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Révision 312

Ajouté par sevilain1 il y a plus de 6 ans

Ajout d'un différenciation de vitesse dans les virages (et autres cas particuliers), ajouts de capteurs au circuit noir, ainsi que leurs traitements, ajout d'une tache affichant le numéro du circuit (démmarrage au feu vert à prévoir)

Voir les différences:

branch/vilain_sebastien/Emb_App.tws
[WORKSPACE_FILE_STATES]
"E:\tp_info6_2018_vilain_sebastien\Emb_App\Debug\mr308.inc" 0 0 1596 539 0 4
"E:\tp_info6_2018_vilain_sebastien\Emb_App\conf_noyau.cfg" 50 50 1430 351 0 2
"E:\tp_info6_2018_vilain_sebastien\Emb_App\crt0mr.a30" -8 -30 1596 539 1 1
"E:\tp_info6_2018_vilain_sebastien\Emb_App\programme_principal_etud.c" 0 0 1596 539 0 0
"E:\tp_info6_2018_vilain_sebastien\Emb_App\crt0mr.a30" 0 0 1596 539 0 1
"E:\tp_info6_2018_vilain_sebastien\Emb_App\programme_principal_etud.c" -8 -30 1596 539 1 0
"E:\tp_info6_2018_vilain_sebastien\bsp\periph.c" 75 75 1430 351 0 3
"E:\tp_info6_2018_vilain_sebastien\bsp\uart0.c" 125 125 1430 351 0 5
[LOADED_PROJECTS]
branch/vilain_sebastien/Emb_App/SessionM32C_E8a_system.ini
[Target]
M32C E8a SYSTEM=Renesas Communications
[USER_DATA]
RESET=ff0018
RESET=ff0026
branch/vilain_sebastien/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" "0000000000000044"
"{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_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" "0000000000FF0577"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF058D"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_17" "0000000000FFF800"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000E08"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000830"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000A46"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000868"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_20" "0000000000000044"
"{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_35" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_4" "000000000000000A"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000E2C"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000A64"
"{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_ITEM0001_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002" "angle_roues, 1, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0003" "rampe, 1, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0003" "lecture, 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" "lecture, 1, 0, P, Col, Hex, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0004" "num_piste, 1, 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}WatchWnd1ColWidth0" "120"
......
[WINDOW_POSITION_STATE_DATA_VD3]
[WINDOW_POSITION_STATE_DATA_VD4]
[WINDOW_Z_ORDER]
"E:\tp_info6_2018_vilain_sebastien\Emb_App\programme_principal_etud.c"
"E:\tp_info6_2018_vilain_sebastien\Emb_App\crt0mr.a30"
"E:\tp_info6_2018_vilain_sebastien\Emb_App\programme_principal_etud.c"
"E:\tp_info6_2018_vilain_sebastien\Emb_App\Debug\mr308.inc"
"E:\tp_info6_2018_vilain_sebastien\bsp\uart0.c"
"E:\tp_info6_2018_vilain_sebastien\bsp\periph.c"
"E:\tp_info6_2018_vilain_sebastien\Emb_App\conf_noyau.cfg"
"E:\tp_info6_2018_vilain_sebastien\Emb_App\Debug\mr308.inc"
"E:\tp_info6_2018_vilain_sebastien\bsp\periph.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 99232872 1 "{00000000-0000-0000-C000-000000000046}" ""
"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 98315368 1 "{00000000-0000-0000-C000-000000000046}" ""
[END]
branch/vilain_sebastien/Emb_App/programme_principal_etud.c
short lecture_telemetre();
short lecture_capteur();
void commande_vitesse(short vitesse);
void init_vitesse(short vitesse);
void init_vitesse();
short consigne_angle = 450;
short consigne_telemetre = 705;
FLGPTN flag;
short dist;
short angle_roues;
int rampe = 0;
int asserv_off = 0;
short lecture;
short num_piste;
int vit_spe = 0;
int vit_spe2 = 0;
int vit_spe3 = 0;
int vit_spe4 = 0;
float K1 = 1;
int telemetre_a_droite = 1;
void main()
{
......
periph[ADDR('R')].ev=0x01;
periph[ADDR('U')].ev=0x02;
periph[ADDR('C')].ev=0x03;
periph[ADDR('M')].ev=0x04;
sta_cyc(ID_acqui);
sta_tsk(ID_periph_rx);
sta_tsk(ID_asserv0);
sta_tsk(ID_asserv1);
