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Révision 355

Ajouté par ninoisette il y a plus de 6 ans

commit fin de séance problème pour éviter les trous

Voir les différences:

branch/noisette/Emb_App.tws
"E:\tp_info6_2018_noisette\tp_info6\bsp\uart0.c"
"E:\tp_info6_2018_noisette\tp_info6\Emb_App\conf_noyau.cfg"
"E:\tp_info6_2018_noisette\tp_info6\Emb_App\crt0mr.a30"
"E:\tp_info6_2018_noisette\tp_info6\Emb_App\Debug\mr308.inc"
"E:\tp_info6_2018_noisette\tp_info6\Emb_App\programme_principal_etud.c"
[WORKSPACE_FILE_STATES]
"E:\tp_info6_2018_noisette\tp_info6\Emb_App\Debug\mr308.inc" 50 50 790 335 0 9
"E:\tp_info6_2018_noisette\tp_info6\Emb_App\conf_noyau.cfg" 0 0 790 335 0 7
"E:\tp_info6_2018_noisette\tp_info6\Emb_App\crt0mr.a30" 0 0 956 523 0 1
"E:\tp_info6_2018_noisette\tp_info6\Emb_App\programme_principal_etud.c" -8 -30 956 523 1 0
branch/noisette/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" "0000000000FF057B"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF056E"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_17" "0000000000FFF800"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000C0E"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000830"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000001036"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "000000000000086E"
"{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" "0000000000000C2C"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "000000000000106A"
"{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"
......
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002" "couleur, 1, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "3"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0003" "k, 2, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0003_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0004" "vitesse, 1, 0, P, Col, Hex, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0004_SCOPE" "Global,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "5"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth0" "120"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth1" "150"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth12" "200"
......
[WINDOW_POSITION_STATE_DATA_VD4]
[WINDOW_Z_ORDER]
"E:\tp_info6_2018_noisette\tp_info6\Emb_App\programme_principal_etud.c"
"E:\tp_info6_2018_noisette\tp_info6\Emb_App\crt0mr.a30"
"E:\tp_info6_2018_noisette\tp_info6\Emb_App\conf_noyau.cfg"
"E:\tp_info6_2018_noisette\tp_info6\Emb_App\crt0mr.a30"
"E:\tp_info6_2018_noisette\tp_info6\Emb_App\Debug\mr308.inc"
"E:\tp_info6_2018_noisette\tp_info6\bsp\periph.c"
"E:\tp_info6_2018_noisette\tp_info6\bsp\uart0.c"
"E:\tp_info6_2018_noisette\tp_info6\bsp\can.c"
......
[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 93196960 1 "{00000000-0000-0000-C000-000000000046}" ""
"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 97587872 1 "{00000000-0000-0000-C000-000000000046}" ""
[END]
branch/noisette/Emb_App/programme_principal_etud.c
//'I'/73/Ox49 : D?finition du nom du v?hicule. Doit d?buter par le caract?re '#' et entraine le chargement de la configuration de piste
// correspondant au nom du v?hicule si le nom se termine par '*'
int alpha;
int stop;
int couleur;
int consigne_tourelle;
int consigne_distance;
......
UINT flag;
CanFrame comm, requete, reponse, req;
/*void trous(){
void capteur(){
while(1){
req.data.id='C';
req.data.rtr=1;
periph[ADDR('C')].ev=0x0007;
snd_dtq(CanTx,req.msg);
dly_tsk(50);
wai_flg(ev_periph,0x0007,TWF_ANDW,&flag);
couleur=periph[ADDR('C')].val;
}
} */
}
void tremplin(){
while(1){
req.data.id='C';
req.data.rtr=1;
periph[ADDR('C')].ev=0x0007;
snd_dtq(CanTx,req.msg);
