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Révision 339

Ajouté par casotty il y a plus de 6 ans

Obtention cyclique de la couleur de la piste dans le main
Gestion des variables dependant de la piste
Correction et simplification globales du code

Voir les différences:

branch/sotty/Emb_App.tws
[GENERAL_DATA]
[BREAKPOINTS]
[OPEN_WORKSPACE_FILES]
"E:\tp_info6_2018_sotty\bsp\radiocommande.c"
"E:\tp_info6_2018_sotty\Emb_App\crt0mr.a30"
"E:\tp_info6_2018_sotty\Emb_App\programme_principal_etud.c"
[WORKSPACE_FILE_STATES]
"E:\tp_info6_2018_sotty\Emb_App\crt0mr.a30" 175 175 1380 431 0 1
"E:\tp_info6_2018_sotty\Emb_App\programme_principal_etud.c" -8 -30 1596 669 1 0
"E:\tp_info6_2018_sotty\Emb_App\crt0mr.a30" 125 125 1355 453 0 1
"E:\tp_info6_2018_sotty\Emb_App\programme_principal_etud.c" -8 -30 1596 716 1 0
"E:\tp_info6_2018_sotty\bsp\radiocommande.c" 150 150 1355 453 0 2
[LOADED_PROJECTS]
"EmbM32C87App"
[END]
branch/sotty/Emb_App/SessionM32C_E8a_system.ini
[Target]
M32C E8a SYSTEM=Renesas Communications
[USER_DATA]
RESET=ff0032
RESET=ff0034
branch/sotty/Emb_App/SessionM32C_E8a_system.hsf
"{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_1" "0000000000000120"
"{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_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" "0000000000FF0584"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF059C"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_17" "0000000000FFF800"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "00000000000009A2"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "00000000000007FE"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "0000000000000512"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000AF0"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "000000000000082A"
"{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_21" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_22" "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" "00000000000009DC"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000B26"
"{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"
......
"{AC411480-6F0A-11D5-8EB6-00004CC34E9D}ECX_IMAGE_VIEW" "0,0,0,0,0,0"
"{AC411480-6F0A-11D5-8EB6-00004CC34E9D}ImageCtrlViews" "0"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchCtrlViews" "4"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ColWidth0" "237"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ColWidth0" "174"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ColWidth1" "186"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ColWidth12" "200"
"{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" "k, 10, 0, P, Col, Hex, N"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000_SCOPE" "Global,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001" "k, 10, 0, P, Col, Hex, N"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000" "coef, 10, 0, P, Col, Hex, N"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001" "distance_mur, 1, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002" "distance_mesuree, 1, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002" "capteur, 1, 0, P, Col, Hex, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002_SCOPE" "Global,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0003" "reponse, 10, 0, P, Col, Hex, N"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0003_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "4"
"{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" 235 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" 188 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" 235 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" 188 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 "0.29" 235 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" 235 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" 188 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 "0.20" 188 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 "0.50" 235 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" 188 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_sotty\Emb_App\programme_principal_etud.c"
"E:\tp_info6_2018_sotty\Emb_App\crt0mr.a30"
"E:\tp_info6_2018_sotty\Emb_App\programme_principal_etud.c"
"E:\tp_info6_2018_sotty\Emb_App\conf_noyau.cfg"
"E:\tp_info6_2018_sotty\bsp\periph.c"
"E:\tp_info6_2018_sotty\bsp\uart0.c"
"E:\tp_info6_2018_sotty\bsp\radiocommande.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 91096424 1 "{00000000-0000-0000-C000-000000000046}" ""
"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 95487264 1 "{00000000-0000-0000-C000-000000000046}" ""
[END]
branch/sotty/Emb_App/programme_principal_etud.c
#define MODE_COURSE 'M'
#define INFO_CAPTEUR 'C'
//Definition des couleurs de piste
#define PISTE_VERTE 1
#define PISTE_BLEUE 2
#define PISTE_ROUGE 3
#define PISTE_NOIRE 4
void init(void);
void rotation_tourelle(short angle);
void couleur_piste(void);
void rotation_tourelle(unsigned int angle);
int position_tourelle(void);
void asserv_tourelle(VP_INT stacd);
short distance_telemetre(void);
void vitesse_roue(char vitesse);
void angle_roue(short angle);
void vitesse_roue(unsigned int vitesse);
void angle_roue(unsigned int angle);
void asserv_roue(VP_INT stacd);
int send_requete(unsigned char id_periph);
