Révision 398
Ajouté par vidaval il y a plus de 6 ans
| branch/daval/Emb_App.tws | ||
|---|---|---|
|
[GENERAL_DATA]
|
||
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[BREAKPOINTS]
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||
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[OPEN_WORKSPACE_FILES]
|
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"E:\tp_info6_2018_daval\bsp\lcd.c"
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||
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"E:\tp_info6_2018_daval\bsp\lcd.h"
|
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"E:\tp_info6_2018_daval\bsp\mli.c"
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||
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"E:\tp_info6_2018_daval\bsp\periph.c"
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"E:\tp_info6_2018_daval\bsp\radiocommande.c"
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||
| ... | ... | |
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"E:\tp_info6_2018_daval\Emb_App\crt0mr.a30"
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"E:\tp_info6_2018_daval\Emb_App\Debug\mr308.inc"
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"E:\tp_info6_2018_daval\Emb_App\Debug\mrtable.a30"
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"E:\tp_info6_2018_daval\Emb_App\Debug\sys_rom.inc"
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"E:\tp_info6_2018_daval\Emb_App\programme_principal_etud.c"
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[WORKSPACE_FILE_STATES]
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"E:\tp_info6_2018_daval\Emb_App\Debug\mr308.inc" 25 25 1430 351 0 8
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"E:\tp_info6_2018_daval\Emb_App\Debug\mrtable.a30" 150 150 1430 351 0 6
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"E:\tp_info6_2018_daval\Emb_App\Debug\sys_rom.inc" 125 125 1430 351 0 11
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"E:\tp_info6_2018_daval\Emb_App\conf_noyau.cfg" 0 0 1430 351 0 7
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"E:\tp_info6_2018_daval\Emb_App\crt0mr.a30" 0 0 1596 539 0 1
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"E:\tp_info6_2018_daval\Emb_App\programme_principal_etud.c" -8 -30 1596 539 1 0
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"E:\tp_info6_2018_daval\bsp\lcd.c" 75 75 1430 351 0 9
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"E:\tp_info6_2018_daval\bsp\lcd.h" 100 100 1430 351 0 10
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"E:\tp_info6_2018_daval\bsp\mli.c" 125 125 1430 351 0 5
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"E:\tp_info6_2018_daval\bsp\periph.c" 50 50 1430 351 0 2
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"E:\tp_info6_2018_daval\bsp\radiocommande.c" 75 75 1430 351 0 3
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||
| branch/daval/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=ff0024
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RESET=ff0026
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| branch/daval/Emb_App/SessionM32C_E8a_system.hsf | ||
|---|---|---|
|
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_13" "0000000000000000"
|
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_14" "0000000000000000"
|
||
|
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_15" "0000000000000512"
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|
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF33B3"
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||
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF35D2"
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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" "0000000000000A7A"
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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_18" "0000000000000A96"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "000000000000089A"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "000000000000FFFF"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_20" "00000000000000C0"
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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"
|
||
| ... | ... | |
|
"{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" "0000000000000009"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "0000000000142200"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000A7A"
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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" "0000000000120012"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000A96"
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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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| ... | ... | |
|
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0004_SCOPE" "Global,"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0005" "numero, 2, 0, P, Col, Bin, 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_ITEM0006" "capteur, 1, 0, P, Col, Hex, MA"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0006" "capteur, 1, 0, P, Col, Bin, MA"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0006_SCOPE" "Current Scope,"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0007" "mode_course, 1, 0, P, Col, Bin, MA"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0007_SCOPE" "Current Scope,"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "8"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0008" "num_piste, 2, 0, P, Col, Bin, MA"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0008_SCOPE" "Current Scope,"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0009" "code_touche, 10, 0, P, Col, Hex, N"
