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Révision 287

Ajouté par grlebanito il y a plus de 6 ans

seance3

Voir les différences:

branch/lebanitou/Emb_App.tws
"E:\tp_info6_lebanitou\Emb_App\Debug\mrtable.a30"
"E:\tp_info6_lebanitou\Emb_App\programme_principal_etud.c"
[WORKSPACE_FILE_STATES]
"E:\tp_info6_lebanitou\Emb_App\Debug\mrtable.a30" 25 25 1430 351 0 8
"E:\tp_info6_lebanitou\Emb_App\Debug\mrtable.a30" -8 -30 1596 539 1 8
"E:\tp_info6_lebanitou\Emb_App\conf_noyau.cfg" 150 150 1430 351 0 6
"E:\tp_info6_lebanitou\Emb_App\crt0mr.a30" 0 474 160 38 0 1
"E:\tp_info6_lebanitou\Emb_App\programme_principal_etud.c" -8 -30 1596 539 1 0
"E:\tp_info6_lebanitou\Emb_App\programme_principal_etud.c" 0 0 1596 539 0 0
"E:\tp_info6_lebanitou\bsp\can.c" 100 100 1430 351 0 4
"E:\tp_info6_lebanitou\bsp\clavier.c" 125 125 1430 351 0 5
"E:\tp_info6_lebanitou\bsp\lcd.c" 50 50 1426 347 0 2
branch/lebanitou/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" "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" "0000000000FF056C"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_17" "0000000000FFF800"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000FEE"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000810"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "0000000000000056"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_20" "0000000000004044"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_15" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FFFFFF"
"{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" "000000000000100C"
"{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"
......
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 1 "0.08" 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 2 "0.70" 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_POSITION_STATE_DATA_VD3]
[WINDOW_POSITION_STATE_DATA_VD4]
[WINDOW_Z_ORDER]
"E:\tp_info6_lebanitou\Emb_App\Debug\mrtable.a30"
"E:\tp_info6_lebanitou\bsp\uart0.c"
"E:\tp_info6_lebanitou\Emb_App\programme_principal_etud.c"
"E:\tp_info6_lebanitou\Emb_App\crt0mr.a30"
"E:\tp_info6_lebanitou\Emb_App\conf_noyau.cfg"
......
[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 89787784 1 "{00000000-0000-0000-C000-000000000046}" ""
"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 91015200 1 "{00000000-0000-0000-C000-000000000046}" ""
[END]
branch/lebanitou/Emb_App/programme_principal_etud.c
//'j'/106/06A : R?cup?ration du r?sultat de dernier code envoy?. 0x77 si aucun code n'a ?t? soumis. <0 si la r?ponse n'est pas
// disponible. 0xab avec a-> nombre de couleurs bien plac?es et b -> couleurs pr?sentes mais mal plac?es.
//'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 '*'
//variables globales utilis?es par les asservissements
int pos_tourelle;//position de la tourelle
int vitesse;
// correspondant au nom du v?hicule si le nom se termine par '*'
//variables globales utilis?es par les asservissements
int pos_tourelle; //position de la tourelle
int vitesse;
int pos;
UINT flag;
CanFrame comm;
consigne=450; // valeur de la consigne
k=1; // gain
int consigne=584; // valeur de la consigne
int k=1; // gain
int angle=0;
int valeur=0;
......
void rotation()
{
//LED_V=!LED_V;
CanFrame comm;
comm.data.id= 'T';
comm.data.rtr= 0;//indique une ?criture
comm.data.val= 120;
snd_dtq(CanTx, comm.msg);
CanFrame comm;
