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Révision 361

Ajouté par audercoux il y a plus de 6 ans

Ne passe pas la piste noir

Voir les différences:

branch/decroux/Emb_App.tws
[GENERAL_DATA]
[BREAKPOINTS]
[OPEN_WORKSPACE_FILES]
"E:\tp_info6_2018_decroux\tp_info6\bsp\periph.c"
"E:\tp_info6_2018_decroux\tp_info6\bsp\uart0.c"
"E:\tp_info6_2018_decroux\tp_info6\Emb_App\conf_noyau.cfg"
"E:\tp_info6_2018_decroux\tp_info6\Emb_App\crt0mr.a30"
"E:\tp_info6_2018_decroux\tp_info6\Emb_App\programme_principal_etud.c"
[WORKSPACE_FILE_STATES]
"E:\tp_info6_2018_decroux\tp_info6\Emb_App\conf_noyau.cfg" 75 75 1430 351 0 2
"E:\tp_info6_2018_decroux\tp_info6\Emb_App\crt0mr.a30" 0 0 1596 539 0 1
"E:\tp_info6_2018_decroux\tp_info6\Emb_App\programme_principal_etud.c" -8 -30 1596 539 1 0
"E:\tp_info6_2018_decroux\tp_info6\Emb_App\crt0mr.a30" -8 -30 1596 539 1 1
"E:\tp_info6_2018_decroux\tp_info6\Emb_App\programme_principal_etud.c" 0 0 1596 539 0 0
"E:\tp_info6_2018_decroux\tp_info6\bsp\periph.c" 75 75 1430 351 0 3
"E:\tp_info6_2018_decroux\tp_info6\bsp\uart0.c" 100 100 1430 351 0 4
[LOADED_PROJECTS]
"EmbM32C87App"
[END]
branch/decroux/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_1" "0000000000000120"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_0" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_1" "0000000000000000"
"{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" "0000000000FF0586"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_17" "0000000000FFF800"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000FEE"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000818"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "00000000000030FE"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_20" "0000000000004044"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_15" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF001C"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_17" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000700"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_20" "0000000000000000"
"{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_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_34" "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_4" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000001014"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_7" "0000000000000512"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_7" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_8" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_9" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_COUNT" "36"
......
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001" "capt, 2, 0, P, Col, Hex, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002" "distance0, 10, 0, P, Col, Hex, N"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002" "Mode, 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" "2"
"{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"
......
"Help" "TOOLBAR 0" 59419 2 4 "0.00" 0 0 0 0 0 17 0 "" "0.0"
"{WK_00000001_CmdLine}" "WINDOW" 59422 0 3 "0.07" 365 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 -4 -30 948 486 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 "0.09" 365 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 1 "0.43" 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 2 "0.16" 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 1 "0.33" 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 2 "0.23" 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_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 "0.30" 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 "0.35" 365 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_VD3]
[WINDOW_POSITION_STATE_DATA_VD4]
[WINDOW_Z_ORDER]
"E:\tp_info6_2018_decroux\tp_info6\Emb_App\crt0mr.a30"
"E:\tp_info6_2018_decroux\tp_info6\Emb_App\programme_principal_etud.c"
"E:\tp_info6_2018_decroux\tp_info6\Emb_App\crt0mr.a30"
"E:\tp_info6_2018_decroux\tp_info6\bsp\uart0.c"
"E:\tp_info6_2018_decroux\tp_info6\Emb_App\conf_noyau.cfg"
"E:\tp_info6_2018_decroux\tp_info6\bsp\periph.c"
[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 100211616 1 "{00000000-0000-0000-C000-000000000046}" ""
"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 100930696 1 "{00000000-0000-0000-C000-000000000046}" ""
[END]
branch/decroux/Emb_App/programme_principal_etud.c
int kr=1; // Gain roue
unsigned int dis;
unsigned int capt=0x0000;
unsigned int Mode;
// Tache qui met la tourelle a 45degres
......
while(1){
CanFrame commTourel;
CanFrame requeteTourel;
CanFrame reponseTourel;
commTourel.data.id='T'; //Commade en vitesse de la tourelle portant le t?l?metre
commTourel.data.rtr=0;
commTourel.data.val=300;
snd_dtq (CanTx,commTourel.msg);
// Lectre de l'angle
requeteTourel.data.id='R'; //Lecture de l'angle effecif de la tourelle portant le t?l?mtre
requeteTourel.data.rtr=1; // Indiquation d'une requ?te de lecture
......
dis=periph[ADDR('U')].val; // Contient la derniere valeur renvoyee par le simulateur
periph[ADDR('U')].maj; // Incremente a chaque reception
//Assevicement
if(dis>1000)
