Projet

Général

Profil

« Précédent | Suivant » 

Révision 327

Ajouté par aueuphrasi il y a plus de 6 ans

Validation terrain_noir
debut tache idle et passage temps reel

Voir les différences:

branch/euphrasie_auguste/Emb_App.tws
"E:\tp_info6_2018_euphrasie_auguste\tp_info6\bsp\uart0.c"
"E:\tp_info6_2018_euphrasie_auguste\tp_info6\Emb_App\conf_noyau.cfg"
"E:\tp_info6_2018_euphrasie_auguste\tp_info6\Emb_App\crt0mr.a30"
"E:\tp_info6_2018_euphrasie_auguste\tp_info6\Emb_App\Debug\kernel_id.h"
"E:\tp_info6_2018_euphrasie_auguste\tp_info6\Emb_App\Debug\mr308.inc"
"E:\tp_info6_2018_euphrasie_auguste\tp_info6\Emb_App\programme_principal_etud.c"
[WORKSPACE_FILE_STATES]
"E:\tp_info6_2018_euphrasie_auguste\tp_info6\Emb_App\Debug\kernel_id.h" 25 25 1430 350 0 8
"E:\tp_info6_2018_euphrasie_auguste\tp_info6\Emb_App\Debug\mr308.inc" 25 25 1430 351 0 6
"E:\tp_info6_2018_euphrasie_auguste\tp_info6\Emb_App\conf_noyau.cfg" 0 0 1430 351 0 1
"E:\tp_info6_2018_euphrasie_auguste\tp_info6\Emb_App\crt0mr.a30" 0 0 1430 351 0 5
"E:\tp_info6_2018_euphrasie_auguste\tp_info6\Emb_App\programme_principal_etud.c" -8 -30 1596 539 1 0
"E:\tp_info6_2018_euphrasie_auguste\tp_info6\Emb_App\conf_noyau.cfg" -8 -30 1596 536 1 1
"E:\tp_info6_2018_euphrasie_auguste\tp_info6\Emb_App\crt0mr.a30" 0 0 1596 538 0 5
"E:\tp_info6_2018_euphrasie_auguste\tp_info6\Emb_App\programme_principal_etud.c" 0 0 1596 539 0 0
"E:\tp_info6_2018_euphrasie_auguste\tp_info6\bsp\clavier.c" 100 100 1430 351 0 2
"E:\tp_info6_2018_euphrasie_auguste\tp_info6\bsp\periph.c" 0 0 1430 351 0 4
"E:\tp_info6_2018_euphrasie_auguste\tp_info6\bsp\periph.h" 125 125 1430 351 0 3
branch/euphrasie_auguste/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" "0000000000004044"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_0" "0000000000000044"
"{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" "0000000000FF059B"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF0595"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_17" "0000000000FFF800"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000BE8"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000818"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000F0E"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000848"
"{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_20" "0000000000000044"
"{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" "0000000000000008"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000C14"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000F44"
"{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}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" "dist_mur_droit, 3, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000" "coul_cap_touch, 2, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001" "commande_D, 1, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001" "num_cap_touch, 2, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002" "consigne_T, 1, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002_SCOPE" "Global,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002" "nb_tour, 2, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0003" "commande_V, 1, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0003_SCOPE" "Global,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0004" "commande_V_max, 1, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0004_SCOPE" "Global,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0005" "num_piste, 2, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0005_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "6"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "3"
