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Révision 324

Ajouté par grlebanito il y a plus de 6 ans

seance4

Voir les différences:

branch/lebanitou/Emb_App.tws
"E:\tp_info6_lebanitou\Emb_App\Debug\mrtable.a30"
"E:\tp_info6_lebanitou\Emb_App\programme_principal_etud.c"
[WORKSPACE_FILE_STATES]
"E:\tp_info6_lebanitou\Emb_App\Debug\mrtable.a30" -8 -30 1596 539 1 8
"E:\tp_info6_lebanitou\Emb_App\Debug\mrtable.a30" 0 0 1596 539 0 8
"E:\tp_info6_lebanitou\Emb_App\conf_noyau.cfg" 150 150 1430 351 0 6
"E:\tp_info6_lebanitou\Emb_App\crt0mr.a30" 0 474 160 38 0 1
"E:\tp_info6_lebanitou\Emb_App\programme_principal_etud.c" 0 0 1596 539 0 0
"E:\tp_info6_lebanitou\Emb_App\programme_principal_etud.c" -8 -30 1596 539 1 0
"E:\tp_info6_lebanitou\bsp\can.c" 100 100 1430 351 0 4
"E:\tp_info6_lebanitou\bsp\clavier.c" 125 125 1430 351 0 5
"E:\tp_info6_lebanitou\bsp\lcd.c" 50 50 1426 347 0 2
branch/lebanitou/Emb_App/SessionM32C_E8a_system.ini
[Target]
M32C E8a SYSTEM=Renesas Communications
[USER_DATA]
RESET=ff001e
RESET=ff0024
branch/lebanitou/Emb_App/SessionM32C_E8a_system.hsf
"{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" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FFFFFF"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF001E"
"{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"
......
"{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" "dma0_fin_tr, 2, 0, P, Col, Hex, MN"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000" "angle, 1, 0, P, Col, Hex, MN"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "0"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001" "valeur, 1, 0, P, Col, Hex, MN"
"{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"
......
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 1 "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 1 "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 2 "0.70" 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 3 "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 2 "0.55" 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 3 "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 4 "0.09" 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 4 "0.33" 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_lebanitou\Emb_App\Debug\mrtable.a30"
"E:\tp_info6_lebanitou\bsp\uart0.c"
"E:\tp_info6_lebanitou\Emb_App\programme_principal_etud.c"
"E:\tp_info6_lebanitou\Emb_App\crt0mr.a30"
"E:\tp_info6_lebanitou\bsp\periph.c"
"E:\tp_info6_lebanitou\Emb_App\conf_noyau.cfg"
"E:\tp_info6_lebanitou\Emb_App\Debug\mrtable.a30"
"E:\tp_info6_lebanitou\bsp\uart0.c"
"E:\tp_info6_lebanitou\bsp\clavier.c"
"E:\tp_info6_lebanitou\bsp\periph.c"
"E:\tp_info6_lebanitou\bsp\can.c"
"E:\tp_info6_lebanitou\bsp\lcd.c"
[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 91015200 1 "{00000000-0000-0000-C000-000000000046}" ""
"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 94885464 1 "{00000000-0000-0000-C000-000000000046}" ""
[END]
branch/lebanitou/Emb_App/programme_principal_etud.c
int pos_tourelle; //position de la tourelle
int vitesse;
int pos;
int dmax=1000;
int centre=450;
UINT flag;
CanFrame comm;
int consigne=584; // valeur de la consigne
int k=1; // gain
int k=1;
int k_a=1; // gain
int angle=0;
int valeur=0;
int valeur=0;
short dist;
//telemetre
......
comm.data.rtr= 0; //indique une ?criture
comm.data.val= 25;
snd_dtq(CanTx, comm.msg);
dly_tsk(50);
dly_tsk(10);
}
}
......
requete.data.id='R';
requete.data.rtr=1; //Indique une requ?te de lecture
snd_dtq(CanTx, requete.msg);
dly_tsk(5);
dly_tsk(10);
angle=periph[ADDR('R')].val;
comm.data.id= 'T';
comm.data.rtr= 0;
valeur=k*(consigne-angle);
comm.data.val=valeur;
snd_dtq(CanTx, comm.msg);
dly_tsk(20);
dly_tsk(10);
}
}
// asservissement direction des roues
void direction()
{
CanFrame requete ;
CanFrame reponse;
CanFrame commande;
while(1){
requete.data.id='U';
requete.data.rtr=1; //Indique une requ?te de lecture
snd_dtq(CanTx, requete.msg);
angle=periph[ADDR('U')].val;
commande.data.id= 'D';
commande.data.rtr= 0;
valeur=k*(consigne-angle);
commande.data.val=-valeur;
snd_dtq(CanTx, commande.msg);
dly_tsk(5);
}
CanFrame requete ;
CanFrame reponse;
CanFrame commande;
CanFrame commande1;
while(1){
if(pos<2000)
{
requete.data.id='U';
requete.data.rtr=1; //Indique une requ?te de lecture
snd_dtq(CanTx, requete.msg);
angle=periph[ADDR('U')].val;
commande.data.id= 'D';
commande.data.rtr= 0;
valeur=k*(consigne-angle);
commande.data.val=-valeur;
snd_dtq(CanTx, commande.msg);
dly_tsk(5);
pos=periph[ADDR('U')].val;
dist=pos-centre;
commande1.data.id= 'D';
commande1.data.rtr= 0;
commande1=k*dist;
snd_dtq(CanTx, commande1.msg);
dly_tsk(5);
}
}
}
// distance
void distance()
{
CanFrame demande;
CanFrame reponse;
CanFrame commande1;
while(1){
demande.data.id='U';
demande.data.rtr=1;
......
dly_tsk(5);
pos=periph[ADDR('U')].val; //lecture de la valeur
dly_tsk(10);
if(periph[ADDR('U')].val>2000)
{
pos=584;
}
else
{
pos=periph[ADDR('U')].val;
dly_tsk(10);
}
}
}
}
}
void main()
{
......
sta_tsk(ID_periph_rx);
//sta_tsk(ID_rotation);
sta_tsk(ID_direction);
//sta_tsk(ID_distance);
//sta_tsk(ID_assroue);
dly_tsk(2000);
sta_tsk(ID_essai);
while(1){
sta_tsk(ID_essai);
while(1){
LED_J=1;
dly_tsk(100);
LED_J=0;
branch/lebanitou/Emb_App/conf_noyau.cfg
//cyclic_hand[]{
//cyclic_hand[]{
// entry_address = acqui();
// name = ID_acqui;
// exinf = 0x0;
// exinf = 0x0;
// start = OFF;
// phsatr = OFF;
// interval_counter = 0x64;
......
//
// End of Configuration
//

Formats disponibles : Unified diff