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Révision 316

Ajouté par crzemeta il y a plus de 6 ans

Piste bleu : Ok !

Voir les différences:

branch/zemeta/Emb_App.tws
"E:\tp_info6_2018_zemeta\tp_info6\Emb_App\programme_principal_etud.c"
[WORKSPACE_FILE_STATES]
"E:\tp_info6_2018_zemeta\tp_info6\Emb_App\conf_noyau.cfg" 1 0 1426 347 0 1
"E:\tp_info6_2018_zemeta\tp_info6\Emb_App\crt0mr.a30" 125 125 1430 351 0 5
"E:\tp_info6_2018_zemeta\tp_info6\Emb_App\programme_principal_etud.c" -8 -30 1596 539 1 4
"E:\tp_info6_2018_zemeta\tp_info6\Emb_App\crt0mr.a30" -8 -30 1596 539 1 5
"E:\tp_info6_2018_zemeta\tp_info6\Emb_App\programme_principal_etud.c" 0 0 1596 539 0 4
"E:\tp_info6_2018_zemeta\tp_info6\bsp\can.c" 50 50 1430 351 0 2
"E:\tp_info6_2018_zemeta\tp_info6\bsp\dma0.c" 75 75 1430 351 0 3
"E:\tp_info6_2018_zemeta\tp_info6\bsp\periph.c" 0 0 1430 351 0 7
branch/zemeta/Emb_App/SessionM32C_E8a_system.ini
[Target]
M32C E8a SYSTEM=Renesas Communications
[USER_DATA]
RESET=ff001e
RESET=ff0020
branch/zemeta/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" "0000000000004044"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_1" "0000000000000020"
"{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" "0000000000FF0576"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_17" "0000000000FFF800"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000B5C"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000896"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "0000000000000001"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_20" "0000000000004044"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_15" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF0020"
"{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" "0000000000000700"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "0000000000000000"
"{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" "0000000000000008"
"{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" "0000000000000B92"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_7" "0000000000000512"
"{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" "alpha, 2, 0, P, Col, Dec, MN"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000" "alpha, 10, 0, P, Col, Hex, N"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001" "error, 2, 0, P, Col, Dec, MN"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002" "comm.data.val, 2, 0, P, Col, Dec, MN"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0003" "consigne, 2, 0, P, Col, Dec, MN"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0003" "angle_reel, 2, 0, P, Col, Dec, MN"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0003_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0004" "reponse.data.val, 2, 0, P, Col, Dec, MN"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0004" "d_reel, 2, 0, P, Col, Dec, MN"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0004_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0005" "d_reel, 2, 0, P, Col, Dec, MN"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0005" "D, 2, 0, P, Col, Dec, MN"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0005_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0006" "angle_reel, 2, 0, P, Col, Dec, MN"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0006" "error2, 2, 0, P, Col, Dec, MN"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0006_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "7"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0007" "gap, 2, 0, P, Col, Dec, MN"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0007_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0008" "requete.data.val, 2, 0, P, Col, Dec, MN"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0008_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "9"
