Projet

Général

Profil

« Précédent | Suivant » 

Révision 285

Ajouté par sabeaussan il y a plus de 6 ans

Voir les différences:

branch/beaussant/Emb_App/SessionM32C_E8a_system.hsf
"{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" "0000000000FF3112"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF313C"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_17" "0000000000FFF800"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000A1C"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000820"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000A4E"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000852"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "000000000000FFFF"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_20" "00000000000000C0"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_21" "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" "0000000000000005"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "0000000000000512"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000A1C"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_4" "0000000000000007"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "0000000000120000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000A4E"
"{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" "dist_obs, 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" "consigne, 1, 0, P, Col, Hex, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002" "consigne, 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" "c, 10, 0, P, Col, Hex, N"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0003_SCOPE" "Global,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0004" "commandeR, 1, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0004_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0005" "commandeV, 1, 0, P, Col, Dec, MN"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0005_SCOPE" "Global,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "6"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0005" "in, 1, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0005_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0006" "cmpt, 1, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0006_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0007" "is_stable, 1, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0007_SCOPE" "Global,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0008" "commandeV, 1, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0008_SCOPE" "Global,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0009" "est_stable, 1, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0009_SCOPE" "Global,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0010" "dans, 1, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0010_SCOPE" "Global,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "11"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth0" "120"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth1" "150"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth12" "200"
......
[WINDOW_Z_ORDER]
"E:\tp_info6_2018_beaussant\Emb_App\programme_principal_etud.c"
"E:\tp_info6_2018_beaussant\Emb_App\crt0mr.a30"
"E:\tp_info6_2018_beaussant\bsp\periph.c"
"E:\tp_info6_2018_beaussant\bsp\clavier.c"
"E:\tp_info6_2018_beaussant\Emb_App\conf_noyau.cfg"
"E:\tp_info6_2018_beaussant\bsp\uart0.c"
"E:\tp_info6_2018_beaussant\Emb_App\Debug\mr308.inc"
"E:\tp_info6_2018_beaussant\bsp\periph.c"
"E:\tp_info6_2018_beaussant\Emb_App\Debug\mrtable.a30"
"E:\tp_info6_2018_beaussant\bsp\lcd.c"
[TARGET_NAME]
......
[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 101505400 1 "{00000000-0000-0000-C000-000000000046}" ""
"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 100807856 1 "{00000000-0000-0000-C000-000000000046}" ""
"e:\tp_info6_2018_beaussant\emb_app\crt0mr.a30" 100 16711726 1 "{00000000-0000-0000-C000-000000000046}" ""
[END]
branch/beaussant/Emb_App/programme_principal_etud.c
// correspondant au nom du v?hicule si le nom se termine par '*'
int pos_obs=0;
int commandeT=500;
int commandeT=700;
int commandeV=40;
int commandeR=0;
//CanFrame touche;
short consigne=450;
int dist_obs=0;
int dist_consigne=709;
int dist_consigne=705;
int cmpt;
char kt=3;
char kv=15;
char kv=10;
float kr=1.5;
//char c;
int in;
int is_stable=0;
int dans;
int est_stable=0;
void envoieFrame(unsigned char id, unsigned short val)
......
int stable()
{
is_stable=0;
if(intervalle(commandeR,2)==1)
if(intervalle(commandeR,5)==1 && cmpt<=20)
{
cmpt++;
}
......
envoieFrame('V',commandeV);
dist_obs=acquiFrame('U');
while(est_stable!=1){
dist_obs=acquiFrame('U');
if(dist_obs<1000){
commandeR=-1*kr*(dist_consigne-dist_obs);
envoieFrame('D',commandeR);
dist_obs=acquiFrame('U');
envoieFrame('D',commandeR);
est_stable=stable();
}
dly_tsk(10);
est_stable=stable();
}
sta_tsk(ID_asserv_r);
sta_tsk(ID_asserv_v);
sta_tsk(ID_asserv_r);
}
......
envoieFrame('T',commandeT);
pos_obs=acquiFrame('R');
while(1)
{
{
commandeT=kt*(consigne-pos_obs);
envoieFrame('T',commandeT);
pos_obs=acquiFrame('R');
dly_tsk(15);
dly_tsk(10);
}
}
......
{
dist_obs=acquiFrame('U');
while(1){
commandeR=-1*kr*(dist_consigne-dist_obs);
envoieFrame('D',commandeR);
dist_obs=acquiFrame('U');
if(dist_obs<1000 ){
envoieFrame('V',commandeV);
commandeR=-1*kr*(dist_consigne-dist_obs);
envoieFrame('D',commandeR);
dist_obs=acquiFrame('U');
}
dly_tsk(10);
}
}
}
void asserv_vitesse()
{
commandeV=50;
envoieFrame('V',commandeV);
void asserv_vitesse(){
while(1){
commandeV=consigne+kv*commandeR;
envoieFrame('D',commandeR);
dist_obs=acquiFrame('U');
dly_tsk(10);
dans=intervalle(commandeR,14);
if(dans==1){
commandeV=70;
kr=0.5;
//consigne=0;
//kr=0;
}
else
{
commandeV=30;
//consigne=450;
kr=1.4;
}
dly_tsk(30);
}
}
/*int virage()
{
if(commandeR==0 && dist_obs<dist_consigne) return 1;
branch/beaussant/Emb_App/conf_noyau.cfg
};
task[]{
entry_address = depart();
name = ID_depart;
entry_address = asserv_vitesse();
name = ID_asserv_v;
stack_size = 256;
stack_section = stack;
priority = 3;
......
};
task[]{
entry_address = asserv_vitesse();
name = ID_asserv_v;
entry_address = depart();
name = ID_depart;
stack_size = 256;
stack_section = stack;
priority = 2;
priority = 5;
initial_start = OFF;
exinf = 0x0;
};
task[]{
entry_address = periph_rx();
name = ID_periph_rx;

Formats disponibles : Unified diff