Index: branch/mbaye/Emb_App/SessionM32C_E8a_system.ini
===================================================================
--- branch/mbaye/Emb_App/SessionM32C_E8a_system.ini	(revision 402)
+++ branch/mbaye/Emb_App/SessionM32C_E8a_system.ini	(revision 403)
@@ -25,4 +25,4 @@
 [Target]
 M32C E8a SYSTEM=Renesas Communications
 [USER_DATA]
-RESET=ff0016
+RESET=ff0012
Index: branch/mbaye/Emb_App/programme_principal_etud.c
===================================================================
--- branch/mbaye/Emb_App/programme_principal_etud.c	(revision 402)
+++ branch/mbaye/Emb_App/programme_principal_etud.c	(revision 403)
@@ -168,7 +168,7 @@
 	    {
 		   comm.data.val=0;
 	       snd_dtq (CanTx,comm.msg);
-		    if (dis>710) 
+		    if (dis>1000) 
 	        {
 		      dis = 710;
 	        }
@@ -217,6 +217,21 @@
 	             snd_dtq (CanTx,comm.msg);
 	           }
 	       }
+		   else if(capt==(0x5604))
+		   {
+			   comm.data.val=0;
+	           snd_dtq (CanTx,comm.msg);
+		       if (dis>1000) 
+	           {
+		         dis = 710;
+	           }
+		       else
+	           {
+			     dis = periph[ADDR('U')].val;
+	             comm.data.val=-1.0*(710-dis);
+	             snd_dtq (CanTx,comm.msg);
+	           }
+	       }
 		   else
 		   {
 			  comm.data.val=-1.0*(710-dis);
@@ -235,51 +250,72 @@
 {
 	while(1)
 	{
-	  CanFrame comm;
-	  comm.data.id='V'; comm.data.rtr=0; 
+	  CanFrame commv;
+	  commv.data.id='V'; commv.data.rtr=0; 
       dly_tsk(3000);
 	  if(Bp_G==1)
 	  {
-		  comm.data.val=0;
-	      snd_dtq (CanTx,comm.msg);
+		  commv.data.val=0;
+	      snd_dtq (CanTx,commv.msg);
 	  }
 	    else if(numero_p==0x0001)
 		{
-		  if(capt==5603)
+		  if(capt==0x5602)
 		  {
-	        comm.data.val=30;
-	        snd_dtq (CanTx,comm.msg);
+	        commv.data.val=30;
+	        snd_dtq (CanTx,commv.msg);
 		  }
+		  
+		  else if(capt==0x5603)
+		  {
+	        commv.data.val=30;
+	        snd_dtq (CanTx,commv.msg);
+		  }
+		  
+		   else if(capt==0x5604)
+		  {
+	        commv.data.val=30;
+	        snd_dtq (CanTx,commv.msg);
+		  }
+		  
+		  else if(capt==0x5601)
+		  {
+	        commv.data.val=30;
+	        snd_dtq (CanTx,commv.msg);
+		  }
 		  else
 		  {
-		    comm.data.val=10;
-	        snd_dtq (CanTx,comm.msg);	
+		    commv.data.val=15;
+	        snd_dtq (CanTx,commv.msg);	
 		  }
 		}
 	    else if(numero_p==0x0002)
 		{
-		  if(capt==5603)
+		  if(capt==0x5603)
 		  {
-	        comm.data.val=30;
-	        snd_dtq (CanTx,comm.msg);
+	        commv.data.val=15;
+	        snd_dtq (CanTx,commv.msg);
 		  }
 		  else
 		  {
-		    comm.data.val=10;
-	        snd_dtq (CanTx,comm.msg);	
+		    commv.data.val=15;
+	        snd_dtq (CanTx,commv.msg);	
 		  }
 		}
 		else if(numero_p==0x0003)
 		{
-		  if(capt==5603)
+		  if(capt==0x5603)
 		  {
-	        comm.data.val=60;
-	        snd_dtq (CanTx,comm.msg);
+	        commv.data.val=60;
+	        snd_dtq (CanTx,commv.msg);
+			//dly_tsk(4000);
+			//commv.data.val=15;
+	        //snd_dtq (CanTx,commv.msg);
 	 	  }
 		  else
 		  {
-		    comm.data.val=10;
-	        snd_dtq (CanTx,comm.msg);	
+		    commv.data.val=10;
+	        snd_dtq (CanTx,commv.msg);	
 		  }
 	     }
 	 dly_tsk(100);
@@ -328,7 +364,7 @@
 	ports_mcu();
     lcd_init();
 	periph_init();
-	periph_nom("#AutoTest*");
+	periph_nom("#km07*");
 
     can_init();
     clavier_init(1);
@@ -340,7 +376,7 @@
 	sta_tsk(ID_asserv_T);
 	//sta_tsk(ID_hcy_tourelle);
 	sta_tsk(ID_dist_T);
-	sta_tsk(ID_demarrage_feu);
+//	sta_tsk(ID_demarrage_feu);
 	sta_tsk(ID_vitesse_roue);
 	sta_tsk(ID_info_capt);
 	sta_tsk(ID_mode_course);
Index: branch/mbaye/Emb_App/conf_noyau.cfg
===================================================================
--- branch/mbaye/Emb_App/conf_noyau.cfg	(revision 402)
+++ branch/mbaye/Emb_App/conf_noyau.cfg	(revision 403)
@@ -88,16 +88,8 @@
 	initial_start	= ON;
 	exinf	= 0x0;
 };
+
 task[]{
-	entry_address	= demarrage_feu();
-	name	= ID_demarrage_feu;
-	stack_size	= 512;
-	stack_section	= stack;
-	priority	= 8;
-	initial_start	= ON;
-	exinf	= 0x0;
-};
-task[]{
 	entry_address	= periph_tx();
 	name	= ID_periph_tx;
 	stack_size	= 256;