"{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_2018_zemeta\tp_info6\Emb_App\crt0mr.a30"
"E:\tp_info6_2018_zemeta\tp_info6\Emb_App\programme_principal_etud.c"
"E:\tp_info6_2018_zemeta\tp_info6\Emb_App\crt0mr.a30"
"E:\tp_info6_2018_zemeta\tp_info6\Emb_App\conf_noyau.cfg"
"E:\tp_info6_2018_zemeta\tp_info6\bsp\can.c"
"E:\tp_info6_2018_zemeta\tp_info6\bsp\dma0.c"
"E:\tp_info6_2018_zemeta\tp_info6\bsp\can.c"
"E:\tp_info6_2018_zemeta\tp_info6\bsp\uart0.c"
"E:\tp_info6_2018_zemeta\tp_info6\Emb_App\conf_noyau.cfg"
"E:\tp_info6_2018_zemeta\tp_info6\bsp\periph.c"
"E:\tp_info6_2018_zemeta\tp_info6\Disassembly"
[TARGET_NAME]
......
[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 100456696 1 "{00000000-0000-0000-C000-000000000046}" ""
"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 102216336 1 "{00000000-0000-0000-C000-000000000046}" ""
[END]
branch/zemeta/Emb_App/programme_principal_etud.c
// Bit 15?: Etat feu tricolore ( 1 -> Vert, 0 -> Orange ou Rouge),
// Bits 14-8?: 1 Attente, 2 course, 3 essais libres)
// Bits 7-0?: numero de la piste
//'C'/67/0x43?: Informations sur le dernier capteur touche :
// 8 bits de poids faible?: numero du capteur
// 8 bits de poids fort?: couleur ('C','R','J','B' ou 'V')
//'J'/74/0x4A : Proposition d'un code de d?v?rouillage.
//'j'/106/06A : R?cup?ration du r?sultat de dernier code envoy?. 0x77 si aucun code n'a ?t? soumis. <0 si la r?ponse n'est pas
// disponible. 0xab avec a-> nombre de couleurs bien plac?es et b -> couleurs pr?sentes mais mal plac?es.
//'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 '*'
CanFrame comm,comm2;
unsigned short k=1,k2=1, angle_reel, error,error2,d_reel,D=500 ;
unsigned short consigne_tour = 450 , vitesse = 30 ;
CanFrame requete,requete2,reponse, reponse3,requete3 ;
CanFrame comm,comm2,comm3;
unsigned short k=1,k2=1, angle_reel, error,error2,d_reel,D=714, d_max = 2000 ; // D = 500 pour piste verte , D = 714 pour piste verte
unsigned short consigne_tour = 450 , vitesse = 35 ; // V = 30 pour piste verte , V = 38 pour piste bleu
CanFrame requete,requete3 ;
char gap = 0;
void main()
......
sta_tsk(ID_periph_rx);
//sta_cyc(ID_acqui);
//sta_tsk(id_trou);
sta_tsk(id_angle);
sta_tsk(id_ass_t);
......
sta_tsk(id_dist);
dly_tsk(2000);
sta_tsk(id_avance);
while(1)
{
......
void asservissement_tourelle()
{
while(1)
{
//asservissement position tourelle
error = consigne_tour - angle_reel ;
// envoie nouvelle commande tourelle
......
void ass_roue()
{
//dly_tsk(5000);
while(1)
{
//asservissement position tourelle
error2 = D - d_reel ;
// envoie nouvelle commande tourelle
comm2.data.id = 'D' ;
comm2.data.rtr = 0 ;
comm2.data.val = -k2*error2 ;
snd_dtq(CanTx, comm2.msg) ;
dly_tsk(10) ;
while (d_reel<d_max)
{
error2 = D - d_reel ;
comm2.data.id = 'D' ;
comm2.data.rtr = 0 ;
comm2.data.val = -k2*error2 ;
snd_dtq(CanTx, comm2.msg) ;
}
dly_tsk(10) ;
}
}
void acquis_distance()
......
dly_tsk(10);
}
}
void trou()
{
while(1)
{
while(d_reel>d_max)
{
error2 = D - d_reel ;
comm2.data.id = 'D' ;
comm2.data.rtr = 0 ;
comm2.data.val = 0 ;
snd_dtq(CanTx, comm2.msg) ;
}
dly_tsk(10) ;
}
}
branch/zemeta/Emb_App/conf_noyau.cfg
exinf = 0x0;
};
task[]{
entry_address = trou();
name = id_trou;
stack_size = 256;
stack_section = stack;
priority = 2;
initial_start = OFF;
exinf = 0x0;
};
flag[]{
name = ev_bus_fin_tr;
initial_pattern = 0x0000;
branch/zemeta/Emb_App/EmbM32C87App.tps
"SessionM32C_E8a_system"
[GENERAL_DATA_PROJECT]
[GENERAL_DATA_CONFIGURATION_Debug]
"PROJECT_FILES_MODIFIED_DATA_TAG" "TRUE"
"PROJECT_FILES_MODIFIED_DATA_TAG" "FALSE"
[SESSIONS_Debug]
"DefaultSession"
"SessionM32C_E8a_system"

Formats disponibles : Unified diff