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Révision 301

Ajouté par axfont il y a plus de 6 ans

départ feu vert validé

Voir les différences:

branch/font/Emb_App.tws
[WORKSPACE_FILE_STATES]
"E:\tp_info6_2018_font\Emb_App\Debug\mr308.inc" 150 150 1430 351 0 6
"E:\tp_info6_2018_font\Emb_App\conf_noyau.cfg" 75 75 1430 351 0 2
"E:\tp_info6_2018_font\Emb_App\crt0mr.a30" -8 -30 1596 539 1 0
"E:\tp_info6_2018_font\Emb_App\programme_principal_etud.c" 0 0 1596 539 0 1
"E:\tp_info6_2018_font\Emb_App\crt0mr.a30" 0 0 1596 539 0 0
"E:\tp_info6_2018_font\Emb_App\programme_principal_etud.c" -8 -30 1596 539 1 1
"E:\tp_info6_2018_font\bsp\periph.c" 100 100 1430 351 0 4
"E:\tp_info6_2018_font\bsp\sfr32c83.h" 100 100 1430 351 0 3
"E:\tp_info6_2018_font\bsp\uart0.c" 150 150 1430 351 0 5
branch/font/Emb_App/SessionM32C_E8a_system.ini
[Target]
M32C E8a SYSTEM=Renesas Communications
[USER_DATA]
RESET=ff002a
RESET=ff0036
branch/font/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" "0000000000000000"
"{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" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF002A"
"{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_15" "0000000000000512"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF3590"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_17" "0000000000FFF800"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000AEC"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "00000000000008F0"
"{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_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_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" "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" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "0000000000000000"
"{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_4" "0000000000000009"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "0000000000120012"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000AEC"
"{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"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_COUNT" "36"
......
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001" "feu, 1, 0, P, Col, Hex, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002" "num_piste1, 1, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002" "capteur, 1, 0, P, Col, Hex, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0003" "num_piste, 1, 0, P, Col, Hex, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0003" "montee_noire, 1, 0, P, Col, Hex, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0003_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0004" "capteur, 1, 0, P, Col, Hex, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0004" "go, 1, 0, P, Col, Hex, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0004_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0005" "montee, 1, 0, P, Col, Hex, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0005_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0006" "a, 1, 0, P, Col, Hex, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0006_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "7"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "5"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth0" "120"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth1" "150"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth12" "200"
......
[WINDOW_POSITION_STATE_DATA_VD3]
[WINDOW_POSITION_STATE_DATA_VD4]
[WINDOW_Z_ORDER]
"E:\tp_info6_2018_font\Emb_App\programme_principal_etud.c"
"E:\tp_info6_2018_font\Emb_App\crt0mr.a30"
"E:\tp_info6_2018_font\Emb_App\programme_principal_etud.c"
"E:\tp_info6_2018_font\Emb_App\Debug\mr308.inc"
"E:\tp_info6_2018_font\Emb_App\conf_noyau.cfg"
"E:\tp_info6_2018_font\bsp\uart0.c"
"E:\tp_info6_2018_font\Emb_App\Debug\mr308.inc"