sta_tsk(ID_commande_capteur);
sta_tsk(ID_course);
init_vitesse(45);
init_vitesse();
while(1)
{
......
void asserv0()
{
int K = 2;
int K = 5;
short erreur;
while(1)
{
......
void asserv1()
{
int K = 2;
short erreur;
short ancien_dist;
while(1)
{
if (rampe == 0)
if (asserv_off == 0)
{
ancien_dist = dist;
dist = lecture_telemetre();
if((dist >= 2000)||(dist <= -2000))
if((abs(dist) >= 2000))
{
dist = ancien_dist;
}
erreur = K*(consigne_telemetre-dist);
angle_roues = -erreur;
commande_angle_roues(-erreur);
erreur = K1*(consigne_telemetre-dist);
if (telemetre_a_droite == 1)
{
erreur = -erreur;
}
angle_roues = erreur;
commande_angle_roues(erreur);
}
dly_tsk(5);
}
......
snd_dtq(CanTx, comm.msg);
}
void init_vitesse(short vitesse)
void init_vitesse()
{
dly_tsk(3000);
commande_vitesse(vitesse);
sta_tsk(ID_vitesse_virage);
}
void vitesse_virage()
{
while(1)
{
if (vit_spe)
{
commande_vitesse(45);
}
else if (vit_spe2)
{
commande_vitesse(10);
}
else if (vit_spe3)
{
commande_vitesse(43);
}
else if (vit_spe4)
{
commande_vitesse(30);
}
else if ((angle_roues > 50) || (angle_roues < -50))
{
commande_vitesse(20);
}
else
{
commande_vitesse(60);
}
}
dly_tsk(100);
}
short lecture_capteur()
{
CanFrame requete;
......
while(1)
{
lecture = lecture_capteur();
if((lecture & 0xFF00) == 0x6200) //bleu
if(lecture == 0x6201) //bleu id 01
{
rampe = 1;
asserv_off = 1;
vit_spe = 1;
}
if ((lecture & 0xFF00) == 0x7600) //vert
if(lecture == 0x6202) //bleu id 02
{
rampe = 0;
asserv_off = 1;
}
if (lecture == 0x7601) //vert id 01
{
asserv_off = 0;
vit_spe = 0;
}
if (lecture == 0x6a01) //jaune id 01
{
asserv_off = 0;
}
if (lecture == 0x7603) //vert id 03
{
commande_vitesse(20);
}
if ((lecture & 0xFF00) == 0x6a00) //jaune
if (lecture == 0x7602) //vert id 02
{
rampe = 0;
vit_spe = 1;
}
if ((lecture & 0xFF00) == 0x5604)
if (lecture == 0x7604) //vert id 04
{
commande_vitesse(45);
vit_spe = 0;
}
if ((lecture & 0xFF00) == 0x7200) //rouge
if (lecture == 0x7605) //vert id 05
{
consigne_telemetre = 600;
vit_spe2 = 0;
}
if ((lecture & 0xFF00) == 0x6300) //cyan
if (lecture == 0x7606) //vert id 06
{
vit_spe2 = 1;
}
if (lecture == 0x7607) //vert id 07
{
asserv_off = 0;
vit_spe3 = 0;
}
if (lecture == 0x7608) //vert id 08
{
asserv_off = 1;
vit_spe3 = 1;
}
if (lecture == 0x7609) //vert id 09
{
vit_spe4 = 0;
}
if (lecture == 0x760a) //vert id 10
{
vit_spe4 = 1;
}
if (lecture == 0x7201) //rouge id 1
{
consigne_telemetre = 500;
}
if (lecture == 0x7202) //rouge id 2
{
consigne_telemetre = 705;
}
if (lecture == 0x6301) //cyan id 1
{
consigne_angle = 700;
consigne_telemetre = 525;
telemetre_a_droite = 1;
K1 = 3;
}
if (lecture == 0x6302) //cyan id 2
{
consigne_angle = 450;
consigne_telemetre = 705;
telemetre_a_droite = 1;
K1 = 1;
}
if (lecture == 0x6303) //cyan id 3
{
consigne_angle = -700;
consigne_telemetre = 525;
telemetre_a_droite = 0;
K1 = 3;
}
dly_tsk(100);
}
}
short lecture_course()
{
CanFrame requete;
requete.data.id = 'M';
requete.data.rtr = 1;
snd_dtq(CanTx, requete.msg);
wai_flg (ev_periph,0x04,TWF_ORW,&flag);
clr_flg(ev_periph,~0x04);
return (periph[ADDR('M')].val);
}
void course()
{
while(1)
{
num_piste = (lecture_course() & 0x00FF);
dly_tsk(100);
}
}
branch/vilain_sebastien/Emb_App/conf_noyau.cfg
//
// kernel.cfg : building file for MR308 Ver.4.00
//
// Generated by M3T-MR308 GUI Configurator at 2018/12/12 15:16:07
// Generated by M3T-MR308 GUI Configurator at 2018/12/18 14:42:59
//
////////////////////////////////////////////////////////////////////////////////
......
// max definition
maxdefine{
max_task = 6;
max_task = 8;
max_flag = 3;
max_dtq = 2;
max_cyh = 1;
......
initial_start = OFF;
exinf = 0x0;
};
task[]{
entry_address = course();
name = ID_course;
stack_size = 256;
stack_section = stack;
priority = 1;
initial_start = OFF;
exinf = 0x0;
};
task[]{
entry_address = vitesse_virage();
name = ID_vitesse_virage;
stack_size = 256;
stack_section = stack;
priority = 1;
initial_start = OFF;
exinf = 0x0;
};
flag[]{
name = ev_bus_fin_tr;
branch/vilain_sebastien/bsp/uart0.c
c=u0rb;
if (c==0x0D || c==0x0A){
if (n>=2 && n<7)
; if (n>=2 && n<7)
ipsnd_dtq (CanRx,(VP_INT) rx.msg);
n=0;
rx.data.id=rx.data.rtr=rx.data.val=0;

Formats disponibles : Unified diff