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Révision 309

Ajouté par moelmansou1 il y a plus de 6 ans

amélioration de régulation

Voir les différences:

branch/elmansour/Emb_App.tws
"E:\tp_info6_elmansour\bsp\uart0.c"
"E:\tp_info6_elmansour\Emb_App\conf_noyau.cfg"
"E:\tp_info6_elmansour\Emb_App\crt0mr.a30"
"E:\tp_info6_elmansour\Emb_App\Debug\mr308.inc"
"E:\tp_info6_elmansour\Emb_App\Debug\mrtable.a30"
"E:\tp_info6_elmansour\Emb_App\programme_principal_etud.c"
[WORKSPACE_FILE_STATES]
"E:\tp_info6_elmansour\Emb_App\Debug\mrtable.a30" 50 50 1430 351 0 2
"E:\tp_info6_elmansour\Emb_App\conf_noyau.cfg" 75 75 1430 351 0 3
"E:\tp_info6_elmansour\Emb_App\crt0mr.a30" -8 -30 1596 539 1 0
"E:\tp_info6_elmansour\Emb_App\programme_principal_etud.c" 0 0 1596 539 0 1
"E:\tp_info6_elmansour\bsp\periph.c" 100 100 1430 351 0 4
"E:\tp_info6_elmansour\bsp\radiocommande.c" 125 125 1430 351 0 5
"E:\tp_info6_elmansour\bsp\uart0.c" 150 150 1430 351 0 6
"E:\tp_info6_elmansour\Emb_App\Debug\mr308.inc" 0 0 1430 351 0 7
"E:\tp_info6_elmansour\Emb_App\Debug\mrtable.a30" 50 50 1430 351 0 1
"E:\tp_info6_elmansour\Emb_App\conf_noyau.cfg" 75 75 1430 351 0 2
"E:\tp_info6_elmansour\Emb_App\crt0mr.a30" -8 -30 1596 539 1 6
"E:\tp_info6_elmansour\Emb_App\programme_principal_etud.c" 0 0 1596 539 0 0
"E:\tp_info6_elmansour\bsp\periph.c" 100 100 1430 351 0 3
"E:\tp_info6_elmansour\bsp\radiocommande.c" 125 125 1430 351 0 4
"E:\tp_info6_elmansour\bsp\uart0.c" 0 0 1430 351 0 5
[LOADED_PROJECTS]
"EmbM32C87App"
[END]
branch/elmansour/Emb_App/SessionM32C_E8a_system.ini
[Target]
M32C E8a SYSTEM=Renesas Communications
[USER_DATA]
RESET=ff0018
RESET=ff001a
branch/elmansour/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_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" "0000000000FF05FD"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_17" "0000000000FFF800"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000A1A"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000830"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_15" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF001A"
"{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" "000000000000C400"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_20" "0000000000004080"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_20" "0000000000000000"
"{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" "000000000000036A"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_34" "0000000000000000"
"{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" "0000000000FF0000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000A38"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_7" "0000000000000512"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_4" "0000000000000000"
"{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_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}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" "dishorizontale, 10, 0, P, Col, Hex, N"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000" "dishorizontale, 10, 0, P, Col, Dec, N"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "1"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001" "capteur, 10, 0, P, Col, Dec, N"
"{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}WatchWnd1ColWidth0" "120"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth1" "150"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth12" "200"
......
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd3ColWidth3" "200"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd3ECX_WATCH" ""
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd3ECX_WATCH_ITEMCnt" "0"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWndInitial_Radix" "0"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWndInitial_Radix" "1"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWndInstanceKey0" "{WK_00000001_WATCH}EmbM32C87AppSessionM32C_E8a_system"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWndRecentFile_WatchRecord" ""
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWndRecentFile_WatchSave" ""
......