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||
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0009_SCOPE" "Global,"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0010" "nbr_tour, 2, 0, P, Col, Dec, MA"
|
||
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0010_SCOPE" "Global,"
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||
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "11"
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||
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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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||
| ... | ... | |
|
"{WK_00000001_DISASSEMBLY}" "WINDOW" 0 0 0 "0.00" 0 -4 -30 948 486 9 0 "" "0.0"
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"{WK_00000001_EVENT}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59422 0 0 "0.11" 365 0 0 350 200 18 0 "32774|32775|32777|<<separator>>|32780|<<separator>>" "0.0"
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"{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"
|
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"{WK_00000001_OUTPUT}" "WINDOW" 59422 0 3 "0.58" 365 0 0 350 200 18 0 "36756|36757|36758|36759|<<separator>>|36746|36747|<<separator>>|39531|<<separator>>|39500|39534|<<separator>>|36687" "0.0"
|
||
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"{WK_00000001_OUTPUT}" "WINDOW" 59422 0 3 "0.52" 365 0 0 350 200 18 0 "36756|36757|36758|36759|<<separator>>|36746|36747|<<separator>>|39531|<<separator>>|39500|39534|<<separator>>|36687" "0.0"
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"{WK_00000001_PDMR}EmbM32C87AppSessionM32C_E8a_system0" "WINDOW" 59422 0 1 "0.07" 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"
|
||
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"{WK_00000001_PDMR}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59422 0 4 "0.01" 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"
|
||
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"{WK_00000001_REGISTERS}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59421 0 0 "1.00" 236 0 0 350 200 2065 0 "" "0.0"
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"{WK_00000001_WATCH}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59422 0 5 "0.23" 365 0 0 350 200 18 0 "32781|32783|<<separator>>|32771|32772|32773|<<separator>>|32786|<<separator>>|32810|32811" "0.0"
|
||
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"{WK_00000001_WATCH}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59422 0 5 "0.29" 365 0 0 350 200 18 0 "32781|32783|<<separator>>|32771|32772|32773|<<separator>>|32786|<<separator>>|32810|32811" "0.0"
|
||
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"{WK_00000002_WORKSPACE}" "WINDOW" 59420 0 0 "1.00" 308 0 0 350 200 18 0 "" "0.0"
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"{WK_TB00000001_STANDARD}" "TOOLBAR 0" 59419 0 2 "0.00" 0 0 0 0 0 18 0 "" "0.0"
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||
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"{WK_TB00000002_EDITOR}" "TOOLBAR 0" 59419 0 0 "0.00" 0 0 0 0 0 18 0 "" "0.0"
|
||
| ... | ... | |
|
"E:\tp_info6_2018_daval\Emb_App\programme_principal_etud.c"
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"E:\tp_info6_2018_daval\Emb_App\crt0mr.a30"
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"E:\tp_info6_2018_daval\Emb_App\conf_noyau.cfg"
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||
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"E:\tp_info6_2018_daval\bsp\lcd.h"
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||
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"E:\tp_info6_2018_daval\Emb_App\Debug\mr308.inc"
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"E:\tp_info6_2018_daval\Emb_App\Debug\sys_rom.inc"
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"E:\tp_info6_2018_daval\bsp\lcd.c"
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"E:\tp_info6_2018_daval\bsp\radiocommande.c"
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"E:\tp_info6_2018_daval\bsp\periph.c"
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"E:\tp_info6_2018_daval\bsp\uart0.c"
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"E:\tp_info6_2018_daval\Emb_App\Debug\mrtable.a30"
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"E:\tp_info6_2018_daval\bsp\uart0.c"
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"E:\tp_info6_2018_daval\bsp\periph.c"
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"E:\tp_info6_2018_daval\bsp\radiocommande.c"
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"E:\tp_info6_2018_daval\Emb_App\Debug\mr308.inc"
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"E:\tp_info6_2018_daval\bsp\mli.c"
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[TARGET_NAME]
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"M32C E8a SYSTEM" "" 0
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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 95824216 1 "{00000000-0000-0000-C000-000000000046}" ""
