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Révision 302

Ajouté par nodaoud il y a plus de 6 ans

optimisation de la fonction det_capteur

Voir les différences:

branch/daoud/Emb_App.tws
[GENERAL_DATA]
[BREAKPOINTS]
[OPEN_WORKSPACE_FILES]
"E:\tp_info6_2018_daoud\tp_info6\bsp\dma0.c"
"E:\tp_info6_2018_daoud\tp_info6\bsp\dma0.h"
"E:\tp_info6_2018_daoud\tp_info6\bsp\mli.c"
"E:\tp_info6_2018_daoud\tp_info6\bsp\mli.h"
"E:\tp_info6_2018_daoud\tp_info6\bsp\periph.c"
"E:\tp_info6_2018_daoud\tp_info6\bsp\radiocommande.h"
"E:\tp_info6_2018_daoud\tp_info6\bsp\sfr32c83.h"
"E:\tp_info6_2018_daoud\tp_info6\bsp\sfr32c87.h"
"E:\tp_info6_2018_daoud\tp_info6\bsp\uart0.c"
"E:\tp_info6_2018_daoud\tp_info6\bsp\uart0.h"
"E:\tp_info6_2018_daoud\tp_info6\Emb_App\conf_noyau.cfg"
"E:\tp_info6_2018_daoud\tp_info6\Emb_App\crt0mr.a30"
"E:\tp_info6_2018_daoud\tp_info6\Emb_App\Debug\mr308.inc"
......
[WORKSPACE_FILE_STATES]
"E:\tp_info6_2018_daoud\tp_info6\Emb_App\Debug\mr308.inc" 125 125 988 351 0 5
"E:\tp_info6_2018_daoud\tp_info6\Emb_App\conf_noyau.cfg" 150 150 988 351 0 4
"E:\tp_info6_2018_daoud\tp_info6\Emb_App\crt0mr.a30" 0 0 1154 539 0 1
"E:\tp_info6_2018_daoud\tp_info6\Emb_App\programme_principal_etud.c" -8 -30 1154 539 1 0
"E:\tp_info6_2018_daoud\tp_info6\Emb_App\crt0mr.a30" -8 -30 1154 539 1 1
"E:\tp_info6_2018_daoud\tp_info6\Emb_App\programme_principal_etud.c" 0 0 1154 539 0 0
"E:\tp_info6_2018_daoud\tp_info6\bsp\dma0.c" 150 150 988 351 0 13
"E:\tp_info6_2018_daoud\tp_info6\bsp\dma0.h" 75 75 988 351 0 10
"E:\tp_info6_2018_daoud\tp_info6\bsp\mli.c" 125 125 1123 351 0 3
"E:\tp_info6_2018_daoud\tp_info6\bsp\mli.h" 100 100 988 351 0 11
"E:\tp_info6_2018_daoud\tp_info6\bsp\periph.c" 100 100 1430 351 0 2
"E:\tp_info6_2018_daoud\tp_info6\bsp\radiocommande.h" 125 125 988 351 0 12
"E:\tp_info6_2018_daoud\tp_info6\bsp\sfr32c83.h" 50 50 988 351 0 9
"E:\tp_info6_2018_daoud\tp_info6\bsp\sfr32c87.h" 25 25 988 351 0 8
"E:\tp_info6_2018_daoud\tp_info6\bsp\uart0.c" 150 150 988 351 0 6
"E:\tp_info6_2018_daoud\tp_info6\bsp\uart0.h" 0 0 988 351 0 7
[LOADED_PROJECTS]
"EmbM32C87App"
[END]
branch/daoud/Emb_App/SessionM32C_E8a_system.hsf
"{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" "0000000000FF057D"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF0586"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_17" "0000000000FFF800"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000001016"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "000000000000083C"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "000000000000FB4C"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000B30"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "000000000000086A"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "0000000000000001"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_20" "0000000000004044"
"{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_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" "0000000000001038"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000B66"
"{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}WatchWnd0ECX_WATCH_ITEM0002_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0003" "vitesse, 1, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0003_SCOPE" "Global,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "4"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0004" "capteur, 1, 0, P, Col, Hex, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0004_SCOPE" "Current Scope,"
"{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_daoud\tp_info6\Emb_App\crt0mr.a30"
"E:\tp_info6_2018_daoud\tp_info6\Emb_App\programme_principal_etud.c"
"E:\tp_info6_2018_daoud\tp_info6\Emb_App\crt0mr.a30"
"E:\tp_info6_2018_daoud\tp_info6\bsp\uart0.c"
"E:\tp_info6_2018_daoud\tp_info6\Emb_App\conf_noyau.cfg"
"E:\tp_info6_2018_daoud\tp_info6\bsp\periph.c"
