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Révision 306

Ajouté par zaschiano il y a plus de 6 ans

Passage de la piste noir ok (la plupart du temps)

Voir les différences:

branch/schiano/Emb_App.tws
"E:\tp_info6_2018_schiano\tp_info6\bsp\uart0.c"
"E:\tp_info6_2018_schiano\tp_info6\Emb_App\conf_noyau.cfg"
"E:\tp_info6_2018_schiano\tp_info6\Emb_App\crt0mr.a30"
"E:\tp_info6_2018_schiano\tp_info6\Emb_App\Debug\mr308.inc"
"E:\tp_info6_2018_schiano\tp_info6\Emb_App\programme_principal_etud.c"
[WORKSPACE_FILE_STATES]
"E:\tp_info6_2018_schiano\tp_info6\Emb_App\Debug\mr308.inc" 125 125 1405 363 0 5
"E:\tp_info6_2018_schiano\tp_info6\Emb_App\conf_noyau.cfg" 25 25 1430 351 0 1
"E:\tp_info6_2018_schiano\tp_info6\Emb_App\crt0mr.a30" 0 0 1596 539 0 2
"E:\tp_info6_2018_schiano\tp_info6\Emb_App\programme_principal_etud.c" -8 -30 1596 576 1 0
branch/schiano/Emb_App/SessionM32C_E8a_system.ini
[Target]
M32C E8a SYSTEM=Renesas Communications
[USER_DATA]
RESET=ff003e
RESET=ff0044
branch/schiano/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" "0000000000FF31AF"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF322B"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_17" "0000000000FFF800"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000A7A"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "000000000000087E"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "0000000000000012"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000AB2"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "00000000000008B6"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "000000000000FFFF"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_20" "00000000000000C1"
"{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_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" "0000000000000008"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "0000000000A50000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000A7A"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_4" "000000000000000A"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "00000000000CE4F6"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000AB2"
"{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}WatchWnd0ColWidth2" "120"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ColWidth3" "200"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH" "c,buff,n,rx,flag,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000" "CouleurCapteur, 1, 0, P, Col, Hex, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001" "consigneVitesse, 1, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001_SCOPE" "Global,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002" "consignealpha, 2, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000" "consigneVitesse, 1, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000_SCOPE" "Global,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001" "CouleurCapteur, 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" "Couleurperso, 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" "consignedistance, 2, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0003_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0004" "distancemur, 2, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0004_SCOPE" "Global,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0005" "vitesselignedroite, 2, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0003" "distancemur, 2, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0003_SCOPE" "Global,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0004" "consignedistance, 2, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0004_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0005" "consignealpha, 2, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0005_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0006" "vitessevirage, 2, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0006" "angleRoue, 2, 0, P, Col, Hex, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0006_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0007" "Couleurperso, 1, 0, P, Col, Hex, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0007" "a, 1, 0, P, Col, Hex, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0007_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0008" "etatfeu, 1, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0008" "b, 1, 0, P, Col, Hex, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0008_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0009" "a, 1, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0009" "c, 1, 0, P, Col, Hex, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0009_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0010" "b, 1, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0010" "vitesselignedroite, 2, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0010_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0011" "c, 1, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0011" "feuvert, 1, 0, P, Col, Hex, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0011_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0012" "d, 1, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0012_SCOPE" "Current Scope,"
......
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0013_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0014" "numero, 1, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0014_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "15"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "12"
"{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 1 "0.07" 328 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 4 "0.07" 328 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 "0.08" 328 0 0 350 200 18 0 "32774|32775|32777|<<separator>>|32780|<<separator>>" "0.0"
"{WK_00000001_EVENT}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59422 0 0 "0.06" 328 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"
"{WK_00000001_OUTPUT}" "WINDOW" 59422 0 2 "0.58" 328 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 4 "0.11" 328 0 0 350 200 18 0 "47300|47301|47302|47303|47304|47305|47314|47306|47307|47308|47311|47312|47313|42211|42509|42303" "0.0"
"{WK_00000001_OUTPUT}" "WINDOW" 59422 0 1 "0.58" 328 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 3 "0.08" 328 0 0 350 200 18 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 3 "0.23" 328 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 "0.29" 328 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"
......
