Révision 345
Ajouté par maantourou il y a plus de 6 ans
| branch/Antourou/Emb_App/SessionM32C_E8a_system.hsf | ||
|---|---|---|
|
"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWndInstanceKey0" "{WK_00000001_PDMR}EmbM32C87AppSessionM32C_E8a_system"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_EVAL_DENORMAL_MODE" "0"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_EVAL_ROUND_MODE" "0"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_0" "000000000000030C"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_1" "0000000000004993"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_0" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_1" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_10" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_11" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_12" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_13" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_14" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_15" "0000000000000512"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF46C9"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_17" "0000000000FFF800"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000001092"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000822"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "0000000000000101"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_20" "00000000000000C1"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF00E7"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_17" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000826"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_20" "0000000000000001"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_21" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_22" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_23" "0000000000000000"
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| ... | ... | |
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_31" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_32" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_33" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_34" "000000000000036A"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_34" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_35" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_4" "0000000000003E70"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "0000000000003212"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "00000000000010C0"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_4" "0000000000FF000A"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "0000000000000512"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000826"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_7" "0000000000000512"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_8" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_9" "0000000000000000"
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| ... | ... | |
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0
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[WINDOW_POSITION_STATE_DATA_VD1]
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"Help" "TOOLBAR 0" 59419 2 4 "0.00" 0 0 0 0 0 17 0 "" "0.0"
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"{WK_00000001_CmdLine}" "WINDOW" 59422 0 3 "0.08" 300 0 0 350 200 17 0 "32771|32772|32778|<<separator>>|32773|32774|<<separator>>|32820|<<separator>>|32801|32824" "0.0"
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"{WK_00000001_CmdLine}" "WINDOW" 59422 0 3 "0.07" 300 0 0 350 200 17 0 "32771|32772|32778|<<separator>>|32773|32774|<<separator>>|32820|<<separator>>|32801|32824" "0.0"
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"{WK_00000001_DISASSEMBLY}" "WINDOW" 0 0 0 "0.00" 0 -4 -30 948 486 9 0 "" "0.0"
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"{WK_00000001_EVENT}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59422 0 0 "0.15" 300 0 0 350 200 18 0 "32774|32775|32777|<<separator>>|32780|<<separator>>" "0.0"
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"{WK_00000001_MEMORY}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59422 0 1 "0.03" 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"
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"{WK_00000001_OUTPUT}" "WINDOW" 59422 0 1 "0.60" 300 0 0 350 200 18 0 "36756|36757|36758|36759|<<separator>>|36746|36747|<<separator>>|39531|<<separator>>|39500|39534|<<separator>>|36687" "0.0"
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"{WK_00000001_OUTPUT}" "WINDOW" 59422 0 1 "0.69" 300 0 0 350 200 18 0 "36756|36757|36758|36759|<<separator>>|36746|36747|<<separator>>|39531|<<separator>>|39500|39534|<<separator>>|36687" "0.0"
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"{WK_00000001_PDMR}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59422 0 4 "0.08" 300 0 0 350 200 18 0 "47300|47301|47302|47303|47304|47305|47314|47306|47307|47308|47311|47312|47313|42211|42509|42303" "0.0"
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"{WK_00000001_REGISTERS}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59421 0 0 "1.00" 236 0 0 350 200 2065 0 "" "0.0"
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"{WK_00000001_WATCH}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59422 0 2 "0.17" 300 0 0 350 200 18 0 "32781|32783|<<separator>>|32771|32772|32773|<<separator>>|32786|<<separator>>|32810|32811" "0.0"
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"{WK_00000001_WATCH}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59422 0 2 "0.08" 300 0 0 350 200 18 0 "32781|32783|<<separator>>|32771|32772|32773|<<separator>>|32786|<<separator>>|32810|32811" "0.0"
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"{WK_00000002_WORKSPACE}" "WINDOW" 59420 0 0 "1.00" 308 0 0 350 200 18 0 "" "0.0"
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"{WK_TB00000001_STANDARD}" "TOOLBAR 0" 59419 0 2 "0.00" 0 0 0 0 0 18 0 "" "0.0"
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"{WK_TB00000002_EDITOR}" "TOOLBAR 0" 59419 0 0 "0.00" 0 0 0 0 0 18 0 "" "0.0"
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| ... | ... | |
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[WINDOW_POSITION_STATE_DATA_VD4]
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[WINDOW_Z_ORDER]
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"E:\tp_info6_2016_antourou\Emb_App\programme_principal_etud.c"
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"E:\tp_info6_2016_antourou\Emb_App\crt0mr.a30"
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"E:\tp_info6_2016_antourou\Emb_App\conf_noyau.cfg"
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"E:\tp_info6_2016_antourou\Emb_App\crt0mr.a30"
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"E:\tp_info6_2016_antourou\bsp\can.c"
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[TARGET_NAME]
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"M32C E8a SYSTEM" "" 0
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| ... | ... | |
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[FLASH_DETAILS]
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"" 0 0 "" 0 "" 0 0 "" 0 0 0 0 0 0 0 "" "" "" "" ""
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[BREAKPOINTS]
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"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 96007752 1 "{00000000-0000-0000-C000-000000000046}" ""
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"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 96212584 1 "{00000000-0000-0000-C000-000000000046}" ""
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[END]
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| branch/Antourou/Emb_App/programme_principal_etud.c | ||
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#include "carte_m32.h"
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#include <math.h>
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//unsigned int vf;
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// CanFrame comm;
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// CanFrame requete;
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// UINT flag;//FLGPTN flag
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CanFrame comm;
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CanFrame requete;
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UINT flag;//FLGPTN flag
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// short position, distance; // valeur de l'angle renvoy?e par le simulateur
