Révision 294
Ajouté par tibacher il y a plus de 6 ans
| branch/bacher/Emb_App/SessionM32C_E8a_system.hsf | ||
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"{4B022541-3E95-11D7-909C-00201898052D}ElfDwarf2Objects" "1"
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"{4B022541-3E95-11D7-909C-00201898052D}LoadModule0OBJ_ELFDWARF2_ARRAY_EXPAND_LIMIT" "-1"
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"{4B022541-3E95-11D7-909C-00201898052D}LoadModule0OBJ_STATUS_OF_EBD_CMD" "0"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRCtrlViews" "1"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRCtrlViews" "2"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd0EnableRRam" "0"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd0MrType" "2"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd0MrType2ColumnSizeMode0Column0" "4"
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| ... | ... | |
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd0MrType2StatusBarMode0" "1"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd0MrType2StatusBarMode1" "1"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd0Sampling" "100"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1EnableRRam" "0"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType" "2"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode0Column0" "4"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode0Column1" "11"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode0Column2" "5"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode0Column3" "19"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode0Column4" "8"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode0Column5" "8"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode0Column6" "7"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode0Column7" "8"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode0Column8" "9"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode1Column0" "5"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode1Column1" "130"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode2Column0" "7"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode2Column1" "35"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode3Column0" "4"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode3Column1" "29"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode3Column2" "8"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode3Column3" "91"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode4Column0" "4"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode4Column1" "10"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode4Column2" "8"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode4Column3" "113"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode5Column0" "4"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode5Column1" "21"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode5Column2" "55"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode5Column3" "55"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode6Column0" "8"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode6Column1" "10"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode6Column2" "7"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode6Column3" "7"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode6Column4" "53"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode6Column5" "53"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode7Column0" "4"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode7Column1" "11"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode7Column2" "8"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode7Column3" "8"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode7Column4" "7"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode7Column5" "10"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode8Column0" "4"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode8Column1" "11"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode8Column2" "8"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode8Column3" "10"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode9Column0" "9"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode9Column1" "10"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode9Column2" "11"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode9Column3" "7"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode9Column4" "8"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode9Column5" "9"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode9Column6" "81"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2MrMode" "0"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2StatusBarMode0" "1"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2StatusBarMode1" "1"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1Sampling" "100"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWndInstanceKey0" "{WK_00000001_PDMR}EmbM32C87AppSessionM32C_E8a_system"
