Révision 303
Ajouté par maporte3 il y a plus de 6 ans
| branch/porte/Emb_App.tws | ||
|---|---|---|
|
[GENERAL_DATA]
|
||
|
[BREAKPOINTS]
|
||
|
[OPEN_WORKSPACE_FILES]
|
||
|
"E:\tp_info6_2018_porte\tp_info6\bsp\radiocommande.c"
|
||
|
"E:\tp_info6_2018_porte\tp_info6\bsp\uart0.c"
|
||
|
"E:\tp_info6_2018_porte\tp_info6\Emb_App\conf_noyau.cfg"
|
||
|
"E:\tp_info6_2018_porte\tp_info6\Emb_App\crt0mr.a30"
|
||
|
"E:\tp_info6_2018_porte\tp_info6\Emb_App\Debug\mr308.inc"
|
||
|
"E:\tp_info6_2018_porte\tp_info6\Emb_App\programme_principal_etud.c"
|
||
|
[WORKSPACE_FILE_STATES]
|
||
|
"E:\tp_info6_2018_porte\tp_info6\Emb_App\Debug\mr308.inc" 0 0 1430 351 0 4
|
||
|
"E:\tp_info6_2018_porte\tp_info6\Emb_App\conf_noyau.cfg" 0 0 1426 347 0 0
|
||
|
"E:\tp_info6_2018_porte\tp_info6\Emb_App\crt0mr.a30" 125 125 1430 351 0 2
|
||
|
"E:\tp_info6_2018_porte\tp_info6\Emb_App\programme_principal_etud.c" -8 -30 1596 539 1 1
|
||
|
"E:\tp_info6_2018_porte\tp_info6\bsp\radiocommande.c" 25 25 1430 351 0 5
|
||
|
"E:\tp_info6_2018_porte\tp_info6\bsp\uart0.c" 150 150 1430 351 0 3
|
||
|
"E:\tp_info6_2018_porte\tp_info6\Emb_App\crt0mr.a30" 125 125 1380 405 0 2
|
||
|
"E:\tp_info6_2018_porte\tp_info6\Emb_App\programme_principal_etud.c" -8 -30 1596 643 1 1
|
||
|
[LOADED_PROJECTS]
|
||
|
"EmbM32C87App"
|
||
|
[END]
|
||
| branch/porte/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" "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" "0000000000FF056F"
|
||
|
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF36EB"
|
||
|
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_17" "0000000000FFF800"
|
||
|
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000E60"
|
||
|
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000886"
|
||
|
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "0000000000000000"
|
||
|
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_20" "0000000000004044"
|
||
|
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000ACC"
|
||
|
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "00000000000008D0"
|
||
|
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "000000000000FFFF"
|
||
|
"{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" "0000000000000003"
|
||
|
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "0000000000000000"
|
||
|
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000E82"
|
||
|
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_4" "000000000000000B"
|
||
|
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "0000000000120000"
|
||
|
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000ACC"
|
||
|
"{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" "c,buff,n,rx,flag,"
|
||
|
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000" "Distance, 2, 0, P, Col, Hex, MA"
|
||
|
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000_SCOPE" "Current Scope,"
|
||
|
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001" "Bord_defaut, 2, 0, P, Col, Hex, MA"
|
||
|
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001" "Info_capteur, 2, 0, P, Col, Hex, MA"
|
||
|
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001_SCOPE" "Current Scope,"
|
||
|
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002" "Info_capteur, 2, 0, P, Col, Hex, MA"
|
||
|
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002" "Vitesse, 2, 0, P, Col, Hex, MA"
|
||
|
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002_SCOPE" "Current Scope,"
|
||
|
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0003" "ErreurRoues, 2, 0, P, Col, Hex, MA"
|
||
|
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0003" "Num_circuit, 2, 0, P, Col, Hex, MA"
