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Révision 374

Ajouté par zaschiano il y a plus de 6 ans

Commit fin de séance,
Rajout bouton arret urgence, affichage zone et pistes et arret de la voiture au bout des 3 tours

Voir les différences:

branch/schiano/Emb_App.tws
[GENERAL_DATA]
[BREAKPOINTS]
[OPEN_WORKSPACE_FILES]
"E:\tp_info6_2018_schiano\tp_info6\bsp\lcd.c"
"E:\tp_info6_2018_schiano\tp_info6\bsp\periph.c"
"E:\tp_info6_2018_schiano\tp_info6\bsp\uart0.c"
"E:\tp_info6_2018_schiano\tp_info6\Emb_App\conf_noyau.cfg"
"E:\tp_info6_2018_schiano\tp_info6\Emb_App\crt0mr.a30"
"E:\tp_info6_2018_schiano\tp_info6\Emb_App\Debug\kernel_id.h"
"E:\tp_info6_2018_schiano\tp_info6\Emb_App\Debug\mr308.inc"
"E:\tp_info6_2018_schiano\tp_info6\Emb_App\programme_principal_etud.c"
[WORKSPACE_FILE_STATES]
"E:\tp_info6_2018_schiano\tp_info6\Emb_App\Debug\kernel_id.h" 25 25 1405 419 0 7
"E:\tp_info6_2018_schiano\tp_info6\Emb_App\Debug\mr308.inc" 125 125 1405 363 0 5
"E:\tp_info6_2018_schiano\tp_info6\Emb_App\conf_noyau.cfg" 25 25 1430 351 0 1
"E:\tp_info6_2018_schiano\tp_info6\Emb_App\crt0mr.a30" 0 0 1596 539 0 2
"E:\tp_info6_2018_schiano\tp_info6\Emb_App\programme_principal_etud.c" -8 -30 1596 576 1 0
"E:\tp_info6_2018_schiano\tp_info6\Emb_App\programme_principal_etud.c" -8 -30 1596 632 1 0
"E:\tp_info6_2018_schiano\tp_info6\bsp\lcd.c" 0 0 1405 419 0 6
"E:\tp_info6_2018_schiano\tp_info6\bsp\periph.c" 175 175 1405 363 0 4
"E:\tp_info6_2018_schiano\tp_info6\bsp\uart0.c" 150 150 1405 363 0 3
[LOADED_PROJECTS]
branch/schiano/Emb_App/SessionM32C_E8a_system.ini
[Target]
M32C E8a SYSTEM=Renesas Communications
[USER_DATA]
RESET=ff0044
RESET=ff007a
branch/schiano/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" "0000000000000001"
"{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" "0000000000FF322B"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_17" "0000000000FFF800"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000AB2"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "00000000000008B6"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "000000000000FFFF"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_20" "00000000000000C1"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_15" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF007A"
"{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" "000000000000000A"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "00000000000CE4F6"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000AB2"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_7" "0000000000000512"
"{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" "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_ITEM0005_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0006" "angleRoue, 2, 0, P, Col, Hex, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0006_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0007" "a, 1, 0, P, Col, Hex, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0007" "a, 1, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0007_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0008" "b, 1, 0, P, Col, Hex, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0008" "b, 1, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0008_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0009" "c, 1, 0, P, Col, Hex, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0009" "c, 1, 0, P, Col, Hex, MN"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0009_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0010" "vitesselignedroite, 2, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0010" "tours, 1, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0010_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0011" "feuvert, 1, 0, P, Col, Hex, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0011" "cpt, 2, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0011_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0012" "d, 1, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0012" "clavier, 1, 0, P, Col, Hex, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0012_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0013" "e, 1, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0013" "infCapt, 1, 0, P, Col, Hex, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0013_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0014" "numero, 1, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0014_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "12"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "14"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth0" "120"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth1" "150"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth12" "200"
......