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//
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| ... | ... | |
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4: changer asserv_tourelle: enlever les //rcv_dtq(CanRx, &repon.msg);
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5: dupliquer la t?che 'R' en 'V'
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et 'T' en 'D'
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*/
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// fonction du programme:
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void acquivitessetourelle(int vitesse);// acquisition de la vitesse de la tourelle
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unsigned short acquipositiontourelle();// acquisition de la position de la tourelle
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unsigned short longeurtel();// acquisition de la distance mesur? par le t?lem?tre
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unsigned short mesuredistance();// lecture de la distance des roues au mur
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void Avancementvoit(int vitesse);// vitesse de la voiture en r/s
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void rouedirectrices(unsigned short angleroue);//angle des roues en 10e de degre
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void Asservissment_tourelle();// asservissment de la tourelle
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/*short alpha;
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void vitessedelatourelle( int vit)
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{
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// commander la vitesse de rotation de la tourelle
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comm.data.id='T';
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comm.data.rtr=0;
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comm.data.val= vit;
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snd_dtq (CanTx,comm.msg);
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dly_tsk(100);
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}
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*/
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unsigned short alpha;
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unsigned short distancemesure;
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void asserv_tourelle();
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void regul_roue();
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void Avancementvoit();
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void acqui();
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unsigned short distance, longtourn, alpha,angleroue;
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void main()
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{
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CanFrame req,reponse,comm;
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ports_mcu();
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lcd_init();
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periph_init();
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periph_nom("#TEST001*");
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can_init();
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clavier_init(1);
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capture_init();
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sta_cyc(ID_acqui);// //Var g utlis?es par les asservissements
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sta_tsk(ID_periph_rx);
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sta_tsk(ID_asserv_tourelle);
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Avancementvoit();
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sta_tsk(ID_regul_roue);
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while(1)
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{
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// commande de la tourelle+acquisition de la distance avec le t?l?m?tre
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unsigned short acquipositiontourelle()
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{
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CanFrame requete ;
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UINT flag ;
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LED_J=1;
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dly_tsk(100);
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LED_J=0;
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dly_tsk(100);
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}
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}
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void acqui()
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{
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LED_V=!LED_V;
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}
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void asserv_tourelle()
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{ // asservissement de la tourelle v?rifi? (ne pas toucher)
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CanFrame req,repon,comm;
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UINT flag;
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while(1)
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{ //acquisition de l'angle mesur?e par la tourelle
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req.data.id='R'; //angle de la tourelle
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req.data.rtr=1; //req de lecture
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snd_dtq(CanRx, req.msg);
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//rcv_dtq(CanRx, &repon.msg);
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//acquisition de l'angle mesur?e par la tourelle
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requete.data.id='R'; //angle de la tourelle
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requete.data.rtr=1; //req de lecture
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snd_dtq(CanRx, requete.msg);
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//rcv_dtq(CanRx, &repon.msg);
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periph[ADDR('R')].ev=0x01;
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snd_dtq(CanTx,req.msg);
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snd_dtq(CanTx,requete.msg);
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wai_flg(ev_periph, 0x01, TWF_ANDW,&flag);
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alpha=periph[ADDR('R')].val;
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alpha=periph[ADDR('R')].val;
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return alpha;
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}
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void acquivitessetourelle(int vitessetourelle)
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{ int vitessetourelle;
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//asservissement de la tourelle
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comm.data.id='T'; // vitesse de la tournelle
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comm.data.rtr=0;
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comm.data.val=450-alpha;
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comm.data.id='T';
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comm.data.rtr=0;// commande d'?criture
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comm.data.val=vitessetourelle;
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snd_dtq(CanTx,comm.msg);
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dly_tsk(100);
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}
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}
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unsigned short longeurtourelle()// acquisition de la distance mesur? par le t?lem?tre
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unsigned short longeurtel()// acquisition de la distance mesur? par le t?lem?tre
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{
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CanFrame req, repon ;
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CanFrame req, longtourn ;
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int distancecons,k;
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UINT flag;
