Révision 352
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=ff001e
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RESET=ff0022
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| branch/fichot/Emb_App/programme_principal_etud.c | ||
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int k1=4;
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int k2=2;
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UINT flag;
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int k3 = 1;
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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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int saut =0;
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int angle_roue;
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int distance_v;
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CanFrame vit_roue;
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void demarrer(vitesse)
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| ... | ... | |
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}
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}
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void asserv2()
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{
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CanFrame comm;
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CanFrame req, reponse;
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CanFrame req;
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UINT flag;
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short consigne = 710;
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short distance;
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| ... | ... | |
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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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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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| ... | ... | |
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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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/*void saut_rouge (){
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while(1){
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if(num_piste1 == 3){
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if( capteur == 0x7620 ){
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dly_tsk(1000);
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saut = 1;
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}
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else {
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saut = 0;
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}
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}
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dly_tsk(10);
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}
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}
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*/
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void piste(){
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CanFrame requete;
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| ... | ... | |
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can_init();
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clavier_init(1);
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capture_init();
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sta_tsk(ID_periph_rx);
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sta_tsk(ID_piste);
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sta_cyc(ID_acqui);
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sta_tsk(ID_periph_rx);
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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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dly_tsk(2000);
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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 2018/12/19 15:14:55
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// Generated by M3T-MR308 GUI Configurator at 2018/12/19 17:27:37
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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 = 11;
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priority = 10;
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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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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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entry_address = piste();
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name = ID_piste;
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stack_size = 256;
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stack_section = stack;
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priority = 11;
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priority = 4;
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initial_start = OFF;
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exinf = 0x0;
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};
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