Révision 409
Ajouté par crzemeta il y a plus de 6 ans
| branch/zemeta/Emb_App.tws | ||
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[WORKSPACE_FILE_STATES]
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"E:\tp_info6_2018_zemeta\tp_info6\Emb_App\Debug\mr308.inc" 25 25 1430 351 0 8
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"E:\tp_info6_2018_zemeta\tp_info6\Emb_App\conf_noyau.cfg" 1 0 1426 347 0 1
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"E:\tp_info6_2018_zemeta\tp_info6\Emb_App\crt0mr.a30" 0 0 1596 539 0 5
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"E:\tp_info6_2018_zemeta\tp_info6\Emb_App\programme_principal_etud.c" -8 -30 1596 539 1 4
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"E:\tp_info6_2018_zemeta\tp_info6\Emb_App\crt0mr.a30" 0 0 1596 527 0 5
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"E:\tp_info6_2018_zemeta\tp_info6\Emb_App\programme_principal_etud.c" -8 -30 1596 527 1 4
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"E:\tp_info6_2018_zemeta\tp_info6\bsp\can.c" 50 50 1430 351 0 2
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"E:\tp_info6_2018_zemeta\tp_info6\bsp\dma0.c" 75 75 1430 351 0 3
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"E:\tp_info6_2018_zemeta\tp_info6\bsp\periph.c" 0 0 1430 351 0 7
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| branch/zemeta/Emb_App/SessionM32C_E8a_system.hsf | ||
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWndInstanceKey0" "{WK_00000001_PDMR}EmbM32C87AppSessionM32C_E8a_system"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_EVAL_DENORMAL_MODE" "0"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_EVAL_ROUND_MODE" "0"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_0" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_1" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_0" "0000000000004044"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_1" "0000000000000020"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_10" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_11" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_12" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_13" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_14" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_15" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF001A"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_17" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000700"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_20" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_15" "0000000000000512"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF0572"
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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" "0000000000000BA2"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "00000000000008DC"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "0000000000000001"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_20" "0000000000004044"
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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"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_23" "0000000000000000"
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| ... | ... | |
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_31" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_32" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_33" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_34" "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" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_4" "0000000000000008"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_7" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000BD8"
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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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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_COUNT" "36"
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| ... | ... | |
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0
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[WINDOW_POSITION_STATE_DATA_VD1]
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"Help" "TOOLBAR 0" 59419 2 4 "0.00" 0 0 0 0 0 17 0 "" "0.0"
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"{WK_00000001_CmdLine}" "WINDOW" 59422 0 1 "0.07" 365 0 0 350 200 17 0 "32771|32772|32778|<<separator>>|32773|32774|<<separator>>|32820|<<separator>>|32801|32824" "0.0"
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"{WK_00000001_CmdLine}" "WINDOW" 59422 0 1 "0.07" 377 0 0 350 200 17 0 "32771|32772|32778|<<separator>>|32773|32774|<<separator>>|32820|<<separator>>|32801|32824" "0.0"
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"{WK_00000001_DISASSEMBLY}" "WINDOW" 0 0 0 "0.00" 0 150 150 1430 351 10 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_EVENT}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59422 0 0 "0.11" 377 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 2 "0.40" 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_system" "WINDOW" 59422 0 3 "0.22" 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_OUTPUT}" "WINDOW" 59422 0 2 "0.40" 377 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_system" "WINDOW" 59422 0 3 "0.22" 377 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 4 "0.27" 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 4 "0.27" 377 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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"{WK_TB00000002_EDITOR}" "TOOLBAR 0" 59419 0 0 "0.00" 0 0 0 0 0 18 0 "" "0.0"
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| ... | ... | |
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[WINDOW_POSITION_STATE_DATA_VD3]
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[WINDOW_POSITION_STATE_DATA_VD4]
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[WINDOW_Z_ORDER]
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"E:\tp_info6_2018_zemeta\tp_info6\Emb_App\crt0mr.a30"
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"E:\tp_info6_2018_zemeta\tp_info6\Emb_App\programme_principal_etud.c"
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"E:\tp_info6_2018_zemeta\tp_info6\Emb_App\crt0mr.a30"
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"E:\tp_info6_2018_zemeta\tp_info6\Emb_App\conf_noyau.cfg"
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"E:\tp_info6_2018_zemeta\tp_info6\bsp\uart0.c"
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"E:\tp_info6_2018_zemeta\tp_info6\bsp\dma0.c"
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"E:\tp_info6_2018_zemeta\tp_info6\bsp\uart0.c"
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"E:\tp_info6_2018_zemeta\tp_info6\Emb_App\conf_noyau.cfg"
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"E:\tp_info6_2018_zemeta\tp_info6\bsp\periph.c"
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"E:\tp_info6_2018_zemeta\tp_info6\Emb_App\Debug\mr308.inc"
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"E:\tp_info6_2018_zemeta\tp_info6\Disassembly"
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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 92930608 1 "{00000000-0000-0000-C000-000000000046}" ""
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"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 92283440 1 "{00000000-0000-0000-C000-000000000046}" ""
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[END]
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| branch/zemeta/Emb_App/programme_principal_etud.c | ||
