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Révision 423

Ajouté par grlebanito il y a plus de 6 ans

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Voir les différences:

branch/lebanitou/Emb_App.tws
[GENERAL_DATA]
[BREAKPOINTS]
[OPEN_WORKSPACE_FILES]
"E:\tp_info6_lebanitou\bsp\lcd.c"
"E:\tp_info6_lebanitou\bsp\uart0.c"
"E:\tp_info6_lebanitou\Emb_App\conf_noyau.cfg"
"E:\tp_info6_lebanitou\Emb_App\crt0mr.a30"
......
"E:\tp_info6_lebanitou\Emb_App\conf_noyau.cfg" 100 100 1430 351 0 2
"E:\tp_info6_lebanitou\Emb_App\crt0mr.a30" 75 75 1430 351 0 1
"E:\tp_info6_lebanitou\Emb_App\programme_principal_etud.c" -8 -30 1596 539 1 0
"E:\tp_info6_lebanitou\bsp\lcd.c" 100 100 1430 351 0 4
"E:\tp_info6_lebanitou\bsp\uart0.c" 125 125 1430 351 0 3
[LOADED_PROJECTS]
"EmbM32C87App"
branch/lebanitou/Emb_App/SessionM32C_E8a_system.ini
[Target]
M32C E8a SYSTEM=Renesas Communications
[USER_DATA]
RESET=ff0026
RESET=ff0130
branch/lebanitou/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_1" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_0" "0000000000000258"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_1" "0000000000000001"
"{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" "0000000000FF001E"
"{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_15" "0000000000000512"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF2DBE"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_17" "0000000000FFF800"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000001988"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000BDA"
"{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_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_4" "00000000000019C0"
"{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" "000000000000198E"
"{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_ITEM0000_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001" "valeur, 1, 0, P, Col, Hex, MN"
"{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_ITEM0002" "pos, 1, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0003" "valeur1, 1, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0003_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "4"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth0" "120"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth1" "150"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth12" "200"
......
[CONFIG_INFO_VD4]
0
[WINDOW_POSITION_STATE_DATA_VD1]
"Help" "TOOLBAR 0" 59419 2 4 "0.00" 0 0 0 0 0 17 0 "" "0.0"
"Help" "TOOLBAR 0" 59419 2 6 "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_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 0 "0.11" 365 0 0 350 200 18 0 "32774|32775|32777|<<separator>>|32780|<<separator>>" "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"
"{WK_TB00000003_BOOKMARKS}" "TOOLBAR 0" 59419 1 1 "0.00" 0 0 0 0 0 17 0 "" "0.0"
