Travaux Pratiques » Polytech Ge Info6 2018

[Target]

M32C E8a SYSTEM=Renesas Communications

[USER_DATA]

"{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_17" "0000000000FFF800"

"{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_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_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_ITEM0001_SCOPE" "Current Scope,"

"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002" "capteur, 1, 0, P, Col, Hex, MA"

"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002_SCOPE" "Current Scope,"

"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0004_SCOPE" "Current Scope,"

"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0005_SCOPE" "Current Scope,"

"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0006_SCOPE" "Current Scope,"

"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth0" "120"

"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth1" "150"

"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth12" "200"

"{F866DB60-6186-11D5-8BBE-0004E2013C71}IOCtrlIOFile" ""

"{F866DB60-6186-11D5-8BBE-0004E2013C71}IOCtrlSaveFileDir" "$(CONFIGDIR)"

"{F866DB60-6186-11D5-8BBE-0004E2013C71}IOCtrlSaveFileName" ""

[LANGUAGE]

"English"

[CONFIG_INFO_VD1]

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_DISASSEMBLY}" "WINDOW" 0 0 0 "0.00" 0 -4 -30 948 486 9 0 "" "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_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_font\Emb_App\programme_principal_etud.c"

"E:\tp_info6_2018_font\Emb_App\crt0mr.a30"

"E:\tp_info6_2018_font\Emb_App\Debug\mr308.inc"

"E:\tp_info6_2018_font\bsp\periph.c"

"E:\tp_info6_2018_font\bsp\sfr32c83.h"

[TARGET_NAME]

[FLASH_DETAILS]

"" 0 0 "" 0 "" 0 0 "" 0 0 0 0 0 0 0 "" "" "" "" ""

[BREAKPOINTS]

[END]

//'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 '*'

int distance_bord = 700; //distance du bord souhait?e

int distance1;

int angle_roue = 0;

int kroue = 1; //coefficient asservissement tourelle

int ktour = 1; //coefficient asservissement roues

int capteur; //valeur du dernier capteur franchi

char saut = 0; //Indique quand est le saut piste rouge

int feu;

int go = 0; //variable pour d?part de la voiture

void lecture_telemetre(){

CanFrame requete;

UINT flag;

if(saut == 1) { //d?sactive l'asservissement des roues pour passer le saut

angle_roue = 0;

}

angle_roue = 0;

}

angle_roue = 0;

}

comm.data.val = angle_roue;

requete.data.rtr = 1;

periph[ADDR('R')].ev = 0x01;

snd_dtq(CanTx, requete.msg);

//asservissement en vitesse de rotation de la tourelle

comm.data.id = 'T';

}

}

//g?re le saut piste rouge

void gestion_saut (){

}

//g?re le passage des barils piste noire

while(1){

if(num_piste1 == 4){

}

distance_bord = 400;

}

distance_bord = 250;

}

distance_bord = 150;

}

}

dly_tsk(6);

}

}

}

//Fonction de demarrage de la voiture

void demarrage(){

CanFrame comm, requete;

snd_dtq(CanTx, comm.msg);

while(1){

if(angle_roue > 40 || angle_roue < -40){ //ralentissement de la voiture si angle demand? trop grand

vitesse = vitesse_virage;

vitesse = vitesse_montee;

}

vitesse = vitesse_saut;

}

if(capteur == 0x4203 && num_piste1 == 3){ //vitesse adapt?e pour la reception du saut piste rouge

vitesse = vitesse_recep;

}

if(capteur == 0x4a01 && num_piste1 == 4){ //vitesse adapt?e pour la reception du saut piste rouge

vitesse = vitesse_retour_piste;

}

vitesse = vitesse_cote_piste;

}

}

//}

}

sta_tsk(ID_detect_feuv);

sta_tsk(ID_asservissement_roue);

sta_tsk(ID_gestion_saut);

while(1)

{

initial_start = ON;

exinf = 0x0;

};

task[]{

entry_address = periph_tx();

name = ID_periph_tx;

};

task[]{

stack_size = 512;

stack_section = stack;

priority = 4;

};

task[]{

entry_address = asservissement_roue();

name = ID_asservissement_roue;

stack_size = 512;

exinf = 0x0;

};

flag[]{

name = ev_bus_fin_tr;

initial_pattern = 0x0000;