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Révision 289

Ajouté par jotoribio il y a plus de 6 ans

Piste rouge passée avec succès

Voir les différences:

branch/toribio/Emb_App.tws
[GENERAL_DATA]
[BREAKPOINTS]
[OPEN_WORKSPACE_FILES]
"E:\tp_info6_2018_toribio\tp_info6\bsp\periph.c"
"E:\tp_info6_2018_toribio\tp_info6\bsp\uart0.c"
"E:\tp_info6_2018_toribio\tp_info6\Emb_App\conf_noyau.cfg"
"E:\tp_info6_2018_toribio\tp_info6\Emb_App\crt0mr.a30"
"E:\tp_info6_2018_toribio\tp_info6\Emb_App\Debug\mr308.inc"
"E:\tp_info6_2018_toribio\tp_info6\Emb_App\programme_principal_etud.c"
[WORKSPACE_FILE_STATES]
"E:\tp_info6_2018_toribio\tp_info6\Emb_App\Debug\mr308.inc" 50 50 1430 351 0 2
"E:\tp_info6_2018_toribio\tp_info6\Emb_App\conf_noyau.cfg" 75 75 1430 351 0 3
"E:\tp_info6_2018_toribio\tp_info6\Emb_App\crt0mr.a30" 25 25 1430 351 0 1
"E:\tp_info6_2018_toribio\tp_info6\Emb_App\programme_principal_etud.c" -8 -30 1596 539 1 0
"E:\tp_info6_2018_toribio\tp_info6\bsp\periph.c" 100 100 1430 351 0 4
"E:\tp_info6_2018_toribio\tp_info6\bsp\uart0.c" 125 125 1430 351 0 5
[LOADED_PROJECTS]
"EmbM32C87App"
[END]
branch/toribio/Emb_App/SessionM32C_E8a_system.ini
[Target]
M32C E8a SYSTEM=Renesas Communications
[USER_DATA]
RESET=ff001e
RESET=ff001c
branch/toribio/Emb_App/SessionM32C_E8a_system.hsf
""
[GENERAL_DATA]
"FIRST_CONNECTION_TAG" "NO"
"MRULABELS_DATAMANAGER_KEY" "FFFFFF|000000|500"
"MRULABELS_DATAMANAGER_KEY" "616|FFFFFF|000000|0612|500"
"RESET_CPU_AFTER_DOWNLOAD_TAG" "VARIANT_TRUE_STORE_TAG"
"{287A8023-99B5-49E1-A54E-4DDCA43D7959}MapCtrlECX_MAP_FIND_SYMBOL_LIST" ""
"{287A8023-99B5-49E1-A54E-4DDCA43D7959}MapCtrlViews" "0"
......
"{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_DEST_ADDRESS" "0612"
"{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_FILL_END_ADDRESS" ""
......
"{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" "0000000000000001"
"{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" "0000000000FF056E"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF33EA"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_17" "0000000000FFF800"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000928"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "000000000000074A"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000A66"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "000000000000086A"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_20" "0000000000004004"
"{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_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" "0000000000000008"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000946"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_4" "0000000000000007"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "0000000000030000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000A66"
"{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}WatchWnd0ColWidth2" "120"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ColWidth3" "200"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH" "c,buff,n,rx,flag,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000" "dma0_fin_tr, 2, 0, P, Col, Hex, MN"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000" "virage, 1, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "0"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001" "numcapt, 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" "sauter, 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" "trouV, 1, 0, P, Col, Hex, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0003_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "4"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth0" "120"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth1" "150"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth12" "200"
......