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"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 93137240 1 "{00000000-0000-0000-C000-000000000046}" ""
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[END]
|
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| branch/daval/Emb_App/programme_principal_etud.c | ||
|---|---|---|
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//Asservissement de la voiture
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int distance_mur=700; // Consigne qui permet d etre bien centr? sur la route
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char C=1; // Gain asservissment des roues
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char vitesse_rapide= 40;//Commande de vitesse que l'on envoie
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char vitesse_lente=20;
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char vitesse_rapide= 0;//Commande de vitesse que l'on envoie
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char vitesse_lente=0;
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int distance_mesure=0;
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int cap;
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//Varaible pour les capteurs
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//Variables pour les capteurs
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int capteur;
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char couleur;
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char numero;
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//Variables pour les pistes
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char num_piste;
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unsigned short nbr_tour=0;
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// Gestion piste et feu
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int mode_course;
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int feu_vert;
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void mode2course(){
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CanFrame requete;
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UINT flag;
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while(1)
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{
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requete.data.id = 'M';
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requete.data.rtr = 1;
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periph[ADDR('M')].ev = 0x04;
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snd_dtq(CanTx, requete.msg);
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wai_flg(ev_periph, 0x04, TWF_ANDW, &flag);
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mode_course = periph[ADDR('M')].val;
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feu_vert = mode_course && 0x8000;
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num_piste = mode_course;
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dly_tsk(10);
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}
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}
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void asservissement_tourelle()
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{
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CanFrame commande;
|
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| ... | ... | |
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{
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dly_tsk(2000);
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if(feu_vert)
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{
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vitesse.data.id='V'; //Envoi d'une commande en vitesse
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vitesse.data.rtr=0; //Indique une ecritur
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while(1)
|
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{
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if(cap<-30 || cap>30) //Gestion vitesse dans les virages
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vitesse.data.id='V'; //Envoi d'une commande en vitesse
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vitesse.data.rtr=0; //Indique une ecritur
|
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while(1)
|
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{
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vitesse.data.val=vitesse_lente;
|
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snd_dtq (CanTx,vitesse.msg);
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switch(num_piste)
|
||
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{
|
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case 1: vitesse_rapide= 70;
|
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vitesse_lente=40;
|
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break;
|
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|
|
||
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case 2: vitesse_rapide= 40;
|
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vitesse_lente=25;
|
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break;
|
||
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|
||
