Révision 379
Ajouté par sevilain1 il y a plus de 6 ans
| branch/vilain_sebastien/Emb_App.tws | ||
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[GENERAL_DATA]
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[BREAKPOINTS]
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[OPEN_WORKSPACE_FILES]
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"E:\tp_info6_2018_vilain_sebastien\bsp\clavier.c"
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"E:\tp_info6_2018_vilain_sebastien\bsp\periph.c"
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"E:\tp_info6_2018_vilain_sebastien\bsp\uart0.c"
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"E:\tp_info6_2018_vilain_sebastien\Emb_App\conf_noyau.cfg"
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| ... | ... | |
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"E:\tp_info6_2018_vilain_sebastien\Emb_App\conf_noyau.cfg" 50 50 1430 351 0 2
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"E:\tp_info6_2018_vilain_sebastien\Emb_App\crt0mr.a30" 0 0 1596 539 0 1
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"E:\tp_info6_2018_vilain_sebastien\Emb_App\programme_principal_etud.c" -8 -30 1596 539 1 0
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"E:\tp_info6_2018_vilain_sebastien\bsp\clavier.c" 150 150 1430 351 0 6
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"E:\tp_info6_2018_vilain_sebastien\bsp\periph.c" 75 75 1430 351 0 3
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"E:\tp_info6_2018_vilain_sebastien\bsp\uart0.c" 125 125 1430 351 0 5
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[LOADED_PROJECTS]
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| branch/vilain_sebastien/Emb_App/SessionM32C_E8a_system.ini | ||
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[Target]
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M32C E8a SYSTEM=Renesas Communications
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[USER_DATA]
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RESET=ff0026
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RESET=ff0028
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| branch/vilain_sebastien/Emb_App/SessionM32C_E8a_system.hsf | ||
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWndInstanceKey0" "{WK_00000001_PDMR}EmbM32C87AppSessionM32C_E8a_system"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_EVAL_DENORMAL_MODE" "0"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_EVAL_ROUND_MODE" "0"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_0" "0000000000004044"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_1" "0000000000000020"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_0" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_1" "0000000000000056"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_10" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_11" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_12" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_13" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_14" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_15" "0000000000000512"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF058D"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF05AE"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_17" "0000000000FFF800"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000A46"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000868"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_20" "0000000000004044"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "000000000000115E"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "000000000000087E"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "00000000000000FF"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_20" "00000000000040C0"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_21" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_22" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_23" "0000000000000000"
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| ... | ... | |
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_27" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_28" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_29" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_3" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_3" "000000000000000F"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_30" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_31" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_32" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_33" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_34" "000000000000036A"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_35" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_4" "000000000000000A"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000A64"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_4" "0000000000000001"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "0000000000C10000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000001172"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_7" "0000000000000512"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_8" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_9" "0000000000000000"
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| ... | ... | |
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0003_SCOPE" "Current Scope,"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0004" "num_piste, 1, 0, P, Col, Dec, MA"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0004_SCOPE" "Current Scope,"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "5"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0005" "etat_feu, 1, 0, P, Col, Dec, MA"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0005_SCOPE" "Current Scope,"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "6"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth0" "120"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth1" "150"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth12" "200"
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| ... | ... | |
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[WINDOW_Z_ORDER]
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"E:\tp_info6_2018_vilain_sebastien\Emb_App\programme_principal_etud.c"
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"E:\tp_info6_2018_vilain_sebastien\Emb_App\crt0mr.a30"
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"E:\tp_info6_2018_vilain_sebastien\Emb_App\Debug\mr308.inc"
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"E:\tp_info6_2018_vilain_sebastien\bsp\periph.c"
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"E:\tp_info6_2018_vilain_sebastien\bsp\uart0.c"
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"E:\tp_info6_2018_vilain_sebastien\bsp\periph.c"
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"E:\tp_info6_2018_vilain_sebastien\bsp\clavier.c"
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"E:\tp_info6_2018_vilain_sebastien\Emb_App\conf_noyau.cfg"
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"E:\tp_info6_2018_vilain_sebastien\Emb_App\Debug\mr308.inc"
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[TARGET_NAME]
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"M32C E8a SYSTEM" "" 0
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[STATUSBAR_STATEINFO_VD1]
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| ... | ... | |
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[FLASH_DETAILS]
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"" 0 0 "" 0 "" 0 0 "" 0 0 0 0 0 0 0 "" "" "" "" ""
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[BREAKPOINTS]
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"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 98315368 1 "{00000000-0000-0000-C000-000000000046}" ""
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"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 99888232 1 "{00000000-0000-0000-C000-000000000046}" ""
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[END]
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| branch/vilain_sebastien/Emb_App/programme_principal_etud.c | ||
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int asserv_off = 0;
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short lecture;
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short num_piste;
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short etat_feu = 0;
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int vit_spe = 0;
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int vit_spe2 = 0;
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int vit_spe3 = 0;
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| ... | ... | |
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init_vitesse();
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while(1)
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{
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LED_J=1;
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dly_tsk(100);
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LED_J=0;
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dly_tsk(100);
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}
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while(1)
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{
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dly_tsk(100);
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}
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}
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void acqui()
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| ... | ... | |
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if((abs(dist) >= 2000))
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{
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dist = ancien_dist;
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sta_tsk(ID_allum_jaune);
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}
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erreur = K1*(consigne_telemetre-dist);
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if (telemetre_a_droite == 1)
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| ... | ... | |
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}
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}
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void allum_jaune()
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{
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LED_J = 1;
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dly_tsk(1000);
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LED_J = 0;
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ext_tsk();
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}
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void commande_vitesse(short vitesse)
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{
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CanFrame comm;
