Révision 38
Ajouté par melepogam il y a plus de 6 ans
| branch/lepogam/Emb_App/programme_principal_etud.c | ||
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// correspondant au nom du v?hicule si le nom se termine par '*'
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unsigned int alpha=0;
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unsigned int consigne=450;
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unsigned int valeur=0;
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int k=8;
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void asserv0(consigne){
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unsigned int valeur=0;
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int k=1;
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void asserv0(){
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//'T'/84/0x54?: Commande en vitesse de la tourelle portant le telemetre (en 1/10 de degre/secondes).
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//'R'/82/0x52?: Lecture de l'angle effectif de la tourelle portant le telemetre (en 1/10 de degre).
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CanFrame comm;
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CanFrame demande;
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CanFrame reponse;
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while(1){
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demande.data.id='R';
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demande.data.rtr=1;
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demande.data.id='R';
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demande.data.rtr=1;
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snd_dtq (CanTx,demande.msg); // Interrogation du peripherique
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rcv_dtq (CanRx,&reponse.msg); // Attente de la reponse
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alpha=reponse.data.val; // contient la valeur de retour du simulateur.
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snd_dtq (CanTx,demande.msg); // Interrogation du peripherique
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rcv_dtq (CanRx,&reponse.msg); // Attente de la reponse
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alpha=reponse.data.val; // contient la valeur de retour du simulateur.
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if(alpha!=consigne){
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valeur=k*(consigne-alpha);
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comm.data.id='T';
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comm.data.rtr=0;
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comm.data.val=valeur;
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snd_dtq (CanTx,comm.msg);
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}
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}
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void asserv1(){
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if(alpha!=consigne) valeur=k*(consigne-alpha);
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}
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void main()
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| ... | ... | |
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sta_cyc(ID_acqui);
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// sta_tsk(ID_periph_rx);
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sta_tsk(ID_asserv0);
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sta_cyc(ID_asserv1);
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while(1)
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{
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asserv0(450);
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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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}
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}
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| branch/lepogam/Emb_App/conf_noyau.cfg | ||
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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 = asserv0();
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name = ID_asserv0;
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stack_size = 256;
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stack_section = stack;
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priority = 4;
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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;
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| ... | ... | |
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interval_counter = 0x64;
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phs_counter = 0x0;
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};
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cyclic_hand[]{
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entry_address = asserv1();
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name = ID_asserv1;
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exinf = 0x0;
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start = OFF;
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phsatr = OFF;
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interval_counter = 0x64;
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phs_counter = 0x0;
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};
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vdataqueue[]{
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Formats disponibles : Unified diff
asservissement angulaire task+cycl ok