"{WK_TB00000004_TEMPLATES}" "TOOLBAR 0" 59419 1 0 "0.00" 0 0 0 0 0 17 0 "" "0.0"
"{WK_TB00000003_BOOKMARKS}" "TOOLBAR 0" 59419 1 0 "0.00" 0 0 0 0 0 17 0 "" "0.0"
"{WK_TB00000004_TEMPLATES}" "TOOLBAR 0" 59419 2 5 "0.00" 0 0 0 0 0 18 0 "" "0.0"
"{WK_TB00000005_SEARCH}" "TOOLBAR 0" 59419 0 1 "0.00" 0 0 0 0 0 18 0 "" "0.0"
"{WK_TB00000007_DEBUG}" "TOOLBAR 0" 59419 2 0 "0.00" 0 0 0 0 0 18 0 "" "0.0"
"{WK_TB00000008_DEBUGRUN}" "TOOLBAR 0" 59419 2 1 "0.00" 0 0 0 0 0 18 0 "" "0.0"
"{WK_TB00000009_VERSIONCONTROL}" "TOOLBAR 0" 59419 1 3 "0.00" 0 0 0 0 0 17 0 "" "0.0"
"{WK_TB00000011_CPU}" "TOOLBAR 0" 59419 2 5 "0.00" 0 0 0 0 0 17 0 "" "0.0"
"{WK_TB00000012_MAP}" "TOOLBAR 0" 59419 1 4 "0.00" 0 0 0 0 0 17 0 "" "0.0"
"{WK_TB00000013_SYMBOL}" "TOOLBAR 0" 59419 2 6 "0.00" 0 0 0 0 0 17 0 "" "0.0"
"{WK_TB00000014_CODE}" "TOOLBAR 0" 59419 2 7 "0.00" 0 0 0 0 0 17 0 "" "0.0"
"{WK_TB00000016_GRAPHIC}" "TOOLBAR 0" 59419 2 8 "0.00" 0 0 0 0 0 17 0 "" "0.0"
"{WK_TB00000018_DEFAULTWINDOW}" "TOOLBAR 0" 59419 1 2 "0.00" 0 0 0 0 0 17 0 "" "0.0"
"{WK_TB00000023_RTOS}" "TOOLBAR 0" 59419 2 9 "0.00" 0 0 0 0 0 17 0 "" "0.0"
"{WK_TB00000009_VERSIONCONTROL}" "TOOLBAR 0" 59419 1 1 "0.00" 0 0 0 0 0 17 0 "" "0.0"
"{WK_TB00000011_CPU}" "TOOLBAR 0" 59419 2 7 "0.00" 0 0 0 0 0 18 0 "" "0.0"
"{WK_TB00000012_MAP}" "TOOLBAR 0" 59419 1 2 "0.00" 0 0 0 0 0 17 0 "" "0.0"
"{WK_TB00000013_SYMBOL}" "TOOLBAR 0" 59419 2 8 "0.00" 0 0 0 0 0 17 0 "" "0.0"
"{WK_TB00000014_CODE}" "TOOLBAR 0" 59419 2 9 "0.00" 0 0 0 0 0 17 0 "" "0.0"
"{WK_TB00000016_GRAPHIC}" "TOOLBAR 0" 59419 2 10 "0.00" 0 0 0 0 0 17 0 "" "0.0"
"{WK_TB00000018_DEFAULTWINDOW}" "TOOLBAR 0" 59419 2 4 "0.00" 0 0 0 0 0 18 0 "" "0.0"
"{WK_TB00000023_RTOS}" "TOOLBAR 0" 59419 2 11 "0.00" 0 0 0 0 0 18 0 "" "0.0"
"{WK_TB00000025_HELPSYSTEMTOOL}" "TOOLBAR 0" 59419 0 3 "0.00" 0 0 0 0 0 18 0 "" "0.0"
"{WK_TB00000026_MACRO}" "TOOLBAR 0" 59419 1 5 "0.00" 0 0 0 0 0 17 0 "" "0.0"
"{WK_TB00000028_RTOSDEBUG}" "TOOLBAR 0" 59419 2 2 "0.00" 0 0 0 0 0 17 0 "" "0.0"
"{WK_TB00000029_SYSTEMTOOL}" "TOOLBAR 0" 59419 2 3 "0.00" 0 0 0 0 0 17 0 "" "0.0"
"{WK_TB00000026_MACRO}" "TOOLBAR 0" 59419 1 3 "0.00" 0 0 0 0 0 17 0 "" "0.0"
"{WK_TB00000028_RTOSDEBUG}" "TOOLBAR 0" 59419 2 2 "0.00" 0 0 0 0 0 18 0 "" "0.0"
"{WK_TB00000029_SYSTEMTOOL}" "TOOLBAR 0" 59419 2 3 "0.00" 0 0 0 0 0 18 0 "" "0.0"
[WINDOW_POSITION_STATE_DATA_VD2]
[WINDOW_POSITION_STATE_DATA_VD3]
[WINDOW_POSITION_STATE_DATA_VD4]
[WINDOW_Z_ORDER]
"E:\tp_info6_lebanitou\Emb_App\programme_principal_etud.c"
"E:\tp_info6_lebanitou\bsp\lcd.c"
"E:\tp_info6_lebanitou\Emb_App\crt0mr.a30"
"E:\tp_info6_lebanitou\bsp\periph.c"
"E:\tp_info6_lebanitou\Emb_App\conf_noyau.cfg"
"E:\tp_info6_lebanitou\Emb_App\Debug\mrtable.a30"
"E:\tp_info6_lebanitou\bsp\uart0.c"
"E:\tp_info6_lebanitou\bsp\clavier.c"
"E:\tp_info6_lebanitou\bsp\can.c"
"E:\tp_info6_lebanitou\bsp\lcd.c"
[TARGET_NAME]
"M32C E8a SYSTEM" "" 0
[STATUSBAR_STATEINFO_VD1]
......
