Index: branch/beaussant/Emb_App.tws
===================================================================
--- branch/beaussant/Emb_App.tws	(revision 334)
+++ branch/beaussant/Emb_App.tws	(revision 335)
@@ -7,25 +7,21 @@
 [GENERAL_DATA]
 [BREAKPOINTS]
 [OPEN_WORKSPACE_FILES]
+"E:\tp_info6_2018_beaussant\bsp\can.c" 
 "E:\tp_info6_2018_beaussant\bsp\clavier.c" 
-"E:\tp_info6_2018_beaussant\bsp\lcd.c" 
 "E:\tp_info6_2018_beaussant\bsp\periph.c" 
 "E:\tp_info6_2018_beaussant\bsp\uart0.c" 
 "E:\tp_info6_2018_beaussant\Emb_App\conf_noyau.cfg" 
 "E:\tp_info6_2018_beaussant\Emb_App\crt0mr.a30" 
-"E:\tp_info6_2018_beaussant\Emb_App\Debug\mr308.inc" 
-"E:\tp_info6_2018_beaussant\Emb_App\Debug\mrtable.a30" 
 "E:\tp_info6_2018_beaussant\Emb_App\programme_principal_etud.c" 
 [WORKSPACE_FILE_STATES]
-"E:\tp_info6_2018_beaussant\Emb_App\Debug\mr308.inc" 50 50 1430 351 0 5 
-"E:\tp_info6_2018_beaussant\Emb_App\Debug\mrtable.a30" 75 75 1430 351 0 6 
 "E:\tp_info6_2018_beaussant\Emb_App\conf_noyau.cfg" 0 0 1430 351 0 3 
 "E:\tp_info6_2018_beaussant\Emb_App\crt0mr.a30" 150 150 1430 351 0 2 
-"E:\tp_info6_2018_beaussant\Emb_App\programme_principal_etud.c" -8 -30 1596 539 1 0 
+"E:\tp_info6_2018_beaussant\Emb_App\programme_principal_etud.c" -8 -30 1596 540 1 0 
+"E:\tp_info6_2018_beaussant\bsp\can.c" 100 100 1430 351 0 4 
 "E:\tp_info6_2018_beaussant\bsp\clavier.c" 125 125 1430 351 0 1 
-"E:\tp_info6_2018_beaussant\bsp\lcd.c" 25 25 1430 351 0 4 
-"E:\tp_info6_2018_beaussant\bsp\periph.c" 100 100 1430 351 0 7 
-"E:\tp_info6_2018_beaussant\bsp\uart0.c" 125 125 1430 351 0 8 
+"E:\tp_info6_2018_beaussant\bsp\periph.c" 150 150 1430 352 0 6 
+"E:\tp_info6_2018_beaussant\bsp\uart0.c" 125 125 1430 351 0 5 
 [LOADED_PROJECTS]
 "EmbM32C87App" 
 [END]
Index: branch/beaussant/Emb_App/SessionM32C_E8a_system.ini
===================================================================
--- branch/beaussant/Emb_App/SessionM32C_E8a_system.ini	(revision 334)
+++ branch/beaussant/Emb_App/SessionM32C_E8a_system.ini	(revision 335)
@@ -10,8 +10,8 @@
 VOLTAGE_5_0=1
 VOLTAGE_3_3=0
 [FW_LOCATE]
-FWADDRESS=f000
-RAMADDRESS=04
+FWADDRESS=ffd0
+RAMADDRESS=c3
 [WDT]
 WDT_USE=0
 [MCU_SETTING]
@@ -25,4 +25,4 @@
 [Target]
 M32C E8a SYSTEM=Renesas Communications
 [USER_DATA]
-RESET=ff002e
+RESET=ff0030
Index: branch/beaussant/Emb_App/SessionM32C_E8a_system.hsf
===================================================================
--- branch/beaussant/Emb_App/SessionM32C_E8a_system.hsf	(revision 334)
+++ branch/beaussant/Emb_App/SessionM32C_E8a_system.hsf	(revision 335)
@@ -141,7 +141,7 @@
 "{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" "0000000000000001" 
+"{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" 
@@ -148,13 +148,13 @@
 "{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" "0000000000FF313C" 
-"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_17" "0000000000FFF800" 
-"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000A4E" 
-"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000852" 
-"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "000000000000FFFF" 
-"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_20" "00000000000000C0" 
+"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_15" "0000000000000000" 
+"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF0030" 
+"{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" 
@@ -169,12 +169,12 @@