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 "0.07" 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 2 "0.12" 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 0 "0.11" 365 0 0 350 200 18 0 "32774|32775|32777|<<separator>>|32780|<<separator>>" "0.0"
"{WK_00000001_EVENT}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59422 0 1 "0.05" 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"
"{WK_00000001_OUTPUT}" "WINDOW" 59422 0 2 "0.53" 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_PDMR}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59422 0 4 "0.10" 365 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 0 "0.76" 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_PDMR}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59422 0 4 "0.05" 365 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 1 "0.26" 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 3 "0.14" 365 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_elmansour\Emb_App\crt0mr.a30"
"E:\tp_info6_elmansour\Emb_App\programme_principal_etud.c"
"E:\tp_info6_elmansour\Emb_App\conf_noyau.cfg"
"E:\tp_info6_elmansour\bsp\radiocommande.c"
"E:\tp_info6_elmansour\Emb_App\Debug\mr308.inc"
"E:\tp_info6_elmansour\Emb_App\Debug\mrtable.a30"
"E:\tp_info6_elmansour\bsp\periph.c"
"E:\tp_info6_elmansour\bsp\uart0.c"
"E:\tp_info6_elmansour\Emb_App\conf_noyau.cfg"
"E:\tp_info6_elmansour\bsp\periph.c"
"E:\tp_info6_elmansour\Emb_App\Debug\mrtable.a30"
[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 101162552 1 "{00000000-0000-0000-C000-000000000046}" ""
[END]
branch/elmansour/Emb_App/programme_principal_etud.c
int k=1;
unsigned agl_roue;
unsigned distance;
//unsigned dishorizontal;
unsigned dishorizontalfix;
unsigned dishorizontal;
unsigned erreur=0;
unsigned vits;
void tourelle(){
CanFrame comm;
CanFrame requete,reponse;
while (1) {
//lire l angle de torelle
/*requete.data.id='R';
......
snd_dtq(CanTx,requete.msg);
rcv_dtq(CanRx, &reponse.msg);
alpha=reponse.data.val;*/
CanFrame req;
CanFrame req,comm;
UINT flag;
req.data.id='R';
req.data.rtr=1;
......
comm.data.rtr=0;
comm.data.val=k*(450-alpha);
snd_dtq(CanTx,comm.msg);
dly_tsk(10);
dly_tsk(20);
}
}
void demarrer (){
dly_tsk(5000);
while(1){
CanFrame requete;
/*do{
dly_tsk(50);
}while(abs(k*(450-alpha))>2); */
dly_tsk(5000);
//mis en mouvement la voiture en vitess de 30
requete.data.id='V';
requete.data.rtr=0;
requete.data.val=46;
vits=45;
if(abs(distance-707)>30) requete.data.val=30;
/*{
do{
if(vits>20) vits=vits-7;
requete.data.val=vits;
dly_tsk(5);
}while(abs(distance-707)>10);
}*/
else requete.data.val=vits;
snd_dtq(CanTx, requete.msg);
dly_tsk(5);
}
}
void roues(){
CanFrame comm;
CanFrame req;
UINT flag;
req.data.id='D';
dly_tsk(1000);
/*req.data.id='D';
req.data.rtr=1;
periph[ADDR('D')].ev=0x02;
snd_dtq(CanTx,req.msg);
wai_flg(ev_periph, 0x02,TWF_ANDW, &flag);
agl_roue=periph[ADDR('D')].val;
agl_roue=periph[ADDR('D')].val;*/
//commander la rotation des roues
//dishorizontalfix=distance*sin(3.14*alpha/1800);
while(1){
CanFrame req,comm;
UINT flag;
//dishorizontal=distance*sin(3.14*alpha/1800);