"E:\tp_info6_2018_font\bsp\periph.c"
"E:\tp_info6_2018_font\bsp\sfr32c83.h"
[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 100391144 1 "{00000000-0000-0000-C000-000000000046}" ""
"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 100654760 1 "{00000000-0000-0000-C000-000000000046}" ""
[END]
branch/font/Emb_App/programme_principal_etud.c
#define blue 0x0043
#define cyan 0x0042
const int distance_bord = 700; //distance du bord souhait?e
const int angle_tourelle = 450; //angle tourelle souhait?
int distance_bord = 700; //distance du bord souhait?e
int angle_tourelle = 450; //angle tourelle souhait?
int alpha; //angle tourelle
int distance; //distance du bord mesur?e
int distance1;
......
int vitesse_montee = 45; //vitesse pendant la mont?e piste bleu
int vitesse_saut = 45; //vitesse pendant le saut piste rouge
int vitesse_recep = 10;
int vitesse_retour_piste = 20;
int angle_roue = 0;
int kroue = 1; //coefficient asservissement tourelle
int ktour = 1; //coefficient asservissement roues
int num_piste; //valeur du p?riph?rique 'M'
int num_piste1; //num?ro de la piste
int capteur; //valeur du dernier capteur franchi
int a = 0;
char saut = 0;
char saut = 0; //Indique quand est le saut piste rouge
int feu;
int feuv;
int montee = 0;
int montee_bleu = 0; //indique quand est la mont?e piste bleu
int montee_noire = 0; //indique quand est la mont?e piste bleu
int a = 0;
int go = 0; //variable pour d?part de la voiture
void lecture_telemetre(){
CanFrame requete;
......
snd_dtq(CanTx, requete.msg);
wai_flg(ev_periph, 0x02, TWF_ANDW, &flag); //Attente de lecture
distance1 = periph[ADDR('U')].val;
if(distance1 > 1500 || distance1 < -1500){}
if(distance1 > 1500 || distance1 < -1500){} //gestions des trous dans les barri?res de la piste
else {
distance = distance1;
}
dly_tsk(6);
dly_tsk(8);
}
}
......
snd_dtq(CanTx, requete.msg);
wai_flg(ev_periph, 0x03, TWF_ANDW, &flag); //Attente de lecture de l'angle des roues
comm.data.rtr = 0;
//if(saut == 0){
if(saut == 0){
angle_roue = kroue * (distance - distance_bord); //Asservissement de l'angle
//}
if(saut == 1) {
}
if(saut == 1) { //d?sactive l'asservissement des roues pour passer le saut
angle_roue = 0;
}
if(angle_roue < -250 && capteur == 0x5601){ //emp?che l'asservissement de fonctionner pr?s des barils
angle_roue = 0;
}
if(montee_noire == 1 && capteur == 0x5602){
angle_roue = 0;
}
comm.data.val = angle_roue;
snd_dtq(CanTx, comm.msg);
dly_tsk(6);
dly_tsk(8);
}
}
......
comm.data.rtr = 0;
comm.data.val = ktour * (angle_tourelle - alpha);
snd_dtq(CanTx, comm.msg);
dly_tsk(5);
dly_tsk(8);
}
}
//lis la piste sur laquelle on roule
//lit la piste sur laquelle on roule
void lecture_piste(){
CanFrame requete;
UINT flag;
......
periph[ADDR('M')].ev = 0x04;
snd_dtq(CanTx, requete.msg);
wai_flg(ev_periph, 0x04, TWF_ANDW, &flag); //Attente de la r?ponse
num_piste = periph[ADDR('M')].val; //acquisition num?ro piste
num_piste1 = num_piste & 0x00ff;
num_piste = periph[ADDR('M')].val; //acquisition de la valeur de 'M'
num_piste1 = num_piste & 0x00ff; //num?ro de la piste
}
//lis le dernier capteur franchi
......
snd_dtq(CanTx, requete.msg);
wai_flg(ev_periph, 0x05, TWF_ANDW, &flag); //Attente de la r?ponse
capteur = periph[ADDR('C')].val; //acquisition du dernier capteur franchi
dly_tsk(6);
dly_tsk(8);
}
}
//g?re la mont?e piste bleu
void gestion_montee (){
void gestion_montee_bleu (){
while(1){
if(num_piste1 == 2){ //d?tection piste rouge
if( capteur == 0x5604 ){ //d?tection capteur avant montee
montee = 1;
if(num_piste1 == 2){ //d?tection piste bleu
if( capteur == 0x5604 ){ //d?tection capteur avant montee piste bleu
montee_bleu = 1;
}
else {
montee = 0;
montee_bleu = 0;
}
}
dly_tsk(6);
dly_tsk(7);
}
}
//g?re la mont?e piste noire
void gestion_montee_noire (){/*
while(1){
