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Révision 315

Ajouté par vidaval il y a plus de 6 ans

Modifications pour que la voiture ralentisse dans les virage piste bleu passée en - de 20s

Voir les différences:

branch/daval/Emb_App.tws
"E:\tp_info6_2018_daval\Emb_App\Debug\mr308.inc" 25 25 1430 351 0 8
"E:\tp_info6_2018_daval\Emb_App\Debug\mrtable.a30" 150 150 1430 351 0 6
"E:\tp_info6_2018_daval\Emb_App\conf_noyau.cfg" 0 0 1430 351 0 7
"E:\tp_info6_2018_daval\Emb_App\crt0mr.a30" 25 25 1430 351 0 1
"E:\tp_info6_2018_daval\Emb_App\programme_principal_etud.c" -8 -30 1596 539 1 0
"E:\tp_info6_2018_daval\Emb_App\crt0mr.a30" -8 -30 1596 539 1 1
"E:\tp_info6_2018_daval\Emb_App\programme_principal_etud.c" 0 0 1596 539 0 0
"E:\tp_info6_2018_daval\bsp\mli.c" 125 125 1430 351 0 5
"E:\tp_info6_2018_daval\bsp\periph.c" 50 50 1430 351 0 2
"E:\tp_info6_2018_daval\bsp\radiocommande.c" 75 75 1430 351 0 3
branch/daval/Emb_App/SessionM32C_E8a_system.ini
[Target]
M32C E8a SYSTEM=Renesas Communications
[USER_DATA]
RESET=ff0028
RESET=ff002a
branch/daval/Emb_App/SessionM32C_E8a_system.hsf
"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWndInstanceKey1" "{WK_00000001_PDMR}EmbM32C87AppSessionM32C_E8a_system0"
"{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" "0000000000000056"
"{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" "0000000000FF3285"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF0495"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_17" "0000000000FFF800"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000A4E"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000852"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "0000000000000005"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_20" "00000000000000C0"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000B22"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000842"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "00000000000000C0"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_20" "0000000000000080"
"{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_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" "0000000000000005"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "0000000000000512"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000A4E"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_4" "0000000000000001"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "0000000000000B3A"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000B3E"
"{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"
......
"{AC411480-6F0A-11D5-8EB6-00004CC34E9D}ECX_IMAGE_VIEW" "0,0,0,0,0,0"
"{AC411480-6F0A-11D5-8EB6-00004CC34E9D}ImageCtrlViews" "0"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchCtrlViews" "4"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ColWidth0" "148"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ColWidth0" "217"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ColWidth1" "186"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ColWidth12" "200"
"{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" "valeur, 1, 0, P, Col, Dec, MN"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001" "angle, 1, 0, P, Col, Dec, MN"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002" "distance_mesure, 1, 0, P, Col, Dec, MN"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002_SCOPE" "Global,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000" "distance_mesure, 1, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000_SCOPE" "Global,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001" "angle_mesure, 1, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001_SCOPE" "Global,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002" "angle_corrige, 1, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "3"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth0" "120"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth1" "150"
......
