Révision 317
Ajouté par vidaval il y a plus de 6 ans
| branch/daval/Emb_App/SessionM32C_E8a_system.ini | ||
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[Target]
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M32C E8a SYSTEM=Renesas Communications
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[USER_DATA]
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RESET=ff002a
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RESET=ff0028
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| branch/daval/Emb_App/programme_principal_etud.c | ||
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//Asservissement de la voiture
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int distance_mur=700; // Consigne qui permet d etre bien centr? sur la route
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char C=1; // Gain asservissment des roues
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int vitesse_rapide= 60;//Commande de vitesse que l'on envoie
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int vitesse_lente=30;
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char vitesse_rapide= 55;//Commande de vitesse que l'on envoie
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char vitesse_lente=25;
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int distance_mesure=0;
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int cap;
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//Varaible pour les capteurs
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int capteur;
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char couleur;
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void asservissement_tourelle()
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{
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CanFrame commande;
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| ... | ... | |
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vitesse.data.rtr=0; //Indique une ecritur
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while(1)
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{
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if(cap<-50 || cap>50)
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if(cap<-30 || cap>30)
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{
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vitesse.data.val=vitesse_lente;
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snd_dtq (CanTx,vitesse.msg);
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| ... | ... | |
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cap=C*(distance_mesure-distance_mur);
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commande.data.val= cap;
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snd_dtq(CanTx, commande.msg);
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dly_tsk(10);
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dly_tsk(5);
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}
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}
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void detection_capteur(){
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CanFrame requete;
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UINT flag;
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while(1)
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{
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requete.data.id = 'C';
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requete.data.rtr = 1;
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periph[ADDR('C')].ev = 0x03;
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snd_dtq(CanTx, requete.msg);
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wai_flg(ev_periph, 0x03, TWF_ANDW, &flag);
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capteur = periph[ADDR('C')].val;
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couleur = capteur >> 8;
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dly_tsk(10);
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}
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}
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void main()
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| branch/daval/Emb_App/conf_noyau.cfg | ||
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exinf = 0x0;
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};
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task[]{
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entry_address = detection_capteur();
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name = ID_detection_capteur;
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stack_size = 256;
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stack_section = stack;
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priority = 7;
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initial_start = OFF;
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exinf = 0x0;
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};
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flag[]{
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name = ev_bus_fin_tr;
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initial_pattern = 0x0000;
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Formats disponibles : Unified diff
Tache pour la prise en compte des capteurs commencée.