|
||
|
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0003_SCOPE" "Current Scope,"
|
||
|
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0004" "Bord_defaut, 2, 0, P, Col, Hex, MA"
|
||
|
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0004" "test, 2, 0, P, Col, Hex, MA"
|
||
|
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0004_SCOPE" "Current Scope,"
|
||
|
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "3"
|
||
|
"{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"
|
||
| ... | ... | |
|
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_CmdLine}" "WINDOW" 59422 0 0 "0.14" 261 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 "0.12" 365 0 0 350 200 2065 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 "0.54" 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_OUTPUT}" "WINDOW" 59422 0 1 "0.54" 261 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 2 "0.39" 365 0 0 350 200 2065 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 2 "0.46" 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 2 "0.46" 261 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"
|
||
| ... | ... | |
|
"E:\tp_info6_2018_porte\tp_info6\Emb_App\programme_principal_etud.c"
|
||
|
"E:\tp_info6_2018_porte\tp_info6\Emb_App\crt0mr.a30"
|
||
|
"E:\tp_info6_2018_porte\tp_info6\Emb_App\conf_noyau.cfg"
|
||
|
"E:\tp_info6_2018_porte\tp_info6\bsp\radiocommande.c"
|
||
|
"E:\tp_info6_2018_porte\tp_info6\Emb_App\Debug\mr308.inc"
|
||
|
"E:\tp_info6_2018_porte\tp_info6\bsp\uart0.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 93847448 1 "{00000000-0000-0000-C000-000000000046}" ""
|
||
|
"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 93578536 1 "{00000000-0000-0000-C000-000000000046}" ""
|
||
|
[END]
|
||
| branch/porte/Emb_App/programme_principal_etud.c | ||
|---|---|---|
|
const Vitesse_max=99, Vitesse_min=0;
|
||
|
|
||
|
/*-------------------------------------- Variables ----------------------------------------*/
|
||
|
unsigned int Angle_T=0; //prend la valeur de l'angle au temps t-1
|
||
|
unsigned int Consigne_T=500; //Consigne de l'angle de la tourelle
|
||
|
unsigned int valeur=0; //valeur transmise corrig?
|
||
|
//Variables pour l'asserivssement des roues, de la vitesse et du telemetre
|
||
|
unsigned int Angle_T=0, Consigne_T=500; //prend la valeur de l'angle au temps t-1 //Consigne de l'angle de la tourelle (consigne/10=>degr?s)
|
||
|
unsigned int valeur=0, Saut=0; //valeur transmise corrig?
|
||
|
unsigned int Somme_Erreur=0, Erreur=0, Delta_Erreur=0, Erreur_pre=0;
|
||
|
unsigned int ErreurRoues=0, ErreurRouesPre=0, Delta_ErreurRoues=0,Somme_ErreurRoues=0;
|
||
|
int Kpt=1, Kpr=2; //Param?tre des PID tourelle et roues
|
||
| ... | ... | |
|
short Touche_clavier;
|
||
|
//Variable de la fonction Circuit
|
||
|
unsigned int Info_circuit, Etat_feu, Num_circuit;
|
||
|
//Variable de la fonction Evenement
|
||
|
unsigned int Lecture_eve;
|
||
|
FLGPTN test;
|
||
|
|
||
|
|
||
|
void Asserv_T(){
|
||
| ... | ... | |
|
|
||
|
comm.data.id='V'; //Commande de la vitesse des roues motrices
|
||
|
comm.data.rtr=0;
|
||
|
|
||
|
|
||
|
//Rampe de vitesse au d?marrage
|
||
|
/* for(i=0;i++;Vitesse_final < Vitesse_commande){
|
||
|
comm.data.val=Vitesse_final-Vitesse_commande+i;
|
||
|
snd_dtq (CanTx,comm.msg); //Envoi de la commande de vitesse
|
||
|
dly_tsk(100);
|
||
|
}*/
|
||
|
|
||
|
if(Info_capteur == 0x560 && Bord_defaut == 0){ // Commande de vitesse pour les lignes droites (dernier capteur detecte = vert).
|
||
|
if(Info_capteur == 0x560){ // Commande de vitesse pour les lignes droites (dernier capteur detecte = vert).
