Révision 281
Ajouté par khmbaye il y a plus de 6 ans
| branch/mbaye/Emb_App/programme_principal_etud.c | ||
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#include "carte_m32.h"
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#include <math.h>
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//unsigned int com; //commande
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//int pos_tourelle;
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//int vitesse;
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int pos;
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int dis;
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UINT flag;
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//int a;
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//int b;
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int capt;
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FLGPTN flag;
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// Potentiometre: lire les registres ad00 et ad01, les valeurs sont sur 10 bits.
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| ... | ... | |
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// dly_tsk(100);
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comm.data.id='T'; comm.data.rtr=0;
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comm.data.val=450-pos;
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comm.data.val=1.5*(595-pos);
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snd_dtq (CanTx,comm.msg);
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dly_tsk(100);
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}
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| ... | ... | |
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//dly_tsk(100);
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comm.data.id='D'; comm.data.rtr=0;
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comm.data.val=-(450-dis);
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comm.data.val=-1.5*(595-dis);
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snd_dtq (CanTx,comm.msg);
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dly_tsk(100);
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}
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}
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void vitesse_roue()
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{
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CanFrame comm;
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dly_tsk(3000);
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comm.data.id='V'; comm.data.rtr=0;
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comm.data.val=15;
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snd_dtq (CanTx,comm.msg);
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dly_tsk(100);
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CanFrame comm;
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dly_tsk(3000);
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comm.data.id='V'; comm.data.rtr=0;
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comm.data.val=10;
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snd_dtq (CanTx,comm.msg);
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dly_tsk(100);
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}
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void info_capt()
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{
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CanFrame req;
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req.data.id='C'; req.data.rtr=1;
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periph[ADDR('C')].ev= 0x01;
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snd_dtq (CanTx,req.msg);
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wai_flg(event, (FLGPTN) 0x0007, TWF_ANDW, &flag);
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capt = periph[ADDR('C')].val;
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dly_tsk(100);
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clr_flg(event,~flag);
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}
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void main()
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{
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| ... | ... | |
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sta_tsk(ID_asserv_T);
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sta_tsk(ID_dist_T);
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sta_tsk(ID_vitesse_roue);
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sta_tsk(ID_info_capt);
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while(1)
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{
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| branch/mbaye/Emb_App/conf_noyau.cfg | ||
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exinf = 0x0;
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};
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task[]{
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entry_address = info_capt();
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name = ID_info_capt;
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stack_size = 512;
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stack_section = stack;
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priority = 10;
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initial_start = ON;
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exinf = 0x0;
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};
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task[]{
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entry_address = periph_tx();
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name = ID_periph_tx;
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stack_size = 256;
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