if(num_piste1 == 4){ //d?tection piste noire
if( capteur == 0x5602 ){ //d?tection capteur avant montee
dly_tsk(1000);
montee_noire = 1;
}
else {
montee_noire = 0;
}
}
dly_tsk(7);
}*/
}
//g?re le saut piste rouge
void gestion_saut (){
......
}
}
//g?re le passage des barils piste noire
void gestion_baril(){
while(1){
if(num_piste1 == 4){
if(capteur == 0x5601){ //d?tection piste noire
distance_bord = 900; //d?calage de la voiture sur la voie de gauche
}
}
dly_tsk(6);
}
}
//detecte si le feu est vert
void detect_feuv(){
CanFrame requete;
......
snd_dtq(CanTx, requete.msg);
wai_flg(ev_periph, 0x06, TWF_ANDW, &flag); //Attente de la r?ponse
feu = periph[ADDR('M')].val; //acquisition du dernier capteur franchi
feuv = feu & 0x8000;
feuv = (feu & 0x8000);
dly_tsk(6);
}
}
//Fonction de demarrage de la voiture
void demarrage(){
CanFrame comm, requete;
......
dly_tsk(4000); //Attente avant d?part
//if(feuv == 0x8000){ //D?part feu vert
comm.data.id = 'V';
comm.data.rtr = 0;
comm.data.val = vitesse; //D?marrage
snd_dtq(CanTx, comm.msg);
if(feuv == 0x8000 ) go = 1; //Autorisation de d?part de la voiture
if( go == 1){
comm.data.id = 'V';
comm.data.rtr = 0;
comm.data.val = vitesse; //D?marrage
snd_dtq(CanTx, comm.msg);
while(1){
comm.data.id = 'V';
comm.data.rtr = 0;
if(angle_roue > 40 || angle_roue < -40){ //ralentissement de la voiture si angle demand? trop grand
comm.data.val = vitesse_virage;
snd_dtq(CanTx, comm.msg);
}
else{
comm.data.val = vitesse;
snd_dtq(CanTx, comm.msg);
}
if(montee == 1){
comm.data.val = vitesse_montee;
snd_dtq(CanTx, comm.msg);
}
if(saut == 1){
comm.data.val = vitesse_saut;
snd_dtq(CanTx, comm.msg);
}
if(capteur == 0x4203 && num_piste1 == 3){
comm.data.val = vitesse_recep;
snd_dtq(CanTx, comm.msg);
}
dly_tsk(6);
comm.data.id = 'V';
comm.data.rtr = 0;
if(angle_roue > 40 || angle_roue < -40){ //ralentissement de la voiture si angle demand? trop grand
comm.data.val = vitesse_virage;
snd_dtq(CanTx, comm.msg);
}
else{ //vitesse de base de la voiture
comm.data.val = vitesse;
snd_dtq(CanTx, comm.msg);
}
if(montee_bleu == 1){ //vitesse adapt?e pour la mont?e piste bleu
comm.data.val = vitesse_montee;
snd_dtq(CanTx, comm.msg);
}
if(saut == 1){ //vitesse adapt?e pour le saut piste rouge
comm.data.val = vitesse_saut;
snd_dtq(CanTx, comm.msg);
}
if(capteur == 0x4203 && num_piste1 == 3){ //vitesse adapt?e pour la reception du saut piste rouge
comm.data.val = vitesse_recep;
snd_dtq(CanTx, comm.msg);
}
if(capteur == 0x5602 && num_piste1 == 4){ //vitesse adapt?e pour la reception du saut piste rouge
comm.data.val = vitesse_retour_piste;
snd_dtq(CanTx, comm.msg);
}
dly_tsk(6);
}
//} acolade if d?part feu vert
}
}
......
sta_tsk(ID_lecture_capteur);
sta_tsk(ID_demarrage);
sta_cyc(ID_acqui);
sta_tsk(ID_gestion_montee);
sta_tsk(ID_gestion_montee_bleu);
sta_tsk(ID_tsk_asserv1);
sta_tsk(ID_lecture_telemetre);
sta_tsk(ID_detect_feuv);
sta_tsk(ID_asservissement_roue);
sta_tsk(ID_gestion_saut);
sta_tsk(ID_gestion_saut);
sta_tsk(ID_gestion_baril);
sta_tsk(ID_gestion_montee_noire);
while(1)
{
branch/font/Emb_App/conf_noyau.cfg
};
task[]{
entry_address = gestion_baril();
name = ID_gestion_baril;
stack_size = 512;
stack_section = stack;
priority = 4;
initial_start = OFF;
exinf = 0x0;
};
task[]{
entry_address = detect_feuv();
name = ID_detect_feuv;
stack_size = 512;
......
};
task[]{
entry_address = gestion_montee();
name = ID_gestion_montee;
entry_address = gestion_montee_bleu();
name = ID_gestion_montee_bleu;
stack_size = 512;
stack_section = stack;
priority = 4;
......
};
task[]{
entry_address = gestion_montee_noire();
name = ID_gestion_montee_noire;
stack_size = 512;
stack_section = stack;
priority = 4;
initial_start = OFF;
exinf = 0x0;
};
task[]{
entry_address = asservissement_roue();
name = ID_asservissement_roue;
stack_size = 512;

Formats disponibles : Unified diff