Projet

Général

Profil

« Précédent | Suivant » 

Révision 381

Ajouté par codiagne il y a plus de 6 ans

piste rouge finie
fonction pour identification des pistes a finir

Voir les différences:

branch/diagne/Emb_App.tws
"E:\tp_info6_2018_diagne\tp_info6\tp_info6\bsp\uart0.c"
"E:\tp_info6_2018_diagne\tp_info6\tp_info6\Emb_App\conf_noyau.cfg"
"E:\tp_info6_2018_diagne\tp_info6\tp_info6\Emb_App\crt0mr.a30"
"E:\tp_info6_2018_diagne\tp_info6\tp_info6\Emb_App\Debug\mr308.inc"
"E:\tp_info6_2018_diagne\tp_info6\tp_info6\Emb_App\programme_principal_etud.c"
[WORKSPACE_FILE_STATES]
"E:\tp_info6_2018_diagne\tp_info6\tp_info6\Emb_App\Debug\mr308.inc" 100 100 1054 351 0 4
"E:\tp_info6_2018_diagne\tp_info6\tp_info6\Emb_App\conf_noyau.cfg" 125 125 1054 351 0 1
"E:\tp_info6_2018_diagne\tp_info6\tp_info6\Emb_App\crt0mr.a30" -8 -30 1220 539 1 2
"E:\tp_info6_2018_diagne\tp_info6\tp_info6\Emb_App\programme_principal_etud.c" 0 0 1220 539 0 0
"E:\tp_info6_2018_diagne\tp_info6\tp_info6\bsp\periph.c" 150 150 1054 351 0 6
"E:\tp_info6_2018_diagne\tp_info6\tp_info6\bsp\uart0.c" 75 75 1054 351 0 3
"E:\tp_info6_2018_diagne\tp_info6\tp_info6\Emb_App\conf_noyau.cfg" 25 25 1054 351 0 1
"E:\tp_info6_2018_diagne\tp_info6\tp_info6\Emb_App\crt0mr.a30" -8 -30 1061 539 1 2
"E:\tp_info6_2018_diagne\tp_info6\tp_info6\Emb_App\programme_principal_etud.c" 0 0 1061 539 0 0
"E:\tp_info6_2018_diagne\tp_info6\tp_info6\bsp\periph.c" 25 25 895 351 0 4
"E:\tp_info6_2018_diagne\tp_info6\tp_info6\bsp\uart0.c" 0 0 895 351 0 3
[LOADED_PROJECTS]
"EmbM32C87App"
[END]
branch/diagne/Emb_App/SessionM32C_E8a_system.ini
[Target]
M32C E8a SYSTEM=Renesas Communications
[USER_DATA]
RESET=ff0016
RESET=ff0014
branch/diagne/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" "0000000000004044"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_1" "0000000000000020"
"{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" "0000000000FF0582"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_17" "0000000000FFF800"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000BF8"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000828"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "0000000000000001"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_20" "0000000000004044"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_15" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF0016"
"{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_4" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000C24"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_7" "0000000000000512"
"{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_ITEM0001_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002" "longueur, 1, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "3"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0003" "distance, 1, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0003_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0004" "capt, 1, 0, P, Col, Hex, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0004_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "5"
"{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 3 "0.08" 365 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" 0 125 125 1054 351 10 0 "" "0.0"
"{WK_00000001_CmdLine}" "WINDOW" 59422 0 3 "0.07" 365 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" 0 125 125 1054 351 9 0 "" "0.0"
"{WK_00000001_EVENT}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59422 0 0 "0.13" 365 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 2 "0.79" 365 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 1 "0.08" 365 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" 59421 0 0 "1.00" 369 2 103 350 97 18 0 "32781|32783|<<separator>>|32771|32772|32773|<<separator>>|32786|<<separator>>|32810|32811" "0.0"
"{WK_00000001_WATCH}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59421 0 0 "1.00" 528 2 103 350 97 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"
......
"E:\tp_info6_2018_diagne\tp_info6\tp_info6\Emb_App\programme_principal_etud.c"
