf_noyau.cfg
//
// kernel.cfg : building file for MR308 Ver.4.00
//
// Generated by M3T-MR308 GUI Configurator at 2018/12/11 16:26:27
// Generated by M3T-MR308 GUI Configurator at 2018/12/14 17:27:45
//
////////////////////////////////////////////////////////////////////////////////
// system definition
system{
stack_size = 256;
priority = 11;
priority = 15;
system_IPL = 4;
message_pri = 1;
timeout = YES;
......
// max definition
maxdefine{
max_task = 5;
max_task = 7;
max_flag = 3;
max_dtq = 2;
max_cyh = 1;
......
name = ID_tourelle;
stack_size = 256;
stack_section = stack;
priority = 9;
initial_start = OFF;
exinf = 0x0;
};
task[]{
entry_address = orient_roue();
name = ID_orient_roue;
stack_size = 256;
stack_section = stack;
priority = 10;
initial_start = OFF;
exinf = 0x0;
};
task[]{
entry_address = dist_tel();
name = ID_distance;
entry_address = capteur();
name = ID_capteur;
stack_size = 256;
stack_section = stack;
priority = 11;
priority = 15;
initial_start = OFF;
exinf = 0x0;
};
task[]{
entry_address = commande_vit();
name = ID_commande_vit;
stack_size = 256;
stack_section = stack;
priority = 12;
initial_start = OFF;
exinf = 0x0;
};
flag[]{
name = ev_bus_fin_tr;

Formats disponibles : Unified diff