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Révision 261

Ajouté par naidzim1 il y a plus de 6 ans

asserv_direction fonctionnel, lecture des capteur à revoir

Voir les différences:

branch/najib_idzim/tp_info6/Emb_App.tws
[OPEN_WORKSPACE_FILES]
"E:\tp_info6_2018_najib_idzim\tp_info6\Emb_App\conf_noyau.cfg"
"E:\tp_info6_2018_najib_idzim\tp_info6\Emb_App\crt0mr.a30"
"E:\tp_info6_2018_najib_idzim\tp_info6\Emb_App\Debug\mr308.inc"
"E:\tp_info6_2018_najib_idzim\tp_info6\Emb_App\Debug\mrtable.a30"
"E:\tp_info6_2018_najib_idzim\tp_info6\Emb_App\programme_principal_etud.c"
[WORKSPACE_FILE_STATES]
"E:\tp_info6_2018_najib_idzim\tp_info6\Emb_App\Debug\mr308.inc" 75 75 1430 351 0 3
"E:\tp_info6_2018_najib_idzim\tp_info6\Emb_App\Debug\mrtable.a30" 100 100 1430 351 0 4
"E:\tp_info6_2018_najib_idzim\tp_info6\Emb_App\conf_noyau.cfg" 0 0 1596 539 0 2
"E:\tp_info6_2018_najib_idzim\tp_info6\Emb_App\crt0mr.a30" 25 25 1426 347 0 1
"E:\tp_info6_2018_najib_idzim\tp_info6\Emb_App\programme_principal_etud.c" -8 -30 1596 539 1 0
"E:\tp_info6_2018_najib_idzim\tp_info6\Emb_App\crt0mr.a30" -8 -30 1596 643 1 1
"E:\tp_info6_2018_najib_idzim\tp_info6\Emb_App\programme_principal_etud.c" 0 0 1596 539 0 0
[LOADED_PROJECTS]
"EmbM32C87App"
[END]
branch/najib_idzim/tp_info6/Emb_App/conf_noyau.cfg
task[]{
entry_address = main();
name = ID_main;
stack_size = 512;
stack_size = 1024;
stack_section = stack;
priority = 8;
initial_start = ON;
......
initial_start = OFF;
exinf = 0x0;
};
task[]{
entry_address = asserv_direction();
name = ID_asserv_direction;
stack_size = 1024;
stack_section = stack;
priority = 6;
initial_start = OFF;
exinf = 0x0;
};
branch/najib_idzim/tp_info6/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"
branch/najib_idzim/tp_info6/Emb_App/SessionM32C_E8a_system.hsf
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH" "c,buff,n,rx,flag,"
"{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_ITEMCnt" "1"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001" "distanceMesure, 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 "0.07" 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 "0.07" 261 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 "0.68" 365 0 0 350 200 2065 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 2 "0.56" 365 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 "0.24" 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"
"{WK_00000001_OUTPUT}" "WINDOW" 59422 0 2 "0.59" 261 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 "0.16" 261 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 0 "0.20" 365 0 0 350 200 18 0 "32781|32783|<<separator>>|32771|32772|32773|<<separator>>|32786|<<separator>>|32810|32811" "0.0"
"{WK_00000001_WATCH}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59422 0 0 "0.24" 261 0 0 350 200 18 0 "32781|32783|<<separator>>|32771|32772|32773|<<separator>>|32786|<<separator>>|32810|32811" "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_VD3]
[WINDOW_POSITION_STATE_DATA_VD4]
[WINDOW_Z_ORDER]
"E:\tp_info6_2018_najib_idzim\tp_info6\Emb_App\crt0mr.a30"
"E:\tp_info6_2018_najib_idzim\tp_info6\Emb_App\programme_principal_etud.c"
"E:\tp_info6_2018_najib_idzim\tp_info6\Emb_App\crt0mr.a30"
"E:\tp_info6_2018_najib_idzim\tp_info6\Emb_App\conf_noyau.cfg"
"E:\tp_info6_2018_najib_idzim\tp_info6\Emb_App\Debug\mrtable.a30"
"E:\tp_info6_2018_najib_idzim\tp_info6\Emb_App\Debug\mr308.inc"
[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 101005976 1 "{00000000-0000-0000-C000-000000000046}" ""
"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 99813168 1 "{00000000-0000-0000-C000-000000000046}" ""
[END]
branch/najib_idzim/tp_info6/Emb_App/programme_principal_etud.c
unsigned short disMur(); // lit distance du vehicule au mur en cm
void vitesseVoiture(int vitesse); // commande vitesse du vehicule en rad/sec