"E:\tp_info6_2018_daoud\tp_info6\Emb_App\conf_noyau.cfg"
"E:\tp_info6_2018_daoud\tp_info6\Emb_App\Debug\mr308.inc"
"E:\tp_info6_2018_daoud\tp_info6\bsp\dma0.c"
"E:\tp_info6_2018_daoud\tp_info6\bsp\radiocommande.h"
"E:\tp_info6_2018_daoud\tp_info6\bsp\mli.h"
"E:\tp_info6_2018_daoud\tp_info6\bsp\dma0.h"
"E:\tp_info6_2018_daoud\tp_info6\bsp\sfr32c83.h"
"E:\tp_info6_2018_daoud\tp_info6\bsp\sfr32c87.h"
"E:\tp_info6_2018_daoud\tp_info6\bsp\uart0.h"
"E:\tp_info6_2018_daoud\tp_info6\bsp\mli.c"
[TARGET_NAME]
"M32C E8a SYSTEM" "" 0
......
[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 98962832 1 "{00000000-0000-0000-C000-000000000046}" ""
"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 99684680 1 "{00000000-0000-0000-C000-000000000046}" ""
[END]
branch/daoud/Emb_App/programme_principal_etud.c
//'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 '*'
short alpha;
short vitesse,distance;
short vitesse,distance,capteur;
CanFrame vite;
short calcul_vitesse(short distance){
while(1){
if(distance>=700){
//vitesse=(-30/400)*distance+((30*11)/4);
vitesse=50*exp(((distance)-700)/800);
......
if(distance<700){
//vitesse=(30/400)*distance -((30*3)/4);
vitesse=50*exp(((-distance)-700)/750);;
vitesse=50*exp(((-distance)-700)/900);;
return vitesse;
}
}
}
void asserv0_tourelle(){
short k=1;
......
//Attente de la r?ponse
wai_flg (ev_periph, 0x01, TWF_ANDW, &flag);
alpha=periph[ADDR('R')].val;
if(capteur==0x5603){
dly_tsk(50);}
else{
//Commande vitesse de la tourelle
comm.data.id='T';
comm.data.rtr=0; //indique une ?criture
comm.data.val=k*(450-alpha);
snd_dtq(CanTx, comm.msg);
snd_dtq(CanTx, comm.msg);}
dly_tsk(10);
}
}
void dist(){
......
//Attente de la r?ponse
wai_flg (ev_periph, 0x01, TWF_ANDW, &flag);
distance=periph[ADDR('U')].val;
dly_tsk(20);
}
}
void det_capteur(){
//lecture du capteur
CanFrame req;
UINT flag;
while(1){
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);
capteur=periph[ADDR('C')].val;
dly_tsk(20);
}
}
void det_saut(){
while(1){
if(capteur==0x5603){
distance=700;
/* vite.data.val=36;
snd_dtq(CanTx, vite.msg);*/
}
dly_tsk(20);
}
}
void roue_reg(){
//lecture de la distance du mur
CanFrame req;
......
req.data.id='D';
req.data.rtr=0;
if(capteur==0x5603){
req.data.val=0;
snd_dtq(CanTx, req.msg);}
else{
if(distance>1000)distance=701;
else{
req.data.val=(2)*(distance-700);
snd_dtq(CanTx, req.msg);
req.data.val=(2)*(distance-700);
snd_dtq(CanTx, req.msg);
}
}
dly_tsk(20);
}
}
}
void demarrage(){
CanFrame comm;
dly_tsk(7000);
dly_tsk(6000);
//test avec vitesse
comm.data.id='V';
comm.data.rtr=0;
comm.data.val=calcul_vitesse(distance);
snd_dtq(CanTx, comm.msg);
while(1){
vite.data.id='V';
vite.data.rtr=0;
if(capteur==0x5603){// debut de saut
//dly_tsk(10);
vite.data.val=50;
snd_dtq(CanTx, vite.msg);}
else{
if(capteur==0x4203){
vite.data.val=10;
snd_dtq(CanTx, vite.msg);}
else{
vite.data.val=36;
snd_dtq(CanTx, vite.msg);
}
}
dly_tsk(10);}
}
void main()
......
sta_cyc(ID_acqui);
sta_tsk(ID_periph_rx);
sta_tsk(ID_asserv0_tourelle);
sta_tsk(ID_demarrage);
sta_tsk(ID_dist);
sta_tsk( ID_roue_reg);
sta_tsk (ID_det_capteur);
sta_tsk (ID_det_saut);
while(1)
{
branch/daoud/Emb_App/conf_noyau.cfg
initial_start = OFF;
exinf = 0x0;
};
task[]{
entry_address = dist();
name = ID_dist;
......
initial_start = OFF;
exinf = 0x0;
};
task[]{
entry_address = det_saut();
name = ID_det_saut;
stack_size = 512;
stack_section = stack;
priority = 8;
initial_start = OFF;
exinf = 0x0;
};
task[]{
entry_address = det_capteur();
name = ID_det_capteur;
stack_size = 512;
stack_section = stack;
priority = 7;
initial_start = OFF;
exinf = 0x0;
};
flag[]{
name = ev_bus_fin_tr;
initial_pattern = 0x0000;
......
clear_attribute = YES;
wait_multi = TA_WMUL;
};
flag[]{
name = ev_periph;
initial_pattern = 0x0000;
......
//
// End of Configuration
//

Formats disponibles : Unified diff