if(Mode==0x8304 || Mode==0x0304)//On est sur la piste noir
{
commRoues.data.id='D'; // Commande de l'angle des roues
commRoues.data.rtr=0; //Indique une requete d'?criture
commRoues.data.val= 0; // Correction de la disance
snd_dtq(CanTx,commRoues.msg);
if(dis>5000 || dis<400 ||capt==0x6208) //Pour passer les trous et les tonneau
{
LED_R=1;
commRoues.data.id='D'; // Commande de l'angle des roues
commRoues.data.rtr=0; //Indique une requete d'?criture
commRoues.data.val= 0; // Correction de la disance
snd_dtq(CanTx,commRoues.msg);
}
else if (capt==0x6308) //Pour passer le tonneau au milieu piste noir
{
commRoues.data.id='D'; // Commande de l'angle des roues
commRoues.data.rtr=0; //Indique une requete d'?criture
commRoues.data.val=kr*(dis-1010); // Correction de la disance
snd_dtq(CanTx,commRoues.msg);
}
else
{
commRoues.data.id='D'; // Commande de l'angle des roues
commRoues.data.rtr=0; //Indique une requete d'?criture
commRoues.data.val=kr*(dis-700); // Correction de la disance
snd_dtq(CanTx,commRoues.msg);
}
}
else
{
commRoues.data.id='D'; // Commande de l'angle des roues
commRoues.data.rtr=0; //Indique une requete d'?criture
commRoues.data.val=kr*(dis-680); // Correction de la disance
snd_dtq(CanTx,commRoues.msg);
else
{
if(dis>1000 ) //Pour passer les trous et les tonneau
{
commRoues.data.id='D'; // Commande de l'angle des roues
commRoues.data.rtr=0; //Indique une requete d'?criture
commRoues.data.val= 0; // Correction de la disance
snd_dtq(CanTx,commRoues.msg);
}
else
{
commRoues.data.id='D'; // Commande de l'angle des roues
commRoues.data.rtr=0; //Indique une requete d'?criture
commRoues.data.val=kr*(dis-700); // Correction de la disance
snd_dtq(CanTx,commRoues.msg);
}
}
dly_tsk(10);
}
}
//Fonctin vitesse
void vitesse(unsigned int valcapt)
//Fonctin vitesse noir
void vitesse4(unsigned int valcapt)
{
CanFrame commVit;
commVit.data.id='V';
commVit.data.rtr=0;
commVit.data.val=25;
snd_dtq (CanTx,commVit.msg);
if(valcapt== 0x5603)
if(capt==0x6308 || capt==0x4a01||capt==0x6208) // Rallentissement pr?s du tonneau
{
commVit.data.id='V';
commVit.data.rtr=0;
commVit.data.val=45;
commVit.data.val=15;
snd_dtq (CanTx,commVit.msg);
}
else if(valcapt==0x7608)
}
else
{ commVit.data.id='V';
commVit.data.rtr=0;
commVit.data.val=25; //Reprise de vitesse une fois la voiure stabilis? piste rouge
snd_dtq (CanTx,commVit.msg);
}
}
//Fonction vitesse rouge
void vitesse3(unsigned int valcapt)
{
CanFrame commVit;
//vitesse pour passer le tramplin piste rouge
if(valcapt== 0x6a08)
{
commVit.data.id='V';
commVit.data.rtr=0;
commVit.data.val=0;
commVit.data.val=45;
snd_dtq (CanTx,commVit.msg);
}
//Ralentissemet apr?s tramplin piste rouge
else if(valcapt==0x7608||valcapt==0x4203)
{
commVit.data.id='V';
commVit.data.rtr=0;
commVit.data.val=5;
commVit.data.val=15;
snd_dtq (CanTx,commVit.msg);
}
else if(valcapt==0x5604)
{
commVit.data.id='V';
else
{ commVit.data.id='V';
commVit.data.rtr=0;
commVit.data.val=25;
commVit.data.val=25; //Reprise de vitesse une fois la voiture stabilis? piste rouge
snd_dtq (CanTx,commVit.msg);
}
}
}
//Fonctin vitesse verte et bleu
void vitesse1()
{
CanFrame commVit;
commVit.data.id='V';
commVit.data.rtr=0;
commVit.data.val=30;
snd_dtq (CanTx,commVit.msg);
}
//Lecture couleur de la piste et feu
unsigned int lecture_piste()
{
CanFrame Mcourse;
Mcourse.data.id='M';
Mcourse.data.rtr=1; // Indiquation d'une requiete de lecture
snd_dtq (CanTx,Mcourse.msg); // Interrogation du peripherique
Mode=periph[ADDR('M')].val; // Contient la derniere valeur renvoyee par le simulateur
periph[ADDR('M')].maj;
dly_tsk(10);
return Mode;
}
// Focntion delay
void Pause(void)
{
......
while(1)
{
vitesse(capt);
//Lecture de la valeur du capteur
capteur.data.id='C'; //Information sur le dernier capteur
capteur.data.rtr=1; // Indiquation d'une requiete de lecture
snd_dtq (CanTx,capteur.msg); // Interrogation du peripherique
capt=periph[ADDR('C')].val; // Contient la derniere valeur renvoyee par le simulateur
periph[ADDR('C')].maj;
// Incremente a chaque reception
Mode= lecture_piste();
if(Mode==0x8304 || Mode==0x0304)//On est sur la piste noir
{
//Lecture de la valeur du capteur
capteur.data.id='C'; //Information sur le dernier capteur
capteur.data.rtr=1; // Indiquation d'une requiete de lecture
snd_dtq (CanTx,capteur.msg); // Interrogation du peripherique
capt=periph[ADDR('C')].val; // Contient la derniere valeur renvoyee par le simulateur
periph[ADDR('C')].maj;// Incremente a chaque reception
vitesse4(capt);
}
else if(Mode==0x8303 || Mode==0303) //O est sur la piste rouge
{
//Lecture de la valeur du capteur
capteur.data.id='C'; //Information sur le dernier capteur
capteur.data.rtr=1; // Indiquation d'une requiete de lecture
snd_dtq (CanTx,capteur.msg); // Interrogation du peripherique
capt=periph[ADDR('C')].val; // Contient la derniere valeur renvoyee par le simulateur
periph[ADDR('C')].maj;// Incremente a chaque reception
vitesse3(capt);
}
else if(Mode==0x8302 || Mode==0x0302) //On est dur la piste bleu
{
vitesse1();
}
else if(Mode==0x8301 || Mode==0x0301)//On est sur la piste verte
{
vitesse1();
}
LED_J=1;
dly_tsk(100);
LED_J=0;
dly_tsk(100);
dly_tsk(100);
}
}

Formats disponibles : Unified diff