 "{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" "0000000000000007" 
-"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "0000000000120000" 
-"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000A4E" 
-"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_7" "0000000000000512" 
+"{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" "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" 
@@ -227,7 +227,9 @@
 "{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0009_SCOPE" "Global," 
 "{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0010" "dans, 1, 0, P, Col, Dec, MA" 
 "{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0010_SCOPE" "Global," 
-"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "11" 
+"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0011" "val_capt, 2, 0, P, Col, Dec, MA" 
+"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0011_SCOPE" "Current Scope," 
+"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "12" 
 "{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth0" "120" 
 "{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth1" "150" 
 "{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth12" "200" 
@@ -297,14 +299,14 @@
 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 "0.07" 364 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_EVENT}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59422 0 0 "0.11" 364 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 1 "0.50" 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 "0.19" 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 1 "0.50" 364 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 "0.19" 364 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 "0.20" 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 "0.20" 364 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" 
@@ -331,13 +333,10 @@
 [WINDOW_Z_ORDER]
 "E:\tp_info6_2018_beaussant\Emb_App\programme_principal_etud.c" 
 "E:\tp_info6_2018_beaussant\Emb_App\crt0mr.a30" 
+"E:\tp_info6_2018_beaussant\bsp\uart0.c" 
+"E:\tp_info6_2018_beaussant\bsp\can.c" 
 "E:\tp_info6_2018_beaussant\bsp\clavier.c" 
 "E:\tp_info6_2018_beaussant\Emb_App\conf_noyau.cfg" 
-"E:\tp_info6_2018_beaussant\bsp\uart0.c" 
-"E:\tp_info6_2018_beaussant\Emb_App\Debug\mr308.inc" 
-"E:\tp_info6_2018_beaussant\bsp\periph.c" 
-"E:\tp_info6_2018_beaussant\Emb_App\Debug\mrtable.a30" 
-"E:\tp_info6_2018_beaussant\bsp\lcd.c" 
 [TARGET_NAME]
 "M32C E8a SYSTEM" "" 0 
 [STATUSBAR_STATEINFO_VD1]
@@ -384,6 +383,6 @@
 [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 100807856 1 "{00000000-0000-0000-C000-000000000046}" "" 
-"e:\tp_info6_2018_beaussant\emb_app\crt0mr.a30" 100 16711726 1 "{00000000-0000-0000-C000-000000000046}" "" 
+"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 101456072 1 "{00000000-0000-0000-C000-000000000046}" "" 
+"e:\tp_info6_2018_beaussant\emb_app\crt0mr.a30" 100 16711728 1 "{00000000-0000-0000-C000-000000000046}" "" 
 [END]
Index: branch/beaussant/Emb_App/programme_principal_etud.c
===================================================================
--- branch/beaussant/Emb_App/programme_principal_etud.c	(revision 334)
+++ branch/beaussant/Emb_App/programme_principal_etud.c	(revision 335)
@@ -120,6 +120,7 @@
 //'I'/73/Ox49 : Définition du nom du véhicule. Doit débuter par le caractère '#' et entraine le chargement de la configuration de piste
 //				correspondant au nom du véhicule si le nom se termine par '*'
 
