Révision 363
Ajouté par nacao il y a plus de 6 ans
| branch/nan_cao/Emb_App/programme_principal_etud.c | ||
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short vitesse;
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short vitourelle;
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short num_piste;
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int m;
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int cap;
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int numcap;
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int couleurcap;
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short m;
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short cap;
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short numcap;
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short couleurcap;
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short capteur;
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CanFrame comm_ang;
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CanFrame comm_vitesse;
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| ... | ... | |
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void ang_roue(){
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CanFrame req,reponse;
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CanFrame req,reponse;
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UINT flag;
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while(1)
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{
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| ... | ... | |
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void vit(){
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CanFrame req,reponse;
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UINT flag;
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while(1)
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{ req.data.id='V';
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| ... | ... | |
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comm_vitesse.data.id='V'; //vitesse de roue
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comm_vitesse.data.rtr=0;
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if(distance < 850) comm_vitesse.data.val=35;
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//else if (couleurcap==56 && numcap==01) comm_vitesse.data.val = 70;
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//else if (couleurcap==56 && numcap==02) comm_vitesse.data.val = 35;
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//else if (capteur == 0x5601) comm_vitesse.data.val = 70;
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//else if (capteur == 0x5602) comm_vitesse.data.val = 35;
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else comm_vitesse.data.val=vitesse;
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snd_dtq(CanTx,comm_vitesse.msg);
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dly_tsk(10);
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| ... | ... | |
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wai_flg(ev_periph, 0x05, TWF_ANDW,&flag);
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m=periph[ADDR('M')].val; // contient la valeur de retour du simulateur.
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num_piste=m & 0x007D;
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snd_dtq(CanTx,comm.msg);
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num_piste=m & 0x000F; // numero de piste
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// mode_course = m & ;
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// snd_dtq(CanTx,comm.msg);
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}
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}
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void capteur(){
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CanFrame req,reponse,comm;
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UINT flag;
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while(1)
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{
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{ dly_tsk(20);
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req.data.id='C'; //le dernier capteur touche
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req.data.rtr=1;
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snd_dtq(CanRx, req.msg);
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//Attente de la reponse
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periph[ADDR('C')].ev=0x04;
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snd_dtq(CanTx,req.msg);
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wai_flg(ev_periph, 0x04, TWF_ANDW,&flag);
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cap=periph[ADDR('C')].val; // contient la valeur de retour du simulateur.
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couleurcap=cap & 0xff00; //couleur
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numcap=cap & 0x00ff; //numero du capteur
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if(cap==0x5601 & num_piste=3) {
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vitesse=50;
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snd_dtq(CanTx,comm_vitesse.msg);
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}
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couleurcap = cap >> 8; // 0XFF00 couleur de capteur
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numcap = cap << 8; // 0x00FF numero de capteur
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switch(couleurcap){
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case 56:
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capteur= 'V';
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break;
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}
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}
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}
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*/
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void main()
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{
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CanFrame comm;
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| ... | ... | |
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sta_tsk(ID_ang_roue);
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sta_tsk(ID_ang_tourelle);
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sta_tsk(ID_vitesse);
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// sta_tsk(ID_capteur);
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// sta_tsk(ID_mode);
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sta_tsk(ID_capteur);
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sta_tsk(ID_mode);
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sta_cyc(ID_acqui);
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sta_tsk(ID_periph_rx);
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Formats disponibles : Unified diff