void cmdRoue(unsigned short angle); // commande angle des roues en 10e de degre
void asserv_direction();
int lireCapt();
char typeCapteur();
unsigned short distance = 56;
......
lcd_init();
periph_init();
periph_nom("#Ferrari");
can_init();
clavier_init(1);
capture_init();
sta_cyc(ID_acqui);
sta_tsk(ID_periph_rx);
sta_tsk(ID_periph_rx); // tache de tri de reponse du simulateur
vitesseVoiture(3);
sta_tsk(ID_asserv_tour);
dly_tsk(1000);
sta_tsk(ID_asserv_direction);
dly_tsk(1000);
vitesseVoiture(35);
while(1)
{
}
}
......
// fonction de tourelle
unsigned short posTourelle()
{
CanFrame requete;
UINT flag;
requete.data.id = 'R';
requete.data.rtr = 1; // Requete de lecture
periph[ADDR('R')].ev =0x01;
snd_dtq(CanTx, requete.msg);
wai_flg(ev_periph, 0x01, TWF_ANDW, &flag);
return periph[ADDR('R')].val;
}
void vitesseTourelle(int vitesse)
{
CanFrame comm;
......
snd_dtq (CanTx,comm.msg);
}
unsigned short disTelem()
{
CanFrame requete;
UINT flag;
requete.data.id = 'U';
requete.data.rtr = 1; // Requete de lecture
periph[ADDR('U')].ev =0x02;
snd_dtq(CanTx, requete.msg);
wai_flg(ev_periph, 0x02, TWF_ANDW, &flag);
return periph[ADDR('U')].val;
}
unsigned short disMur()
{
unsigned short longeurTelem, pos, distanceMur;
longeurTelem = disTelem();
pos = posTourelle();
distanceMur = longeurTelem * sin( 3.14*(pos/10)/180.0 );
return distanceMur;
}
// fonction direction et vitesse vehicule
void vitesseVoiture(int vitesse)
{
CanFrame comm;
......
snd_dtq (CanTx,comm.msg);
}
unsigned short posTourelle()
void cmdRoue(unsigned short angle)
{
CanFrame requete, reponse;
CanFrame comm;
requete.data.id = 'R';
requete.data.rtr = 1; // Requete de lecture
comm.data.id = 'D';
comm.data.rtr = 0; //ecriture
comm.data.val = angle;
snd_dtq (CanTx,comm.msg);
}
// capreur
int lireCapt()
{
CanFrame requete;
UINT flag;
requete.data.id = 'C';
requete.data.rtr = 1; // Requete de lecture
periph[ADDR('U')].ev =0x03;
snd_dtq(CanTx, requete.msg);
rcv_dtq(CanRx, &reponse.msg);
wai_flg(event, (FLGPTN) 0x0007, TWF_ANDW, &flag);
//wai_flg(ev_periph, 0x03, TWF_ANDW, &flag);
return reponse.data.val;
return periph[ADDR('C')].val;
}
char typeCapteur()
{
int lsb, msb;
int capteur = lireCapt();
char val;
lsb &= 0b00001111;
msb &= 0b11110000;
if (lsb == 6)
{
if (msb == 'C')
{
return 'C';
}
}
return 0;
}
// les asservissement
void asserv_tour()
{
unsigned short posCons,posSortie;
short k,vit;
k = 5; //gain def experimentalement
k = 3; //gain definni experimentalement
posCons = 450;
while(1)
......
}
unsigned short disTelem()
{
CanFrame requete, reponse;
requete.data.id = 'U';
requete.data.rtr = 1; // Requete de lecture
snd_dtq(CanTx, requete.msg);
rcv_dtq(CanRx, &reponse.msg);
return reponse.data.val;
}
unsigned short disMur()
void asserv_direction()
{
unsigned short longeurTelem, distanceMur;
longeurTelem = disTelem();
distanceMur = longeurTelem * cos( 90 - posTourelle()/10 );
return distanceMur;
}
void cmdRoue(unsigned short angle)
{
CanFrame comm;
long distanceCons , distanceMesure, k;
int angle;
comm.data.id = 'D';
comm.data.rtr = 0; //ecriture
comm.data.val = angle;
snd_dtq (CanTx,comm.msg);
k = 2; //gain definni experimentalement
distanceCons = 500; //disMur(); //Pos initiale milieu de piste
}
void asserv_direction()
{
unsigned short distance = disMur();
/* short k,vit;
k = 14; //gain definni experimentalement
posCons = 450;
while(1)
{
posSortie = posTourelle();
vit = k*( posCons - posSortie); //correcteur P
vitesseTourelle(vit);
}*/
if ( distance <45)
{
cmdRoue(-100);
if ( typeCapteur() == 'C')
{
cmdRoue(0);
}
else{
distanceMesure = disMur();
angle = -k*( distanceCons - distanceMesure ); //correcteur P
cmdRoue(angle);
}
dly_tsk(25);
}
else if (distance == 45)
{
cmdRoue(0);
}
else
{
cmdRoue(100);
}
}

Formats disponibles : Unified diff