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Révision 269

Ajouté par khmbaye il y a plus de 6 ans

Piste verte passée

Voir les différences:

branch/mbaye/Emb_App.tws
[GENERAL_DATA]
[BREAKPOINTS]
[OPEN_WORKSPACE_FILES]
"E:\tp_info6_2018_mbaye\tp_info6\bsp\clavier.c"
"E:\tp_info6_2018_mbaye\tp_info6\bsp\periph.c"
"E:\tp_info6_2018_mbaye\tp_info6\Emb_App\conf_noyau.cfg"
"E:\tp_info6_2018_mbaye\tp_info6\Emb_App\crt0mr.a30"
"E:\tp_info6_2018_mbaye\tp_info6\Emb_App\Debug\mr308.inc"
"E:\tp_info6_2018_mbaye\tp_info6\Emb_App\programme_principal_etud.c"
[WORKSPACE_FILE_STATES]
"E:\tp_info6_2018_mbaye\tp_info6\Emb_App\programme_principal_etud.c" 0 0 1426 497 0 0
"E:\tp_info6_2018_mbaye\tp_info6\Emb_App\Debug\mr308.inc" 0 0 1430 351 0 5
"E:\tp_info6_2018_mbaye\tp_info6\Emb_App\conf_noyau.cfg" 0 474 160 38 0 1
"E:\tp_info6_2018_mbaye\tp_info6\Emb_App\crt0mr.a30" 0 0 1596 539 0 3
"E:\tp_info6_2018_mbaye\tp_info6\Emb_App\programme_principal_etud.c" -8 -30 1596 539 1 4
"E:\tp_info6_2018_mbaye\tp_info6\bsp\clavier.c" 480 474 160 38 0 0
"E:\tp_info6_2018_mbaye\tp_info6\bsp\periph.c" 320 474 160 38 0 2
[LOADED_PROJECTS]
"EmbM32C87App"
[END]
branch/mbaye/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" "0000000000000020"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_0" "0000000000000000"
"{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" "0000000000FF0580"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_17" "0000000000FFF800"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000BBA"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "00000000000007EA"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "0000000000000001"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_20" "0000000000004044"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_15" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF0016"
"{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_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_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" "000000000000036A"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_34" "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_4" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000BE6"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_7" "0000000000000512"
"{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_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" "d, 2, 0, P, Col, Hex, MN"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000" "dis, 1, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001" "com, 2, 0, P, Col, Hex, MN"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001" "pos, 1, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002" "b, 10, 0, P, Col, Hex, N"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002" "pos_tourelle, 1, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0003" "a, 2, 0, P, Col, Hex, MN"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0003" "a, 1, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0003_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "4"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth0" "120"
......
[LANGUAGE]
"English"
[CONFIG_INFO_VD1]
0
1
[CONFIG_INFO_VD2]
0
[CONFIG_INFO_VD3]
......
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 "0.07" 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_mbaye\tp_info6\Emb_App\programme_principal_etud.c"
"E:\tp_info6_2018_mbaye\tp_info6\Emb_App\crt0mr.a30"
"E:\tp_info6_2018_mbaye\tp_info6\Emb_App\Debug\mr308.inc"
