Révision 308
Ajouté par melepogam il y a plus de 6 ans
| branch/lepogam/Emb_App.tws | ||
|---|---|---|
|
[GENERAL_DATA]
|
||
|
[BREAKPOINTS]
|
||
|
[OPEN_WORKSPACE_FILES]
|
||
|
"E:\tp_info6_lepogam\bsp\periph.c"
|
||
|
"E:\tp_info6_lepogam\Emb_App\conf_noyau.cfg"
|
||
|
"E:\tp_info6_lepogam\Emb_App\crt0mr.a30"
|
||
|
"E:\tp_info6_lepogam\Emb_App\Debug\mr308.inc"
|
||
|
"E:\tp_info6_lepogam\Emb_App\programme_principal_etud.c"
|
||
|
[WORKSPACE_FILE_STATES]
|
||
|
"E:\tp_info6_lepogam\Emb_App\Debug\mr308.inc" 125 125 1430 351 0 3
|
||
|
"E:\tp_info6_lepogam\Emb_App\conf_noyau.cfg" 0 0 1430 351 0 1
|
||
|
"E:\tp_info6_lepogam\Emb_App\crt0mr.a30" 100 100 1430 351 0 2
|
||
|
"E:\tp_info6_lepogam\Emb_App\programme_principal_etud.c" -8 -30 1596 539 1 0
|
||
|
"E:\tp_info6_lepogam\Emb_App\programme_principal_etud.c" 0 0 1596 539 0 0
|
||
|
"E:\tp_info6_lepogam\bsp\periph.c" -8 -30 1596 539 1 4
|
||
|
[LOADED_PROJECTS]
|
||
|
"EmbM32C87App"
|
||
|
[END]
|
||
| branch/lepogam/Emb_App/SessionM32C_E8a_system.ini | ||
|---|---|---|
|
[Target]
|
||
|
M32C E8a SYSTEM=Renesas Communications
|
||
|
[USER_DATA]
|
||
|
RESET=ff0038
|
||
|
RESET=ff0036
|
||
| branch/lepogam/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" "0000000000000001"
|
||
|
"{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_10" "0000000000000000"
|
||
|
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_11" "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" "0000000000FF3383"
|
||
|
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF2FA8"
|
||
|
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_17" "0000000000FFF800"
|
||
|
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000A5A"
|
||
|
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "000000000000085E"
|
||
|
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000B34"
|
||
|
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000860"
|
||
|
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "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_27" "0000000000000000"
|
||
|
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_28" "0000000000000000"
|
||
|
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_29" "0000000000000000"
|
||
|
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_3" "0000000000000000"
|
||
|
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_3" "0000000000000001"
|
||
|
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_30" "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" "000000000000036A"
|
||
|
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_35" "0000000000000000"
|
||
|
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_4" "0000000000000004"
|
||
|
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "00000000001200FE"
|
||
|
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000A5A"
|
||
|
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_4" "0000000000000B4E"
|
||
|
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "0000000000000B54"
|
||
|
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000B40"
|
||
|
"{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_ITEM0003_SCOPE" "Current Scope,"
|
||
|
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0004" "vitesse_min, 2, 0, P, Col, Dec, 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}WatchWnd0ECX_WATCH_ITEM0005" "distance, 2, 0, P, Col, Dec, MA"
|
||
|
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0005_SCOPE" "Current Scope,"
|
||
|
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "6"
|
||
|
"{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_lepogam\Emb_App\programme_principal_etud.c"
|
||
|
"E:\tp_info6_lepogam\bsp\periph.c"
|
||
|
"E:\tp_info6_lepogam\Emb_App\crt0mr.a30"
|
||
|
"E:\tp_info6_lepogam\Emb_App\conf_noyau.cfg"
