Révision 273
Ajouté par rococcallo il y a plus de 6 ans
| branch/Coccallotto/Emb_App.tws | ||
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[BREAKPOINTS]
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[OPEN_WORKSPACE_FILES]
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"E:\tp_info6_2018_Coccallotto\bsp\periph.c"
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"E:\tp_info6_2018_Coccallotto\bsp\uart0.c"
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"E:\tp_info6_2018_Coccallotto\Emb_App\crt0mr.a30"
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"E:\tp_info6_2018_Coccallotto\Emb_App\Debug\mr308.inc"
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"E:\tp_info6_2018_Coccallotto\Emb_App\programme_principal_etud.c"
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[WORKSPACE_FILE_STATES]
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"E:\tp_info6_2018_Coccallotto\Emb_App\crt0mr.a30" 0 0 1596 539 0 1
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"E:\tp_info6_2018_Coccallotto\Emb_App\programme_principal_etud.c" -8 -30 1596 539 1 0
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"E:\tp_info6_2018_Coccallotto\Emb_App\Debug\mr308.inc" 75 75 1430 351 0 3
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"E:\tp_info6_2018_Coccallotto\Emb_App\crt0mr.a30" -8 -30 1596 539 1 1
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"E:\tp_info6_2018_Coccallotto\Emb_App\programme_principal_etud.c" 0 0 1596 539 0 0
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"E:\tp_info6_2018_Coccallotto\bsp\periph.c" 50 50 1430 351 0 2
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"E:\tp_info6_2018_Coccallotto\bsp\uart0.c" 100 100 1430 351 0 4
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[LOADED_PROJECTS]
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"EmbM32C87App"
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[END]
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| branch/Coccallotto/Emb_App/SessionM32C_E8a_system.hsf | ||
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWndInstanceKey0" "{WK_00000001_PDMR}EmbM32C87AppSessionM32C_E8a_system"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_EVAL_DENORMAL_MODE" "0"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_EVAL_ROUND_MODE" "0"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_0" "0000000000000044"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_0" "0000000000004044"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_1" "0000000000000020"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_10" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_11" "0000000000000000"
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| ... | ... | |
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_13" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_14" "0000000000000000"
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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" "0000000000FF0577"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF0584"
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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" "00000000000009D4"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "00000000000007F6"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_20" "0000000000000044"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000BDA"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "000000000000080A"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "0000000000000002"
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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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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_22" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_23" "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" "00000000000009F2"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000C06"
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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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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ColWidth2" "120"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ColWidth3" "200"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH" "c,buff,n,rx,flag,"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000" "alpha, 1, 0, P, Col, Hex, MA"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000" "trajectoire, 1, 0, P, Col, Hex, MA"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000_SCOPE" "Current Scope,"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001" "commande, 1, 0, P, Col, Hex, MA"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001" "distance, 1, 0, P, Col, Hex, MA"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001_SCOPE" "Current Scope,"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "2"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002" "dismur, 1, 0, P, Col, Hex, MA"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002_SCOPE" "Current Scope,"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0003" "alpha, 1, 0, P, Col, Hex, MA"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0003_SCOPE" "Global,"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0004" "reception, 1, 0, P, Col, Hex, MA"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0004_SCOPE" "Current Scope,"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "5"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth0" "120"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth1" "150"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth12" "200"
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| ... | ... | |
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0
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[WINDOW_POSITION_STATE_DATA_VD1]
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"Help" "TOOLBAR 0" 59419 2 4 "0.00" 0 0 0 0 0 17 0 "" "0.0"
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"{WK_00000001_CmdLine}" "WINDOW" 59422 0 2 "0.09" 365 0 0 350 200 17 0 "32771|32772|32778|<<separator>>|32773|32774|<<separator>>|32820|<<separator>>|32801|32824" "0.0"
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"{WK_00000001_CmdLine}" "WINDOW" 59422 0 2 "0.08" 365 0 0 350 200 17 0 "32771|32772|32778|<<separator>>|32773|32774|<<separator>>|32820|<<separator>>|32801|32824" "0.0"
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"{WK_00000001_DISASSEMBLY}" "WINDOW" 0 0 0 "0.00" 0 -4 -30 948 486 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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| ... | ... | |
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[WINDOW_POSITION_STATE_DATA_VD3]
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[WINDOW_POSITION_STATE_DATA_VD4]
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[WINDOW_Z_ORDER]
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"E:\tp_info6_2018_Coccallotto\Emb_App\crt0mr.a30"
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"E:\tp_info6_2018_Coccallotto\Emb_App\programme_principal_etud.c"
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"E:\tp_info6_2018_Coccallotto\Emb_App\crt0mr.a30"
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"E:\tp_info6_2018_Coccallotto\bsp\uart0.c"
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"E:\tp_info6_2018_Coccallotto\Emb_App\Debug\mr308.inc"
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"E:\tp_info6_2018_Coccallotto\bsp\periph.c"
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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 90036416 1 "{00000000-0000-0000-C000-000000000046}" ""