[WINDOW_Z_ORDER]
"E:\tp_info6_2018_schiano\tp_info6\Emb_App\programme_principal_etud.c"
"E:\tp_info6_2018_schiano\tp_info6\Emb_App\crt0mr.a30"
"E:\tp_info6_2018_schiano\tp_info6\Emb_App\Debug\mr308.inc"
"E:\tp_info6_2018_schiano\tp_info6\Emb_App\conf_noyau.cfg"
"E:\tp_info6_2018_schiano\tp_info6\bsp\uart0.c"
"E:\tp_info6_2018_schiano\tp_info6\bsp\periph.c"
"E:\tp_info6_2018_schiano\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 94921448 1 "{00000000-0000-0000-C000-000000000046}" ""
"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 79192808 1 "{00000000-0000-0000-C000-000000000046}" ""
[END]
branch/schiano/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 '*'
int a =0,b=0,c=0,d=0,e=0;
int a =0,b=0,c=0,d=0,e=0; //variable de tests
unsigned int alpha =0;
unsigned int teta =100;
unsigned int consignealpha = 450;
unsigned int consignealpha = 450; // consigne d'angle pour le telemetre
unsigned int angleRoue =0;
unsigned int consignedistance = 725;
unsigned int consignedistance = 725; // consigne pour la distance par rapport au mur
unsigned int distancemur =725;
unsigned int vitesselignedroite =0;
unsigned int vitessevirage =0;
unsigned int erreurprec=0;
int etatfeu=0;
int feuvert=0;
......
int consigneVitesse;
int CouleurCapteur ='V';
int k=2;
int kp=-1;
int kp=1;
float kpi=1/2;
void main()
{
......
sta_cyc(ID_acqui);
sta_tsk(ID_periph_rx);
sta_cyc(ID_asserv1); //asservissement telemetre
sta_tsk(ID_asserv0);
sta_cyc(ID_asservtourellecyc); //asservissement telemetre
sta_tsk(ID_asservtourelle);
sta_cyc(ID_asservangleroue); //assservissement angle roue
sta_tsk(ID_asservRoue);
sta_tsk(ID_numpiste);
while(go!=1); //attente detection de la piste
dly_tsk(1000);
sta_tsk(ID_depart); //consigne de vitesse de la voiture
while(feuvert!=1);
sta_tsk(ID_AsservVitesse);//gestion des couleurs
//sta_cyc(ID_asservVitesseCyc);
switch(numero){
case(256) : //vert
sta_tsk(ID_AsservVitesse);
break;
case(512) : //bleu
sta_tsk(ID_AsservVitesse);
break;
case(768) : //rouge
sta_tsk(ID_AsservVitesseR);
break;
case(1024) : //noir
sta_tsk(ID_AsservVitesseN);
break;
}
while(1)
{
//LED_J=1;
//dly_tsk(100);
//LED_J=0;
//dly_tsk(100);
//asserv0();
{
}
}
......
{
CanFrame Numpiste;
while(1){
a++;
while(1){
Numpiste.data.id='M';
Numpiste.data.rtr=1;
snd_dtq (CanTx,Numpiste.msg);
......
consignealpha = 400;
consignedistance = 785;
distancemur = consignedistance;
sta_cyc(ID_asservangleroue); //assservissement angle roue
go =1;
break;
case(512) : //bleue
vitesselignedroite =65;
vitessevirage =25;
vitessevirage =30;
consignealpha = 400;
consignedistance = 775;
distancemur = consignedistance;
sta_cyc(ID_asservangleroue); //assservissement angle roue
go =1;
break;
case(768) : //rouge
vitesselignedroite =65;
vitesselignedroite =70;
vitessevirage =25;
consignealpha = 450;
consignedistance = 700;
distancemur = consignedistance;
sta_cyc(ID_asservangleroueR); //asservissement angle des roues piste rouge
go=1;
break;
case(1024) : //noir
vitesselignedroite =25;
vitessevirage =25;
vitesselignedroite =40;
vitessevirage =15;
consignealpha = 450;
consignedistance = 700;
distancemur = consignedistance;
sta_cyc(ID_asservangleroueN); //assservissement angle roue
go=1;
break;
}
......
