Révision 342
Ajouté par stpouotong il y a plus de 6 ans
| branch/Styves_POUOTONG/tp_info6/Emb_App/programme_principal_etud.c | ||
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dly_tsk(10);
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}
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}
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void vitesse()
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{
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CanFrame requete;
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requete.data.id = 'V';
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requete.data.rtr = 0;
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requete.data.val=25;
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snd_dtq(CanTx,requete.msg);
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}
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short dist;
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void Asserv1() //asservissemt de la tourelle
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{
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CanFrame requete;
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CanFrame reponse, comm;
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CanFrame comm;
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short cmd;
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short erreur;
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short consigne=703;
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short k=-1;
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requete.data.id = 'V';
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requete.data.rtr = 0;
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requete.data.val=25;
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snd_dtq(CanTx,requete.msg);
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while(1){
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requete.data.id = 'U';
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requete.data.rtr = 1;
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| ... | ... | |
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snd_dtq(CanTx, comm.msg);
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dly_tsk(10);
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}
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}
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}
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long couleur_capteur;
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long capt;
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void capteur()
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{
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CanFrame req;
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UINT flag;
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while(1)
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{
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req.data.id = 'C';
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req.data.rtr = 1;
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periph[ADDR('C')].ev = 0x01;
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snd_dtq(CanTx, req.msg);
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dly_tsk(2000);
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wai_flg(ev_periph, 0x01, TWF_ANDW, &flag);
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capt = periph[ADDR('C')].val;
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couleur_capteur = capt&0xFF00;
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}
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}
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void main()
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{
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{
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CanFrame comm;
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//short couleur_capteur;
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ports_mcu();
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lcd_init();
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periph_init();
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| ... | ... | |
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sta_cyc(ID_acqui);
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sta_tsk(ID_periph_rx);
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sta_tsk(ID_Asserv0);
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dly_tsk(4000);
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sta_tsk(ID_Asserv1);
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dly_tsk(2000);
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sta_tsk(ID_vitesse);
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sta_tsk(ID_capteur);
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sta_tsk(ID_Asserv1);
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while(1)
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{
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LED_J=1;
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| branch/Styves_POUOTONG/tp_info6/Emb_App/conf_noyau.cfg | ||
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initial_start = OFF;
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exinf = 0x0;
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};
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task[]{
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entry_address = vitesse();
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name = ID_vitesse;
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stack_size = 256;
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stack_section = stack;
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priority = 3;
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initial_start = OFF;
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exinf = 0x0;
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};
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task[]{
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entry_address = capteur();
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name = ID_capteur;
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stack_size = 256;
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stack_section = stack;
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priority = 3;
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initial_start = OFF;
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exinf = 0x0;
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};
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flag[]{
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name = ev_bus_fin_tr;
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initial_pattern = 0x0000;
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