dly_tsk(50);
wai_flg(ev_periph,0x0007,TWF_ANDW,&flag);
couleur=periph[ADDR('C')].val;
req.data.id='U';
req.data.rtr=1;
periph[ADDR('U')].ev=0x01;
snd_dtq(CanTx,req.msg);
dly_tsk(50);
wai_flg(ev_periph,0x01, TWF_ANDW, &flag);
distance_tourelle=periph[ADDR('U')].val;
while(couleur==30212){
k=0;
comm.data.id= 'V';
comm.data.rtr=0;
comm.data.val=47;
snd_dtq(CanTx, comm.msg);
dly_tsk(5);
}
}
}
void trous(){
while(1){
req.data.id='U';
req.data.rtr=1;
periph[ADDR('U')].ev=0x01;
snd_dtq(CanTx,req.msg);
dly_tsk(5);
wai_flg(ev_periph,0x01, TWF_ANDW, &flag);
distance_tourelle=periph[ADDR('U')].val;
while (distance_tourelle>900){
stop==1;
k=0;
comm.data.id= 'V';
comm.data.rtr=0;
comm.data.val=2;
snd_dtq(CanTx, comm.msg);
}
}
}
void asserv_tourelle()
{
while(1){
req.data.id='R';
req.data.rtr=1;
periph[ADDR('R')].ev=0x01;
snd_dtq(CanTx,req.msg);
dly_tsk(5);
wai_flg(ev_periph,0x01, TWF_ANDW, &flag);
alpha=periph[ADDR('R')].val;
k=2;
......
comm.data.id= 'T';
comm.data.rtr=0;
comm.data.val=consigne_tourelle;
snd_dtq(CanTx, comm.msg);
dly_tsk(5);
}
dly_tsk(100);
}
void asserv_virage() {
while(1) {
req.data.id='U';
req.data.rtr=1;
periph[ADDR('U')].ev=0x01;
snd_dtq(CanTx,req.msg);
wai_flg(ev_periph,0x01, TWF_ANDW, &flag);
distance_tourelle=periph[ADDR('U')].val;
k = 12;
erreur_distance = 720 - distance_tourelle;
consigne_distance = k*erreur_distance;
consigne_distance = consigne_distance/10;
comm.data.id= 'D';
comm.data.rtr=0;
comm.data.val=-consigne_distance;
snd_dtq(CanTx, comm.msg);
while (stop==1){
req.data.id='U';
req.data.rtr=1;
periph[ADDR('U')].ev=0x01;
snd_dtq(CanTx,req.msg);
dly_tsk(5);
wai_flg(ev_periph,0x01, TWF_ANDW, &flag);
distance_tourelle=periph[ADDR('U')].val;
k=0;
erreur_distance = 720 - distance_tourelle;
consigne_distance = k*erreur_distance;
consigne_distance = consigne_distance/10;
comm.data.id= 'D';
comm.data.rtr=0;
comm.data.val=-consigne_distance;
snd_dtq(CanTx, comm.msg);
dly_tsk(5);
}
req.data.id='U';
req.data.rtr=1;
periph[ADDR('U')].ev=0x01;
snd_dtq(CanTx,req.msg);
dly_tsk(5);
wai_flg(ev_periph,0x01, TWF_ANDW, &flag);
distance_tourelle=periph[ADDR('U')].val;
k=12;
erreur_distance = 720 - distance_tourelle;
consigne_distance = k*erreur_distance;
consigne_distance = consigne_distance/10;
comm.data.id= 'D';
comm.data.rtr=0;
comm.data.val=-consigne_distance;
snd_dtq(CanTx, comm.msg);
dly_tsk(5);
}
dly_tsk(100);
}
}
void command(vitesse){
comm.data.id= 'V';
comm.data.rtr=0;
comm.data.val=vitesse;
snd_dtq(CanTx, comm.msg);
dly_tsk(200);
dly_tsk(50);
}
void main()
......
sta_cyc(ID_acqui);
sta_tsk(ID_periph_rx);
sta_tsk(ID_asserv_tourelle);
// sta_tsk(ID_trous);
sta_tsk(ID_capteur);
sta_tsk(ID_tremplin);
dly_tsk(2500);
sta_tsk(ID_asserv_virage);
sta_tsk(ID_trous);
while(1)
while(1)
{
LED_J=1;
dly_tsk(100);
......
command(45);
command(10);
}
}
branch/noisette/Emb_App/conf_noyau.cfg
name = ID_asserv_tourelle;
stack_size = 256;
stack_section = stack;
priority = 3;
priority = 6;
initial_start = OFF;
exinf = 0x0;
};
task[]{
entry_address = capteur();
name = ID_capteur;
stack_size = 256;
stack_section = stack;
priority = 6;
initial_start = OFF;
exinf = 0x0;
};
task[]{
entry_address =tremplin();
name = ID_tremplin;
stack_size = 256;
stack_section = stack;
priority = 3;
initial_start = OFF;
exinf = 0x0;
};
task[]{
entry_address =trous();
name = ID_trous;
stack_size = 256;
stack_section = stack;
priority = 2;
initial_start = OFF;
exinf = 0x0;
};
task[]{
entry_address = asserv_virage();
name = ID_asserv_virage;
stack_size = 256;
stack_section = stack;
priority = 4;
priority = 8;
initial_start = OFF;
exinf = 0x0;
};
task[]{
entry_address = periph_tx();
name = ID_periph_tx;

Formats disponibles : Unified diff