"{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" 368 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 "0.08" 365 0 0 350 200 2065 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 "0.49" 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 3 "0.21" 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_OUTPUT}" "WINDOW" 59422 0 2 "0.49" 368 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 4 "0.21" 368 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 3 "0.01" 368 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 0 "0.29" 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 0 "0.29" 368 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_euphrasie_auguste\tp_info6\Emb_App\conf_noyau.cfg"
"E:\tp_info6_2018_euphrasie_auguste\tp_info6\Emb_App\programme_principal_etud.c"
"E:\tp_info6_2018_euphrasie_auguste\tp_info6\Emb_App\crt0mr.a30"
"E:\tp_info6_2018_euphrasie_auguste\tp_info6\Emb_App\Debug\mr308.inc"
"E:\tp_info6_2018_euphrasie_auguste\tp_info6\Emb_App\Debug\kernel_id.h"
"E:\tp_info6_2018_euphrasie_auguste\tp_info6\bsp\uart0.c"
"E:\tp_info6_2018_euphrasie_auguste\tp_info6\Emb_App\conf_noyau.cfg"
"E:\tp_info6_2018_euphrasie_auguste\tp_info6\bsp\periph.c"
"E:\tp_info6_2018_euphrasie_auguste\tp_info6\bsp\periph.h"
"E:\tp_info6_2018_euphrasie_auguste\tp_info6\bsp\clavier.c"
"E:\tp_info6_2018_euphrasie_auguste\tp_info6\Emb_App\Debug\mr308.inc"
"E:\tp_info6_2018_euphrasie_auguste\tp_info6\bsp\periph.h"
"E:\tp_info6_2018_euphrasie_auguste\tp_info6\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 101051008 1 "{00000000-0000-0000-C000-000000000046}" ""
"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 115301856 1 "{00000000-0000-0000-C000-000000000046}" ""
[END]
branch/euphrasie_auguste/Emb_App/programme_principal_etud.c
//'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 '*'
void periph_command(char addr, short valeur);
void periph_command(char addr, short valeur);//**
short periph_requete(char addr);
void initialisation(void);
......
void terrain_rouge(void);
void terrain_noir(void);
void assser_tourelle(void);
void asser_roue_vitesse(void);
void assser_tourelle(VP_INT b);
void asser_roue_vitesse(VP_INT c);
void idle(VP_INT d);
void decode_int(void);
void capteur(void);
short i;
//short i;//** **
short touche;
short clavier;
......
unsigned short num_cap_touch;
unsigned short num_cap_touch_prec;
unsigned short nb_tour;
unsigned short idle_ctr = 0;
unsigned short idle_max = 65535;
FLGPTN flag;
FLGPTN flag;//***
void main()
void main(VP_INT a)
{
initialisation();
initialisation();//*
while(1)
{
num_piste = (periph_requete('M') << 8) >> 8;
switch(num_piste)
num_piste = (periph_requete('M') << 8) >> 8;//***
switch(num_piste)//*
{
case 1:
terrain_vert(); break;
terrain_vert(); break; //*
case 2:
terrain_bleu(); break;
case 3:
......
terrain_noir(); break;
}
}
}
}
void terrain_vert(void){
while((num_piste == 1) || (num_piste == 5)){
commande_V_max = 0;
for(i=0;i<100;i++){ assser_tourelle(); dly_tsk(10);}
periph_command('T', 0);
while((periph_requete('M') >> 15) == 0 ) dly_tsk(50); // attente feux vert
nb_tour = 1;
periph_command('D', 0);
while((num_piste == 1) || (num_piste == 5)){//*** **
commande_V_max = 0;//**
consigne_T = 450;
nb_tour = 1;//**
while((periph_requete('M') >> 15) == 0 ){commande_V_max = 0; dly_tsk(50);} //** // attente feux vert
periph_command('D', 0);//**