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req.data.id='U';
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req.data.id='U';
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req.data.rtr=1; //requ de lecture
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||
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snd_dtq(CanRx, req.msg);
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//rcv_dtq(CanRx, &repon.msg);
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periph[ADDR('U')].ev=0x02;
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snd_dtq(CanTx,req.msg);
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wai_flg(ev_periph, 0x02, TWF_ANDW,&flag);
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longtourn=periph[ADDR('U')].val;
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return longtourn;
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return periph[ADDR('U')].val;
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||
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||
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}
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unsigned short mesuredistance()
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unsigned short distanceaumur()// lecture de la distance des roues au mur
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||
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{
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unsigned short distance;
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distance=longtourn * sin( 3,14 * (alpha/10) * 180 );
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unsigned short distance, longtourn,alpha;
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distance=longtourn * sin( 3,14 * (alpha/10) * 180.0 );
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return distance;
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||
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}
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||
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void rouedirectrices(unsigned short angleroue)
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{
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void rouedirectrices(unsigned short angleroue)//angle des roues en 10e de degre
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||
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{
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||
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CanFrame comm;
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||
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comm.data.id = 'D';
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comm.data.id = 'D';//
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||
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comm.data.rtr = 0; //ecriture
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comm.data.val = angleroue;
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comm.data.val = angleroue;// ?criture dans angleroue la valeur de l'angle des roues directrices
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snd_dtq (CanTx,comm.msg);
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||
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||
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}
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void Avancementvoit() //(ne pas toucher)// vitesse du v?hicule
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||
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{
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||
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CanFrame requete;
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||
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requete.data.id='V';
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||
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requete.data.rtr=0;
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requete.data.val=30;// valeur de la vitesse
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snd_dtq(CanTx,requete.msg);
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||
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||
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}
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||
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void Asservissment_tourelle()// asservissment de la tourelle
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||
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{
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||
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unsigned short pos_tourelle;
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int k, vites;
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k=3;
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||
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while(1)
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||
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{
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pos_tourelle = acquipositiontourelle();
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vites = k*( 450 - pos_tourelle); //correcteur Prop
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acquivitessetourelle(vites);
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dly_tsk(100);
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||
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}
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}
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void regul_roue()
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{// asservissment v?h
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int distancecons,k,distancemesure;
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distancecons=mesuredistance();
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k=1;// gain pour asservissement
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while(1)
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{ //asservissment v?h
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||
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int k, distancecons;
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int angleroue;
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k=3;// gain pour asservissement
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distancecons=500;
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while(1)
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{
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distancemesure=mesuredistance();
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angleroue=-k*(distancecons-distancemesure);
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rouedirectrices(angleroue);
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||
|
}
|
||
|
}
|
||
|
|
||
|
void Avancementvoit() // voiture avance avec la vitesse voulue (ne pas toucher)
|
||
|
distancemesure=distanceaumur();
|
||
|
angleroue=-k*(distancecons-distancemesure);// correction
|
||
|
rouedirectrices(angleroue);
|
||
|
|
||
|
dly_tsk(25);
|
||
|
}
|
||
|
}
|
||
|
|
||
|
void main ()
|
||
|
{
|
||
|
CanFrame requete;
|
||
|
dly_tsk(5000);
|
||
|
requete.data.id='V';
|
||
|
requete.data.rtr=0;
|
||
|
requete.data.val=30;// valeur de la vitesse
|
||
|
snd_dtq(CanTx,requete.msg);
|
||
|
CanFrame requete,reponse,comm;
|
||
|
ports_mcu();
|
||
|
lcd_init();
|
||
|
periph_init();
|
||
|
periph_nom("#TEST001*");
|
||
|
can_init();
|
||
|
clavier_init(1);
|
||
|
capture_init();
|
||
|
|
||
|
|
||
|
sta_cyc(ID_acqui);// //Var g utlis?es par les asservissements
|
||
|
sta_tsk(ID_periph_rx);
|
||
|
Avancementvoit();
|
||
|
sta_tsk(ID_Asservissment_tourelle);
|
||
|
|
||
|
sta_tsk(ID_regul_roue);
|
||
|
|
||
|
|
||
|
|
||
|
|
||
|
while(1)
|
||
|
{
|
||
|
|
||
|
LED_J=1;
|
||
|
dly_tsk(100);
|
||
|
LED_J=0;
|
||
|
dly_tsk(100);
|
||
|
}
|
||
|
|
||
|
}
|
||
|
|
||
|
|
||
|
void acqui()
|
||
|
{
|
||
|
LED_V=!LED_V;
|
||
|
}
|
||
|
|
||
|
|
||
|
|
||
| branch/Antourou/Emb_App/conf_noyau.cfg | ||
|---|---|---|
|
exinf = 0x0;
|
||
|
};
|
||
|
task[]{
|
||
|
entry_address = asserv_tourelle();
|
||
|
name = ID_asserv_tourelle;
|
||
|
entry_address = Asservissment_tourelle();
|
||
|
name = ID_Asservissment_tourelle;
|
||
|
stack_size = 256;
|
||
|
stack_section = stack;
|
||
|
priority = 6;
|
||
Formats disponibles : Unified diff
modification programme