|
||
|
comm.data.val=Vitesse;
|
||
|
snd_dtq (CanTx,comm.msg); // Envoi de la commande de vitesse
|
||
|
}
|
||
|
else{ // Ralentissement en cas de virage par 2 (selon valeur capteur)
|
||
|
comm.data.val=Vitesse/2;
|
||
|
else if(Info_capteur == 0x630 ){ //Accel?ration pour passer le saut
|
||
|
comm.data.val=Vitesse*1.66;
|
||
|
snd_dtq (CanTx,comm.msg);
|
||
|
Saut=1;
|
||
|
}
|
||
|
else if(Info_capteur == 0x630 && Saut == 1){ //Ralentissement pour la reception du saut
|
||
|
comm.data.val=Vitesse/2.3;
|
||
|
snd_dtq (CanTx,comm.msg);
|
||
|
Saut=0;
|
||
|
}
|
||
|
else{ // Ralentissement en cas de virage et de d?tection de trou ou d'obstacle.
|
||
|
comm.data.val=Vitesse/1.55;
|
||
|
snd_dtq (CanTx,comm.msg);
|
||
|
}
|
||
|
|
||
|
//lcd_str(char &Vitesse)
|
||
|
|
||
| ... | ... | |
|
snd_dtq (CanTx,demande.msg); // Interrogation du peripherique sur les information du circuit.
|
||
|
Info_circuit=periph[ADDR('M')].val;
|
||
|
Num_circuit=Info_circuit & 0x000F;
|
||
|
Etat_feu=Info_circuit >> 15; // contient la valeur de retour du simulateur sur le l'?tat du feu.
|
||
|
Etat_feu=Info_circuit >> 15; // contient la valeur de retour du simulateur sur l'?tat du feu.
|
||
|
|
||
|
dly_tsk(200);
|
||
|
}
|
||
|
|
||
|
}
|
||
|
|
||
|
void Evenement(){
|
||
|
|
||
|
//'E'/69/0x45?: Lecture des evenements,
|
||
|
CanFrame comm;
|
||
|
CanFrame demande;
|
||
|
CanFrame reponse;
|
||
|
|
||
|
while(1){
|
||
|
|
||
|
wai_flg(event,(FLGPTN) 0x0800, TWF_ANDW,&test);
|
||
|
|
||
|
dly_tsk(200);
|
||
|
}
|
||
|
|
||
|
}
|
||
|
|
||
|
void main()
|
||
| ... | ... | |
|
ports_mcu();
|
||
|
lcd_init();
|
||
|
periph_init();
|
||
|
periph_nom("#AutoTest*");
|
||
|
periph_nom("#Troen*");
|
||
|
|
||
|
can_init();
|
||
|
clavier_init(1);
|
||
| ... | ... | |
|
|
||
|
sta_tsk(ID_Commande_IHM);
|
||
|
|
||
|
sta_tsk(ID_Circuit);
|
||
|
sta_tsk(ID_Circuit);
|
||
|
|
||
|
sta_tsk(ID_Evenement);
|
||
|
|
||
|
while(1)
|
||
|
{
|
||
| branch/porte/Emb_App/conf_noyau.cfg | ||
|---|---|---|
|
exinf = 0x0;
|
||
|
};
|
||
|
|
||
|
task[]{
|
||
|
entry_address = Evenement();
|
||
|
name = ID_Evenement;
|
||
|
stack_size = 256;
|
||
|
stack_section = stack;
|
||
|
priority = 6;
|
||
|
initial_start = OFF;
|
||
|
exinf = 0x0;
|
||
|
};
|
||
|
|
||
|
flag[]{
|
||
|
name = ev_bus_fin_tr;
|
||
|
initial_pattern = 0x0000;
|
||
| branch/porte/Emb_App/EmbM32C87App.tps | ||
|---|---|---|
|
"SessionM32C_E8a_system"
|
||
|
[GENERAL_DATA_PROJECT]
|
||
|
[GENERAL_DATA_CONFIGURATION_Debug]
|
||
|
"PROJECT_FILES_MODIFIED_DATA_TAG" "TRUE"
|
||
|
"PROJECT_FILES_MODIFIED_DATA_TAG" "FALSE"
|
||
|
[SESSIONS_Debug]
|
||
|
"DefaultSession"
|
||
|
"SessionM32C_E8a_system"
|
||
Formats disponibles : Unified diff
Ajout d'une variation de vitesse pour gérer les sauts ( augmenter la vitesse avant et la diminuer pour la réception)