Révision 349
Ajouté par anfichot1 il y a plus de 6 ans
| branch/fichot/Emb_App/SessionM32C_E8a_system.ini | ||
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[Target]
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M32C E8a SYSTEM=Renesas Communications
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[USER_DATA]
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RESET=ff001c
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RESET=ff001e
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| branch/fichot/Emb_App/SessionM32C_E8a_system.hsf | ||
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"{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" "0000000000000001"
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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_0" "0000000000004044"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_1" "0000000000000020"
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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" "0000000000FF3116"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF0578"
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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" "00000000000009FC"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000800"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "00000000000000C0"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_20" "00000000000000C0"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000BE8"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000818"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "0000000000000004"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_20" "0000000000000044"
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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_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_35" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_4" "0000000000000004"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "0000000000550055"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "00000000000009FC"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_4" "000000000000000A"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000C14"
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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 1 "0.08" 365 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 1 "0.07" 365 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 "0.11" 365 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 "0.23" 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"
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| ... | ... | |
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[WINDOW_POSITION_STATE_DATA_VD3]
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[WINDOW_POSITION_STATE_DATA_VD4]
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[WINDOW_Z_ORDER]
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"E:\tp_info6_2018_fichot\Emb_App\crt0mr.a30"
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"E:\tp_info6_2018_fichot\Emb_App\programme_principal_etud.c"
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"E:\tp_info6_2018_fichot\Emb_App\Debug\mr308.inc"
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"E:\tp_info6_2018_fichot\bsp\clavier.c"
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"E:\tp_info6_2018_fichot\bsp\uart0.c"
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"E:\tp_info6_2018_fichot\Emb_App\conf_noyau.cfg"
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"E:\tp_info6_2018_fichot\Emb_App\crt0mr.a30"
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"E:\tp_info6_2018_fichot\bsp\periph.c"
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"E:\tp_info6_2018_fichot\bsp\carte_m32.h"
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"E:\tp_info6_2018_fichot\bsp\clavier.c"
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"E:\tp_info6_2018_fichot\bsp\carte_io.h"
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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 92734744 1 "{00000000-0000-0000-C000-000000000046}" ""
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"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 95549384 1 "{00000000-0000-0000-C000-000000000046}" ""
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[END]
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| branch/fichot/Emb_App/programme_principal_etud.c | ||
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// correspondant au nom du v?hicule si le nom se termine par '*'
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int k=5;
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int k2=1;
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int vitesse = 30;
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int k1=4;
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int k2=2;
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UINT flag;
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unsigned short capt=0;
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unsigned short stop = 0;
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unsigned short vitesse;
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int num_piste;
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int rpiste;
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CanFrame vit_roue;
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CanFrame vit_roue; //canal de commande de la vitesse
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void demarrer()
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void demarrer(vitesse)
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{
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vit_roue.data.id='V';
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vit_roue.data.rtr=0;
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vit_roue.data.val=vitesse;
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snd_dtq (CanTx,vit_roue.msg);
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dly_tsk(100);
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}
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void asserv_tourelle()
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{
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CanFrame comm;
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UINT flag;
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short angle;
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CanFrame req, reponse;
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while(1){
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req.data.id = 'R';
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req.data.rtr = 1;
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snd_dtq(CanTx, req.msg);
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short consigne = 450;
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CanFrame req;
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req.data.id = 'R';
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req.data.rtr = 1;
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while(1){
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periph[ADDR('R')].ev=0X01;
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snd_dtq(CanTx, req.msg);
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wai_flg(ev_periph,0X01,TWF_ANDW, &flag);
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angle = periph[ADDR('R')].val; //r?ponse de l'angle
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comm.data.id = 'T';
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comm.data.rtr = 0;
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comm.data.val = k*(450 - angle);
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comm.data.val = k1*(consigne - angle);
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snd_dtq(CanTx, comm.msg);
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dly_tsk(100);
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dly_tsk(5);
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}
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}
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| ... | ... | |
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{
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CanFrame comm;
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CanFrame req, reponse;
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unsigned short consigne = 710;
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unsigned short distance;
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UINT flag;
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short consigne = 710;
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short distance;
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short rot;
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req.data.id = 'U';
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req.data.rtr = 1;
