Index: branch/zemeta/Emb_App.tws
===================================================================
--- branch/zemeta/Emb_App.tws	(revision 408)
+++ branch/zemeta/Emb_App.tws	(revision 409)
@@ -18,8 +18,8 @@
 [WORKSPACE_FILE_STATES]
 "E:\tp_info6_2018_zemeta\tp_info6\Emb_App\Debug\mr308.inc" 25 25 1430 351 0 8 
 "E:\tp_info6_2018_zemeta\tp_info6\Emb_App\conf_noyau.cfg" 1 0 1426 347 0 1 
-"E:\tp_info6_2018_zemeta\tp_info6\Emb_App\crt0mr.a30" 0 0 1596 539 0 5 
-"E:\tp_info6_2018_zemeta\tp_info6\Emb_App\programme_principal_etud.c" -8 -30 1596 539 1 4 
+"E:\tp_info6_2018_zemeta\tp_info6\Emb_App\crt0mr.a30" 0 0 1596 527 0 5 
+"E:\tp_info6_2018_zemeta\tp_info6\Emb_App\programme_principal_etud.c" -8 -30 1596 527 1 4 
 "E:\tp_info6_2018_zemeta\tp_info6\bsp\can.c" 50 50 1430 351 0 2 
 "E:\tp_info6_2018_zemeta\tp_info6\bsp\dma0.c" 75 75 1430 351 0 3 
 "E:\tp_info6_2018_zemeta\tp_info6\bsp\periph.c" 0 0 1430 351 0 7 
Index: branch/zemeta/Emb_App/SessionM32C_E8a_system.hsf
===================================================================
--- branch/zemeta/Emb_App/SessionM32C_E8a_system.hsf	(revision 408)
+++ branch/zemeta/Emb_App/SessionM32C_E8a_system.hsf	(revision 409)
@@ -141,20 +141,20 @@
 "{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_1" "0000000000000000" 
+"{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_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" "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_15" "0000000000000512" 
+"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF0572" 
+"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_17" "0000000000FFF800" 
+"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000BA2" 
+"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "00000000000008DC" 
+"{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_21" "0000000000000000" 
 "{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_22" "0000000000000000" 
 "{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_23" "0000000000000000" 
@@ -169,12 +169,12 @@
 "{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_4" "0000000000000008" 
 "{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_6" "0000000000000BD8" 
+"{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" 
@@ -293,14 +293,14 @@
 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 1 "0.07" 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 1 "0.07" 377 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" 0 150 150 1430 351 10 0 "" "0.0" 
-"{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" 
+"{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" 
 "{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 "0.40" 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 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" 
+"{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" 
+"{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" 
 "{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 4 "0.27" 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 4 "0.27" 377 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" 
@@ -325,11 +325,11 @@
 [WINDOW_POSITION_STATE_DATA_VD3]
 [WINDOW_POSITION_STATE_DATA_VD4]
 [WINDOW_Z_ORDER]
+"E:\tp_info6_2018_zemeta\tp_info6\Emb_App\crt0mr.a30" 
 "E:\tp_info6_2018_zemeta\tp_info6\Emb_App\programme_principal_etud.c" 
-"E:\tp_info6_2018_zemeta\tp_info6\Emb_App\crt0mr.a30" 
+"E:\tp_info6_2018_zemeta\tp_info6\Emb_App\conf_noyau.cfg" 
+"E:\tp_info6_2018_zemeta\tp_info6\bsp\uart0.c" 
 "E:\tp_info6_2018_zemeta\tp_info6\bsp\dma0.c" 
-"E:\tp_info6_2018_zemeta\tp_info6\bsp\uart0.c" 
-"E:\tp_info6_2018_zemeta\tp_info6\Emb_App\conf_noyau.cfg" 
 "E:\tp_info6_2018_zemeta\tp_info6\bsp\periph.c" 
 "E:\tp_info6_2018_zemeta\tp_info6\Emb_App\Debug\mr308.inc" 
 "E:\tp_info6_2018_zemeta\tp_info6\Disassembly" 
@@ -380,5 +380,5 @@
 [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 92930608 1 "{00000000-0000-0000-C000-000000000046}" "" 
+"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 92283440 1 "{00000000-0000-0000-C000-000000000046}" "" 
 [END]
Index: branch/zemeta/Emb_App/programme_principal_etud.c
===================================================================
--- branch/zemeta/Emb_App/programme_principal_etud.c	(revision 408)
+++ branch/zemeta/Emb_App/programme_principal_etud.c	(revision 409)
@@ -117,8 +117,8 @@
 //'I'/73/Ox49 : Définition du nom du véhicule. Doit débuter par le caractère '#' et entraine le chargement de la configuration de piste
 //				correspondant au nom du véhicule si le nom se termine par '*'
 CanFrame comm,comm2,comm3;
-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
-unsigned short consigne_tour/* = 900*/ , vitesse_roue/*=20*/, capt_detecte, comRoue;  ;  // V = 30 pour piste verte , V = 38 pour piste bleu  
+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
+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  
 CanFrame requete,requete3,requete4 ;  
 