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWndInstanceKey1" "{WK_00000001_PDMR}EmbM32C87AppSessionM32C_E8a_system0"
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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" "0000000000000001"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_1" "00000000000000C0"
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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_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" "0000000000000512"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF32EF"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF35C9"
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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" "0000000000000A48"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "000000000000084C"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "000000000000FFFF"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000A7C"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000880"
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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" "00000000000000C0"
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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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| ... | ... | |
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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" "0000000000000007"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "0000000000FE0000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000A48"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "0000000000120012"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000A7C"
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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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| ... | ... | |
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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_ITEM0003" "comm.data.val, 10, 0, P, Col, Hex, N"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0003_SCOPE" "Current Scope,"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "4"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0004" "numcapt, 1, 0, P, Col, Hex, MA"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0004_SCOPE" "Current Scope,"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0005" "colcapt, 1, 0, P, Col, Hex, MA"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0005_SCOPE" "Current Scope,"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0006" "retour_C, 1, 0, P, Col, Hex, MA"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0006_SCOPE" "Current Scope,"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0007" "i_tremplin, 1, 0, P, Col, Hex, MA"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0007_SCOPE" "Current Scope,"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0008" "i, 1, 0, P, Col, Hex, MA"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0008_SCOPE" "Current Scope,"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0009" "retour_M, 1, 0, P, Col, Bin, MA"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0009_SCOPE" "Current Scope,"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0010" "num_piste, 1, 0, P, Col, Hex, MA"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0010_SCOPE" "Current Scope,"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "11"
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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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"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 1 "0.07" 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_EVENT}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59422 0 0 "0.12" 365 0 0 350 200 18 0 "32774|32775|32777|<<separator>>|32780|<<separator>>" "0.0"