periph_command('V', 60);
dly_tsk(250);
dly_tsk(250);//***************************************
while((num_piste == 1) || (num_piste == 5)){
assser_tourelle();
asser_roue_vitesse();
capteur();
capteur();//** **
switch(coul_cap_touch)
//***** ****** ***** ***** *****
switch(coul_cap_touch)//*
{
case 86: //ligne droite
case 86: //ligne droite 'V'
k_D = 1.0;
commande_V_max = 60;
distance_centre = 700;
......
distance_centre = 650;
break;
}
num_piste = (periph_requete('M') << 8) >> 8;
dly_tsk(50);
num_piste = (periph_requete('M') << 8) >> 8;//***
dly_tsk(50);//**
}
}
//***
}
void terrain_bleu(void){
while((num_piste == 2) || (num_piste == 6)){
for(i=0;i<100;i++){ assser_tourelle(); dly_tsk(10);}
periph_command('T', 0);
while((periph_requete('M') >> 15) == 0 ) dly_tsk(50); // attente feux vert
commande_V_max = 0;
consigne_T = 450;
nb_tour = 1;
while((periph_requete('M') >> 15) == 0 ){commande_V_max = 0; dly_tsk(50);} // attente feux vert
nb_tour = 1;
periph_command('D', 0);
periph_command('V', 60);
dly_tsk(250);
while((num_piste == 2) || (num_piste == 6)){
assser_tourelle();
asser_roue_vitesse();
capteur();
switch(coul_cap_touch)
{
case 86: //ligne droite
......
void terrain_rouge(void){
while((num_piste == 3) || (num_piste == 7)){
for(i=0;i<100;i++){ assser_tourelle(); dly_tsk(10);}
periph_command('T', 0);
while((periph_requete('M') >> 15) == 0 ) dly_tsk(50); // attente feux vert
consigne_T = 450;
while((periph_requete('M') >> 15) == 0 ){commande_V_max = 0; dly_tsk(50);} // attente feux vert
nb_tour = 1;
while((num_piste == 3) || (num_piste == 7)){
assser_tourelle();
asser_roue_vitesse();
capteur();
switch(coul_cap_touch)
{
case 86: //ligne droite
......
commande_V_max = 45;
if(num_cap_touch == 3){ //saut
commande_V_max = 45;
k_D = 0.8;
k_D = 0.8;//**
}
else{commande_V_max = 45;}
break;
......
void terrain_noir(void){
while((num_piste == 4) || (num_piste == 8)){
for(i=0;i<100;i++){ assser_tourelle(); dly_tsk(10);}
periph_command('T', 0);
while((periph_requete('M') >> 15) == 0 ) dly_tsk(50); // attente feux vert
consigne_T = 450;
while((periph_requete('M') >> 15) == 0 ){commande_V_max = 0; dly_tsk(50);} // attente feux vert
nb_tour = 1;
while((num_piste == 4) || (num_piste == 8)){
capteur();
switch(coul_cap_touch)
{
case 86:
switch(num_cap_touch)
{
case 1:
consigne_T = 450;
k_D = 0.6;
distance_centre = 550;
commande_V_max = 60;
break;
case 2:
consigne_T = 800;
k_D = 1.3;
distance_centre = 500;
commande_V_max = 13;
break;
case 3:
consigne_T = 700;
k_D = 1.1;
distance_centre = 500;
commande_V_max = 43.75;
break;
case 4:
consigne_T = 450;
k_D = 1.3;
distance_centre = 500;
commande_V_max = 12;
break;
}
break;
case 74 :
case 82 :
case 66 :
case 67 :
switch(num_cap_touch)
{
case 1:
consigne_T = 450;
k_D = 1.75;
distance_centre = 500;
commande_V_max = 20;
break;
case 2:
consigne_T = 450;
k_D = 1.75;
distance_centre = 500;
commande_V_max = 20;
break;
case 3:
consigne_T = 600;
k_D = 1.75;
distance_centre = 600;
commande_V_max = 15;
break;
case 4:
consigne_T = 450;
k_D = 1.75;
distance_centre = 600;
commande_V_max = 40;
break;
}
break;
consigne_T = 450;
k_D = 1.75;
distance_centre = 500;
commande_V_max = 20;
break;
default :
k_D = 1.3;
commande_V_max = 50;
distance_centre = 500;
break;
}
num_piste = (periph_requete('M') << 8) >> 8;
dly_tsk(50);
}
......
coul_cap_touch = (periph_requete('C') >> 8);
num_cap_touch_prec = num_cap_touch;
num_cap_touch = (periph_requete('C') & 0x00FF);
if((num_cap_touch == 5) && (num_cap_touch != num_cap_touch_prec)){ nb_tour++; }
