Révision 436
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=ff0050
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RESET=ff0052
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| branch/lepogam/Emb_App/programme_principal_etud.c | ||
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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 arret=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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}
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}
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}
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void arret_urgence(){
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CanFrame comm;
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while(1){
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if(Bp_G==1 && arret==0){
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comm.data.id='V'; //envoi consigne vitesse
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comm.data.rtr=0;
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comm.data.val=0;
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snd_dtq (CanTx,comm.msg);
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sus_tsk(ID_asserv_tourelle);
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sus_tsk(ID_asserv_roue);
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sus_tsk(ID_asserv_vitesse);
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arret=1;
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}
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if(Bp_G==0 && arret==1){
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rsm_tsk(ID_asserv_tourelle);
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rsm_tsk(ID_asserv_roue);
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rsm_tsk(ID_asserv_vitesse);
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arret=0;
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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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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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sta_cyc(ID_asserv3);
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sta_tsk(ID_arret);
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while(1)
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{
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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 = arret_urgence();
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name = ID_arret;
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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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Formats disponibles : Unified diff
arret urgence ok