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"{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"
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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 "0.77" 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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"{WK_00000001_PDMR}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59422 0 3 "0.11" 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"
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"{WK_00000001_OUTPUT}" "WINDOW" 59422 0 2 "0.52" 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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"{WK_00000001_PDMR}EmbM32C87AppSessionM32C_E8a_system0" "WINDOW" 59422 0 3 "0.28" 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"
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"{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"
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"{WK_00000001_REGISTERS}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59421 0 0 "1.00" 236 0 0 350 200 2065 0 "" "0.0"
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"{WK_00000001_WATCH}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59421 0 0 "1.00" 587 0 0 350 200 18 0 "32781|32783|<<separator>>|32771|32772|32773|<<separator>>|32786|<<separator>>|32810|32811" "0.0"
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"{WK_00000002_WORKSPACE}" "WINDOW" 59420 0 0 "1.00" 308 0 0 350 200 18 0 "" "0.0"
|
||
| ... | ... | |
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"E:\tp_info6_2018_bacher\tp_info6\Emb_App\programme_principal_etud.c"
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"E:\tp_info6_2018_bacher\tp_info6\Emb_App\crt0mr.a30"
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"E:\tp_info6_2018_bacher\tp_info6\Emb_App\conf_noyau.cfg"
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"E:\tp_info6_2018_bacher\tp_info6\bsp\periph.c"
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"E:\tp_info6_2018_bacher\tp_info6\bsp\uart0.c"
|
||
|
"E:\tp_info6_2018_bacher\tp_info6\Emb_App\Debug\mr308.inc"
|
||
|
"E:\tp_info6_2018_bacher\tp_info6\bsp\uart0.c"
|
||
|
"E:\tp_info6_2018_bacher\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 93576520 1 "{00000000-0000-0000-C000-000000000046}" ""
|
||
|
"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 95603768 1 "{00000000-0000-0000-C000-000000000046}" ""
|
||
|
"e:\tp_info6_2018_bacher\tp_info6\emb_app\programme_principal_etud.c" 332 16725198 0 "{00000000-0000-0000-C000-000000000046}" ""
|
||
|
[END]
|
||
| branch/bacher/Emb_App/programme_principal_etud.c | ||
|---|---|---|
|
int i_tremplin=0; //bool?en : 1=ligne du tremplin 0=autres lignes
|
||
|
int i_ralenti=0;
|
||
|
int i=0; //bool?en : 1=acc?l?ration avant le tremplin et d?sactivation de la rotation des roues 0= fonctionnement normal
|
||
|
int retour_M;
|
||
|
int num_piste=0;
|
||
|
int col_feu=0;
|
||
|
int mode=0;
|
||
|
int retour_M; //retour du p?riph?rique M
|
||
|
int num_piste=0; //contient l'identifiant de la piste
|
||
|
int col_feu=0; //contient la couleur du feu
|
||
|
int mode=0; //mode de ralentissemennt dans les virages
|
||
|
FLGPTN flag_capt;
|
||
|
FLGPTN flag_pist;
|
||
|
|
||
|
CanFrame vit_roue; //canal de commande de la vitesse
|
||
|
CanFrame capteur;
|
||
|
CanFrame capteur;
|
||
|
CanFrame piste;
|
||
|
|
||
|
void demarre()
|
||
|
{
|
||
|
dly_tsk(2000);
|
||
|
|
||
|
|
||
|
piste.data.id='M';
|
||
|
piste.data.rtr=1;
|
||
|
periph[ADDR('M')].ev=0x04;
|
||
| ... | ... | |
|
retour_M=periph[ADDR('M')].val;
|
||
|
num_piste=retour_M & 0x007F;
|
||
|
switch(num_piste){
|
||
|
case 0: //piste noire
|
||
|
case 4: //piste noire
|
||
|
vitesse=40;
|
||
|
vitesse_virage=30;
|
||
|
sta_tsk(ID_capteur);
|
||
|
mode=0;
|
||
|
break;
|
||
|
case 1: //piste verte
|
||
|
vitesse=70;
|
||
|
vitesse=75;
|
||
|
vitesse_virage=30;
|
||
|
mode=1;
|
||
|
mode=0;
|
||
|
break;
|
||
|
case 2: //piste bleue
|
||
|
vitesse=50;
|
||
|
vitesse=60;
|
||
|
vitesse_virage=30;
|
||
|
mode=1;
|
||
|
mode=0;
|
||
|
sta_tsk(ID_capteur);
|
||
|
break;
|
||
|
case 3: //piste rouge
|
||
|
vitesse=40;
|
||
|
vitesse=60;
|
||
|
vitesse_virage=30;
|
||
|
mode=0;
|
||
|
sta_tsk(ID_capteur);
|
||
| ... | ... | |
|
}
|
||
|
}
|
||
|
|
||
|
int calcul_virage(int a){
|
||
|
int calcul_virage(int a) //modifie la vitesse dans les virages
|
||
|
{
|
||
|
if (mode==0){
|
||
|
if (a>-30 && a<30) return vitesse;
