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Révision 357

Ajouté par gamatteozz il y a plus de 6 ans

piste rouge passé, fonction capteur operationnel. TODO: affinage de la vitesse du saut et passage de la piste noire

Voir les différences:

branch/matteozzi/Emb_App/SessionM32C_E8a_system.ini
[Target]
M32C E8a SYSTEM=Renesas Communications
[USER_DATA]
RESET=ff001c
RESET=ff002a
branch/matteozzi/Emb_App/SessionM32C_E8a_system.hsf
"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWndInstanceKey0" "{WK_00000001_PDMR}EmbM32C87AppSessionM32C_E8a_system"
"{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" "000000000000FF01"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_1" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_0" "0000000000000001"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_1" "0000000000000064"
"{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" "0000000000FF3063"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF32EE"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_17" "0000000000FFF800"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000B10"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000828"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "00000000000000FF"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000A54"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000858"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_20" "00000000000000C0"
"{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_27" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_28" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_29" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_3" "0000000000000001"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_3" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_30" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_31" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_32" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_33" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_34" "000000000000036A"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_35" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_4" "0000000000000B14"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "0000000000000B1C"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000B24"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_4" "0000000000000007"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "0000000000120012"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000A54"
"{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_ITEM0000_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001" "ang_lu, 2, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "2"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002" "val_cap, 2, 0, P, Col, Hex, 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}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_matteozzi\tp_info6\Emb_App\programme_principal_etud.c"
"E:\tp_info6_2018_matteozzi\tp_info6\bsp\periph.c"
"E:\tp_info6_2018_matteozzi\tp_info6\Emb_App\crt0mr.a30"
"E:\tp_info6_2018_matteozzi\tp_info6\Emb_App\conf_noyau.cfg"
"E:\tp_info6_2018_matteozzi\tp_info6\bsp\uart0.c"
"E:\tp_info6_2018_matteozzi\tp_info6\Emb_App\conf_noyau.cfg"
"E:\tp_info6_2018_matteozzi\tp_info6\bsp\periph.c"
"E:\tp_info6_2018_matteozzi\tp_info6\bsp\radiocommande.c"
"E:\tp_info6_2018_matteozzi\tp_info6\Emb_App\Debug\mr308.inc"
[TARGET_NAME]
......
[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 101862544 1 "{00000000-0000-0000-C000-000000000046}" ""
"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 100128032 1 "{00000000-0000-0000-C000-000000000046}" ""
[END]
branch/matteozzi/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 '*'
unsigned short k1=6;
unsigned short k2=2;
unsigned short k1=7;
unsigned short k2=1.99;
unsigned short ang_lu=0;
unsigned short ang_tourelle;
CanFrame comm;
CanFrame requete, reponse;
unsigned short vitesse=0;
unsigned short distance;
unsigned short val_cap;
unsigned short cons_angl=450;
UINT flag;
unsigned short vitesse;
