Révision 293
Ajouté par codiagne il y a plus de 6 ans
| branch/diagne/Emb_App.tws | ||
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[GENERAL_DATA]
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[BREAKPOINTS]
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[OPEN_WORKSPACE_FILES]
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"E:\tp_info6_2018_diagne\tp_info6\tp_info6\bsp\periph.c"
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"E:\tp_info6_2018_diagne\tp_info6\tp_info6\bsp\uart0.c"
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"E:\tp_info6_2018_diagne\tp_info6\tp_info6\Emb_App\conf_noyau.cfg"
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"E:\tp_info6_2018_diagne\tp_info6\tp_info6\Emb_App\crt0mr.a30"
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"E:\tp_info6_2018_diagne\tp_info6\tp_info6\Emb_App\Debug\mr308.inc"
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"E:\tp_info6_2018_diagne\tp_info6\tp_info6\Emb_App\programme_principal_etud.c"
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[WORKSPACE_FILE_STATES]
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"E:\tp_info6_2018_diagne\tp_info6\tp_info6\Emb_App\Debug\mr308.inc" 100 100 1054 351 0 4
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"E:\tp_info6_2018_diagne\tp_info6\tp_info6\Emb_App\conf_noyau.cfg" 125 125 1054 351 0 1
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"E:\tp_info6_2018_diagne\tp_info6\tp_info6\Emb_App\crt0mr.a30" 150 150 1054 351 0 2
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"E:\tp_info6_2018_diagne\tp_info6\tp_info6\Emb_App\programme_principal_etud.c" -8 -30 1220 539 1 0
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"E:\tp_info6_2018_diagne\tp_info6\tp_info6\Emb_App\crt0mr.a30" -8 -30 1220 539 1 2
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"E:\tp_info6_2018_diagne\tp_info6\tp_info6\Emb_App\programme_principal_etud.c" 0 0 1220 539 0 0
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"E:\tp_info6_2018_diagne\tp_info6\tp_info6\bsp\periph.c" 150 150 1054 351 0 6
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"E:\tp_info6_2018_diagne\tp_info6\tp_info6\bsp\uart0.c" 75 75 1054 351 0 3
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[LOADED_PROJECTS]
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"EmbM32C87App"
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[END]
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| branch/diagne/Emb_App/SessionM32C_E8a_system.hsf | ||
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWndInstanceKey0" "{WK_00000001_PDMR}EmbM32C87AppSessionM32C_E8a_system"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_EVAL_DENORMAL_MODE" "0"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_EVAL_ROUND_MODE" "0"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_0" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_1" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_0" "0000000000004044"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_1" "0000000000000020"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_10" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_11" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_12" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_13" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_14" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_15" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF0016"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_17" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000700"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_20" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_15" "0000000000000512"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF0582"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_17" "0000000000FFF800"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000BF8"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000828"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "0000000000000001"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_20" "0000000000004044"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_21" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_22" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_23" "0000000000000000"
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| ... | ... | |
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_31" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_32" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_33" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_34" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_34" "000000000000036A"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_35" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_4" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_4" "000000000000000A"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_7" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000C24"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_7" "0000000000000512"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_8" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_9" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_COUNT" "36"
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| ... | ... | |
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH" "c,buff,n,rx,flag,"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000" "alpha, 1, 0, P, Col, Dec, MA"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000_SCOPE" "Current Scope,"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "1"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001" "pos, 10, 0, P, Col, Hex, N"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001_SCOPE" "Current Scope,"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002" "longueur, 1, 0, P, Col, Dec, MA"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002_SCOPE" "Current Scope,"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "3"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth0" "120"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth1" "150"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth12" "200"
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| ... | ... | |
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0
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[WINDOW_POSITION_STATE_DATA_VD1]
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"Help" "TOOLBAR 0" 59419 2 4 "0.00" 0 0 0 0 0 17 0 "" "0.0"
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"{WK_00000001_CmdLine}" "WINDOW" 59422 0 3 "0.09" 365 0 0 350 200 17 0 "32771|32772|32778|<<separator>>|32773|32774|<<separator>>|32820|<<separator>>|32801|32824" "0.0"
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"{WK_00000001_DISASSEMBLY}" "WINDOW" 0 0 0 "0.00" 0 -4 -30 948 486 9 0 "" "0.0"
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"{WK_00000001_CmdLine}" "WINDOW" 59422 0 3 "0.08" 365 0 0 350 200 17 0 "32771|32772|32778|<<separator>>|32773|32774|<<separator>>|32820|<<separator>>|32801|32824" "0.0"
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"{WK_00000001_DISASSEMBLY}" "WINDOW" 0 0 0 "0.00" 0 125 125 1054 351 10 0 "" "0.0"
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"{WK_00000001_EVENT}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59422 0 0 "0.13" 365 0 0 350 200 18 0 "32774|32775|32777|<<separator>>|32780|<<separator>>" "0.0"
