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Révision 304

Ajouté par anmaincent il y a plus de 6 ans

piste rouge réalisé avec succès
code pour selection des pistes opérationnel
Reste plus que le noir

Voir les différences:

branch/maincent/tp_info6/Emb_App.tws
"E:\info6_maincent\tp_info6\Emb_App\programme_principal_etud.c"
[WORKSPACE_FILE_STATES]
"E:\info6_maincent\tp_info6\Emb_App\conf_noyau.cfg" 75 75 1428 347 0 3
"E:\info6_maincent\tp_info6\Emb_App\crt0mr.a30" 0 0 956 523 0 1
"E:\info6_maincent\tp_info6\Emb_App\programme_principal_etud.c" -8 -30 956 523 1 0
"E:\info6_maincent\tp_info6\Emb_App\crt0mr.a30" -8 -30 1596 539 1 1
"E:\info6_maincent\tp_info6\Emb_App\programme_principal_etud.c" 0 0 956 523 0 0
"E:\info6_maincent\tp_info6\bsp\radiocommande.c" 50 50 1430 351 0 2
"E:\info6_maincent\tp_info6\bsp\uart0.c" 100 100 1356 347 0 4
[LOADED_PROJECTS]
branch/maincent/tp_info6/Emb_App/SessionM32C_E8a_system.ini
[Target]
M32C E8a SYSTEM=Renesas Communications
[USER_DATA]
RESET=ff0016
RESET=ff001e
branch/maincent/tp_info6/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_1" "0000000000000000"
"{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_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" "0000000000FF0016"
"{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_2" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_20" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_15" "0000000000000512"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF058A"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_17" "0000000000FFF800"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000001730"
"{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_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_4" "0000000000000008"
"{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_6" "0000000000001766"
"{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" "c,buff,n,rx,flag,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000" "alpha, 1, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001" "distance, 1, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001" "distance, 2, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "2"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002" "piste1, 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" "selecpiste, 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_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"
......
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 3 "0.08" 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 3 "0.07" 365 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 1 "0.08" 365 0 0 350 200 18 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"
......
[WINDOW_Z_ORDER]
"E:\info6_maincent\tp_info6\Emb_App\crt0mr.a30"
"E:\info6_maincent\tp_info6\Emb_App\programme_principal_etud.c"
"E:\info6_maincent\tp_info6\Emb_App\conf_noyau.cfg"
"E:\info6_maincent\tp_info6\bsp\uart0.c"
"E:\info6_maincent\tp_info6\bsp\radiocommande.c"
"E:\info6_maincent\tp_info6\bsp\uart0.c"
"E:\info6_maincent\tp_info6\Emb_App\conf_noyau.cfg"
[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 91760712 1 "{00000000-0000-0000-C000-000000000046}" ""
"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 100870216 1 "{00000000-0000-0000-C000-000000000046}" ""
[END]
branch/maincent/tp_info6/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 piste1;
short selecpiste;
short modecourse;
void piste(){ //detecte la couleur de la piste
while(1)
{
//lecture de la piste
CanFrame reque;
UINT flag;
reque.data.id='M'; //lecture des evenements
reque.data.rtr=1; //indique une lecture
periph[ADDR('M')].ev=0x04;
snd_dtq(CanTx, reque.msg);
//Attente de la reponse
wai_flg (ev_periph, 0x04, TWF_ANDW, &flag);
piste1=periph[ADDR('M')].val;
selecpiste = piste1 & 0x00FF;
modecourse = piste1 & 0xFF00;
dly_tsk(25);
}
}
short alpha;
void tourelle(){
void tourelle(){ // vrai pour toutes les pistes
while(1)
{
short k=1; //Gain du correcteur P
......
short capteur;
void zone(){
void zone(){ // vrai pour toutes les pistes
while(1)
{
//lecture de la zone
......
//Attente de la reponse
wai_flg (ev_periph, 0x03, TWF_ANDW, &flag);