CanFrame feu;
while(1){
b++;
feu.data.id='M';
feu.data.rtr=1;
snd_dtq (CanTx,feu.msg);
dly_tsk(50);
dly_tsk(100);
etatfeu=periph[ADDR('M')].val>>15;
if(etatfeu==1){
start.data.id='V';
start.data.rtr=0;
start.data.val=vitesselignedroite;
snd_dtq (CanTx,start.msg);
consigneVitesse=vitesselignedroite;
feuvert=1;
ext_tsk();
}
}
}
void asserv0()
void asservtourelle()
{
CanFrame comm;
......
CanFrame reponse;
while(1){
c++;
comm.data.id='T';
comm.data.rtr=0;
comm.data.val=teta; //consigne de vitesse de rotation de la tourelle
......
}
}
void asserv1(){
if (alpha!=consignealpha)teta = k*(consignealpha - alpha);
void asservtourellecyc(){
teta = k*(consignealpha - alpha);
}
void asservRoue(){
......
CanFrame reponseU;
while(1){
d++;
angleroues.data.id='D';
angleroues.data.rtr=0;
angleroues.data.val=angleRoue; //consigne d'angle des roues de la voiture
......
}
void asservangleroue(){
angleRoue = -kp*(consignedistance - distancemur)-kpi*erreurprec;
erreurprec = consignedistance - distancemur;
}
//asservissement angle des roues piste rouge
void asservangleroueR(){
if(Couleurperso==0x7601);
else {
if (distancemur != consignedistance)angleRoue=kp*(consignedistance - distancemur);
angleRoue = -kp*(consignedistance - distancemur)-kpi*erreurprec;
erreurprec = consignedistance - distancemur;
}
}
//asservissement angle des roues piste noire
void asservangleroueN(){
if(Couleurperso==0x76c0);
else if(Couleurperso==0x62c0);
else if(Couleurperso==0x62f0);
else {
angleRoue= -kp*(consignedistance - distancemur)-kpi*erreurprec;
erreurprec = consignedistance - distancemur;
}
}
//Choix des vitesses en fonction des capteurs de couleurs pour les pistes verte et bleue
void AsservVitesse(){
CanFrame vitesse;
CanFrame demandeCapteur;
while(1){
e++;
demandeCapteur.data.id='C';
demandeCapteur.data.rtr=1;
......
consigneVitesse = vitesselignedroite;
}
else {
consigneVitesse = vitessevirage;
}
vitesse.data.id='V';
vitesse.data.rtr=0;
vitesse.data.val=consigneVitesse; //consigne de vitesse de la voiture
snd_dtq (CanTx,vitesse.msg);
dly_tsk(30);
}
}
//Choix des vitesses en fonction des capteurs de couleurs pour la piste rouge
void AsservVitesseR(){
CanFrame vitesse;
CanFrame demandeCapteur;
while(1){
demandeCapteur.data.id='C';
demandeCapteur.data.rtr=1;
snd_dtq (CanTx,demandeCapteur.msg); // demande couleur capteur
Couleurperso = periph[ADDR('C')].val;
CouleurCapteur = periph[ADDR('C')].val>>2;
if ((CouleurCapteur == 0x1580)||(CouleurCapteur == 0x1581)||(CouleurCapteur == 0x1da0)) {
consigneVitesse = vitesselignedroite;
}
else {
if(Couleurperso == 0x7601){
consigneVitesse = 45;
}
......
