Révision 259
Ajouté par hanzhang1 il y a plus de 6 ans
| branch/zhang/Emb_App/SessionM32C_E8a_system.hsf | ||
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_15" "0000000000000512"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF0678"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_17" "0000000000FFF800"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000E66"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000B9E"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000E6A"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000BA2"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "0000000000000001"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_20" "0000000000004044"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_21" "0000000000000000"
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| ... | ... | |
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_35" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_4" "0000000000000008"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000E9A"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000E9E"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_7" "0000000000000512"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_8" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_9" "0000000000000000"
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| ... | ... | |
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"{WK_00000001_DISASSEMBLY}" "WINDOW" 0 0 0 "0.00" 0 -8 -30 1596 539 9 0 "" "0.0"
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"{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"
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"{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"
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"{WK_00000001_OUTPUT}" "WINDOW" 59422 0 2 "0.52" 365 0 0 350 200 18 0 "36756|36757|36758|36759|<<separator>>|36746|36747|<<separator>>|39531|<<separator>>|39500|39534|<<separator>>|36687" "0.0"
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"{WK_00000001_PDMR}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59422 0 3 "0.20" 365 0 0 350 200 18 0 "47300|47301|47302|47303|47304|47305|47314|47306|47307|47308|47311|47312|47313|42211|42509|42303" "0.0"
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"{WK_00000001_OUTPUT}" "WINDOW" 59422 0 2 "0.45" 365 0 0 350 200 18 0 "36756|36757|36758|36759|<<separator>>|36746|36747|<<separator>>|39531|<<separator>>|39500|39534|<<separator>>|36687" "0.0"
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"{WK_00000001_PDMR}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59422 0 3 "0.27" 365 0 0 350 200 18 0 "47300|47301|47302|47303|47304|47305|47314|47306|47307|47308|47311|47312|47313|42211|42509|42303" "0.0"
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"{WK_00000001_REGISTERS}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59421 0 0 "1.00" 236 0 0 350 200 2065 0 "" "0.0"
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"{WK_00000001_WATCH}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59422 0 4 "0.17" 365 0 0 350 200 18 0 "32781|32783|<<separator>>|32771|32772|32773|<<separator>>|32786|<<separator>>|32810|32811" "0.0"
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"{WK_00000002_WORKSPACE}" "WINDOW" 59420 0 0 "1.00" 308 0 0 350 200 18 0 "" "0.0"
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| ... | ... | |
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[WINDOW_POSITION_STATE_DATA_VD4]
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[WINDOW_Z_ORDER]
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"E:\tp_info6_zhan\Emb_App\programme_principal_etud.c"
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"E:\tp_info6_zhan\bsp\lcd.c"
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"E:\tp_info6_zhan\Emb_App\crt0mr.a30"
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"E:\tp_info6_zhan\bsp\periph.c"
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"E:\tp_info6_zhan\bsp\lcd.c"
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"E:\tp_info6_zhan\bsp\uart0.c"
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"E:\tp_info6_zhan\Emb_App\conf_noyau.cfg"
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"E:\tp_info6_zhan\Emb_App\Debug\kernel_id.h"
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"E:\tp_info6_zhan\bsp\uart0.c"
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"E:\tp_info6_zhan\Emb_App\Debug\mr308.inc"
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[TARGET_NAME]
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"M32C E8a SYSTEM" "" 0
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| ... | ... | |
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[FLASH_DETAILS]
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"" 0 0 "" 0 "" 0 0 "" 0 0 0 0 0 0 0 "" "" "" "" ""
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[BREAKPOINTS]
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"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 88790952 1 "{00000000-0000-0000-C000-000000000046}" ""
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"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 95806312 1 "{00000000-0000-0000-C000-000000000046}" ""
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[END]
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| branch/zhang/Emb_App/programme_principal_etud.c | ||
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unsigned int alpha; //angle
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unsigned int distance; // Distance mesuree par le telemetre (1/100 de metre)
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unsigned int v; //vitesse
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unsigned int c; //
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void main()
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{
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| ... | ... | |
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sta_cyc(ID_acqui);
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sta_tsk(ID_periph_rx); //config de periph, donc je peut utilise periph(R U)
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/******************************************************************************************/
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// sta_cyc(ID_asserv);
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sta_tsk(ID_control_tourelle);
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sta_tsk(ID_control_direct);
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// sta_tsk(ID_angle_T);
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// sta_tsk(ID_vitesse_T);
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// dly_tsk(2000);
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sta_tsk(ID_vitesse);
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sta_cyc(ID_affiche);
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/*********************************************************************************************/
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while(1)
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{
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LED_J=1;
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| ... | ... | |
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}
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}
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/*************************************************************************************/
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/*
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void asserv()
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{
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iwup_tsk(ID_control_tourelle);
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}
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*/
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/***********************************************************************************/
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void acqui()
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{
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LED_V=!LED_V;
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}
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/****************************************************************************************/
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void control_tourelle(){
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// Q5 obtenir l'angle
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// et commande la vitesse de tourelle(asservissement)
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CanFrame requete, reponse, comm;
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FLGPTN flag;
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unsigned int a;
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float kt = 2;
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while(1){
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// slp_tsk();
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requete.data.id = 'R'; // angle de tourelle
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wai_flg (ev_periph,0x01,TWF_ANDW,&flag); //wait reponse
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alpha = periph[ADDR('R')].val;
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a = ad00 - alpha; // vitesse = consigne - position
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if(alpha > 900 ) a = 0; // alpha >90? stop move
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a = kt *(450 - alpha); // vitesse = consigne - position
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// if(alpha > 900 ) a = 0; // alpha >90? stop move
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comm.data.id = 'T'; // vitesse de tourelle
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comm.data.rtr = 0;
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comm.data.val = a; //val de command est c-p
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| ... | ... | |
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}
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}
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/***************************************************************************/
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void control_direct(){
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CanFrame requete, reponse, comm;
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FLGPTN flag;
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unsigned int c;
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unsigned int c;
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float kd = 1;
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while(1){
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wai_flg (ev_periph,0x02,TWF_ANDW,&flag);
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distance = periph[ADDR('U')].val;
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// if( distance > 1850 & distance < 2150) c = 0;
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c = -0.2 *( distance-1600 );
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if( distance < 400) distance = 705;
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c = kd *( distance - 705);
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comm.data.id = 'D';
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comm.data.rtr = 0;
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comm.data.val = c;
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snd_dtq(CanTx, comm.msg);
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// dly_tsk(10);
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dly_tsk(10);
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}
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}
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/****************************************************************************/
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void affiche(){
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char str[20];
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char str1[20];
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char str2[20];
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lcd_com(0xC0);
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sprintf(str," %d ", distance);
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lcd_str(str);
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sprintf(str1," %d ", distance);
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lcd_str(str1);
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lcd_com(0x90);
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sprintf(str2," %d ", alpha);
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lcd_str(str2);
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}
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/*******************************************************************************/
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void vitesse(){
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CanFrame comm;
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while (1){
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if ( distance<680 || distance>750) v = 20;
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else v = 50;
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comm.data.id = 'V';
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comm.data.rtr = 0;
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comm.data.val = 5;
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comm.data.val = v;
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snd_dtq(CanTx, comm.msg);
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}
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}
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Formats disponibles : Unified diff