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Révision 359

Ajouté par hanzhang1 il y a plus de 6 ans

valid de circuil vert bleu et rouge
pas valid de circuil noir(piste 4)

Voir les différences:

branch/zhang/Emb_App.tws
"E:\tp_info6_zhan\Emb_App\Debug\mr308.inc" 125 125 1430 351 0 5
"E:\tp_info6_zhan\Emb_App\conf_noyau.cfg" 75 75 1430 351 0 3
"E:\tp_info6_zhan\Emb_App\crt0mr.a30" 25 25 1430 351 0 1
"E:\tp_info6_zhan\Emb_App\programme_principal_etud.c" -8 -30 1596 539 1 0
"E:\tp_info6_zhan\Emb_App\programme_principal_etud.c" -8 -30 940 171 1 0
"E:\tp_info6_zhan\bsp\lcd.c" 100 100 1430 351 0 4
"E:\tp_info6_zhan\bsp\periph.c" 0 0 1430 351 0 7
"E:\tp_info6_zhan\bsp\uart0.c" 150 150 1430 351 0 6
branch/zhang/Emb_App/SessionM32C_E8a_system.ini
[Target]
M32C E8a SYSTEM=Renesas Communications
[USER_DATA]
RESET=ff0122
RESET=ff0126
branch/zhang/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" "0000000000004044"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_0" "0000000000000044"
"{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_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" "0000000000FF0678"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF0687"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_17" "0000000000FFF800"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000E6A"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000BA2"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000E98"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000BD0"
"{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_20" "0000000000000044"
"{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_23" "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" "0000000000000E9E"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000ECC"
"{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"
......
0
[WINDOW_POSITION_STATE_DATA_VD1]
"Help" "TOOLBAR 0" 59419 2 4 "0.00" 0 0 0 0 0 17 0 "" "0.0"
"{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"
"{WK_00000001_CmdLine}" "WINDOW" 59422 0 1 "0.07" 370 0 0 350 200 17 0 "32771|32772|32778|<<separator>>|32773|32774|<<separator>>|32820|<<separator>>|32801|32824" "0.0"
"{WK_00000001_DISASSEMBLY}" "WINDOW" 0 0 0 "0.00" 0 -8 -30 1596 539 9 0 "" "0.0"
"{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"
"{WK_00000001_EVENT}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59422 0 0 "0.11" 370 0 0 350 200 18 0 "32774|32775|32777|<<separator>>|32780|<<separator>>" "0.0"
"{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"
"{WK_00000001_OUTPUT}" "WINDOW" 59422 0 2 "0.45" 365 0 0 350 200 18 0 "36756|36757|36758|36759|<<separator>>|36746|36747|<<separator>>|39531|<<separator>>|39500|39534|<<separator>>|36687" "0.0"
"{WK_00000001_PDMR}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59422 0 3 "0.27" 365 0 0 350 200 18 0 "47300|47301|47302|47303|47304|47305|47314|47306|47307|47308|47311|47312|47313|42211|42509|42303" "0.0"
"{WK_00000001_OUTPUT}" "WINDOW" 59422 0 2 "0.54" 370 0 0 350 200 18 0 "36756|36757|36758|36759|<<separator>>|36746|36747|<<separator>>|39531|<<separator>>|39500|39534|<<separator>>|36687" "0.0"
"{WK_00000001_PDMR}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59422 0 3 "0.18" 370 0 0 350 200 18 0 "47300|47301|47302|47303|47304|47305|47314|47306|47307|47308|47311|47312|47313|42211|42509|42303" "0.0"
"{WK_00000001_REGISTERS}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59421 0 0 "1.00" 236 0 0 350 200 2065 0 "" "0.0"
"{WK_00000001_WATCH}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59422 0 4 "0.17" 365 0 0 350 200 18 0 "32781|32783|<<separator>>|32771|32772|32773|<<separator>>|32786|<<separator>>|32810|32811" "0.0"
"{WK_00000001_WATCH}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59422 0 4 "0.17" 370 0 0 350 200 18 0 "32781|32783|<<separator>>|32771|32772|32773|<<separator>>|32786|<<separator>>|32810|32811" "0.0"
"{WK_00000002_WORKSPACE}" "WINDOW" 59420 0 0 "1.00" 308 0 0 350 200 18 0 "" "0.0"
"{WK_TB00000001_STANDARD}" "TOOLBAR 0" 59419 0 2 "0.00" 0 0 0 0 0 18 0 "" "0.0"
"{WK_TB00000002_EDITOR}" "TOOLBAR 0" 59419 0 0 "0.00" 0 0 0 0 0 18 0 "" "0.0"
......
[WINDOW_POSITION_STATE_DATA_VD4]
[WINDOW_Z_ORDER]
"E:\tp_info6_zhan\Emb_App\programme_principal_etud.c"
"E:\tp_info6_zhan\Emb_App\crt0mr.a30"
"E:\tp_info6_zhan\bsp\lcd.c"
"E:\tp_info6_zhan\Emb_App\crt0mr.a30"
"E:\tp_info6_zhan\bsp\uart0.c"
"E:\tp_info6_zhan\bsp\periph.c"
"E:\tp_info6_zhan\bsp\uart0.c"
"E:\tp_info6_zhan\Emb_App\Debug\mr308.inc"