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 4 "0.07" 328 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 2 "0.07" 272 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 "0.06" 328 0 0 350 200 18 0 "32774|32775|32777|<<separator>>|32780|<<separator>>" "0.0"
"{WK_00000001_EVENT}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59422 0 1 "0.04" 272 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 "0.58" 328 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 "0.08" 328 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 0 "0.70" 272 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 4 "0.06" 272 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 2 "0.29" 328 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 3 "0.20" 272 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_Z_ORDER]
"E:\tp_info6_2018_schiano\tp_info6\Emb_App\programme_principal_etud.c"
"E:\tp_info6_2018_schiano\tp_info6\Emb_App\crt0mr.a30"
"E:\tp_info6_2018_schiano\tp_info6\Emb_App\Debug\mr308.inc"
"E:\tp_info6_2018_schiano\tp_info6\bsp\uart0.c"
"E:\tp_info6_2018_schiano\tp_info6\bsp\lcd.c"
"E:\tp_info6_2018_schiano\tp_info6\Emb_App\conf_noyau.cfg"
"E:\tp_info6_2018_schiano\tp_info6\bsp\uart0.c"
"E:\tp_info6_2018_schiano\tp_info6\bsp\periph.c"
"E:\tp_info6_2018_schiano\tp_info6\Emb_App\Debug\mr308.inc"
"E:\tp_info6_2018_schiano\tp_info6\Emb_App\Debug\kernel_id.h"
[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 79192808 1 "{00000000-0000-0000-C000-000000000046}" ""
"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 103162224 1 "{00000000-0000-0000-C000-000000000046}" ""
[END]
branch/schiano/Emb_App/programme_principal_etud.c
unsigned int vitesselignedroite =0;
unsigned int vitessevirage =0;
unsigned int erreurprec=0;
unsigned int tempstours=0;
unsigned int cpt=0;
int jeton=0;
int tours=0;
int etatfeu=0;
int feuvert=0;
int go=0;
......
int Couleurperso =0;
int consigneVitesse;
int CouleurCapteur ='V';
int infCapt='V';
int infCaptprec;
int k=2;
int kp=1;
float kp=1;
float kpi=1/2;
int urgence=0;
int AUR=0;
short touche;
short clavier;
void main()
{
......
sta_tsk(ID_periph_rx);
sta_cyc(ID_asservtourellecyc); //asservissement telemetre
sta_tsk(ID_asservtourelle);
sta_tsk(ID_asservRoue);
sta_tsk(ID_numpiste);
while(go!=1); //attente detection de la piste
......
case(1024) : //noir
sta_tsk(ID_AsservVitesseN);
break;
}
}
sta_cyc(ID_tour);
sta_tsk(ID_ArretUrgence);
sta_tsk(ID_ecran);
while(1)
{
}
......
consignedistance = 785;
distancemur = consignedistance;
sta_cyc(ID_asservangleroue); //assservissement angle roue
kp =1,2;
go =1;
break;
case(512) : //bleue
......
void asservangleroueN(){
if(Couleurperso==0x76c0);
else if(Couleurperso==0x62c0);
else if(Couleurperso==0x62f8);
else if(Couleurperso==0x62f0);
else {
angleRoue= -kp*(consignedistance - distancemur)-kpi*erreurprec;
......
snd_dtq (CanTx,demandeCapteur.msg); // demande couleur capteur
Couleurperso = periph[ADDR('C')].val;
CouleurCapteur = periph[ADDR('C')].val>>2;
infCaptprec = infCapt;
infCapt = periph[ADDR('C')].val>>8;
if((infCapt!='V')&&(infCapt!='R')&&(infCapt!='J')&&(infCapt!='B')&&(infCapt!='C'))infCapt=infCaptprec;
if ((CouleurCapteur == 0x1580)||(CouleurCapteur == 0x1581)||(CouleurCapteur == 0x1da0)) {
consigneVitesse = vitesselignedroite;
consigneVitesse = vitesselignedroite;
}
else {
consigneVitesse = vitessevirage;
consigneVitesse = vitessevirage;
}
vitesse.data.id='V';
......