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//'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
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// correspondant au nom du v?hicule si le nom se termine par '*'
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CanFrame comm,comm2,comm3;
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unsigned short k=1,k2=1, angle_reel, error,error2,d_reel,D/*=500*/, d_max = 2000 ; // D = 500 pour piste verte , D = 714 pour piste verte
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unsigned short consigne_tour/* = 900*/ , vitesse_roue/*=20*/, capt_detecte, comRoue; ; // V = 30 pour piste verte , V = 38 pour piste bleu
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unsigned short k=1,k2=1, angle_reel, error,error2,d_reel,D/*=714*/, d_max = 2000 ; // D = 500 pour piste verte , D = 714 pour piste verte
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unsigned short consigne_tour/*=450*/, vitesse_roue/*=20*/, capt_detecte, comRoue, mode_course ,num_piste ; // V = 30 pour piste verte , V = 38 pour piste bleu
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CanFrame requete,requete3,requete4 ;
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void main()
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| ... | ... | |
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sta_tsk(id_dist);
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sta_tsk(id_aber);
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sta_tsk(id_appui);
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sta_tsk(id_mode);
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sta_tsk(id_piste_verte_bleue); // ? activer pour piste verte et bleue
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comRoue=-k2*error2 ;
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sta_tsk(id_roue);
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sta_tsk(id_detec);
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//sta_tsk(id_detec); // ? activer pour piste rouge
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sta_tsk(id_capt);
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sta_tsk(id_angle);
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sta_tsk(id_ass_t);
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| ... | ... | |
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}
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}
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void mes_aber() // Led jaune s'allume pendant 1s quand le telemetre renvoie une valeur aberante
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{
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while (1)
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| ... | ... | |
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}
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dly_tsk(10) ;
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}
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}
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void acquis_distance()
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| ... | ... | |
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}
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}
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void detection() // Tache d?di?e ? la piste rouge
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void detection() // Tache d?di?e ? la piste rouge // ? enlever pour la piste bleue
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{
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while (1)
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{
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| ... | ... | |
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}
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}
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void piste_verte_bleue() // Tache d?di?e ? la piste rouge // ? enlever pour la piste bleue
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{
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while (1)
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{
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//LED_R=0;
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if(num_piste==256 || num_piste==512) // course normale
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{
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D=705;
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consigne_tour=450;
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vitesse_roue = 35;
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comRoue = -k2*error2 ;
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}
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dly_tsk(10);
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}
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}
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void appui()
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{
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while(1)
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| ... | ... | |
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if(Bp_D==1) LED_J=1;
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dly_tsk(5);
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}
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}
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void mode_de_course() // detecteur de pistes
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{
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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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snd_dtq(CanTx, requete.msg);
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dly_tsk(5) ;
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mode_course = periph[ADDR('M')].val;
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num_piste = (mode_course<<8) ; // verte = 256 ; bleu = 512 ; rouge = 768 ; rouge = 1024 ;
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dly_tsk(5) ;
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}
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}
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| branch/zemeta/Emb_App/conf_noyau.cfg | ||
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};
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task[]{
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entry_address = mode_de_course();
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name = id_mode;
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stack_size = 256;
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stack_section = stack;
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priority = 2;
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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 = piste_verte_bleue();
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name = id_piste_verte_bleue;
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stack_size = 256;
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stack_section = stack;
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priority = 2;
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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 = detection();
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name = id_detec;
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stack_size = 256;
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Formats disponibles : Unified diff
Detection de pistes : Ok. Envoie de commande en fonction de la couleur de la piste