"E:\tp_info6_2018_mbaye\tp_info6\bsp\periph.c"
"E:\tp_info6_2018_mbaye\tp_info6\bsp\clavier.c"
"E:\tp_info6_2018_mbaye\tp_info6\Emb_App\conf_noyau.cfg"
[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 120622032 1 "{00000000-0000-0000-C000-000000000046}" ""
"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 89980032 1 "{00000000-0000-0000-C000-000000000046}" ""
[END]
branch/mbaye/Emb_App/programme_principal_etud.c
#include "carte_m32.h"
#include <math.h>
unsigned int com; //commande
int pos_tourelle;
int vitesse;
//unsigned int com; //commande
//int pos_tourelle;
//int vitesse;
int pos;
int dis;
int a;
UINT flag;
//int a;
//int b;
UINT flag;
// Potentiometre: lire les registres ad00 et ad01, les valeurs sont sur 10 bits.
......
// correspondant au nom du v?hicule si le nom se termine par '*'
void asserv_T()
{
while(1)
{
CanFrame comm,req;
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);
pos = periph[ADDR('R')].val;
// dly_tsk(100);
comm.data.id='T'; comm.data.rtr=0;
comm.data.val=450-pos;
snd_dtq (CanTx,comm.msg);
dly_tsk(100);
}
}
void dist_T()
{
while(1)
{
CanFrame comm,req;
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);
dis = periph[ADDR('U')].val;
//dly_tsk(100);
comm.data.id='D'; comm.data.rtr=0;
comm.data.val=-(450-dis);
snd_dtq (CanTx,comm.msg);
dly_tsk(100);
}
}
void vitesse_roue()
{
CanFrame comm;
dly_tsk(3000);
comm.data.id='V'; comm.data.rtr=0;
comm.data.val=15;
snd_dtq (CanTx,comm.msg);
dly_tsk(100);
}
void main()
{
ports_mcu();
......
sta_cyc(ID_acqui);
sta_tsk(ID_periph_rx);
sta_tsk(ID_asserv_T);
sta_tsk(ID_dist_T);
sta_tsk(ID_vitesse_roue);
while(1)
{
CanFrame m; CanFrame req;
m.data.id='T'; m.data.rtr=0; m.data.val=45;
pos_tourelle=m.data.val;
snd_dtq (CanTx,m.msg);
dly_tsk(100);
m.data.id='R'; m.data.rtr=1;
snd_dtq (CanTx,m.msg);
a= periph[ADDR('R')].val;
dly_tsk(100);
if(a>90)
{
m.data.id='T'; m.data.rtr=0;
pos_tourelle=0;
snd_dtq (CanTx,m.msg);
dly_tsk(100);
}
m.data.id='V'; m.data.rtr=0; m.data.val=35;
snd_dtq (CanTx,m.msg);
dly_tsk(100);
//rcv_dtq(CanRx, &m.msg);
switch(m.data.id)
{
case 'T':
// pos_tourelle=m.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);
pos=periph[ADDR('R')].val;
//pos_tourelle=1.2*(45-pos); snd_dtq (CanTx,m.msg);
dly_tsk(100);
break;
case 'V':
vitesse=m.data.val;
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);
dis=periph[ADDR('U')].maj;
dly_tsk(150);
break;
}
if (dis>14)
{
m.data.id='D'; m.data.rtr=0; m.data.val=-4,5;
snd_dtq (CanTx,m.msg); dly_tsk(150);
}
dly_tsk(1000);
}
}
branch/mbaye/Emb_App/conf_noyau.cfg
// system definition
system{
stack_size = 256;
priority = 8;
priority = 11;
system_IPL = 4;
message_pri = 1;
timeout = YES;
......
// max definition
maxdefine{
max_task = 3;
max_task = 6;
max_flag = 3;
max_dtq = 2;
max_cyh = 1;
......
exinf = 0x0;
};
task[]{
entry_address = asserv_T();
name = ID_asserv_T;
stack_size = 512;
stack_section = stack;
priority = 9;
initial_start = ON;
exinf = 0x0;
};
task[]{
entry_address = dist_T();
name = ID_dist_T;
stack_size = 512;
stack_section = stack;
priority = 9;
initial_start = ON;
exinf = 0x0;
};
task[]{
entry_address = vitesse_roue();
name = ID_vitesse_roue;
stack_size = 512;
stack_section = stack;
priority = 9;
initial_start = ON;
exinf = 0x0;
};
task[]{
entry_address = periph_tx();
name = ID_periph_tx;
stack_size = 256;
......
stack_size = 256;
stack_section = stack;
priority = 2;
initial_start = OFF;
initial_start = ON;
exinf = 0x0;
};
flag[]{
branch/mbaye/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