snd_dtq (CanTx,demandeCapteur.msg); // demande couleur capteur
Couleurperso = periph[ADDR('C')].val;
CouleurCapteur = periph[ADDR('C')].val>>2;
if ((CouleurCapteur == 0x1580)||(CouleurCapteur == 0x1581)||(CouleurCapteur == 0x1da0)) {
consigneVitesse = vitesselignedroite;
}
infCaptprec = infCapt;
infCapt = periph[ADDR('C')].val>>8;
if((infCapt!='V')&&(infCapt!='R')&&(infCapt!='J')&&(infCapt!='B')&&(infCapt!='C'))infCapt=infCaptprec;
if ((CouleurCapteur == 0x1580)||(CouleurCapteur == 0x1581)||(CouleurCapteur == 0x1da0))consigneVitesse = vitesselignedroite;
else {
if(Couleurperso == 0x7601){
consigneVitesse = 45;
......
snd_dtq (CanTx,demandeCapteur.msg); // demande couleur capteur
Couleurperso = periph[ADDR('C')].val;
CouleurCapteur = periph[ADDR('C')].val>>2;
/*if ((CouleurCapteur == 0x1580)||(CouleurCapteur == 0x1581)||(CouleurCapteur == 0x1da0)||(CouleurCapteur==0x1db0)) {
if(Couleurperso==0x5603) consigneVitesse = 70; //ligne droite apres bosse
else if(Couleurperso ==0x5604) {//ligne droite dans la terre
consigneVitesse =15;
consignedistance = 500;
}
else consigneVitesse = vitesselignedroite;
}
else {
if(Couleurperso == 0x6a01)consignedistance = 925; //decalage pour le tonneau au millieu
else if (Couleurperso == 0x4a01) consignedistance = 700;//retour au centre de la piste
else if(Couleurperso==0x62f0) consigneVitesse = 40; //2e montee
else if(Couleurperso==0x5202) consigneVitesse = 25; //virage apres la bosse
else if(Couleurperso==0x4304){//dernier virage
consigneVitesse =30;
consignedistance=700;
}
else {consigneVitesse = vitessevirage;
}
}*/
infCaptprec = infCapt;
infCapt = periph[ADDR('C')].val>>8;
if((infCapt!='V')&&(infCapt!='R')&&(infCapt!='J')&&(infCapt!='B')&&(infCapt!='C'))infCapt=infCaptprec;
switch (Couleurperso){
case(0x76c0) : consigneVitesse = 35; break;
case(0x6a01) : consignedistance = 925; break; //decalage pour le tonneau au millieu
case(0x4a01) : consignedistance = 700; break; //1er virage
case(0x5602) : consigneVitesse = vitessevirage; break;
case(0x62c0) : consigneVitesse = 12; break;
case(0x62f8) : ;break;
case(0x6a02) : consigneVitesse = 12; break;
case(0x6a06) : consigneVitesse = vitessevirage; break;
case(0x5202) : consigneVitesse = 25; break; //virage apres la bosse
case(0x5603) : consigneVitesse = 70; break; //ligne droite apres bosse
case(0x62f0) : consigneVitesse = vitesselignedroite; break; //2e montee
case(0x4203) : consigneVitesse = 25; break;
case(0x4203) : consigneVitesse = 20; break;
case(0x5604) : //ligne droite dans la terre
consigneVitesse =15;
consignedistance = 500;
......
consignedistance=700;
break;
}
}
vitesse.data.id='V';
vitesse.data.rtr=0;
vitesse.data.val=consigneVitesse; //consigne de vitesse de la voiture
......