comm.data.id= 'T';
comm.data.rtr= 0; //indique une ?criture
comm.data.val= 120;
}
//envoie la voiture
//envoie la voiture
void essai()
{
while(1){
comm.data.id= 'V';
comm.data.rtr= 0;//indique une ?criture
comm.data.val= 10;
snd_dtq(CanTx, comm.msg);
dly_tsk(15);
}
while(1){
comm.data.id= 'V';
comm.data.rtr= 0; //indique une ?criture
comm.data.val= 25;
snd_dtq(CanTx, comm.msg);
dly_tsk(50);
}
}
// direction des roues
//void try()
//{
//while(1){
//comm.data.id= 'D';
//comm.data.rtr= 0;//indique une ?criture
//comm.data.val= 18;
//snd_dtq(CanTx, comm.msg);
//}
//}
// asservissement tourelle
// asservissement tourelle
void asservis()
{
CanFrame requete ;
CanFrame reponse;
CanFrame commande;
while(1)
{
requete.data.id='R';
requete.data.rtr=1; //Indique une requ?te de lecture
snd_dtq(CanTx, requete.msg);
angle=periph[ADDR('R')].val;
while(1){
requete.data.id='R';
requete.data.rtr=1; //Indique une requ?te de lecture
snd_dtq(CanTx, requete.msg);
dly_tsk(5);
angle=periph[ADDR('R')].val;
comm.data.id= 'T';
comm.data.rtr= 0;
valeur=k*(consigne-angle);
comm.data.val=valeur;
snd_dtq(CanTx, comm.msg);
dly_tsk(20);
}
}
// asservissement direction des roues
void direction()
{
CanFrame requete ;
CanFrame reponse;
CanFrame commande;
comm.data.id= 'T';
comm.data.rtr= 0;
valeur=k*(consigne-angle);
rcv_dtq(CanRx, &reponse.msg);
valeur=commande.data.val;
dly_tsk(100);
while(1){
requete.data.id='U';
requete.data.rtr=1; //Indique une requ?te de lecture
snd_dtq(CanTx, requete.msg);
angle=periph[ADDR('U')].val;
commande.data.id= 'D';
commande.data.rtr= 0;
valeur=k*(consigne-angle);
commande.data.val=-valeur;
snd_dtq(CanTx, commande.msg);
dly_tsk(5);
}
}
// distance
void distance()
{
CanFrame demande;
CanFrame reponse;
while(1){
demande.data.id='U';
demande.data.rtr=1;
snd_dtq (CanTx,demande.msg); // Interrogation du peripherique
dly_tsk(5);
pos=periph[ADDR('U')].val; //lecture de la valeur
dly_tsk(10);
if(periph[ADDR('U')].val>2000)
{
pos=584;
}
else
{
pos=periph[ADDR('U')].val;
dly_tsk(10);
}
}
}
void main()
{
ports_mcu();
lcd_init();
periph_init();
periph_nom("#AutoTest*");
periph_nom("#AutoTest*");
can_init();
clavier_init(1);
capture_init();
//sta_tsk(ID_try);
//sta_tsk(ID_decode);
//sta_tsk(ID_clavier);
//sta_cyc(ID_acqui);
sta_tsk(ID_asservis);
sta_tsk(ID_rotation);
while(1)
{
LED_J=1;
dly_tsk(100);
LED_J=0;
dly_tsk(100);
capture_init();
sta_tsk(ID_asservis);
sta_tsk(ID_periph_rx);
//sta_tsk(ID_rotation);
sta_tsk(ID_direction);
//sta_tsk(ID_distance);
dly_tsk(2000);
sta_tsk(ID_essai);
while(1){
LED_J=1;
dly_tsk(100);
LED_J=0;
dly_tsk(100);
}
}
}
branch/lebanitou/Emb_App/conf_noyau.cfg
stack_size = 512;
stack_section = stack;
priority = 8;
initial_start = ON;
initial_start = OFF;
exinf = 0x0;
};
......
stack_size = 512;
stack_section = stack;
priority = 8;
initial_start = ON;
initial_start = OFF;
exinf = 0x0;
};
......
stack_size = 512;
stack_section = stack;
priority = 8;
initial_start = ON;
initial_start = OFF;
exinf = 0x0;
};
task[]{
entry_address = direction();
name = ID_direction;
stack_size = 512;
stack_section = stack;
priority = 8;
initial_start = OFF;
exinf = 0x0;
};
task[]{
entry_address = distance();
name = ID_distance;
stack_size = 512;
stack_section = stack;
priority = 8;
initial_start = OFF;
exinf = 0x0;
};
......
//
// End of Configuration
//

Formats disponibles : Unified diff