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| ... | ... | |
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{
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while(1)
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{
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if (vit_spe)
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if (Bp_G == 1)
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{
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commande_vitesse(0);
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LED_R = 1;
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}
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else if (vit_spe && (Bp_G == 0))
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{
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commande_vitesse(45);
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LED_R = 0;
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}
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else if (vit_spe2)
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else if (vit_spe2 && (Bp_G == 0))
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{
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commande_vitesse(10);
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commande_vitesse(30);
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LED_R = 0;
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}
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else if (vit_spe3)
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else if (vit_spe3 && (Bp_G == 0))
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{
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commande_vitesse(43);
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LED_R = 0;
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}
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else if (vit_spe4)
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else if (vit_spe4 && (Bp_G == 0))
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{
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commande_vitesse(30);
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commande_vitesse(15);
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LED_R = 0;
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}
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else if ((angle_roues > 50) || (angle_roues < -50))
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else if ((angle_roues > 50) || (angle_roues < -50) && (Bp_G == 0))
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{
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commande_vitesse(20);
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LED_R = 0;
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}
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else
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else if (Bp_G == 0)
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{
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commande_vitesse(60);
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LED_R = 0;
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}
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}
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dly_tsk(100);
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| ... | ... | |
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{
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asserv_off = 0;
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}
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if (lecture == 0x7603) //vert id 03
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{
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commande_vitesse(20);
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}
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if (lecture == 0x7602) //vert id 02
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{
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vit_spe = 1;
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| ... | ... | |
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}
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if (lecture == 0x7608) //vert id 08
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{
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asserv_off = 1;
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vit_spe3 = 1;
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}
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if (lecture == 0x7609) //vert id 09
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{
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vit_spe4 = 0;
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consigne_telemetre = 500;
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dly_tsk(700);
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consigne_telemetre = 705;
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}
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if (lecture == 0x760a) //vert id 10
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{
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vit_spe4 = 1;
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consigne_telemetre = 500;
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dly_tsk(700);
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consigne_telemetre = 300;
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}
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if (lecture == 0x7201) //rouge id 1
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{
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| ... | ... | |
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if (lecture == 0x6301) //cyan id 1
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{
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consigne_angle = 700;
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consigne_telemetre = 525;
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consigne_telemetre = 530;
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telemetre_a_droite = 1;
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K1 = 3;
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K1 = 2.9;
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}
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if (lecture == 0x6302) //cyan id 2
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{
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| ... | ... | |
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if (lecture == 0x6303) //cyan id 3
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{
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consigne_angle = -700;
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consigne_telemetre = 525;
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consigne_telemetre = 530;
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telemetre_a_droite = 0;
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K1 = 3;
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K1 = 2.9;
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}
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dly_tsk(100);
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}
|
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| ... | ... | |
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{
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while(1)
|
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{
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num_piste = (lecture_course() & 0x00FF);
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short lecture_M;
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lecture_M = lecture_course();
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num_piste = (lecture_M & 0x00FF);
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etat_feu = ((lecture_M & 0x8000) >> 15);
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dly_tsk(100);
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}
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}
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}
|
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|
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| branch/vilain_sebastien/Emb_App/conf_noyau.cfg | ||
|---|---|---|
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//
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// kernel.cfg : building file for MR308 Ver.4.00
|
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//
|
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// Generated by M3T-MR308 GUI Configurator at 2018/12/18 14:42:59
|
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// Generated by M3T-MR308 GUI Configurator at 2018/12/20 16:51:02
|
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//
|
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////////////////////////////////////////////////////////////////////////////////
|
||
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|
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| ... | ... | |
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// max definition
|
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maxdefine{
|
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max_task = 8;
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max_task = 9;
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max_flag = 3;
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max_dtq = 2;
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max_cyh = 1;
|
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| ... | ... | |
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initial_start = OFF;
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exinf = 0x0;
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};
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task[]{
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entry_address = allum_jaune();
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name = ID_allum_jaune;
|
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stack_size = 256;
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stack_section = stack;
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priority = 10;
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initial_start = OFF;
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exinf = 0x0;
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};
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flag[]{
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name = ev_bus_fin_tr;
|
||
Formats disponibles : Unified diff
ajustements divers du programme afin d'améliorer la fréquence de succès sur la piste noire, ajout de la fonction d'arrêt d'urgence ainsi que l'allumage de la led rouge lorsque l'arrêt d'urgence est enclenché. Ajout de l'allumage de la led jaune pendant une seconde des lors que des valeurs aberrantes sont mesurées.