Index: branch/daval/Emb_App.tws
===================================================================
--- branch/daval/Emb_App.tws	(revision 332)
+++ branch/daval/Emb_App.tws	(revision 333)
@@ -20,8 +20,8 @@
 "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" -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\Emb_App\crt0mr.a30" 0 0 1596 539 0 1 
+"E:\tp_info6_2018_daval\Emb_App\programme_principal_etud.c" -8 -30 1596 539 1 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 
Index: branch/daval/Emb_App/SessionM32C_E8a_system.hsf
===================================================================
--- branch/daval/Emb_App/SessionM32C_E8a_system.hsf	(revision 332)
+++ branch/daval/Emb_App/SessionM32C_E8a_system.hsf	(revision 333)
@@ -188,7 +188,7 @@
 "{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode9Column4" "8" 
 "{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode9Column5" "9" 
 "{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode9Column6" "81" 
-"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2MrMode" "0" 
+"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2MrMode" "1" 
 "{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2StatusBarMode0" "1" 
 "{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2StatusBarMode1" "1" 
 "{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1Sampling" "100" 
@@ -196,7 +196,7 @@
 "{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" "0000000000000056" 
+"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_0" "0000000000000001" 
 "{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" 
@@ -204,12 +204,12 @@
 "{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" "0000000000FF0495" 
+"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF33B3" 
 "{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_17" "0000000000FFF800" 
-"{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_18" "0000000000000A7A" 
+"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "000000000000087E" 
+"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "00000000000000FF" 
+"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_20" "00000000000000C0" 
 "{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" 
@@ -219,7 +219,7 @@
 "{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" "0000000000000001" 
+"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_3" "0000000000000000" 
 "{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" 
@@ -226,9 +226,9 @@
 "{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" "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_4" "0000000000000009" 
+"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "0000000000142200" 
+"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000A7A" 
 "{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" 
@@ -266,7 +266,17 @@
 "{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}WatchWnd0ECX_WATCH_ITEM0003" "cap, 1, 0, P, Col, Dec, MA" 
+"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0003_SCOPE" "Global," 
+"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0004" "couleur, 2, 0, P, Col, Bin, MA" 
+"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0004_SCOPE" "Global," 
+"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0005" "numero, 2, 0, P, Col, Bin, MA" 
+"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0005_SCOPE" "Current Scope," 
+"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0006" "capteur, 1, 0, P, Col, Hex, MA" 
+"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0006_SCOPE" "Current Scope," 
+"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0007" "mode_course, 1, 0, P, Col, Bin, MA" 
+"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0007_SCOPE" "Current Scope," 
+"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "8" 
 "{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth0" "120" 
 "{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth1" "150" 
 "{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth12" "200" 
@@ -336,15 +346,15 @@
 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 "0.07" 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 "0.06" 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 "0.44" 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_OUTPUT}" "WINDOW" 59422 0 3 "0.58" 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 "0.38" 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 "0.23" 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" 
@@ -369,15 +379,15 @@
 [WINDOW_POSITION_STATE_DATA_VD3]
 [WINDOW_POSITION_STATE_DATA_VD4]
 [WINDOW_Z_ORDER]
+"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\Emb_App\programme_principal_etud.c" 
-"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\Debug\mrtable.a30" 
+"E:\tp_info6_2018_daval\bsp\uart0.c" 
 "E:\tp_info6_2018_daval\bsp\periph.c" 
+"E:\tp_info6_2018_daval\bsp\radiocommande.c" 
+"E:\tp_info6_2018_daval\Emb_App\Debug\mr308.inc" 
 "E:\tp_info6_2018_daval\bsp\mli.c" 
-"E:\tp_info6_2018_daval\bsp\radiocommande.c" 
 [TARGET_NAME]
 "M32C E8a SYSTEM" "" 0 
 [STATUSBAR_STATEINFO_VD1]
@@ -424,5 +434,5 @@
 [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 80423256 1 "{00000000-0000-0000-C000-000000000046}" "" 
+"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 95824216 1 "{00000000-0000-0000-C000-000000000046}" "" 
 [END]
Index: branch/daval/Emb_App/crt0mr.a30
===================================================================
--- branch/daval/Emb_App/crt0mr.a30	(revision 332)
+++ branch/daval/Emb_App/crt0mr.a30	(revision 333)
@@ -97,7 +97,7 @@
 ; after reset,this program will start
 ;-----------------------------------------------------------------
 __SYS_INITIAL:
-	LDC	#__Sys_Sp,  SP	; set initial ISP
+	LDC	#__Sys_Sp,  SP	; set inital ISP
 
 	MOV.B	#2,0AH
 	MOV.B	#00,PMOD		; Set Processor Mode Register
Index: branch/daval/Emb_App/programme_principal_etud.c
===================================================================
--- branch/daval/Emb_App/programme_principal_etud.c	(revision 332)
+++ branch/daval/Emb_App/programme_principal_etud.c	(revision 333)
@@ -141,7 +141,9 @@
 int capteur;
 char couleur;
 char numero;
+// Gestion piste et feu
 
+int mode_course;
 
 void asservissement_tourelle()
 {
@@ -285,6 +287,21 @@
         dly_tsk(10);
         }
 }
+
+void etat_feu(){
+	CanFrame requete;
+	UINT flag;
+	while(1)
+	{
+		requete.data.id = 'M';			
+        requete.data.rtr = 1;        
+        periph[ADDR('C')].ev = 0x04;					
+        snd_dtq(CanTx, requete.msg);
+        wai_flg(ev_periph, 0x04, TWF_ANDW, &flag);
+        mode_course = periph[ADDR('M')].val;
+        dly_tsk(10);
+        }
+}
 
 void main()
 
@@ -306,9 +323,9 @@
 	sta_tsk(ID_distance_bord);
 	sta_tsk(ID_asserv_cap);
 	sta_tsk(ID_avance);
-	sta_tsk(ID_detection_capteur);
-	while(1);
-	
+	sta_tsk(ID_detection_capteur);
+	sta_tsk(ID_etat_feu);
+	while(1);
 
 }
 
Index: branch/daval/Emb_App/conf_noyau.cfg
===================================================================
--- branch/daval/Emb_App/conf_noyau.cfg	(revision 332)
+++ branch/daval/Emb_App/conf_noyau.cfg	(revision 333)
@@ -109,6 +109,15 @@
 	initial_start	= OFF;
 	exinf	= 0x0;
 };
+task[]{
+	entry_address	= etat_feu();
+	name	= ID_etat_feu;
+	stack_size	= 256;
+	stack_section	= stack;
+	priority	= 7;
+	initial_start	= OFF;
+	exinf	= 0x0;
+};
 
 flag[]{
 	name	= ev_bus_fin_tr;