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"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 89716912 1 "{00000000-0000-0000-C000-000000000046}" ""
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[END]
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| branch/Coccallotto/Emb_App/crt0mr.a30 | ||
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; after reset,this program will start
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;-----------------------------------------------------------------
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__SYS_INITIAL:
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LDC #__Sys_Sp,ISP ; set initial ISP
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LDC #__Sys_Sp,ISP ; set initial ISP
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MOV.B #2,0AH
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MOV.B #00,PMOD ; Set Processor Mode Register
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| branch/Coccallotto/Emb_App/programme_principal_etud.c | ||
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short reception;
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float kroues;
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float ktourelle;
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short valeurterrain;
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short valeurpiste;
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//distance mesurer par le capteur que l'on garde en constante ici
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CanFrame comm;
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CanFrame requete, reponse;
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| ... | ... | |
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void acqtourelle(void);
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void acqroues(void);
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void directionroues(void);
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void directionroues(void);
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void valcapt(void);
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void main()
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{
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dismur=0x02af; //distance mesurer par le capteur que l'on garde en constante ici
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dismur=700; //distance mesurer par le capteur que l'on garde en constante ici
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commande=450; //commande de la valeur de la tourelle
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kroues=1; //correction pour les roues de 5;
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ktourelle=1.2; //correction pour la tourelle de 10;
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vitesse=45; //commande de la vitesse des roues
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vitesse=30; //commande de la vitesse des roues
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valeurterrain= 0;
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ports_mcu();
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lcd_init();
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periph_init();
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| ... | ... | |
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UINT flag;
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acqtourelle();
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acqroues();
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directionroues();
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valcapt();
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switch (valeurterrain){
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case 0x6208:
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vitesse=45;
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kroues=0;
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break;
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case 0x761C:
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{
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vitesse=10;
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kroues=2;
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}
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default:
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vitesse=30;
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kroues=1;
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}
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dly_tsk(10);
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}
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}
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| ... | ... | |
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snd_dtq (CanTx,requete.msg);
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//rcv_dtq (CanRx,&reponse.msg);
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distance=(periph[ADDR('U')].val);
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if (distance>0x0500){
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if ((distance>900) || (distance<-900)){
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distance=dismur;
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}
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else{
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trajectoire=(kroues*( distance-dismur)); //asservisement pour les roues
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}
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}
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void directionroues(void)
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| ... | ... | |
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comm.data.id='V'; //commande de la vitesse des roues
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comm.data.rtr=0;
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comm.data.val=vitesse;
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snd_dtq (CanTx,comm.msg);
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if(distance<0x0200){
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vitesse=vitesse/3;
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}
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snd_dtq (CanTx,comm.msg);
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}
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void valcapt(void)
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{
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requete.data.id='C'; //numero de bande
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requete.data.rtr=1;
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snd_dtq (CanTx,requete.msg);
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//rcv_dtq (CanRx,&reponse.msg);
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valeurterrain=(periph[ADDR('C')].val);
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requete.data.id='M'; //numero de piste
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requete.data.rtr=1;
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snd_dtq (CanTx,requete.msg);
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//rcv_dtq (CanRx,&reponse.msg);
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valeurpiste=(periph[ADDR('M')].val);
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}
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Formats disponibles : Unified diff
passage piste rouge ok;
numéro de piste obtenu;
valeur des capteur aux sol connu.