|
||
|
"E:\tp_info6_lepogam\Emb_App\programme_principal_etud.c"
|
||
|
"E:\tp_info6_lepogam\Emb_App\Debug\mr308.inc"
|
||
|
[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 101587000 1 "{00000000-0000-0000-C000-000000000046}" ""
|
||
|
"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 103003056 1 "{00000000-0000-0000-C000-000000000046}" ""
|
||
|
[END]
|
||
| branch/lepogam/Emb_App/programme_principal_etud.c | ||
|---|---|---|
|
unsigned int distance_ref=700;
|
||
|
unsigned int distance_ref_init=700;
|
||
|
unsigned int consigne=450;
|
||
|
unsigned int consigne_init=450;
|
||
|
unsigned int consigne_vitesse=34;
|
||
|
unsigned int vitesse_min=24;
|
||
|
unsigned int consigne_vitesse=50;
|
||
|
unsigned int vitesse_min=30;
|
||
|
unsigned int valeur_t=0;
|
||
|
unsigned int valeur_r=0;
|
||
|
int go=0;
|
||
| ... | ... | |
|
switch(npiste){
|
||
|
|
||
|
case(256) : //verte
|
||
|
consigne_vitesse =60; //60
|
||
|
vitesse_min =35; //35
|
||
|
distance_ref_init = 820; // d?cal?e ? gauche 820
|
||
|
consigne_vitesse =70; //60
|
||
|
vitesse_min =25; //35
|
||
|
distance_ref_init = 700; // d?cal?e ? gauche 820
|
||
|
go=1;
|
||
|
break;
|
||
|
|
||
| ... | ... | |
|
|
||
|
comm.data.id='D';
|
||
|
comm.data.rtr=0;
|
||
|
if(valeur_r>-100) comm.data.val=valeur_r;
|
||
|
else comm.data.val=-100;
|
||
|
comm.data.val=valeur_r;
|
||
|
|
||
|
snd_dtq (CanTx,comm.msg);
|
||
|
dly_tsk(10);
|
||
|
dly_tsk(3);
|
||
|
}
|
||
|
|
||
|
}
|
||
|
void asserv2(){ //asservissement roue
|
||
|
if(couleur==0x1c80 || couleur==0x18c8 ) ; // avant saut: bloc rouge grand valeur 2 et pr?-barille: petit bloc cyan 32 , bloc les roues
|
||
|
else if(couleur==0x18d0){
|
||
|
distance_ref=400;
|
||
|
distance_ref=925;
|
||
|
if(distance!=distance_ref) valeur_r=-k2*(distance_ref-distance);
|
||
|
}
|
||
|
else {
|
||
| ... | ... | |
|
snd_dtq (CanTx,demande.msg); // Interrogation du peripherique
|
||
|
couleur=periph[ADDR('C')].val>>2; // contient la valeur de retour du simulateur.
|
||
|
|
||
|
dly_tsk(100);
|
||
|
dly_tsk(60);
|
||
|
}
|
||
|
}
|
||
|
void asserv3(){ //asservisement vitesse
|
||
| ... | ... | |
|
else if(couleur==0x1c88) vitesse=vitesse_min; //vitesse apr?s saut: bloc rouge grand valeur 32
|
||
|
else if(couleur==0x1a90 || couleur==0x1890) vitesse=consigne_vitesse-8; //mise en place rail: grand bloc jaune 64 et piste courbe: petit bloc bleu(cyan) 64
|
||
|
else if(couleur==0x1a88) vitesse=consigne_vitesse+4; //rail apres mise en place: gand bloc jaune 32
|
||
|
else if(couleur==0x18d0 || couleur==0x18c8) vitesse=vitesse_min; //barille: petit bloc cyan 64 et pr?-barille: petit bloc cyan 32
|
||
|
else if(couleur==0x18d0) vitesse=vitesse_min; //barille: petit bloc cyan 64 et pr?barille: petit bloc cyan 32
|
||
|
else{
|
||
|
vitesse=vitesse_min; //virage
|
||
|
}
|
||
| branch/lepogam/Emb_App/conf_noyau.cfg | ||
|---|---|---|
|
exinf = 0x0;
|
||
|
start = OFF;
|
||
|
phsatr = OFF;
|
||
|
interval_counter = 0x64;
|
||
|
interval_counter = 10;
|
||
|
phs_counter = 0x0;
|
||
|
};
|
||
|
cyclic_hand[]{
|
||
| ... | ... | |
|
exinf = 0x0;
|
||
|
start = OFF;
|
||
|
phsatr = OFF;
|
||
|
interval_counter = 0x64;
|
||
|
interval_counter = 10;
|
||
|
phs_counter = 0x0;
|
||
|
};
|
||
|
cyclic_hand[]{
|
||
| ... | ... | |
|
exinf = 0x0;
|
||
|
start = OFF;
|
||
|
phsatr = OFF;
|
||
|
interval_counter = 0x64;
|
||
|
interval_counter = 10;
|
||
|
phs_counter = 0x0;
|
||
|
};
|
||
|
cyclic_hand[]{
|
||
| ... | ... | |
|
exinf = 0x0;
|
||
|
start = OFF;
|
||
|
phsatr = OFF;
|
||
|
interval_counter = 0x64;
|
||
|
interval_counter = 10;
|
||
|
phs_counter = 0x0;
|
||
|
};
|
||
|
|
||
| branch/lepogam/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"
|
||
Formats disponibles : Unified diff
modification temps handler