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Révision 282

Ajouté par louisdupriet il y a plus de 6 ans

Voir les différences:

branch/dupriet/Emb_App.tws
[OPEN_WORKSPACE_FILES]
"E:\tp_info6_2018_dupriet\tp_info6\bsp\periph.c"
"E:\tp_info6_2018_dupriet\tp_info6\bsp\periph.h"
"E:\tp_info6_2018_dupriet\tp_info6\bsp\uart0.c"
"E:\tp_info6_2018_dupriet\tp_info6\Emb_App\conf_noyau.cfg"
"E:\tp_info6_2018_dupriet\tp_info6\Emb_App\crt0mr.a30"
"E:\tp_info6_2018_dupriet\tp_info6\Emb_App\Debug\mr308.inc"
"E:\tp_info6_2018_dupriet\tp_info6\Emb_App\programme_principal_etud.c"
[WORKSPACE_FILE_STATES]
"E:\tp_info6_2018_dupriet\tp_info6\Emb_App\Debug\mr308.inc" 150 150 1405 394 0 6
"E:\tp_info6_2018_dupriet\tp_info6\Emb_App\conf_noyau.cfg" 75 75 1430 351 0 2
"E:\tp_info6_2018_dupriet\tp_info6\Emb_App\crt0mr.a30" 25 25 1430 351 0 1
"E:\tp_info6_2018_dupriet\tp_info6\Emb_App\programme_principal_etud.c" -8 -30 1596 607 1 0
"E:\tp_info6_2018_dupriet\tp_info6\Emb_App\crt0mr.a30" -8 -30 1596 607 1 1
"E:\tp_info6_2018_dupriet\tp_info6\Emb_App\programme_principal_etud.c" 0 0 1596 607 0 0
"E:\tp_info6_2018_dupriet\tp_info6\bsp\periph.c" 100 100 1405 394 0 4
"E:\tp_info6_2018_dupriet\tp_info6\bsp\periph.h" 75 75 1405 394 0 3
"E:\tp_info6_2018_dupriet\tp_info6\bsp\uart0.c" 125 125 1405 394 0 5
[LOADED_PROJECTS]
"EmbM32C87App"
[END]
branch/dupriet/Emb_App/SessionM32C_E8a_system.ini
[Target]
M32C E8a SYSTEM=Renesas Communications
[USER_DATA]
RESET=ff0024
RESET=ff0020
branch/dupriet/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" "0000000000000001"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_1" "0000000000000000"
"{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_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" "0000000000FF3281"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF0576"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_17" "0000000000FFF800"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000A34"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000838"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_20" "00000000000000C0"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000B0E"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000848"
"{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_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_33" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_34" "000000000000036A"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_35" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_4" "0000000000000003"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "0000000000120000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000A34"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_4" "0000000000000008"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000B44"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_7" "0000000000000512"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_8" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_9" "0000000000000000"
......
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001" "d, 2, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002" "lecturevit, 2, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002" "capteur, 2, 0, P, Col, Hex, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "3"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth0" "120"
......
[WINDOW_POSITION_STATE_DATA_VD3]
[WINDOW_POSITION_STATE_DATA_VD4]
[WINDOW_Z_ORDER]