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while(1){
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req.data.id = 'U';
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req.data.rtr = 1;
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snd_dtq(CanTx, req.msg);
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periph[ADDR('U')].val;
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while(1){
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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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distance = periph[ADDR('U')].val;
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rot = k2*(distance-consigne);
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if (distance <= 1000 && distance >= 400 )
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{
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comm.data.id='D'; comm.data.rtr=0; comm.data.val=rot;
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snd_dtq (CanTx,comm.msg);
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}
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else
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{
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comm.data.id='D'; comm.data.rtr=0; comm.data.val=0;
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snd_dtq (CanTx,comm.msg);
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}
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if(distance>1500 || stop==1){
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comm.data.id='D';
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comm.data.rtr = 0;
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comm.data.val = 0;
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dly_tsk(10);
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}
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else{
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req.data.id = 'U';
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req.data.rtr = 1;
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snd_dtq(CanTx, req.msg);
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distance=periph[ADDR('U')].val;
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//Asservissement
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rot=k2*(distance-consigne);
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comm.data.id='D';
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comm.data.rtr = 0;
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comm.data.val = rot;
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snd_dtq(CanTx,comm.msg);
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dly_tsk(10);
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}
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dly_tsk(10);
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}
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}
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void capteur(){
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CanFrame req;
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CanFrame comm;
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while (1){
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stop = 0;
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req.data.id = 'C';
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req.data.rtr = 1;
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snd_dtq(CanTx, req.msg);
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capt=periph[ADDR('C')].val;
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stop = 0;
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while(capt==0x7620){
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stop = 1;
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req.data.id = 'C';
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req.data.rtr = 1;
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snd_dtq(CanTx, req.msg);
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capt=periph[ADDR('C')].val;
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demarrer(50);
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comm.data.id='D';
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comm.data.rtr = 0;
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comm.data.val = 0;
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snd_dtq(CanTx,comm.msg);
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dly_tsk(1000);
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}
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dly_tsk(10);
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}
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}
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void piste(){
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CanFrame requete;
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UINT flag;
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requete.data.id = 'M';
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requete.data.rtr = 1;
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periph[ADDR('M')].ev = 0x04;
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snd_dtq(CanTx, requete.msg);
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wai_flg(ev_periph, 0x04, TWF_ANDW, &flag);
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num_piste = periph[ADDR('M')].val;
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rpiste = num_piste & 0x00ff;
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}
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void main()
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{
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ports_mcu();
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| ... | ... | |
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sta_tsk(ID_asserv_tourelle);
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dly_tsk(1000);
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sta_tsk(ID_asserv2);
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sta_tsk(ID_capteur);
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dly_tsk(2000);
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demarrer(30);
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while(1){
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demarrer();
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}
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dly_tsk(2000);
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}
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}
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void acqui()
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| branch/fichot/Emb_App/conf_noyau.cfg | ||
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//
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// kernel.cfg : building file for MR308 Ver.4.00
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//
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// Generated by M3T-MR308 GUI Configurator at 2018/12/14 14:41:44
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// Generated by M3T-MR308 GUI Configurator at 2018/12/19 15:14:55
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//
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////////////////////////////////////////////////////////////////////////////////
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// system definition
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system{
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stack_size = 256;
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priority = 10;
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priority = 11;
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system_IPL = 4;
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message_pri = 1;
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timeout = YES;
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| ... | ... | |
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// max definition
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maxdefine{
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max_task = 5;
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max_task = 6;
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max_flag = 3;
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max_dtq = 2;
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max_cyh = 1;
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| ... | ... | |
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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 = 11;
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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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Formats disponibles : Unified diff
fonction qui lit la piste fonctionne