//erreur=dishorizontal-dishorizontalfix;
comm.data.id='D';
comm.data.rtr=0;
comm.data.val=2*(distance-730);
comm.data.val=2*(distance-707);
snd_dtq(CanTx, comm.msg);
dly_tsk(10);
}
}
void distance_mur(){
//lire la distance entre la voiture et le mur
while(1){
CanFrame req;
UINT flag;
while(1){
req.data.id='U';
req.data.rtr=1;
periph[ADDR('U')].ev=0x01;
periph[ADDR('U')].ev=0x02;
snd_dtq(CanTx,req.msg);
wai_flg(ev_periph, 0x01,TWF_ANDW, &flag);
wai_flg(ev_periph, 0x02,TWF_ANDW, &flag);
distance=periph[ADDR('U')].val;
//dishorizontal=distance*cos(90-alpha/10);
dly_tsk(10);
}
}
void capt(){
while(1){
CanFrame req;
int capteur;
UINT flag;
req.data.id='C';
req.data.rtr=1;
periph[ADDR('R')].ev=0x03;
snd_dtq(CanTx, req.msg);
wai_flg(ev_periph, 0x03, TWF_ANDW, &flag);
capteur=periph[ADDR('C')].val;
dly_tsk(20);
}
}
void feurouge(){
while(1){
CanFrame req;
int feu;
UINT flag;
req.data.id='M';
req.data.rtr=1;
periph[ADDR('M')].ev=0x04;
snd_dtq(CanTx, req.msg);
wai_flg(ev_periph, 0x04, TWF_ANDW, &flag);
feu=periph[ADDR('M')].val;
dly_tsk(20);
}
}
void main()
{
// CanFrame comm;
void main()
{
CanFrame comm;
comm.data.id='T';
comm.data.rtr=0;
comm.data.val=120;
snd_dtq(CanTx,comm.msg);
dly_tsk(20);
ports_mcu();
lcd_init();
periph_init();
periph_nom("#Mansour*");
can_init();
clavier_init(1);
......
sta_cyc(ID_acqui);
sta_tsk(ID_periph_rx);
// comm.data.id='T';
// comm.data.rtr=0;
// comm.data.val=120;
// snd_dtq(CanTx,comm.msg);
// sta_tsk(ID_tourelle);
// sta_tsk(ID_demarer);
// sta_tsk(ID_roues);
// sta_tsk(ID_distance_mur);
sta_tsk(ID_tourelle);
sta_tsk(ID_demarrer);
sta_tsk(ID_distance_mur);
dly_tsk(2000);
sta_tsk(ID_roues);
sta_tsk(ID_capt);
sta_tsk(ID_feurouge);
while(1)
{
branch/elmansour/Emb_App/conf_noyau.cfg
name = ID_demarrer;
stack_size = 256;
stack_section = stack;
priority = 2;
priority = 5;
initial_start = OFF;
exinf = 0x0;
};
......
name = ID_tourelle;
stack_size = 256;
stack_section = stack;
priority = 2;
priority = 1;
initial_start = OFF;
exinf = 0x0;
};
......
initial_start = OFF;
exinf = 0x0;
};
task[]{
entry_address = capt();
name = ID_capt;
stack_size = 256;
stack_section = stack;
priority = 4;
initial_start = OFF;
exinf = 0x0;
};
task[]{
entry_address = feurouge();
name = ID_feurouge;
stack_size = 256;
stack_section = stack;
priority = 3;
initial_start = OFF;
exinf = 0x0;
};
flag[]{
name = ev_bus_fin_tr;
branch/elmansour/Emb_App/DefaultSession.hsf
[WINDOW_POSITION_STATE_DATA_VD4]
[WINDOW_Z_ORDER]
"E:\tp_info6_elmansour\Emb_App\programme_principal_etud.c"
"E:\tp_info6_elmansour\Emb_App\conf_noyau.cfg"
"E:\tp_info6_elmansour\Emb_App\crt0mr.a30"
"E:\tp_info6_elmansour\bsp\radiocommande.c"
"E:\tp_info6_elmansour\Emb_App\Debug\mr308.inc"
"E:\tp_info6_elmansour\Emb_App\Debug\mrtable.a30"
"E:\tp_info6_elmansour\bsp\periph.c"
"E:\tp_info6_elmansour\bsp\uart0.c"
"E:\tp_info6_elmansour\Emb_App\conf_noyau.cfg"
"E:\tp_info6_elmansour\bsp\periph.c"
"E:\tp_info6_elmansour\Emb_App\Debug\mrtable.a30"
[TARGET_NAME]
"" "" 0
[STATUSBAR_STATEINFO_VD1]
branch/elmansour/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