dly_tsk(30);
}
}
}
void tour(){
CanFrame vitesse;
if(Couleurperso==0x5605){
jeton=1;
}
if((Couleurperso!=0x5605)&&(jeton==1)){
tours++;
jeton=0;
}
if (tours==3){
vitesse.data.id='V';
vitesse.data.rtr=0;
vitesse.data.val=0;
snd_dtq (CanTx,vitesse.msg);
isus_tsk(ID_asservtourelle);
isus_tsk(ID_asservRoue);
isus_tsk(ID_AsservVitesse);
isus_tsk(ID_AsservVitesseR);
isus_tsk(ID_AsservVitesseN);
}
}
void idle(){
while(1){
cpt++;
dly_tsk(1);
}
}
void ArretUrgence(){
CanFrame vitesse;
while(1){
if(Bp_G==1)urgence=1;
else urgence =0;
if(urgence==1){
vitesse.data.id='V';
vitesse.data.rtr=0;
vitesse.data.val=0;
snd_dtq (CanTx,vitesse.msg);
sus_tsk(ID_asservtourelle);
sus_tsk(ID_asservRoue);
sus_tsk(ID_AsservVitesse);
sus_tsk(ID_AsservVitesseR);
sus_tsk(ID_AsservVitesseN);
AUR=1;
}
if((urgence==0)&&(AUR!=0)){
rsm_tsk(ID_asservtourelle);
rsm_tsk(ID_asservRoue);
rsm_tsk(ID_AsservVitesse);
rsm_tsk(ID_AsservVitesseR);
rsm_tsk(ID_AsservVitesseN);
}
dly_tsk(10);
}
}
void ecran(){
while(1){
dly_tsk(250);
lcd_init();
switch(numero){
case(256) : lcd_str("VERT|"); break;
case(512) : lcd_str("BLEU|"); break;
case(768) : lcd_str("ROUGE|"); break;
case(1024) : lcd_str("NOIR|"); break;
}
switch(infCapt){
case('V') : lcd_str("VERT|"); break;
case('B') : lcd_str("BLEU|"); break;
case('R') : lcd_str("ROUGE|"); break;
case('J') : lcd_str("JAUNE|"); break;
case('C') : lcd_str("CYAN|"); break;
}
}
}
/*void decode_int(void){
vrcv_dtq(QdmTouche,&touche);
clavier = touche-48; //touche en ASCII
}*/
branch/schiano/Emb_App/conf_noyau.cfg
exinf = 0x0;
};
task[]{
entry_address = ArretUrgence();
name = ID_ArretUrgence;
stack_size = 256;
stack_section = stack;
priority = 6;
initial_start = OFF;
exinf = 0x0;
};
task[]{
entry_address = AsservVitesseN();
name = ID_AsservVitesseN;
stack_size = 256;
......
exinf = 0x0;
};
task[]{
entry_address = ecran();
name = ID_ecran;
stack_size = 256;
stack_section = stack;
priority = 7;
initial_start = OFF;
exinf = 0x0;
};
task[]{
entry_address = idle();
name = ID_idle;
stack_size = 512;
stack_section = stack;
priority = 7;
initial_start = ON;
exinf = 0x0;
};
flag[]{
name = ev_bus_fin_tr;
initial_pattern = 0x0000;
......
exinf = 0x0;
start = OFF;
phsatr = OFF;
interval_counter = 10;
interval_counter = 7;
phs_counter = 0x0;
};
......
exinf = 0x0;
start = OFF;
phsatr = OFF;
interval_counter = 10;
interval_counter = 7;
phs_counter = 0x0;
};
......
exinf = 0x0;
start = OFF;
phsatr = OFF;
interval_counter = 10;
interval_counter = 7;
phs_counter = 0x0;
};
cyclic_hand[]{
entry_address = tour();
name = ID_tour;
exinf = 0x0;
start = OFF;
phsatr = OFF;
interval_counter = 250;
phs_counter = 0x0;
};
vdataqueue[]{
name = QdmTouche;
wait_queue = TA_TFIFO;

Formats disponibles : Unified diff