Révision 431
Ajouté par melepogam il y a plus de 6 ans
| branch/lepogam/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=ff004c
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RESET=ff0050
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| branch/lepogam/Emb_App/programme_principal_etud.c | ||
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unsigned int vitesse=0;
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unsigned int couleur=0; // vert -> ligne droie
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unsigned int npiste=0;
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unsigned int lectM=0;
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unsigned int feu=0;
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unsigned int distance_ref=700;
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unsigned int distance_ref_init=700;
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unsigned int consigne=450;
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| ... | ... | |
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snd_dtq (CanTx,demande.msg); // Interrogation du peripherique
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dly_tsk(500);
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npiste=periph[ADDR('M')].val<<8; // contient la valeur de retour du simulateur.
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// contient la valeur de retour du simulateur.
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npiste=periph[ADDR('M')].val<<8;
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switch(npiste){
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| ... | ... | |
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vitesse=vitesse_min; //virage
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}
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}
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void feu_t(){
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CanFrame comm;
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CanFrame demande;
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CanFrame reponse;
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while(1){
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demande.data.id='M';
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demande.data.rtr=1;
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snd_dtq (CanTx,demande.msg); // Interrogation du peripherique
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dly_tsk(100);
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lectM=periph[ADDR('M')].val>>15; //lecture feu
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if (lectM==1){
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feu=1;
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ext_tsk();
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}
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}
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}
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void main()
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{
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| ... | ... | |
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sta_tsk(ID_periph_rx);
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sta_tsk(ID_piste);
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sta_tsk(ID_feu_t);
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sta_tsk(ID_asserv_tourelle);
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sta_tsk(ID_asserv_roue);
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sta_cyc(ID_asserv1);
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| ... | ... | |
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dly_tsk(600); // attente mise en place de la tourelle
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while (feu!=1);
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sta_tsk(ID_asserv_vitesse);
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sta_cyc(ID_asserv3);
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| branch/lepogam/Emb_App/conf_noyau.cfg | ||
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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 = feu_t();
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name = ID_feu_t;
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stack_size = 256;
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stack_section = stack;
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priority = 6;
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initial_start = OFF;
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exinf = 0x0;
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};
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flag[]{
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name = ev_bus_fin_tr;
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initial_pattern = 0x0000;
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