[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 94885464 1 "{00000000-0000-0000-C000-000000000046}" ""
"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 90621984 1 "{00000000-0000-0000-C000-000000000046}" ""
[END]
branch/lebanitou/Emb_App/programme_principal_etud.c
int pos_tourelle; //position de la tourelle
int vitesse;
int pos;
int dmax=1000;
int centre=450;
UINT flag;
CanFrame comm;
int consigne=584; // valeur de la consigne
int consigne=450; // valeur de la consigne
int k=1;
int k_a=1; // gain
int angle=0;
int valeur=0;
int valeur1=0;
short dist;
int angle;
int valeur;
int valeur1;
short dist,error;
int pos=0;
int mur=700;
int take;
//telemetre
void rotation()
{
//telemetre
void rotation()
{
CanFrame comm;
comm.data.id= 'T';
comm.data.rtr= 0; //indique une ?criture
comm.data.val= 120;
comm.data.id= 'T';
comm.data.rtr= 0; //indique une ?criture
comm.data.val= 120;
}
//envoie la voiture
void essai()
void essai()
{
while(1){
comm.data.id= 'V';
comm.data.rtr= 0; //indique une ?criture
comm.data.val= 25;
snd_dtq(CanTx, comm.msg);
dly_tsk(10);
}
while(1){
comm.data.id= 'V';
comm.data.rtr= 0; //indique une ?criture
comm.data.val= 25;
snd_dtq(CanTx, comm.msg);
dly_tsk(20);
}
}
// asservissement tourelle
void asservis()
{
CanFrame requete ;
CanFrame reponse;
CanFrame commande;
while(1){
requete.data.id='R';
requete.data.rtr=1; //Indique une requ?te de lecture
snd_dtq(CanTx, requete.msg);
dly_tsk(10);
angle=periph[ADDR('R')].val;
comm.data.id= 'T';
comm.data.rtr= 0;
valeur=k*(consigne-angle);
comm.data.val=valeur;
snd_dtq(CanTx, comm.msg);
dly_tsk(10);
}
CanFrame requete ;
CanFrame reponse;
CanFrame comm;
while(1){
requete.data.id='R';
requete.data.rtr=1; //Indique une requ?te de lecture
snd_dtq(CanTx, requete.msg);
angle=periph[ADDR('R')].val;
dly_tsk(5);
comm.data.id= 'T';
comm.data.rtr= 0;
valeur=k*(consigne-angle);
comm.data.val=valeur;
snd_dtq(CanTx, comm.msg);
dly_tsk(10);
}
}
// asservissement direction des roues
void direction()
{
CanFrame requete ;
CanFrame reponse;
CanFrame commande;
CanFrame commande1;
CanFrame requete;
CanFrame comm;
while(1){
if(pos<2000)
{
while(mur<=pos){
requete.data.id='D';
requete.data.rtr=1; //Indique une requ?te de lecture
snd_dtq(CanTx, requete.msg);
comm.data.id= 'D';
comm.data.rtr= 0;
take=k*(mur-pos);
comm.data.val=-take;
snd_dtq(CanTx, comm.msg);
dly_tsk(5);
}
dly_tsk(10);
}
}
void distance()
{
CanFrame requete ;
while(1){
requete.data.id='U';
requete.data.rtr=1; //Indique une requ?te de lecture
snd_dtq(CanTx, requete.msg);
angle=periph[ADDR('U')].val;
commande.data.id= 'D';
commande.data.rtr= 0;
valeur=k*(consigne-angle);
commande.data.val=-valeur;
snd_dtq(CanTx, commande.msg);
dly_tsk(5);
dly_tsk(5);
pos=periph[ADDR('U')].val;
}
}
}
// distance
void distance()
void acqui()
{
CanFrame demande;
CanFrame reponse;
CanFrame commande1;
LED_V=!LED_V;
}
//affichage de la valeur de la distance sur lcd
void affichage()
{
while(1){
demande.data.id='U';
demande.data.rtr=1;
snd_dtq (CanTx,demande.msg); // Interrogation du peripherique
dly_tsk(5);
pos=periph[ADDR('U')].val; //lecture de la valeur
dly_tsk(10);
}
}
int valeur1;
char str[20];
sprintf(str,"%d",valeur1);
lcd_str(str);
}
}
void main()
{
ports_mcu();
lcd_init();
periph_init();
periph_nom("#AutoTest*");
periph_nom("#LEBANITOU*");
can_init();
clavier_init(1);
capture_init();
sta_tsk(ID_periph_rx);
sta_tsk(ID_asservis);
sta_tsk(ID_periph_rx);
//sta_tsk(ID_rotation);
sta_tsk(ID_direction);
//sta_tsk(ID_assroue);
dly_tsk(2000);
sta_tsk(ID_essai);
//sta_tsk(ID_distance);
//sta_cyc(ID_acqui);
sta_tsk(ID_affichage);
while(1){
branch/lebanitou/Emb_App/conf_noyau.cfg
//cyclic_hand[]{
// entry_address = acqui();
// name = ID_acqui;
// exinf = 0x0;
// start = OFF;
// phsatr = OFF;
// interval_counter = 0x64;
// phs_counter = 0x0;
//};
cyclic_hand[]{
entry_address = acqui();
name = ID_acqui;
exinf = 0x0;
start = OFF;
phsatr = OFF;
interval_counter = 0x64;
phs_counter = 0x0;
};
vdataqueue[]{
......
task[]{
entry_address = direction();
name = ID_direction;
name = ID_direction;
stack_size = 512;
stack_section = stack;
priority = 8;
......
exinf = 0x0;
};
//task[]{
// entry_address = distance();
// name = ID_distance;
// stack_size = 512;
// stack_section = stack;
// priority = 8;
// initial_start = OFF;
// exinf = 0x0;
//};
//task[]{
// entry_address = detection();
// name = ID_detection;
// stack_size = 512;
// stack_section = stack;
// priority = 8;
// initial_start = OFF;
// exinf = 0x0;
//};
task[]{
entry_address = distance();
name = ID_distance;
entry_address = affichage();
name = ID_affichage;
stack_size = 512;
stack_section = stack;
priority = 8;
......
//
// End of Configuration
//

Formats disponibles : Unified diff