"E:\tp_info6_2018_diagne\tp_info6\tp_info6\Emb_App\conf_noyau.cfg"
"E:\tp_info6_2018_diagne\tp_info6\tp_info6\bsp\uart0.c"
"E:\tp_info6_2018_diagne\tp_info6\tp_info6\bsp\periph.c"
"E:\tp_info6_2018_diagne\tp_info6\tp_info6\Emb_App\Debug\Disassembly"
"E:\tp_info6_2018_diagne\tp_info6\tp_info6\Emb_App\Debug\mr308.inc"
[TARGET_NAME]
"M32C E8a SYSTEM" "" 0
......
[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 99088656 1 "{00000000-0000-0000-C000-000000000046}" ""
"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 100013840 1 "{00000000-0000-0000-C000-000000000046}" ""
[END]
branch/diagne/Emb_App/programme_principal_etud.c
// correspondant au nom du v?hicule si le nom se termine par '*'
short alpha;
short vitesse, longueur;
short distance, new_distance, capt;
short vitesse;
short longueur;
short distance;
short new_distance;
short capt;
short piste;
void Asserv0(){
CanFrame req,reponse,comm;
......
comm.data.rtr=0;
comm.data.val=(450-alpha); // Pour un gain de 1, on regule pour avoir 45degr?s (angle du telemetre)
snd_dtq(CanTx,comm.msg);
dly_tsk(100);
dly_tsk(10);
}
}
......
snd_dtq(CanTx,req.msg);
wai_flg(ev_periph, 0x03, TWF_ANDW,&flag);
capt=periph[ADDR('C')].val;
dly_tsk(100);
dly_tsk(20);
}
}
void num_piste() //permet de savoir sur quel piste on est
{
CanFrame req;
UINT flag;
while(1)
{
req.data.id='M';
req.data.rtr=1; //Lecture de la valeur du capteur
periph[ADDR('M')].ev=0x04;
snd_dtq(CanTx,req.msg);
wai_flg(ev_periph, 0x04, TWF_ANDW,&flag);
piste=(periph[ADDR('M')].val)&0x00ff;
dly_tsk(20);
}
}
void regulation_roue(){
CanFrame req,reponse,comm;
UINT flag;
......
//Pour eviter les trous de la piste bleue et garder le vehicule au milieu de la piste
if (capt=0x5603) //valeur du 3eme capteur vert
{
new_distance=715;
if (piste==0x0007)
{
if(capt==0x7604){
comm.data.val=0;
snd_dtq(CanTx,comm.msg);
}
else
{
else{
if (distance >1000)//On compare la distance mesur?e par le telemtetre
{
new_distance=715;
new_distance=710;
}
else {
new_distance=distance;
}
}
comm.data.val=1*(new_distance-715); // On la garde bien au milieu de la piste
snd_dtq(CanTx,comm.msg);
dly_tsk(100);
else new_distance=distance;
comm.data.val=1*(new_distance-710); // On la garde bien au milieu de la piste
snd_dtq(CanTx,comm.msg);}
dly_tsk(10);
}
else
{
comm.data.val=(450-distance);
snd_dtq(CanTx,comm.msg);
}
}
}
void roue_piste_rouge()
{
}
void Avancer(){
dly_tsk(6000);
while(1)
{
CanFrame req;
req.data.id='V';
req.data.rtr=0;
if (capt=0x5603)
{ if (piste==0x0007)
{
CanFrame req;
req.data.id='V';
req.data.rtr=0;
if (capt==0x7604)
{
req.data.val=45;
req.data.val=45;
snd_dtq(CanTx,req.msg);
}
else
{
req.data.val=15;
else{
if (capt==0x4203)
{
req.data.val=7;
snd_dtq(CanTx,req.msg);
}
else
{
req.data.val=30;
snd_dtq(CanTx,req.msg);
}
}
snd_dtq(CanTx,req.msg);
}
}
}
} }
void main()
......
ports_mcu();
lcd_init();
periph_init();
periph_nom("#AutoTest*");
periph_nom("#Coumba*");
can_init();
......
sta_tsk(ID_Avancer);
sta_tsk(ID_roue);
sta_tsk(ID_capteur);
sta_tsk(ID_piste);
// sta_tsk(ID_roue_rouge);
while(1)
branch/diagne/Emb_App/conf_noyau.cfg
};
task[]{
entry_address = Capteur();
name = ID_capteur;
entry_address = num_piste();
name = ID_piste;
stack_size = 256;
stack_section = stack;
priority =8;
priority = 7;
initial_start = OFF;
exinf = 0x0;
};
task[]{
entry_address = roue_piste_rouge();
name = ID_roue_rouge;
entry_address = Capteur();
name = ID_capteur;
stack_size = 256;
stack_section = stack;
priority =8;
......
exinf = 0x0;
};
flag[]{
name = ev_bus_fin_tr;
initial_pattern = 0x0000;
branch/diagne/Emb_App/EmbM32C87App.tps
"SessionM32C_E8a_system"
[GENERAL_DATA_PROJECT]
[GENERAL_DATA_CONFIGURATION_Debug]
"PROJECT_FILES_MODIFIED_DATA_TAG" "TRUE"
"PROJECT_FILES_MODIFIED_DATA_TAG" "FALSE"
[SESSIONS_Debug]
"DefaultSession"
"SessionM32C_E8a_system"
branch/diagne/bsp/periph.c
periph[c].val=msg.data.val;
periph[c].maj++;
if (periph[c].ev)
set_flg(ev_periph,periph[c].ev);
set_flg(ev_periph,periph[c].ev);
continue;
}
}

Formats disponibles : Unified diff