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 2 "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 2 "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 0 "0.11" 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 3 "0.52" 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_OUTPUT}" "WINDOW" 59422 0 3 "0.44" 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_system0" "WINDOW" 59422 0 1 "0.07" 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_PDMR}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59422 0 4 "0.01" 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 5 "0.30" 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 5 "0.38" 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_POSITION_STATE_DATA_VD3]
[WINDOW_POSITION_STATE_DATA_VD4]
[WINDOW_Z_ORDER]
"E:\tp_info6_2018_daval\Emb_App\crt0mr.a30"
"E:\tp_info6_2018_daval\Emb_App\programme_principal_etud.c"
"E:\tp_info6_2018_daval\Emb_App\crt0mr.a30"
"E:\tp_info6_2018_daval\bsp\uart0.c"
"E:\tp_info6_2018_daval\Emb_App\conf_noyau.cfg"
"E:\tp_info6_2018_daval\Emb_App\Debug\mr308.inc"
"E:\tp_info6_2018_daval\Emb_App\conf_noyau.cfg"
"E:\tp_info6_2018_daval\Emb_App\Debug\mrtable.a30"
"E:\tp_info6_2018_daval\bsp\periph.c"
"E:\tp_info6_2018_daval\bsp\mli.c"
......
[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 92744024 1 "{00000000-0000-0000-C000-000000000046}" ""
"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 80423256 1 "{00000000-0000-0000-C000-000000000046}" ""
[END]
branch/daval/Emb_App/programme_principal_etud.c
char k=1; //gain du correcteur
int angle_corrige = 0 ; //valeur envoyee
//Asservissement de la voiture
int consigne_roue=700; // Consigne qui permet d etre bien centr? sur la route
int distance_mur=700; // Consigne qui permet d etre bien centr? sur la route
char C=1; // Gain asservissment des roues
int vitesse_voulue= 35; // Commande de vitesse que l'on envoie
int vitesse_rapide= 60;//Commande de vitesse que l'on envoie
int vitesse_lente=30;
int distance_mesure=0;
int cap;
void asservissement()
void asservissement_tourelle()
{
CanFrame commande;
CanFrame requete;
......
dly_tsk(15);
}
}
CanFrame vitesse; //Sotie de la tache avance car utilis?e dans la tache de l'asservissment de cap
CanFrame orientation_roue;
CanFrame requete;
void avance()
{
CanFrame vitesse;
CanFrame orientation_roue;
CanFrame requete;
/* orientation_roue.data.id='D';
orientation_roue.data.rtr=1; //Debut de l'acquisition de l'angle pour faire relentir la voiture dans les virages
int orientation = periph[ADDR('U')].val;*/
dly_tsk(2000);
vitesse.data.id='V'; //Envoi d'une commande en vitesse
vitesse.data.rtr=0; //Indique une ecriture
vitesse.data.rtr=0; //Indique une ecritur
while(1)
{
if(cap<-50 || cap>50)
{
vitesse.data.val=vitesse_lente;
snd_dtq (CanTx,vitesse.msg);
}
else
{
vitesse.data.val=vitesse_rapide;
snd_dtq (CanTx,vitesse.msg);
}
dly_tsk(10);
}
vitesse.data.val=vitesse_voulue;
snd_dtq (CanTx,vitesse.msg);
dly_tsk(15);
}
void distance_bord()
......
distance_mesure=periph[ADDR('U')].val;
}
dly_tsk(5);
dly_tsk(10);
}
}
void angle_roues()
void asserv_cap()
{
CanFrame requete,commande;
UINT flag;
......
snd_dtq(CanTx, requete.msg);
wai_flg (ev_periph, 0x01, TWF_ANDW, &flag);
commande.data.id='D';
commande.data.rtr=0;
commande.data.val= C*(distance_mesure-consigne_roue);
commande.data.rtr=0;
cap=C*(distance_mesure-distance_mur);
commande.data.val= cap;
snd_dtq(CanTx, commande.msg);
dly_tsk(5);
dly_tsk(10);
}
}
......
sta_cyc(ID_acqui);
sta_tsk(ID_periph_rx); //Si on utilise cette t?che on ne doit plus utiliser canRX
sta_tsk(ID_asservissement);
sta_tsk(ID_asservissement_tourelle);
sta_tsk(ID_distance_bord);
sta_tsk(ID_angle_roues);
sta_tsk(ID_asserv_cap);
sta_tsk(ID_avance);
while(1);
branch/daval/Emb_App/conf_noyau.cfg
exinf = 0x0;
};
task[]{
entry_address = asservissement();
name = ID_asservissement;
entry_address = asservissement_tourelle();
name = ID_asservissement_tourelle;
stack_size = 256;
stack_section = stack;
priority = 3;
......
name = ID_avance;
stack_size = 256;
stack_section = stack;
priority = 5;
priority = 4;
initial_start = OFF;
exinf = 0x0;
};
......
name = ID_distance_bord;
stack_size = 256;
stack_section = stack;
priority = 4;
priority = 6;
initial_start = OFF;
exinf = 0x0;
};
task[]{
entry_address = angle_roues();
name = ID_angle_roues;
entry_address = asserv_cap();
name = ID_asserv_cap;
stack_size = 256;
stack_section = stack;
priority = 4;
priority = 5;
initial_start = OFF;
exinf = 0x0;
};

Formats disponibles : Unified diff