capteur=periph[ADDR('C')].val;
dly_tsk(15);
dly_tsk(25);
}
}
short distance;
short distance1;
void dist(){
unsigned short distance;
unsigned short distance1;
void dist(){ // vrai pour toutes les pistes
while(1)
{
//lecture de la distance du mur
......
//Commande de l'angle de roue
comm.data.id='D'; //commande angle roue
comm.data.rtr=0; //indique une ecriture
if (distance > 2000 || capteur == 0x5603)
if (selecpiste == 0x0001 || selecpiste == 0x0002) // piste verte et bleu
{
if (distance > 2000)
{
// si trou dans la barriere ou zonesaut
}
else
{
distance1=distance; //cas normal: si on est au milieu de la piste angle des roues ? 0
}
comm.data.val=s*(distance1-706);
snd_dtq(CanTx, comm.msg);
dly_tsk(20);
}
else if (selecpiste == 0x0003) // piste rouge
{
// si trou dans la barriere ou zonesaut
if (distance > 2000 )
{
// si trou dans la barriere ou zonesaut
}
else if (capteur == 0x6aff) //bosse piste rouge
{
}
else
{
distance1=distance; //cas normal: si on est au milieu de la piste angle des roues ? 0
}
comm.data.val=s*(distance1-706);
snd_dtq(CanTx, comm.msg);
dly_tsk(20);
}
else // piste noir
{
if (distance > 2000 ) // || ) //bosse piste rouge
{
// si trou dans la barriere ou zonesaut
}
else if (capteur == 0x6aff)
{
// dly_tsk(1500);
}
else
{
distance1=distance; //cas normal: si on est au milieu de la piste angle des roues ? 0
}
comm.data.val=s*(distance1-706);
snd_dtq(CanTx, comm.msg);
dly_tsk(20);
}
else
{
distance1=distance; //cas normal: si on est au milieu de la piste angle des roues ? 0
}
comm.data.val=s*(distance1-706);
snd_dtq(CanTx, comm.msg);
}
}
......
//commande vitesse vehicule
requete.data.id='V';
requete.data.rtr=0; //indique une ecriture
if (capteur == 0x5602 || capteur == 0x5603 || capteur == 0x5601 )
{
requete.data.val=45; // si trou dans la barriere ou zonesaut
}
else
{
requete.data.val=15; //cas normal: si on n'est pas dans la zone de saut
}
switch (selecpiste){
case 0x0001 : // pour piste verte
if (capteur == 0x5602 || capteur == 0x5603 || capteur == 0x5604 || capteur == 0x5605 || capteur == 0x5601 )
{
requete.data.val=70; // ligne droite
}
else
{
requete.data.val=40; //virage
}
break;
case 0x0002 : // pour piste bleu
if (capteur == 0x5602 || capteur == 0x5603 || capteur == 0x5605 || capteur == 0x5601 )
{
requete.data.val=60; // ligne droite
}
else if (capteur == 0x5604)
{
requete.data.val=50; //bosse
}
else
{
requete.data.val=25; //virage
}
break;
case 0x0003 : // pour piste rouge
if (capteur == 0x5602 || capteur == 0x5603 || capteur == 0x5604 || capteur == 0x5605)
{
requete.data.val=60; // ligne droite
}
else if (capteur == 0x6aff)
{
requete.data.val=45; //bosse
}
else if (capteur == 0x5601)
{
requete.data.val=35; // petit virage entr?e
}
else if (capteur == 0x4203)
{
requete.data.val=10; // virage apr?s saut
}
else
{
requete.data.val=25; //virage
}
break;
case 0x0004 : // pour piste noir
if (capteur == 0x5602 || capteur == 0x5603 || capteur == 0x5604 || capteur == 0x5605)
{
requete.data.val=60; // ligne droite
}
else if (capteur == 0x6aff)
{
requete.data.val=45; //bosse
}
else if (capteur == 0x5601)
{
requete.data.val=35; // petit virage entr?e
}
else if (capteur == 0x4203)
{
requete.data.val=10; // virage apr?s saut
}
else
{
requete.data.val=25; //virage
}
break;
}
// requete.data.val=25; //vitesse constante
/* vitesse variable
if (distance > 706)
{
requete.data.val=140-0.05*distance; // a fond si vehicule au milieu sinon ralentit doucement
}
else
{
requete.data.val=0.05*distance; //vitesse max=50=0.07*706
}
*/
snd_dtq(CanTx, requete.msg);
// dly_tsk(2);
dly_tsk(20);
}
}
......
ports_mcu();
lcd_init();
periph_init();
periph_nom("#AutoTest*");
periph_nom("#AntoineMaincent*");
can_init();
clavier_init(1);
capture_init();
......
sta_tsk(ID_periph_rx);
sta_tsk(ID_piste);
sta_tsk(ID_tourelle);
sta_tsk(ID_dist);
sta_tsk(ID_roue);
branch/maincent/tp_info6/Emb_App/conf_noyau.cfg
};
task[]{
entry_address = piste();
name = ID_piste;
stack_size = 512;
stack_section = stack;
priority = 5;
initial_start = OFF;
exinf = 0x0;
};
task[]{
entry_address = vitesse();
name = ID_vitesse;
stack_size = 512;

Formats disponibles : Unified diff