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 0 "0.14" 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 "0.16" 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 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 "0.15" 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_CmdLine}" "WINDOW" 59422 0 2 "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" 0 150 150 1430 351 10 0 "" "0.0"
"{WK_00000001_EVENT}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59422 0 0 "0.06" 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 "0.30" 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 3 "0.65" 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 4 "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 "0.13" 365 0 0 350 200 18 0 "32781|32783|<<separator>>|32771|32772|32773|<<separator>>|32786|<<separator>>|32810|32811" "0.0"
"{WK_00000001_WATCH}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59422 0 1 "0.19" 365 0 0 350 200 18 0 "32781|32783|<<separator>>|32771|32772|32773|<<separator>>|32786|<<separator>>|32810|32811" "0.0"
"{WK_00000002_WORKSPACE}" "WINDOW" 59420 0 0 "1.00" 308 0 0 350 200 18 0 "" "0.0"
"{WK_TB00000001_STANDARD}" "TOOLBAR 0" 59419 0 2 "0.00" 0 0 0 0 0 18 0 "" "0.0"
"{WK_TB00000002_EDITOR}" "TOOLBAR 0" 59419 0 0 "0.00" 0 0 0 0 0 18 0 "" "0.0"
......
[WINDOW_POSITION_STATE_DATA_VD3]
[WINDOW_POSITION_STATE_DATA_VD4]
[WINDOW_Z_ORDER]
"E:\programmation\Travaux_Pratiques\Polytech_Ge_Travaux_Pratiques_2018\polytech-ge-info6-2018\trunk\tp_info6\Emb_App\programme_principal_etud.c"
"E:\tp_info6_2018_toribio\tp_info6\Emb_App\programme_principal_etud.c"
"E:\tp_info6_2018_toribio\tp_info6\Emb_App\crt0mr.a30"
"E:\tp_info6_2018_toribio\tp_info6\Emb_App\Debug\mr308.inc"
"E:\tp_info6_2018_toribio\tp_info6\Emb_App\conf_noyau.cfg"
"E:\tp_info6_2018_toribio\tp_info6\bsp\uart0.c"
"E:\tp_info6_2018_toribio\tp_info6\Emb_App\Debug\Disassembly"
"E:\tp_info6_2018_toribio\tp_info6\bsp\periph.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 0 1 "{00000000-0000-0000-C000-000000000046}" ""
"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 95164360 1 "{00000000-0000-0000-C000-000000000046}" ""
[END]
branch/toribio/Emb_App/programme_principal_etud.c
// correspondant au nom du v?hicule si le nom se termine par '*'
short alpha;
short distance;
unsigned short distance;
short angleR;
/*short vitesse;*/
short virage=0;
short numcapt=0;
short sauter=0;
short trouV=0;
void asserv0(){
while(1){
short k=1; //Gain du correcteur P
//lecture de la position de la tourelle
CanFrame req,comm;
UINT flag;
short k=1; //Gain du correcteur P
//lecture de la position de la tourelle
CanFrame req,comm;
UINT flag;
req.data.id='R';
req.data.rtr=1;
periph[ADDR('R')].ev=0x01;
snd_dtq(CanTx, req.msg);
//Attente de la r?ponse
wai_flg (ev_periph, 0x01, TWF_ANDW, &flag);
alpha=periph[ADDR('R')].val;
req.data.id='R';
req.data.rtr=1;
periph[ADDR('R')].ev=0x01;
snd_dtq(CanTx, req.msg);
//Attente de la r?ponse
wai_flg (ev_periph, 0x01, TWF_ANDW, &flag);
alpha=periph[ADDR('R')].val;
//Commande vitesse de la tourelle
comm.data.id='T';
comm.data.rtr=0; //indique une ?criture
comm.data.val=k*(450/*ou ad00*/-alpha);
snd_dtq(CanTx, comm.msg);
dly_tsk(5);
//Commande vitesse de la tourelle
comm.data.id='T';
comm.data.rtr=0; //indique une ?criture
comm.data.val=k*(450/*ou ad00*/-alpha);
snd_dtq(CanTx, comm.msg);
dly_tsk(5);
}
}
void dist(){
while(1){
//lecture de la distance du mur
CanFrame req;
UINT flag;
//lecture de la distance du mur
CanFrame req;
UINT flag;
req.data.id='U';
req.data.rtr=1;
periph[ADDR('U')].ev=0x02;
snd_dtq(CanTx, req.msg);
//Attente de la r?ponse
wai_flg (ev_periph, 0x02, TWF_ANDW, &flag);
distance=periph[ADDR('U')].val;
dly_tsk(5);}
req.data.id='U';
req.data.rtr=1;
periph[ADDR('U')].ev=0x02;
snd_dtq(CanTx, req.msg);
//Attente de la r?ponse
wai_flg (ev_periph, 0x02, TWF_ANDW, &flag);
distance=periph[ADDR('U')].val;
dly_tsk(5);
}
}
void roue(){
while(1){
short k=2; //Gain du correcteur P
//lecture de la position de la roue
CanFrame req,comm;
UINT flag;
if (sauter==0){
//Commande de l'angle de roue