if((num_cap_touch == 5) && (num_cap_touch != num_cap_touch_prec)){ nb_tour++; } //*
}
void decode_int(void){
//short i = 0;
//while(touche != '#'){
vrcv_dtq(QdmTouche,&touche);
clavier = touche-48;
clavier = touche-48;//*
//i++;
//}
}
void asser_roue_vitesse(void){
dist_mur_droit = periph_requete('U')*sin((3.1415f*(periph_requete('R')))/1800.0f);
if((dist_mur_droit > 1500) || (dist_mur_droit < -1500)){ dist_mur_droit = distance_centre;} //filtre valeurs aberantes pour trous
commande_D = k_D * (dist_mur_droit - distance_centre);
if(commande_D < -450) commande_D = -450;
if(commande_D > 450) commande_D = 450;
periph_command('D', commande_D);
if(commande_D < 0) commande_D = commande_D * (-1);
//commande_V = commande_V_max - (k_V * (commande_D/10));
//if(commande_V < 0) commande_V = commande_V * (-1);
if(Bp_D == 1){commande_V_max = 0;}
periph_command('V', commande_V_max);
}
void initialisation(void){
ports_mcu();
lcd_init();
......
capture_init();
sta_cyc(ID_acqui);
sta_tsk(ID_periph_rx);
sta_tsk(ID_assser_tourelle);
sta_tsk(ID_asser_roue_vitesse);
}
......
LED_V=!LED_V;
}
void assser_tourelle(void){
void assser_tourelle(VP_INT b){
while(1){
ang_T = periph_requete('R');
commande_T = k_T * (consigne_T - ang_T);
periph_command('T', commande_T);
periph_command('T', commande_T);//**
dly_tsk(25);
}
}
void periph_command(char addr, short valeur){
void asser_roue_vitesse(VP_INT c){
while(1){
dist_mur_droit = periph_requete('U')*sin((3.1415f*(periph_requete('R')))/1800.0f);//*** ***
if(abs(dist_mur_droit) > 1500){ dist_mur_droit = distance_centre;} //filtre valeurs aberantes pour trous //*** TODO //***
commande_D = k_D * (dist_mur_droit - distance_centre);
if(commande_D < -450) commande_D = -450; //*** clip minmax
if(commande_D > 450) commande_D = 450;
periph_command('D', commande_D);
if((Bp_D == 1) || (Bp_M == 1)){commande_V_max = 0;}//***
periph_command('V', commande_V_max);//***
dly_tsk(25);
}
}
void idle(VP_INT d){
while(1){
idle_ctr++;
}
}
void periph_command(char addr, short valeur){//*
CanFrame comm;
comm.data.id = addr;
comm.data.rtr = 0;
comm.data.val = valeur;
snd_dtq (CanTx, comm.msg);
snd_dtq (CanTx, comm.msg);//**
}
short periph_requete(char addr){
//* static ev
CanFrame requete, response;
short pos;
UINT flag;
......
snd_dtq (CanTx,requete.msg);
wai_flg(ev_periph, 0x01, TWF_ANDW, &flag);
periph[ADDR(addr)].ev = 0x00;//***
pos = periph[ADDR(addr)].val;
pos = periph[ADDR(addr)].val;//*
return pos;
}
branch/euphrasie_auguste/Emb_App/conf_noyau.cfg
// Generated by M3T-MR308 GUI Configurator at 2013/01/08 15:28:33
//
////////////////////////////////////////////////////////////////////////////////
// system definition
system{
stack_size = 256;
......
tic_nume = 1;
tic_deno = 1;
};
// max definition
maxdefine{
max_task = 3;
......
timer = A0;
IPL = 3;
};
task[]{
entry_address = main();
name = ID_main;
......
exinf = 0x0;
};
task[]{
entry_address = assser_tourelle();
name = ID_assser_tourelle;
stack_size = 512;
stack_section = stack;
priority = 8;
initial_start = OFF;
exinf = 0x0;
};
task[]{
entry_address = asser_roue_vitesse();
name = ID_asser_roue_vitesse;
stack_size = 512;
stack_section = stack;
priority = 8;
initial_start = OFF;
exinf = 0x0;
};
task[]{
entry_address = idle();
name = ID_idle;
stack_size = 512;
stack_section = stack;
priority = 10;
initial_start = ON;
exinf = 0x0;
};
task[]{
entry_address = periph_tx();
name = ID_periph_tx;
stack_size = 256;
branch/euphrasie_auguste/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