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Révision 382

Ajouté par moelmansou1 il y a plus de 6 ans

reste a faire des conditions pour la piste noir

Voir les différences:

branch/elmansour/Emb_App.tws
[GENERAL_DATA]
[BREAKPOINTS]
[OPEN_WORKSPACE_FILES]
"E:\tp_info6_elmansour\bsp\carte_m32.h"
"E:\tp_info6_elmansour\bsp\lcd.c"
"E:\tp_info6_elmansour\bsp\periph.c"
"E:\tp_info6_elmansour\bsp\radiocommande.c"
"E:\tp_info6_elmansour\bsp\uart0.c"
......
"E:\tp_info6_elmansour\Emb_App\Debug\mr308.inc" 0 0 1430 351 0 7
"E:\tp_info6_elmansour\Emb_App\Debug\mrtable.a30" 50 50 1430 351 0 1
"E:\tp_info6_elmansour\Emb_App\conf_noyau.cfg" 75 75 1430 351 0 2
"E:\tp_info6_elmansour\Emb_App\crt0mr.a30" -8 -30 1596 539 1 6
"E:\tp_info6_elmansour\Emb_App\programme_principal_etud.c" 0 0 1596 539 0 0
"E:\tp_info6_elmansour\Emb_App\crt0mr.a30" 0 0 1596 539 0 6
"E:\tp_info6_elmansour\Emb_App\programme_principal_etud.c" -8 -30 1596 539 1 0
"E:\tp_info6_elmansour\bsp\carte_m32.h" 50 50 1430 351 0 9
"E:\tp_info6_elmansour\bsp\lcd.c" 25 25 1430 351 0 8
"E:\tp_info6_elmansour\bsp\periph.c" 100 100 1430 351 0 3
"E:\tp_info6_elmansour\bsp\radiocommande.c" 125 125 1430 351 0 4
"E:\tp_info6_elmansour\bsp\uart0.c" 0 0 1430 351 0 5
branch/elmansour/Emb_App/SessionM32C_E8a_system.ini
[Target]
M32C E8a SYSTEM=Renesas Communications
[USER_DATA]
RESET=ff001a
RESET=ff001c
branch/elmansour/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" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_0" "0000000000000001"
"{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" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF001A"
"{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" "000000000000C400"
"{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_15" "0000000000000512"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF339C"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_17" "0000000000FFF800"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000A6C"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000870"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "00000000000000F0"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_20" "00000000000000C0"
"{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" "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_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_4" "0000000000000009"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "00000000000CE4F6"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000A6C"
"{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"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_COUNT" "36"
......
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH" "c,buff,n,rx,flag,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000" "dishorizontale, 10, 0, P, Col, Dec, N"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001" "capteur, 10, 0, P, Col, Dec, N"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "2"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001" "distance, 2, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001_SCOPE" "Global,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002" "capteur, 2, 0, P, Col, Hex, 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}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 2 "0.12" 365 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 "0.08" 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 -4 -30 948 486 9 0 "" "0.0"
"{WK_00000001_EVENT}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59422 0 1 "0.05" 365 0 0 350 200 18 0 "32774|32775|32777|<<separator>>|32780|<<separator>>" "0.0"
"{WK_00000001_EVENT}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59422 0 1 "0.01" 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 0 "0.76" 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 4 "0.05" 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_OUTPUT}" "WINDOW" 59422 0 0 "0.78" 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 4 "0.03" 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" 59422 0 3 "0.14" 365 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 "0.18" 365 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_POSITION_STATE_DATA_VD3]