"E:\tp_info6_2018_dupriet\tp_info6\Emb_App\crt0mr.a30"
"E:\tp_info6_2018_dupriet\tp_info6\Emb_App\programme_principal_etud.c"
"E:\tp_info6_2018_dupriet\tp_info6\Emb_App\crt0mr.a30"
"E:\tp_info6_2018_dupriet\tp_info6\bsp\uart0.c"
"E:\tp_info6_2018_dupriet\tp_info6\Emb_App\conf_noyau.cfg"
"E:\tp_info6_2018_dupriet\tp_info6\Emb_App\Debug\mr308.inc"
"E:\tp_info6_2018_dupriet\tp_info6\bsp\periph.c"
"E:\tp_info6_2018_dupriet\tp_info6\bsp\periph.h"
"E:\tp_info6_2018_dupriet\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 96532928 1 "{00000000-0000-0000-C000-000000000046}" ""
"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 102889376 1 "{00000000-0000-0000-C000-000000000046}" ""
[END]
branch/dupriet/Emb_App/programme_principal_etud.c
unsigned int consigne_angulaire =350;// 900;
unsigned int alpha;
unsigned int k = 3;
unsigned int k = 3; //gain asserv tourelle
unsigned int d;
float roue=1;
unsigned int celerite=40;
int celerite=30;
unsigned int norme= 870;//494;
unsigned int lecturevit;
float gain=1;
unsigned int z;
unsigned int capteur;
void desactive(){
CanFrame req;
UINT flag;
while(1){
req.data.id='C';
req.data.rtr=1;
periph[ADDR('C')].ev=0x01;
snd_dtq(CanTx,req.msg);
wai_flg(ev_periph,0x01,TWF_ANDW,&flag);
capteur=periph[ADDR('C')].val;
if(capteur==0x5601){celerite=50;}
if(capteur==0x4a01){celerite=5;}
if(capteur==0x5602){celerite=50;}
if(capteur==0x5202){celerite=5;}
if(capteur==0x5603){celerite=50;}
if(capteur==0x4203){celerite=5;}
if(capteur==0x5604){celerite=50;}
if(capteur==0x4304){celerite=5;}
if (capteur==0x7610){celerite=50;roue=0;}
if (capteur==0x7611){celerite=0;dly_tsk(1500);roue=1;celerite=10;dly_tsk(800);celerite=30;}
dly_tsk(5);
}
}
void avancer(){
unsigned int z;
CanFrame comm;
CanFrame req;
UINT flag;
dly_tsk(1000);
while (1){/*
while (1){
req.data.id='D';
req.data.rtr=1;
periph[ADDR('D')].ev=0x01;
......
wai_flg(ev_periph,0x01,TWF_ANDW,&flag);
z=periph[ADDR('D')].val;
if z<700{
comm.data.id='V';
comm.data.rtr=0;
comm.data.val=celerite;
snd_dtq(CanTx,comm.msg);}
else{
comm.data.id='V';
comm.data.rtr=0;
comm.data.val=celerite/2;
snd_dtq(CanTx,comm.msg);
}*/
dly_tsk(10);
comm.data.id='V';
comm.data.rtr=0;
comm.data.val=celerite;
snd_dtq(CanTx,comm.msg);
dly_tsk(1000);
}
}
......
CanFrame req;
CanFrame com;
UINT flag;
dly_tsk(1000);
//dly_tsk(1000);
while (1){
req.data.id='U';
req.data.rtr=1;
......
snd_dtq(CanTx,req.msg);
wai_flg(ev_periph,0x01,TWF_ANDW,&flag);
d=periph[ADDR('U')].val;
dly_tsk(4);
dly_tsk(4);
if (d<1700){
comm.data.id='D';
comm.data.rtr=0;
comm.data.val=roue*(-norme+d);
snd_dtq(CanTx,comm.msg);}
com.data.id='V';
com.data.rtr=0;
lecturevit=(celerite - gain*(abs(-norme+d)/norme));
com.data.val=lecturevit;
snd_dtq(CanTx,com.msg);
dly_tsk(10);
}
}
......
comm.data.rtr=0;
comm.data.val=k * (consigne_angulaire - alpha);
snd_dtq (CanTx,comm.msg);
dly_tsk(2);
dly_tsk(10);
}
}
......
clavier_init(1);
capture_init();
//sta_tsk(ID_avancer);
sta_cyc(ID_acqui);
//sta_cyc(ID_acqui);
sta_tsk(ID_asserv_tourelle);
sta_tsk(ID_asserv_direction);
sta_tsk(ID_periph_rx);
sta_tsk(ID_desactive);
while(1)
{
dly_tsk(100);
/*
LED_J=1;
dly_tsk(100);
branch/dupriet/Emb_App/conf_noyau.cfg
exinf = 0x0;
};
task[]{
entry_address = desactive();
name = ID_desactive;
stack_size = 256;
stack_section = stack;
priority = 6;
initial_start = OFF;
exinf = 0x0;
};
flag[]{
name = ev_bus_fin_tr;
initial_pattern = 0x0000;
branch/dupriet/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