snd_dtq (CanTx,vitesse.msg);
dly_tsk(30);
}
}
//Choix des vitesses en fonction des capteurs de couleurs pour la piste noire
void AsservVitesseN(){
CanFrame vitesse;
CanFrame demandeCapteur;
while(1){
demandeCapteur.data.id='C';
demandeCapteur.data.rtr=1;
snd_dtq (CanTx,demandeCapteur.msg); // demande couleur capteur
Couleurperso = periph[ADDR('C')].val;
CouleurCapteur = periph[ADDR('C')].val>>2;
/*if ((CouleurCapteur == 0x1580)||(CouleurCapteur == 0x1581)||(CouleurCapteur == 0x1da0)||(CouleurCapteur==0x1db0)) {
if(Couleurperso==0x5603) consigneVitesse = 70; //ligne droite apres bosse
else if(Couleurperso ==0x5604) {//ligne droite dans la terre
consigneVitesse =15;
consignedistance = 500;
}
else consigneVitesse = vitesselignedroite;
}
else {
if(Couleurperso == 0x6a01)consignedistance = 925; //decalage pour le tonneau au millieu
else if (Couleurperso == 0x4a01) consignedistance = 700;//retour au centre de la piste
else if(Couleurperso==0x62f0) consigneVitesse = 40; //2e montee
else if(Couleurperso==0x5202) consigneVitesse = 25; //virage apres la bosse
else if(Couleurperso==0x4304){//dernier virage
consigneVitesse =30;
consignedistance=700;
}
else {consigneVitesse = vitessevirage;
}
}*/
switch (Couleurperso){
case(0x76c0) : consigneVitesse = 35; break;
case(0x6a01) : consignedistance = 925; break; //decalage pour le tonneau au millieu
case(0x4a01) : consignedistance = 700; break; //1er virage
case(0x5602) : consigneVitesse = vitessevirage; break;
case(0x62c0) : consigneVitesse = 12; break;
case(0x6a02) : consigneVitesse = 12; break;
case(0x6a06) : consigneVitesse = vitessevirage; break;
case(0x5202) : consigneVitesse = 25; break; //virage apres la bosse
case(0x5603) : consigneVitesse = 70; break; //ligne droite apres bosse
case(0x62f0) : consigneVitesse = vitesselignedroite; break; //2e montee
case(0x4203) : consigneVitesse = 25; break;
case(0x5604) : //ligne droite dans la terre
consigneVitesse =15;
consignedistance = 500;
break;
case(0x4304) ://dernier virage
consigneVitesse =30;
consignedistance=700;
break;
}
vitesse.data.id='V';
vitesse.data.rtr=0;
vitesse.data.val=consigneVitesse; //consigne de vitesse de la voiture
snd_dtq (CanTx,vitesse.msg);
dly_tsk(30);
}
}
branch/schiano/Emb_App/conf_noyau.cfg
};
task[]{
entry_address = asserv0();
name = ID_asserv0;
entry_address = asservtourelle();
name = ID_asservtourelle;
stack_size = 256;
stack_section = stack;
priority = 5;
......
exinf = 0x0;
};
task[]{
entry_address = AsservVitesseR();
name = ID_AsservVitesseR;
stack_size = 256;
stack_section = stack;
priority = 4;
initial_start = OFF;
exinf = 0x0;
};
task[]{
entry_address = AsservVitesseN();
name = ID_AsservVitesseN;
stack_size = 256;
stack_section = stack;
priority = 4;
initial_start = OFF;
exinf = 0x0;
};
flag[]{
name = ev_bus_fin_tr;
initial_pattern = 0x0000;
......
};
cyclic_hand[]{
entry_address = asserv1();
name = ID_asserv1;
entry_address = asservtourellecyc();
name = ID_asservtourellecyc;
exinf = 0x0;
start = OFF;
phsatr = OFF;
......
phs_counter = 0x0;
};
cyclic_hand[]{
entry_address = asservangleroueR();
name = ID_asservangleroueR;
exinf = 0x0;
start = OFF;
phsatr = OFF;
interval_counter = 10;
phs_counter = 0x0;
};
cyclic_hand[]{
entry_address = asservangleroueN();
name = ID_asservangleroueN;
exinf = 0x0;
start = OFF;
phsatr = OFF;
interval_counter = 10;
phs_counter = 0x0;
};
vdataqueue[]{
name = QdmTouche;
wait_queue = TA_TFIFO;
branch/schiano/Emb_App/EmbM32C87App.tps
"SessionM32C_E8a_system"
[GENERAL_DATA_PROJECT]
[GENERAL_DATA_CONFIGURATION_Debug]
"PROJECT_FILES_MODIFIED_DATA_TAG" "FALSE"
"PROJECT_FILES_MODIFIED_DATA_TAG" "TRUE"
[SESSIONS_Debug]
"DefaultSession"
"SessionM32C_E8a_system"

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