comm.data.id='D';
comm.data.rtr=0; //indique une ?criture
if (distance>1000);
else comm.data.val=k*(distance-700);
snd_dtq(CanTx, comm.msg);
dly_tsk(5);
}
short k=2; //Gain du correcteur P
//lecture de la position de la roue
CanFrame req,comm;
UINT flag;
if (sauter==0){
//Commande de l'angle de roue
comm.data.id='D';
comm.data.rtr=0; //indique une ?criture
if (distance>1000);
else comm.data.val=k*(distance-700);
snd_dtq(CanTx, comm.msg);
dly_tsk(5);
}
else if (sauter==2){
//Commande de l'angle de roue
comm.data.id='D';
comm.data.rtr=0; //indique une ?criture
if (distance>1000);
else comm.data.val=k*(distance-610);//on tourne un peu plus pour le saut
snd_dtq(CanTx, comm.msg);
dly_tsk(5);
else if (sauter==2){
//Commande de l'angle de roue
comm.data.id='D';
comm.data.rtr=0; //indique une ?criture
if (distance>1000);
else comm.data.val=k*(distance-610);//on tourne un peu plus pour le saut
snd_dtq(CanTx, comm.msg);
dly_tsk(5);
}
else if (sauter==3 ){
//Commande de l'angle de roue
comm.data.id='D';
comm.data.rtr=0; //indique une ?criture
if (distance>1000);
else comm.data.val=k*(distance-700);
snd_dtq(CanTx, comm.msg);
dly_tsk(5);
}
else if (sauter==1 ){
//Commande de l'angle de roue
comm.data.id='D';
comm.data.rtr=0; //indique une ?criture
if (distance>1000);
else comm.data.val=0;
snd_dtq(CanTx, comm.msg);
dly_tsk(5);
}
}
}
else if (sauter==3 ){
//Commande de l'angle de roue
comm.data.id='D';
comm.data.rtr=0; //indique une ?criture
if (distance>1000);
else comm.data.val=k*(distance-700);
snd_dtq(CanTx, comm.msg);
dly_tsk(5);
}
else if (sauter==1 ){
//Commande de l'angle de roue
comm.data.id='D';
comm.data.rtr=0; //indique une ?criture
if (distance>1000);
else comm.data.val=0;
snd_dtq(CanTx, comm.msg);
dly_tsk(5);
}}
}
void regvitesse(){
CanFrame requete;
dly_tsk(5000);
dly_tsk(3500); //delai avant d?part
while(1)
{requete.data.id='V';
requete.data.rtr=0;
if (sauter==1){ //augmentation de la vitesse pour sauter
requete.data.val=45;}
else if (sauter==2){ //diminution vitesse pour preparer saut
requete.data.val=25;}
else if (sauter==3){ //diminution vitesse pour apr?s saut
requete.data.val=15;}
else if (sauter==0){requete.data.val=35;} //pas de saut
snd_dtq(CanTx, requete.msg);
dly_tsk(5);}
while(1){
requete.data.id='V';
requete.data.rtr=0;
if (sauter==1){ //augmentation de la vitesse pour sauter
requete.data.val=45;}
else if (sauter==2){ //diminution vitesse pour preparer saut
requete.data.val=25;}
else if (sauter==3){ //diminution vitesse pour apr?s saut
requete.data.val=10;}
else if (sauter==0){
requete.data.val=35;} //pas de saut
snd_dtq(CanTx, requete.msg);
dly_tsk(5);
}
......
void zone(){
while(1){
//lecture de la zone
CanFrame req;
UINT flag;
//lecture de la zone
CanFrame req;
UINT flag;
req.data.id='C';
req.data.rtr=1;
periph[ADDR('C')].ev=0x03;
snd_dtq(CanTx, req.msg);
//Attente de la r?ponse
wai_flg (ev_periph, 0x03, TWF_ANDW, &flag);
virage=periph[ADDR('C')].val;
numcapt=virage & 0x00ff;
virage=virage & 0xff00;
dly_tsk(5);}
req.data.id='C';
req.data.rtr=1;
periph[ADDR('C')].ev=0x03;
snd_dtq(CanTx, req.msg);
//Attente de la r?ponse
wai_flg (ev_periph, 0x03, TWF_ANDW, &flag);
virage=periph[ADDR('C')].val;
numcapt=virage & 0x00ff;
virage=virage & 0xff00;
dly_tsk(5);
}
}
void saut(){
while(1){
if (numcapt==2 && virage==20992){
sauter=2; //pr?paration au saut
}
else if (numcapt==3 && virage!=16896)
{ sauter=1; //Renvoie 1 si c'est la zone du saut
}
else if (numcapt==3 && virage==16896){
sauter=3;} // virage apres saut
if (numcapt==2 && virage==20992){
sauter=2; //pr?paration au saut
}
else if (numcapt==3 && virage!=16896){
sauter=1; //Renvoie 1 si c'est la zone du saut
}
else if (numcapt==3 && virage==16896){
sauter=3;} // virage apres saut
else if (numcapt==4 && virage==22016){
sauter=0;} // retour ? la regulation normal
dly_tsk(5);}
else if (numcapt==4 && virage==22016){
sauter=0;} // retour ? la regulation normal
dly_tsk(5);
}
}

Formats disponibles : Unified diff