 void main()
@@ -137,10 +137,12 @@
 	sta_tsk(id_dist);
 	sta_tsk(id_aber);
 	sta_tsk(id_appui);
-
+	sta_tsk(id_mode);
+	sta_tsk(id_piste_verte_bleue); // à activer pour piste verte et bleue
+	
 	comRoue=-k2*error2 ;
 	sta_tsk(id_roue);
-	sta_tsk(id_detec);
+	//sta_tsk(id_detec); // à activer pour piste rouge 
 	sta_tsk(id_capt);
 	sta_tsk(id_angle);
 	sta_tsk(id_ass_t);	
@@ -176,6 +178,7 @@
 	}
 }
 
+
 void mes_aber() // Led jaune s'allume pendant 1s quand le telemetre renvoie une valeur aberante
 {
 	while (1)
@@ -235,7 +238,6 @@
 		}
 		dly_tsk(10) ;
 	}
-	 
 }
 
 void acquis_distance()
@@ -282,7 +284,7 @@
 	}
 }
 
-void detection() // Tache dédiée à la piste rouge 
+void detection() // Tache dédiée à la piste rouge // à enlever pour la piste bleue 
 {
 	while (1)
 	{
@@ -306,6 +308,22 @@
 	}
 }
 
+void piste_verte_bleue() // Tache dédiée à la piste rouge // à enlever pour la piste bleue 
+{
+	while (1)
+	{
+		//LED_R=0;
+		if(num_piste==256 || num_piste==512) // course normale
+		{
+			D=705; 
+			consigne_tour=450;
+			vitesse_roue = 35;
+			comRoue = -k2*error2 ;
+		}
+		dly_tsk(10);
+	}
+}
+
 void appui()
 {
 	while(1)
@@ -314,4 +332,18 @@
 		if(Bp_D==1) LED_J=1;
 		dly_tsk(5);
 	}
+}
+
+void mode_de_course() // detecteur de pistes
+{
+	while (1)
+	{
+		requete.data.id = 'M' ; 
+		requete.data.rtr = 1 ;
+		snd_dtq(CanTx, requete.msg);
+		dly_tsk(5) ;
+		mode_course = periph[ADDR('M')].val;
+		num_piste = (mode_course<<8) ; // verte = 256 ; bleu = 512 ; rouge = 768 ; rouge = 1024 ; 
+		dly_tsk(5) ;
+	}
 }
\ No newline at end of file
Index: branch/zemeta/Emb_App/conf_noyau.cfg
===================================================================
--- branch/zemeta/Emb_App/conf_noyau.cfg	(revision 408)
+++ branch/zemeta/Emb_App/conf_noyau.cfg	(revision 409)
@@ -115,6 +115,26 @@
 };
 
 task[]{
+	entry_address	= mode_de_course();
+	name	= id_mode;
+	stack_size	= 256;
+	stack_section	= stack;
+	priority	= 2;
+	initial_start	= OFF;
+	exinf	= 0x0;
+};
+
+task[]{
+	entry_address	= piste_verte_bleue();
+	name	= id_piste_verte_bleue;
+	stack_size	= 256;
+	stack_section	= stack;
+	priority	= 2;
+	initial_start	= OFF;
+	exinf	= 0x0;
+};
+
+task[]{
 	entry_address	= detection();
 	name	= id_detec;
 	stack_size	= 256;