void send_commande(unsigned char id_periph, short val);
unsigned int send_requete(unsigned char id_periph);
void send_commande(unsigned char id_periph, unsigned int val);
short distance_mur = 0;
short angle_tourelle = 450;
const short vit_max = 30;
short vit_roue = 15;
unsigned int vit_roue = 15;//*
short K_roue = 1;
short ang_roue = 0;
short capteur = 0;
char num_piste;
char num_piste = -1;
void main()
{
int k;
init();
//Initialise tous les peripheriques, taches et cycliques handler
ports_mcu();
lcd_init();
periph_init();
periph_nom("#Camobile*");
can_init();
clavier_init(1);
capture_init();
sta_tsk(ID_periph_rx);
sta_cyc(ID_acqui);
dly_tsk(100);
sta_tsk(ID_asserv_tourelle);
//Obtention de la couleur du feu
while ( (send_requete('M')>>15)==0 ){ //Attente que le feu soit vert
while ( (send_requete(MODE_COURSE)>>15)==0 ){ //Attente que le feu soit vert //**
dly_tsk(50);
}
sta_tsk(ID_asserv_roue);
for(k=1 ; k<=vit_max ; k++) {
vit_roue = k;
for(k=1 ; k<=vit_max ; k++) {//*
vit_roue = k;//**
dly_tsk(100);
}
//Obtention de la piste
num_piste = send_requete('M') & 0x00FF;
while(1)
{
couleur_piste();
LED_J=1;
dly_tsk(100);
LED_J=0;
dly_tsk(100);
}
}
void couleur_piste(void){
//Obtention de la piste
num_piste = send_requete(MODE_COURSE) & 0x00FF;
}
void maj_variables(void){
static int k;
//Angle des roues
if (Bp_G == 1){LED_R = 1;} //si bouton poussoire gauche appuy? allumer led rouge
else{LED_R = 0;}
//Angle des roues necessaire pour toutes les pistes
distance_mur = distance_telemetre()*sin(3.1415*angle_tourelle/1800.0);
if(distance_mur > 1000 || distance_mur < 0) { //Trou dans le mur
if(distance_mur > 1000 || distance_mur < 0) { //Trou dans le mur //**
ang_roue = 0;
}
else {
ang_roue = K_roue*(distance_mur-500);
ang_roue = (K_roue*(distance_mur-500));//**
}
capteur = send_requete(INFO_CAPTEUR);
if(capteur == 0x6301){ //Capteur perso avant bosse rouge
ang_roue = 0;
vit_roue = 45;
switch(num_piste){
case PISTE_VERTE :
break;
case PISTE_BLEUE :
break;
case PISTE_ROUGE :
capteur = send_requete(INFO_CAPTEUR);//**
if(capteur == 0x6301){ //Capteur perso avant bosse rouge
ang_roue = 0;//*****
vit_roue = 45;
}
if(capteur == 0x4203){ //Capteur apres bosse rouge
vit_roue = 8;
}
if(capteur == 0x6304){ // Capteur perso apres bosse rouge
for(k=vit_roue*3 ; k<=(vit_max-5)*3 ; k++) {//***
vit_roue = k/3;//***
}
}
if(capteur == 0x4304){ // Capteur avant fin
vit_roue = vit_max;
}
break;
case PISTE_NOIRE :
capteur = send_requete(INFO_CAPTEUR);//**
break;
}
if(capteur == 0x4203){ //Capteur apres bosse rouge
vit_roue = 10;
}
if(capteur == 0x6304){ // Capteur perso apres bosse rouge
for(k=vit_roue ; k<=vit_max ; k++) {
vit_roue = k;
}
}
//Detection de couleur
//8 bits de poids fort : couleur ('C','R','J','B' ou 'V')
if((capteur && 0x0100) == 0x0100){} //Capteur cyan ? //********
if((capteur && 0x0200) == 0x0200){} //Capteur rouge ?
if((capteur && 0x0300) == 0x0300){} //Capteur jaune ?
if((capteur && 0x0400) == 0x0400){} //Capteur bleu ?
if((capteur && 0x0500) == 0x0500){} //Capteur vert ?
}
void asserv_roue(VP_INT stacd){
//Maintient de la voiture au centre de la piste
while(1){
maj_variables();
maj_variables();//***
angle_roue(ang_roue);
vitesse_roue(vit_roue);
dly_tsk(50);
vitesse_roue(vit_roue);//****
dly_tsk(25);//**50
}
}
void asserv_tourelle(VP_INT stacd){
//Maintient de la tourelle orientee a 45 degre
CanFrame comm;
short vitesse_tourelle;
unsigned int vitesse_tourelle;
char K = 2;
while(1){
vitesse_tourelle = K*(angle_tourelle - position_tourelle());
send_commande(VITESSE_TOURELLE, vitesse_tourelle);
dly_tsk(50);
dly_tsk(25);//**
}
}
......
void rotation_tourelle(short angle){
void rotation_tourelle(unsigned int angle){
send_commande(VITESSE_TOURELLE,angle);
}
......
return distance;
}
void vitesse_roue(char vitesse){
void vitesse_roue(unsigned int vitesse){
send_commande(VITESSE_ROUES,vitesse);
}
void angle_roue(short angle){
void angle_roue(unsigned int angle){
send_commande(ANGLE_ROUES,angle);
}
int send_requete(unsigned char id_periph){
unsigned int send_requete(unsigned char id_periph){//**
//Envoi la requete correspondant a lidentifiant id_periph
CanFrame req;
int val;
unsigned int val;
UINT flag;
req.data.id = id_periph;
req.data.rtr = 1; // envoie d'une requete de lecture
periph[ADDR(id_periph)].ev = 0x01; //declenche un evenement quand mise a jour du peripherique id_periph
//dly_tsk(5);
//periph[ADDR(id_periph)].ev = 0x01; //declenche un evenement quand mise a jour du peripherique id_periph
dly_tsk(5);
snd_dtq(CanTx, req.msg); // attente de la reponse
wai_flg(ev_periph, 0x01, TWF_ANDW, &flag);
periph[ADDR(id_periph)].ev = 0x00;
//wai_flg(ev_periph, 0x01, TWF_ANDW, &flag);
//periph[ADDR(id_periph)].ev = 0x00;
val = periph[ADDR(id_periph)].val;
return val;
}
void send_commande(unsigned char id_periph, short val){
void send_commande(unsigned char id_periph, unsigned int val){//**
//Envoi la commande correspondant a lidentifiant id_periph avec la valeur val
CanFrame comm;
......
LED_V = !LED_V;
}
void init(void) {
//Initialise tous les peripheriques, taches et cycliques handler
ports_mcu();
lcd_init();
periph_init();
periph_nom("#Camobile*");
can_init();
clavier_init(1);
capture_init();
sta_tsk(ID_periph_rx);
sta_cyc(ID_acqui);
dly_tsk(100);
sta_tsk(ID_asserv_tourelle);
}

Formats disponibles : Unified diff