+unsigned short val_capt=0;
 int pos_obs=0;
 int commandeT=700;
 int commandeV=40;
@@ -134,6 +135,7 @@
 float kr=1.5;
 //char c;
 int in;
+FLGPTN flag;
 int is_stable=0;
 int dans;
 int est_stable=0;
@@ -164,7 +166,6 @@
 	sta_tsk(ID_periph_rx);
 	
 	while(1){};
-
    
 }
 
@@ -259,11 +260,15 @@
 
 void asserv_roue()
 {
+	char num_capt;
+	char couleur_capt;
 	dist_obs=acquiFrame('U');
 	while(1){
 		dist_obs=acquiFrame('U');
-		if(dist_obs<1000 ){                     
-			envoieFrame('V',commandeV);
+		val_capt=acquiFrame('C');
+		val_capt=val_capt>>8;
+		envoieFrame('V',commandeV);
+		if((dist_obs<900 && val_capt!=99) || val_capt==106){                     
 			commandeR=-1*kr*(dist_consigne-dist_obs);
 			envoieFrame('D',commandeR);
 			dist_obs=acquiFrame('U');
@@ -275,22 +280,29 @@
 
 void asserv_vitesse(){
 	while(1){
-		dans=intervalle(commandeR,14);
-		if(dans==1){
-			commandeV=70;
+		dans=intervalle(commandeR,15);
+		if(dans==1 && val_capt!=99){
+			commandeV=60;
 			kr=0.5;
-		//consigne=0;
-		//kr=0;
-		
-			
 		}
-		else
+		else if(val_capt==66)
 		{
-			commandeV=30;
-			//consigne=450;
-			kr=1.4;
-		
+			commandeV=15;
+			kr=0.8;
 		}
+		else if(dans==0 && val_capt!=99)
+		{
+			commandeV=35;
+			kr=1.5;
+		}
+		else if(val_capt==99 && commandeV!=10)
+		{
+			commandeV=60;
+			dly_tsk(300);
+			commandeV=10;
+			
+					
+		}
 		dly_tsk(30);
 		}
 }
Index: branch/beaussant/Emb_App/DefaultSession.hsf
===================================================================
--- branch/beaussant/Emb_App/DefaultSession.hsf	(revision 334)
+++ branch/beaussant/Emb_App/DefaultSession.hsf	(revision 335)
@@ -33,6 +33,7 @@
 [CONFIG_INFO_VD4]
 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 "0.03" 195 0 0 350 200 17 0 "32771|32772|32778|<<separator>>|32773|32774|<<separator>>|32820|<<separator>>|32801|32824" "0.0" 
 "{WK_00000001_OUTPUT}" "WINDOW" 59422 0 0 "1.00" 195 0 0 350 200 18 0 "36756|36757|36758|36759|<<separator>>|36746|36747|<<separator>>|39531|<<separator>>|39500|39534|<<separator>>|36687" "0.0" 
 "{WK_00000002_WORKSPACE}" "WINDOW" 59420 0 0 "1.00" 284 0 0 350 200 18 0 "" "0.0" 
@@ -54,12 +55,12 @@
 [WINDOW_POSITION_STATE_DATA_VD3]
 [WINDOW_POSITION_STATE_DATA_VD4]
 [WINDOW_Z_ORDER]
-"D:\laffont\Tp_Info14\Emb_App\programme_principal_etud.c" 
-"D:\laffont\Tp_Info14\Emb_App\uart0.c" 
-"D:\laffont\Tp_Info14\Emb_App\crt0mr.a30" 
-"D:\laffont\Tp_Info14\Emb_App\conf_noyau.cfg" 
-"D:\laffont\Tp_Info14\Emb_App\periph.c" 
-"D:\laffont\Tp_Info14\Emb_App\c_sec.inc" 
+"E:\tp_info6_2018_beaussant\Emb_App\programme_principal_etud.c" 
+"E:\tp_info6_2018_beaussant\Emb_App\crt0mr.a30" 
+"E:\tp_info6_2018_beaussant\bsp\uart0.c" 
+"E:\tp_info6_2018_beaussant\bsp\can.c" 
+"E:\tp_info6_2018_beaussant\bsp\clavier.c" 
+"E:\tp_info6_2018_beaussant\Emb_App\conf_noyau.cfg" 
 [TARGET_NAME]
 "" "" 0 
 [STATUSBAR_STATEINFO_VD1]
Index: branch/beaussant/Emb_App/EmbM32C87App.tps
===================================================================
--- branch/beaussant/Emb_App/EmbM32C87App.tps	(revision 334)
+++ branch/beaussant/Emb_App/EmbM32C87App.tps	(revision 335)
@@ -18,7 +18,7 @@
 "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" 
