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Révision 277

Ajouté par autchuemke il y a plus de 6 ans

piste verte ok

Voir les différences:

branch/tchuem/Emb_App.tws
[OPEN_WORKSPACE_FILES]
"E:\tp_info6_2018_tchuem\tp_info6\bsp\periph.c"
"E:\tp_info6_2018_tchuem\tp_info6\bsp\radiocommande.c"
"E:\tp_info6_2018_tchuem\tp_info6\bsp\uart0.c"
"E:\tp_info6_2018_tchuem\tp_info6\Emb_App\crt0mr.a30"
"E:\tp_info6_2018_tchuem\tp_info6\Emb_App\Debug\mr308.inc"
"E:\tp_info6_2018_tchuem\tp_info6\Emb_App\programme_principal_etud.c"
[WORKSPACE_FILE_STATES]
"E:\tp_info6_2018_tchuem\tp_info6\Emb_App\Debug\mr308.inc" 125 125 1430 351 0 4
"E:\tp_info6_2018_tchuem\tp_info6\Emb_App\crt0mr.a30" -8 -30 1596 539 1 0
"E:\tp_info6_2018_tchuem\tp_info6\Emb_App\programme_principal_etud.c" 100 100 1430 351 0 3
"E:\tp_info6_2018_tchuem\tp_info6\Emb_App\programme_principal_etud.c" 0 0 1596 539 0 3
"E:\tp_info6_2018_tchuem\tp_info6\bsp\periph.c" 50 50 1430 351 0 1
"E:\tp_info6_2018_tchuem\tp_info6\bsp\radiocommande.c" 75 75 1430 351 0 2
"E:\tp_info6_2018_tchuem\tp_info6\bsp\uart0.c" 125 125 1430 351 0 5
[LOADED_PROJECTS]
"EmbM32C87App"
[END]
branch/tchuem/Emb_App/SessionM32C_E8a_system.ini
[Target]
M32C E8a SYSTEM=Renesas Communications
[USER_DATA]
RESET=ff0022
RESET=ff001e
branch/tchuem/Emb_App/SessionM32C_E8a_system.hsf
"{313F4FC1-6566-11D5-8BBE-0004E2013C71}TclTkCtrlLogFileName" ""
"{313F4FC2-6566-11D5-8BBE-0004E2013C71}ECX_MEMORY_COMPARE_END_ADDRESS" ""
"{313F4FC2-6566-11D5-8BBE-0004E2013C71}ECX_MEMORY_COMPARE_START_ADDRESS" ""
"{313F4FC2-6566-11D5-8BBE-0004E2013C71}ECX_MEMORY_DISPLAY_DEST_ADDRESS" "500"
"{313F4FC2-6566-11D5-8BBE-0004E2013C71}ECX_MEMORY_DISPLAY_END_ADDRESS" "FFFFFF"
"{313F4FC2-6566-11D5-8BBE-0004E2013C71}ECX_MEMORY_DISPLAY_START_ADDRESS" "000000"
"{313F4FC2-6566-11D5-8BBE-0004E2013C71}ECX_MEMORY_DISPLAY_DEST_ADDRESS" ""
"{313F4FC2-6566-11D5-8BBE-0004E2013C71}ECX_MEMORY_DISPLAY_END_ADDRESS" ""
"{313F4FC2-6566-11D5-8BBE-0004E2013C71}ECX_MEMORY_DISPLAY_START_ADDRESS" ""
"{313F4FC2-6566-11D5-8BBE-0004E2013C71}ECX_MEMORY_FILL_END_ADDRESS" ""
"{313F4FC2-6566-11D5-8BBE-0004E2013C71}ECX_MEMORY_FILL_START_ADDRESS" ""
"{313F4FC2-6566-11D5-8BBE-0004E2013C71}ECX_MEMORY_MOVE_END_ADDRESS" ""
......
"{4B022541-3E95-11D7-909C-00201898052D}ElfDwarf2Objects" "1"
"{4B022541-3E95-11D7-909C-00201898052D}LoadModule0OBJ_ELFDWARF2_ARRAY_EXPAND_LIMIT" "-1"
"{4B022541-3E95-11D7-909C-00201898052D}LoadModule0OBJ_STATUS_OF_EBD_CMD" "0"
"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRCtrlViews" "1"
"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRCtrlViews" "0"
"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd0EnableRRam" "0"
"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd0MrType" "2"
"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd0MrType2ColumnSizeMode0Column0" "4"
......
"{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" "0000000000FF0584"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_17" "0000000000FFF800"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000ABA"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "00000000000007F4"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "0000000000000001"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_20" "0000000000000040"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_15" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF0026"
"{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" "0000000000000AF0"
"{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"
......
"{AC411480-6F0A-11D5-8EB6-00004CC34E9D}ECX_IMAGE_SAMPLEING_RATE" "1000"
"{AC411480-6F0A-11D5-8EB6-00004CC34E9D}ECX_IMAGE_VIEW" "0,0,0,0,0,0"