|
||
|
else return vitesse_virage;
|
||
| ... | ... | |
|
{
|
||
|
while(1){
|
||
|
|
||
|
capteur.data.id='C';
|
||
|
capteur.data.rtr=1;
|
||
|
periph[ADDR('C')].ev=0x03;
|
||
|
snd_dtq(CanTx, capteur.msg);
|
||
|
wai_flg (ev_periph, 0x03, TWF_ANDW, &flag_capt);
|
||
|
capteur.data.id='C';
|
||
|
capteur.data.rtr=1;
|
||
|
periph[ADDR('C')].ev=0x03;
|
||
|
snd_dtq(CanTx, capteur.msg);
|
||
|
wai_flg (ev_periph, 0x03, TWF_ANDW, &flag_capt);
|
||
|
|
||
|
retour_C=periph[ADDR('C')].val;
|
||
|
numcapt=retour_C & 0x00ff;
|
||
|
colcapt=retour_C & 0xff00;
|
||
|
retour_C=periph[ADDR('C')].val;
|
||
|
numcapt=retour_C & 0x00ff;
|
||
|
colcapt=retour_C & 0xff00;
|
||
|
|
||
|
//CAPTEURS POUR LA PISTE ROUGE
|
||
|
if (retour_C==0x5603 && i==0 && num_piste==3){ //si on passe le capteur avant le tremplin
|
||
|
i++;
|
||
|
dly_tsk(1500);
|
||
|
i_tremplin=1;
|
||
|
vit_roue.data.val=45;
|
||
|
snd_dtq (CanTx,vit_roue.msg);
|
||
|
dly_tsk(1000);
|
||
|
vit_roue.data.val=20;
|
||
|
snd_dtq (CanTx,vit_roue.msg);
|
||
|
}
|
||
|
|
||
|
if (retour_C==0x5603 && i==0 && num_piste==3){ //si on passe le capteur avant le tremplin
|
||
|
i++;
|
||
|
dly_tsk(1500);
|
||
|
i_tremplin=1;
|
||
|
vit_roue.data.val=45;
|
||
|
snd_dtq (CanTx,vit_roue.msg);
|
||
|
/*dly_tsk(500);
|
||
|
vit_roue.data.val=30;
|
||
|
snd_dtq (CanTx,vit_roue.msg);*/
|
||
|
if (retour_C==0x4203 && num_piste==3){ //si on passe le capteur apr?s le tremplin
|
||
|
i_tremplin=0;
|
||
|
i_ralenti=1;
|
||
|
vit_roue.data.val=20;
|
||
|
snd_dtq (CanTx,vit_roue.msg);
|
||
|
i=0;
|
||
|
}
|
||
|
if (retour_C==0x5604 && num_piste==3){
|
||
|
vit_roue.data.val=vitesse;
|
||
|
snd_dtq (CanTx,vit_roue.msg);
|
||
|
i_ralenti=0;
|
||
|
}
|
||
|
/*
|
||
|
//CAPTEURS POUR LA PISTE BLEUE
|
||
|
if (retour_C==0x5604 & num_piste==2){ //avant la bosse de la piste bleue
|
||
|
vit_roue.data.val=40;
|
||
|
snd_dtq (CanTx,vit_roue.msg);
|
||
|
i_ralenti=1;
|
||
|
}
|
||
|
if (retour_C==0x4204 & num_piste==2){ //apr?s la bosse de la piste bleue
|
||
|
vit_roue.data.val=vitesse;
|
||
|
snd_dtq (CanTx,vit_roue.msg);
|
||
|
i_ralenti=0;
|
||
|
}
|
||
|
*/
|
||
|
//CAPTEURS POUR LA PISTE NOIRE
|
||
|
if (retour_C==0x5601 && num_piste==4 && i==0){ //esquive des tonneaux
|
||
|
i_tremplin=1;
|
||
|
dly_tsk(1000);
|
||
|
i_tremplin=0;
|
||
|
cons_roue=500;
|
||
|
i++;
|
||
|
}
|
||
|
if (retour_C==0x4a01 && num_piste==4){
|
||
|
cons_roue=700;
|
||
|
i=0;
|
||
|
}
|
||
|
if (retour_C==0x5602 && num_piste==4 && i==0){ //avant la bosse de la piste noire
|
||
|
dly_tsk(2000);
|
||
|
i++;
|
||
|
i_tremplin=1;
|
||
|
}
|
||
|
if (retour_C==0x2202 && num_piste==4){ //apr?s la bosse de la piste noire
|
||
|
vit_roue.data.val=vitesse;
|
||
|
snd_dtq (CanTx,vit_roue.msg);
|
||
|
i_tremplin=0;
|
||
|
i=0;
|
||
|
}
|
||
|
if (retour_C==0x5603 && i==0 && num_piste==4){ //si on passe le capteur avant le tremplin
|
||
|
i++;
|
||
|
dly_tsk(1500);
|
||
|
i_tremplin=1;
|
||
|
vit_roue.data.val=45;
|
||
|
snd_dtq (CanTx,vit_roue.msg);
|
||
|
}
|
||
|
|
||
|
if (retour_C==0x4203 & num_piste==4){ //si on passe le capteur apr?s le tremplin
|
||
|
i_tremplin=0;
|
||
|
i_ralenti=1;
|
||
|
vit_roue.data.val=20;
|
||
|
snd_dtq (CanTx,vit_roue.msg);
|
||
|
i=0;
|
||
|
}
|
||
|
|
||
|
if (retour_C==0x5604 & num_piste==4){
|
||
|
vit_roue.data.val=vitesse;
|
||
|
snd_dtq (CanTx,vit_roue.msg);
|
||
|
i_ralenti=0;
|
||
|
}
|
||
|
|
||
|
dly_tsk(20);
|
||
|
|
||
|
}
|
||
|
if (retour_C==0x4203 & num_piste==3){ //si on passe le capteur apr?s le tremplin
|
||
|
i_tremplin=0;
|
||
|
i_ralenti=1;
|
||
|
vit_roue.data.val=20;
|
||
|
snd_dtq (CanTx,vit_roue.msg);
|
||
|
i=0;
|
||
|
}
|
||
|
if (retour_C==0x5604 & num_piste==3){
|
||
|
vit_roue.data.val=vitesse;
|
||
|
snd_dtq (CanTx,vit_roue.msg);
|
||
|
i_ralenti=0;
|
||
|
}
|
||
|
if (retour_C==0x5604 & num_piste==2){
|
||
|
vit_roue.data.val=15;
|
||
|
snd_dtq (CanTx,vit_roue.msg);
|
||
|
i_ralenti=1;
|
||
|
}
|
||
|
if (retour_C==0x4204 & num_piste==2)
|
||
|
vit_roue.data.val=vitesse;
|
||
|
snd_dtq (CanTx,vit_roue.msg);
|
||
|
i_ralenti=0;
|
||
|
}
|
||
|
dly_tsk(20);
|
||
|
}
|
||
|
}
|
||
|
|
||
|
|
||
|
void main()
|
||
| ... | ... | |
|
ports_mcu();
|
||
|
lcd_init();
|
||
|
periph_init();
|
||
|
periph_nom("#AutoTest*");
|
||
|
periph_nom("#Le_velo*");
|
||
|
|
||
|
can_init();
|
||
|
clavier_init(1);
|
||
Formats disponibles : Unified diff
Pistes verte, bleue et rouge validée
Esquive des tonneaux sur la noire