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case 3: vitesse_rapide= 40;
|
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vitesse_lente=25;
|
||
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break;
|
||
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case 4: vitesse_rapide= 25;
|
||
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vitesse_lente=10;
|
||
|
break;
|
||
|
}
|
||
|
|
||
|
if(cap<-30 || cap>30) //Gestion vitesse dans les virages
|
||
|
{
|
||
|
vitesse.data.val=vitesse_lente;
|
||
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snd_dtq (CanTx,vitesse.msg);
|
||
|
}
|
||
|
else
|
||
|
{
|
||
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vitesse.data.val=vitesse_rapide;
|
||
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snd_dtq (CanTx,vitesse.msg);
|
||
|
}
|
||
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if(couleur=='V' && numero == 0x03 && num_piste==0x03) // Gestion saut piste rouge
|
||
|
{
|
||
|
vitesse.data.val=47;
|
||
|
snd_dtq (CanTx,vitesse.msg);
|
||
|
}
|
||
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if(couleur=='B' && numero ==0x03 && num_piste==0x03)
|
||
|
{
|
||
|
vitesse.data.val=10;
|
||
|
snd_dtq (CanTx,vitesse.msg);
|
||
|
}
|
||
|
/*if(capteur == 0b0101011000000101) //Compte le nombre de tour au bout de trois la voiture s'arr?te
|
||
|
{
|
||
|
|
||
|
nbr_tour+=1;
|
||
|
if(nbr_tour==3)
|
||
|
{
|
||
|
vitesse.data.val=0;
|
||
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snd_dtq (CanTx,vitesse.msg);
|
||
|
|
||
|
}
|
||
|
}*/
|
||
|
if(Bp_G==1)
|
||
|
{
|
||
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vitesse.data.val=0;
|
||
|
snd_dtq (CanTx,vitesse.msg);
|
||
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}
|
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|
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dly_tsk(10);
|
||
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}
|
||
|
else
|
||
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{
|
||
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vitesse.data.val=vitesse_rapide;
|
||
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snd_dtq (CanTx,vitesse.msg);
|
||
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}
|
||
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if(couleur=='V' && numero == 0x03) // Gestion saut piste rouge
|
||
|
{
|
||
|
vitesse.data.val=47;
|
||
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snd_dtq (CanTx,vitesse.msg);
|
||
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}
|
||
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if(couleur=='B' && numero ==0x03)
|
||
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{
|
||
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vitesse.data.val=10;
|
||
|
snd_dtq (CanTx,vitesse.msg);
|
||
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}
|
||
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|
||
|
dly_tsk(10);
|
||
|
}
|
||
|
}
|
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|
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|
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|
|
||
|
|
||
|
}
|
||
|
void distance_bord()
|
||
|
{
|
||
|
CanFrame requete_dist;
|
||
| ... | ... | |
|
}
|
||
|
}
|
||
|
|
||
|
|
||
|
void asserv_cap()
|
||
|
{
|
||
|
CanFrame requete,commande;
|
||
| ... | ... | |
|
}
|
||
|
}
|
||
|
|
||
|
void etat_feu(){
|
||
|
CanFrame requete;
|
||
|
UINT flag;
|
||
|
void clavier()
|
||
|
{
|
||
|
while(1)
|
||
|
{
|
||
|
requete.data.id = 'M';
|
||
|
requete.data.rtr = 1;
|
||
|
periph[ADDR('C')].ev = 0x04;
|
||
|
snd_dtq(CanTx, requete.msg);
|
||
|
wai_flg(ev_periph, 0x04, TWF_ANDW, &flag);
|
||
|
mode_course = periph[ADDR('M')].val;
|
||
|
dly_tsk(10);
|
||
|
}
|
||
|
short code_touche;
|
||
|
vrcv_dtq(QdmTouche,&code_touche);
|
||
|
|
||
|
}
|
||
|
dly_tsk(30);
|
||
|
}
|
||
|
|
||
|
void main()
|
||
| ... | ... | |
|
sta_tsk(ID_asserv_cap);
|
||
|
sta_tsk(ID_avance);
|
||
|
sta_tsk(ID_detection_capteur);
|
||
|
sta_tsk(ID_etat_feu);
|
||
|
sta_tsk(ID_mode2course);
|
||
|
sta_tsk(ID_clavier);
|
||
|
while(1);
|
||
|
|
||
|
}
|
||
| branch/daval/Emb_App/conf_noyau.cfg | ||
|---|---|---|
|
// system definition
|
||
|
system{
|
||
|
stack_size = 256;
|
||
|
priority = 8;
|
||
|
priority = 11;
|
||
|
system_IPL = 4;
|
||
|
message_pri = 1;
|
||
|
timeout = YES;
|
||
| ... | ... | |
|
name = ID_main;
|
||
|
stack_size = 512;
|
||
|
stack_section = stack;
|
||
|
priority = 8;
|
||
|
priority = 11;
|
||
|
initial_start = ON;
|
||
|
exinf = 0x0;
|
||
|
};
|
||
| ... | ... | |
|
exinf = 0x0;
|
||
|
};
|
||
|
task[]{
|
||
|
entry_address = etat_feu();
|
||
|
name = ID_etat_feu;
|
||
|
entry_address = mode2course();
|
||
|
name = ID_mode2course;
|
||
|
stack_size = 256;
|
||
|
stack_section = stack;
|
||
|
priority = 7;
|
||
|
priority = 8;
|
||
|
initial_start = OFF;
|
||
|
exinf = 0x0;
|
||
|
};
|
||
|
task[]{
|
||
|
entry_address = clavier();
|
||
|
name = ID_clavier;
|
||
|
stack_size = 256;
|
||
|
stack_section = stack;
|
||
|
priority = 9;
|
||
|
initial_start = OFF;
|
||
|
exinf = 0x0;
|
||
|
};
|
||
|
|
||
|
flag[]{
|
||
|
name = ev_bus_fin_tr;
|
||
Formats disponibles : Unified diff
arrêt d'urgence avec bouton poussoir fait mais problème car par arrêt total + ajout switch pour les différents paramètres des différentes pistes + fonction clavier commencé