[WINDOW_POSITION_STATE_DATA_VD4]
[WINDOW_Z_ORDER]
"E:\tp_info6_elmansour\Emb_App\programme_principal_etud.c"
"E:\tp_info6_elmansour\Emb_App\crt0mr.a30"
"E:\tp_info6_elmansour\Emb_App\programme_principal_etud.c"
"E:\tp_info6_elmansour\Emb_App\conf_noyau.cfg"
"E:\tp_info6_elmansour\bsp\uart0.c"
"E:\tp_info6_elmansour\bsp\lcd.c"
"E:\tp_info6_elmansour\bsp\carte_m32.h"
"E:\tp_info6_elmansour\bsp\radiocommande.c"
"E:\tp_info6_elmansour\Emb_App\Debug\mr308.inc"
"E:\tp_info6_elmansour\Emb_App\Debug\mrtable.a30"
"E:\tp_info6_elmansour\bsp\periph.c"
"E:\tp_info6_elmansour\bsp\uart0.c"
[TARGET_NAME]
"M32C E8a SYSTEM" "" 0
[STATUSBAR_STATEINFO_VD1]
branch/elmansour/Emb_App/programme_principal_etud.c
//'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 '*'
unsigned alpha;
int k=1;
int k=3;
unsigned agl_roue;
unsigned distance;
unsigned dishorizontalfix;
unsigned dishorizontal;
unsigned erreur=0;
unsigned vits;
unsigned short capteur;
int s=1;
void tourelle(){
......
comm.data.rtr=0;
comm.data.val=k*(450-alpha);
snd_dtq(CanTx,comm.msg);
dly_tsk(20);
dly_tsk(100);
}
}
void demarrer (){
dly_tsk(5000);
dly_tsk(3000);
/*CanFrame requete;
requete.data.id='V';
requete.data.rtr=0;
requete.data.val=30;
snd_dtq(CanTx, requete.msg);
dly_tsk(1000);*/
while(1){
CanFrame requete;
/*do{
......
}while(abs(k*(450-alpha))>2); */
requete.data.id='V';
requete.data.rtr=0;
vits=45;
if(abs(distance-707)>30) requete.data.val=30;
if(capteur==0x5601 ) {requete.data.val=75;s=1;k=1;}
else if (capteur==0x5602 || capteur==0x5203 || capteur==0x5604 || capteur==0x5605 ){requete.data.val=65;s=1;k=3;}
else if(capteur==0x6a01 ) {requete.data.val=55;s=1;k=3;}
else if(capteur==0x4a01 || capteur==0x5202 || capteur==0x4203 || capteur==0x4304 /*|| 30<abs(distance-707)*/) {requete.data.val=30;s=3;k=4;}
else if (capteur==0x7602 || capteur==0x7601){requete.data.val=10;s=0;k=1;}
/*{
do{
if(vits>20) vits=vits-7;
......
dly_tsk(5);
}while(abs(distance-707)>10);
}*/
else requete.data.val=vits;
else {requete.data.val=70;s=1;k=1;}
snd_dtq(CanTx, requete.msg);
dly_tsk(5);
}
}
void roues(){
dly_tsk(1000);
/*req.data.id='D';
req.data.rtr=1;
periph[ADDR('D')].ev=0x02;
......
//erreur=dishorizontal-dishorizontalfix;
comm.data.id='D';
comm.data.rtr=0;
comm.data.val=2*(distance-707);
//if(capteur==0x6701){ comm.data.val=0;}
comm.data.val=s*(distance-706);
snd_dtq(CanTx, comm.msg);
dly_tsk(10);
dly_tsk(20);
}
}
......
}
void capt(){
while(1){
CanFrame req;
int capteur;
UINT flag;
req.data.id='C';
req.data.rtr=1;
periph[ADDR('R')].ev=0x03;
snd_dtq(CanTx, req.msg);
wai_flg(ev_periph, 0x03, TWF_ANDW, &flag);
capteur=periph[ADDR('C')].val;
dly_tsk(20);
CanFrame requete;
UINT flag;
requete.data.id = 'C';
requete.data.rtr = 1; // Requete de lecture
periph[ADDR('C')].ev =0x03;
snd_dtq(CanTx, requete.msg);
wai_flg(ev_periph, 0x03, TWF_ANDW, &flag);
capteur=periph[ADDR('C')].val;
dly_tsk(20);
}
}
void feurouge(){
......
}
void main()
{
CanFrame comm;
void main(){
/* CanFrame comm;
comm.data.id='T';
comm.data.rtr=0;
comm.data.val=120;
snd_dtq(CanTx,comm.msg);
dly_tsk(20);
snd_dtq(CanTx,comm.msg);*/
ports_mcu();
lcd_init();
periph_init();
......
sta_tsk(ID_capt);
sta_tsk(ID_feurouge);
while(1)
{
while(1){
/*LED_J=1;
dly_tsk(100);
LED_J=0;
dly_tsk(100);
//tourelle();*/
}
}
branch/elmansour/Emb_App/DefaultSession.hsf
[WINDOW_POSITION_STATE_DATA_VD4]
[WINDOW_Z_ORDER]
"E:\tp_info6_elmansour\Emb_App\programme_principal_etud.c"
"E:\tp_info6_elmansour\Emb_App\crt0mr.a30"
"E:\tp_info6_elmansour\bsp\uart0.c"
"E:\tp_info6_elmansour\Emb_App\conf_noyau.cfg"
"E:\tp_info6_elmansour\Emb_App\crt0mr.a30"
"E:\tp_info6_elmansour\bsp\lcd.c"
"E:\tp_info6_elmansour\bsp\carte_m32.h"
"E:\tp_info6_elmansour\bsp\radiocommande.c"
"E:\tp_info6_elmansour\Emb_App\Debug\mr308.inc"
"E:\tp_info6_elmansour\Emb_App\Debug\mrtable.a30"
"E:\tp_info6_elmansour\bsp\periph.c"
"E:\tp_info6_elmansour\bsp\uart0.c"
[TARGET_NAME]
"" "" 0
[STATUSBAR_STATEINFO_VD1]

Formats disponibles : Unified diff