unsigned short distance_m;
unsigned short cons_angl=400;
///////////////////////////
//Declaration des taches///
///////////////////////////
void capteur(){ //asservissement de l'angle de la tourelle
while(0){
requete.data.id='C'; //demande de la requete C
requete.data.rtr=1; //demande de lecture car rtr=1
snd_dtq(CanTx, requete.msg); //envoie de la demande dans CanTx
val_cap=periph[ADDR('C')].val; //recupere la valeur du capteur dans cal-cap
void capteur(){
UINT flag; //asservissement de l'angle de la tourelle
while(1){
requete.data.id='C'; //demande de la requete C
requete.data.rtr=1;
periph[ADDR('C')].ev=0x01; //demande de lecture car rtr=1
snd_dtq(CanTx, requete.msg); //envoie de la demande dans CanTx
dly_tsk(50);
wai_flg(ev_periph, 0x01, TWF_ANDW, &flag); //recoie la demande dans CanRx
val_cap=periph[ADDR('C')].val; //recupere la valeur du capteur dans val-cap
}
dly_tsk(100);
}
void tourelle(){ //asservissement de l'angle de la tourelle
//ang_lu
//cons_angl
UINT flag;
while(1){
requete.data.id='R'; //demande de la requete R
requete.data.rtr=1; //demande de lecture car rtr=1
periph[ADDR('R')].ev=0x01;
snd_dtq(CanTx, requete.msg); //envoie de la demande dans CanTx
wai_flg(ev_periph, 0x01, TWF_ANDW, &flag); //recoie la demande dans CanRx
ang_lu=periph[ADDR('R')].val; //recupere la valeur de l'angle dans retour
......
comm.data.rtr=0; //commande d'ecriture car rtr=0
comm.data.val=k1*(cons_angl-ang_lu);
snd_dtq(CanTx, comm.msg);
dly_tsk(50);
}
dly_tsk(100);
}
void commande_vit(){ //commande de la vitesse //TODO a ameliorer
......
comm.data.rtr=0;
comm.data.val=vitesse;
snd_dtq(CanTx, comm.msg);
if(val_cap==0x5603){
vitesse=60;
}
dly_tsk(50);
if(val_cap==0x6310){
comm.data.id='V';
comm.data.rtr=0;
comm.data.val=70;
snd_dtq(CanTx, comm.msg);
dly_tsk(260);
vitesse=30;
}
}
}
void orient_roue(){
UINT flag;
while(1){
requete.data.id='U';
requete.data.rtr=1;
periph[ADDR('U')].ev=0x01;
snd_dtq(CanTx, requete.msg);
wai_flg(ev_periph, 0x01, TWF_ANDW, &flag);
distance=periph[ADDR('U')].val; //recupere la valeur de l'angle dans retour // amelioration de l asservissement
if(distance>1500){
if(distance>1500 | val_cap==0x6310){
comm.data.id='D'; //demande de la requete D
comm.data.rtr=0; //commande d'ecriture car rtr=0
comm.data.rtr=0;
comm.data.val=0;
snd_dtq(CanTx, comm.msg);
dly_tsk(700);
}
if(val_cap==0x5603){
comm.data.id='D'; //demande de la requete D
comm.data.rtr=0; //commande d'ecriture car rtr=0
comm.data.val=0;
snd_dtq(CanTx, comm.msg);
dly_tsk(100000);
}
dly_tsk(50);
}
else{
comm.data.id='D'; //demande de la requete D
comm.data.rtr=0; //commande d'ecriture car rtr=0
comm.data.val=k2*(distance-730);
comm.data.rtr=0;
distance_m= (sin(40)*distance); //commande d'ecriture car rtr=0
comm.data.val=k2*(distance_m-579);
snd_dtq(CanTx, comm.msg);
dly_tsk(100);
dly_tsk(50);
}
}
dly_tsk(200);
}
void main()
{
dly_tsk(50);
{
ports_mcu();
lcd_init();
periph_init();
periph_nom("Titine");
dly_tsk(50);
periph_nom("#Titine*");
can_init();
clavier_init(1);
capture_init();
dly_tsk(50);
capture_init();
sta_cyc(ID_acqui);
sta_tsk(ID_periph_rx);
sta_tsk(ID_tourelle);
sta_tsk(ID_orient_roue);
sta_tsk(ID_capteur);
sta_tsk(ID_commande_vit);
sta_tsk(ID_capteur);
sta_tsk(ID_vitesse);
dly_tsk(1000);
vitesse=15;
dly_tsk(100);
dly_tsk(200);
vitesse=30;
while(1)
{
LED_J=1;
LED_J=0;
{
LED_R=0;
dly_tsk(50);
LED_R=1;
dly_tsk(50);
}
}
branch/matteozzi/Emb_App/conf_noyau.cfg
//
// kernel.cfg : building file for MR308 Ver.4.00
//
// Generated by M3T-MR308 GUI Configurator at 2018/12/14 17:27:45
// Generated by M3T-MR308 GUI Configurator at 2018/12/19 17:30:51
//
////////////////////////////////////////////////////////////////////////////////
......
task[]{
entry_address = orient_roue();
name = ID_orient_roue;
stack_size = 256;
stack_size = 512;
stack_section = stack;
priority = 10;
initial_start = OFF;
......
};
task[]{
entry_address = commande_vit();
name = ID_commande_vit;
name = ID_vitesse;
stack_size = 256;
stack_section = stack;
priority = 12;
priority = 13;
initial_start = OFF;
exinf = 0x0;
};

Formats disponibles : Unified diff