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"{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"
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"{WK_00000001_OUTPUT}" "WINDOW" 59422 0 2 "0.79" 365 0 0 350 200 18 0 "36756|36757|36758|36759|<<separator>>|36746|36747|<<separator>>|39531|<<separator>>|39500|39534|<<separator>>|36687" "0.0"
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| ... | ... | |
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[WINDOW_POSITION_STATE_DATA_VD3]
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[WINDOW_POSITION_STATE_DATA_VD4]
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[WINDOW_Z_ORDER]
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"E:\tp_info6_2018_diagne\tp_info6\tp_info6\Emb_App\crt0mr.a30"
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"E:\tp_info6_2018_diagne\tp_info6\tp_info6\Emb_App\programme_principal_etud.c"
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"E:\tp_info6_2018_diagne\tp_info6\tp_info6\Emb_App\crt0mr.a30"
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"E:\tp_info6_2018_diagne\tp_info6\tp_info6\Emb_App\conf_noyau.cfg"
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"E:\tp_info6_2018_diagne\tp_info6\tp_info6\bsp\uart0.c"
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"E:\tp_info6_2018_diagne\tp_info6\tp_info6\bsp\periph.c"
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"E:\tp_info6_2018_diagne\tp_info6\tp_info6\Emb_App\Debug\Disassembly"
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"E:\tp_info6_2018_diagne\tp_info6\tp_info6\Emb_App\Debug\mr308.inc"
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[TARGET_NAME]
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"M32C E8a SYSTEM" "" 0
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[STATUSBAR_STATEINFO_VD1]
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| ... | ... | |
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[FLASH_DETAILS]
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"" 0 0 "" 0 "" 0 0 "" 0 0 0 0 0 0 0 "" "" "" "" ""
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[BREAKPOINTS]
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"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 122414488 1 "{00000000-0000-0000-C000-000000000046}" ""
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"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 99088656 1 "{00000000-0000-0000-C000-000000000046}" ""
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[END]
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| branch/diagne/Emb_App/programme_principal_etud.c | ||
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short alpha;
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short vitesse, longueur;
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short distance, new_distance;
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void Asserv0(){
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| ... | ... | |
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//Vitesse de la tourelle
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comm.data.id='T';
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comm.data.rtr=0;
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comm.data.val=450-alpha; // Pour un gain de 1, on regule pour avoir 45degr?s
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comm.data.val=(450-alpha); // Pour un gain de 1, on regule pour avoir 45degr?s (angle du telemetre)
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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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UINT flag;
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while(1)
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{
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req.data.id='U'; //lecture angle de la tourelle
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req.data.id='U'; //lecture distance mesur?e par le t?l?metre
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req.data.rtr=1; //requ?te de lecture
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snd_dtq(CanRx, req.msg);
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//Attente de la r?ponse
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//rcv_dtq(CanRx, &reponse.msg);
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periph[ADDR('U')].ev=0x01;
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periph[ADDR('U')].ev=0x02;
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snd_dtq(CanTx,req.msg);
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wai_flg(ev_periph, 0x01, TWF_ANDW,&flag);
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alpha=periph[ADDR('U')].val;
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wai_flg(ev_periph, 0x02, TWF_ANDW,&flag);
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distance=periph[ADDR('U')].val;
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//Vitesse de la tourelle
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comm.data.id='D';
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//Orientation des roues
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comm.data.id='D'; //commande angle des roues
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comm.data.rtr=0;
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comm.data.val=-(450-alpha); // Pour un gain de 1, on regule pour avoir 45degr?s
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//Pour la piste verte: comm.data.val= -(450-distance)
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//Pour eviter les trous de la piste bleue et garder le vehicule au milieu de la piste
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if (distance >1000){ //On compare la distance mesur?e par le telemtetre
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new_distance=715;
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}
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else {
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new_distance=distance;
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}
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comm.data.val=1*(new_distance-715); // On la garde bien au milieu de la piste
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snd_dtq(CanTx,comm.msg);
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dly_tsk(100);
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}
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| branch/diagne/Emb_App/EmbM32C87App.tps | ||
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"SessionM32C_E8a_system"
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[GENERAL_DATA_PROJECT]
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[GENERAL_DATA_CONFIGURATION_Debug]
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"PROJECT_FILES_MODIFIED_DATA_TAG" "FALSE"
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"PROJECT_FILES_MODIFIED_DATA_TAG" "TRUE"
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[SESSIONS_Debug]
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"DefaultSession"
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"SessionM32C_E8a_system"
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Formats disponibles : Unified diff
Piste bleue terminée
A voir: comment ameliorer le programme pour avoir une vitesse plus importante