"E:\tp_info6_zhan\Emb_App\conf_noyau.cfg"
"E:\tp_info6_zhan\Emb_App\Debug\kernel_id.h"
"E:\tp_info6_zhan\Emb_App\Debug\mr308.inc"
[TARGET_NAME]
"M32C E8a SYSTEM" "" 0
[STATUSBAR_STATEINFO_VD1]
......
[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 95806312 1 "{00000000-0000-0000-C000-000000000046}" ""
"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 93968296 1 "{00000000-0000-0000-C000-000000000046}" ""
[END]
branch/zhang/Emb_App/programme_principal_etud.c
unsigned int alpha; //angle
unsigned int distance; // Distance mesuree par le telemetre (1/100 de metre)
unsigned int v; //vitesse
float v; //vitesse
unsigned int c; //
unsigned int touche_couleur; //capteur de couleur
unsigned int pist; //piste V B R N
void main()
{
......
sta_tsk(ID_periph_rx); //config de periph, donc je peut utilise periph(R U)
// sta_cyc(ID_asserv);
sta_tsk(ID_capteur_couleur);
sta_tsk(ID_piste);
sta_tsk(ID_control_tourelle);
sta_tsk(ID_control_direct);
......
LED_V=!LED_V;
}
/****************************************************************************************/
/*****************************************************************************************/
void control_tourelle(){
// Q5 obtenir l'angle
// et commande la vitesse de tourelle(asservissement)
......
}
/***************************************************************************/
void capteur_couleur(){
CanFrame requete;
FLGPTN flag;
while(1){
requete.data.id = 'C'; // angle de tourelle
requete.data.rtr = 1; //indique une requ?te(demende) de lecture
periph[ADDR('C')].ev=0x03; // event mise au 0x01
snd_dtq(CanTx, requete.msg); //send demendes
wai_flg (ev_periph,0x03,TWF_ANDW,&flag); //wait reponse
touche_couleur = periph[ADDR('C')].val;
dly_tsk(20);
}
}
void piste(){
CanFrame requete;
FLGPTN flag;
int a;
while(1){
requete.data.id = 'M'; // angle de tourelle
requete.data.rtr = 1; //indique une requ?te(demende) de lecture
periph[ADDR('M')].ev=0x04; // event mise au 0x01
snd_dtq(CanTx, requete.msg); //send demendes
wai_flg (ev_periph,0x04,TWF_ANDW,&flag); //wait reponse
a = periph[ADDR('M')].val;
pist = a & 0x00FF; //1Vert 2Bleu 3Rouge 4Roir
dly_tsk(10);
}
}
/******************************************************************************/
void control_direct(){
CanFrame requete, reponse, comm;
FLGPTN flag;
......
distance = periph[ADDR('U')].val;
if( distance < 400) distance = 705;
c = kd *( distance - 705);
if( pist==3){ //piste rouge
if( touche_couleur == 0x5603) c = 0;
}
if( pist==4){ //piste noir
if( touche_couleur == 0x5601) {
c = distance - 900;
if(distance<800 || distance>1100) c =0;
}
if( touche_couleur == 0x5602) {
if(distance<680|| distance>725) distance = 705;
c = distance - 705;
}
if( touche_couleur == 0x5603) {
c = kd *( distance - 705);
if(distance<700 || distance>730) c =0;
}
}
if( pist==7){ //piste rouge
if( touche_couleur == 0x5603) c = 0;
}
if( pist==8){ //piste noir
if( touche_couleur == 0x5603) {
if(distance<700 || distance>730) c =0;
}
}
comm.data.id = 'D';
comm.data.rtr = 0;
comm.data.val = c;
snd_dtq(CanTx, comm.msg);
dly_tsk(10);
}
}
/****************************************************************************/
void affiche(){
char str1[20];
char str2[20];
char str3[20];
lcd_com(0xC0);
sprintf(str1," %d ", distance);
lcd_str(str1);
lcd_com(0x90);
sprintf(str2," %d ", alpha);
sprintf(str2," %d ", pist);
lcd_str(str2);
lcd_com(0xD0);
sprintf(str3," %x ", touche_couleur);
lcd_str(str3);
}
/*******************************************************************************/
void vitesse(){
......
while (1){
if ( distance<680 || distance>750) v = 20;
else v = 50;
if ( distance<680 || distance>750) v = 20;
else v = 50;
if(pist == 3){
if( touche_couleur == 0x5603) v = 45;
}
if(pist == 4){
if( touche_couleur == 0x5601) v = 20;
if( touche_couleur == 0x5602) v = 18;
if( touche_couleur == 0x5603) v = 42.5;
if( touche_couleur == 0x5604) v = 10;
}
if(pist == 7){
if( touche_couleur == 0x5603) v = 45;
}
if(pist == 8){
if( touche_couleur == 0x5603) v = 42.5;
if( touche_couleur == 0x5604) v = 10;
}
comm.data.id = 'V';
comm.data.rtr = 0;
comm.data.val = v;
branch/zhang/Emb_App/conf_noyau.cfg
initial_start = OFF;
exinf = 0x0;
};
task[]{
entry_address = capteur_couleur();
name = ID_capteur_couleur;
stack_size = 256;
stack_section = stack;
priority = 2;
initial_start = OFF;
exinf = 0x0;
};
task[]{
entry_address = piste();
name = ID_piste;
stack_size = 256;
stack_section = stack;
priority = 2;
initial_start = OFF;
exinf = 0x0;
};
flag[]{
name = ev_bus_fin_tr;

Formats disponibles : Unified diff