"{AC411480-6F0A-11D5-8EB6-00004CC34E9D}ImageCtrlViews" "0"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchCtrlViews" "4"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchCtrlViews" "0"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ColWidth0" "148"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ColWidth1" "186"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ColWidth12" "200"
......
"{D3D4595F-12B4-4866-8F9A-78C30AC967E3}T_EVENT_BC3" "0,0,1,0,1,0,1,0,0,0"
"{D3D4595F-12B4-4866-8F9A-78C30AC967E3}T_EVENT_BC4" "0,0,1,0,1,0,1,0,0,0"
"{D3D4595F-12B4-4866-8F9A-78C30AC967E3}T_SESSION_IS_SAVED" "YES"
"{D595F9C0-EF22-11D5-B7DB-0000E10B3DA9}EventCtrlViews" "2"
"{D595F9C0-EF22-11D5-B7DB-0000E10B3DA9}EventCtrlViews" "0"
"{D595F9C0-EF22-11D5-B7DB-0000E10B3DA9}EventWnd0ColWidth0" "40"
"{D595F9C0-EF22-11D5-B7DB-0000E10B3DA9}EventWnd0ColWidth1" "50"
"{D595F9C0-EF22-11D5-B7DB-0000E10B3DA9}EventWnd0ColWidth2" "280"
......
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 0 "0.09" 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"
"{WK_00000001_OUTPUT}" "WINDOW" 59422 0 2 "0.69" 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_OUTPUT}" "WINDOW" 59422 0 1 "1.00" 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 "0.10" 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_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 "0.09" 365 0 0 350 200 18 0 "32781|32783|<<separator>>|32771|32772|32773|<<separator>>|32786|<<separator>>|32810|32811" "0.0"
......
[WINDOW_Z_ORDER]
"E:\tp_info6_2018_tchuem\tp_info6\Emb_App\crt0mr.a30"
"E:\tp_info6_2018_tchuem\tp_info6\Emb_App\programme_principal_etud.c"
"E:\tp_info6_2018_tchuem\tp_info6\Emb_App\Debug\mr308.inc"
"E:\tp_info6_2018_tchuem\tp_info6\bsp\periph.c"
"E:\tp_info6_2018_tchuem\tp_info6\bsp\radiocommande.c"
"E:\tp_info6_2018_tchuem\tp_info6\bsp\periph.c"
"E:\tp_info6_2018_tchuem\tp_info6\Emb_App\Debug\mr308.inc"
"E:\tp_info6_2018_tchuem\tp_info6\bsp\uart0.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 96015936 1 "{00000000-0000-0000-C000-000000000046}" ""
[END]
branch/tchuem/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 '*'
float vitroue=23;
float vittour=30;
float A;
//float B;
float distance_mur=200;
float C=600;
float Dist; // distance mesur?e par la tourelle
float vit=5;
void main()
{
CanFrame co;
CanFrame demande,demande1;
CanFrame reponse,reponse1;
CanFrame demande1,demande;
CanFrame reponse1,reponse;
CanFrame co1;
CanFrame co2;
CanFrame co3;
ports_mcu();
lcd_init();
......
sta_cyc(ID_acqui);
// sta_tsk(ID_periph_rx);
sta_tsk(ID_periph_rx);
while(1)
{
co.data.id='T';
co.data.rtr=0;
co.data.val= vittour;
snd_dtq (CanTx,co.msg);
dly_tsk(1000);
demande.data.id='R';
demande.data.rtr=1;
snd_dtq (CanTx,demande.msg);
rcv_dtq (CanRx,&reponse.msg);
A=reponse.data.val;
demande.data.rtr=1;
snd_dtq(CanTx, demande.msg);
//rcv_dtq(CanRx, &reponse.msg);
A= (C - periph[ADDR('R')].val);
//dly_tsk(1000);
co1.data.id='V';
co1.data.rtr=0;
co1.data.val=vitroue;
dly_tsk(500);
snd_dtq (CanTx,co1.msg);
co1.data.id ='T';
co1.data.rtr =0;
co1.data.val = A;
snd_dtq(CanTx, co1.msg);
demande1.data.id='U';
demande1.data.rtr=1;
snd_dtq (CanTx,demande1.msg);
rcv_dtq (CanRx,&reponse1.msg);
//B=reponse1.data.val;
demande1.data.rtr=1;
snd_dtq(CanTx, demande1.msg);
Dist= periph[ADDR('U')].val;
if (reponse1.data.val <400){
co2.data.id='D';
co2.data.rtr=0;
co2.data.val= -10*A;
dly_tsk(1000);
snd_dtq (CanTx,co2.msg);
co1.data.id ='D';
co1.data.rtr =0;
co1.data.val = 1*(Dist-580);
snd_dtq(CanTx, co1.msg);
co2.data.id='D';
co2.data.rtr=0;
co2.data.val=0;
dly_tsk(100);
snd_dtq (CanTx,co2.msg);
}
co1.data.id ='V';
co1.data.rtr =0;
co1.data.val =vit;
snd_dtq(CanTx, co1.msg);
LED_J=1;
dly_tsk(100);
LED_J=0;
......
LED_V=!LED_V;
}
/*
void asserv_tour(void)
{
demande.data.id='R';
demande.data.rtr=1;
snd_dtq(CanTx, demande.msg);
A= C - periph[ADDR('R')].val;
}
*/

Formats disponibles : Unified diff