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Révision 44

Ajouté par zaschiano il y a plus de 6 ans

Asservissement de la tourelle fonctionnel

Voir les différences:

branch/schiano/Emb_App.tws
[GENERAL_DATA]
[BREAKPOINTS]
[OPEN_WORKSPACE_FILES]
"E:\tp_info6_2018_schiano\tp_info6\Emb_App\conf_noyau.cfg"
"E:\tp_info6_2018_schiano\tp_info6\Emb_App\crt0mr.a30"
"E:\tp_info6_2018_schiano\tp_info6\Emb_App\Debug\mr308.inc"
"E:\tp_info6_2018_schiano\tp_info6\Emb_App\Debug\sys_rom.inc"
"E:\tp_info6_2018_schiano\tp_info6\Emb_App\programme_principal_etud.c"
[WORKSPACE_FILE_STATES]
"E:\tp_info6_2018_schiano\tp_info6\Emb_App\Debug\mr308.inc" 50 50 1430 351 0 3
"E:\tp_info6_2018_schiano\tp_info6\Emb_App\Debug\sys_rom.inc" 0 0 1430 351 0 4
"E:\tp_info6_2018_schiano\tp_info6\Emb_App\conf_noyau.cfg" 25 25 1430 351 0 1
"E:\tp_info6_2018_schiano\tp_info6\Emb_App\crt0mr.a30" 50 50 1430 351 0 2
"E:\tp_info6_2018_schiano\tp_info6\Emb_App\programme_principal_etud.c" -8 -30 1596 539 1 0
[LOADED_PROJECTS]
"EmbM32C87App"
branch/schiano/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" "0000000000004044"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_1" "0000000000000020"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_0" "0000000000000001"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_1" "0000000000000000"
"{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" "0000000000000512"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF056E"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF311B"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_17" "0000000000FFF800"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000928"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "000000000000074A"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000A20"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000824"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_20" "0000000000004004"
"{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_33" "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" "0000000000000008"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000946"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_4" "0000000000000004"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "00000000001200FF"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000A20"
"{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"
......
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ColWidth2" "120"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ColWidth3" "200"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH" "c,buff,n,rx,flag,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000" "dma0_fin_tr, 2, 0, P, Col, Hex, MN"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "0"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000" "reponse.data.val, 10, 0, P, Col, Hex, N"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000_SCOPE" "Global,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001" "alpha, 2, 0, P, Col, Hex, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002" "teta, 2, 0, P, Col, Hex, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0003" "distancemur, 2, 0, P, Col, Hex, 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"
......
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 0 "0.14" 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 2 "0.09" 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 "0.16" 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" 365 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 1 "1.00" 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 "0.15" 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 3 "0.55" 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 4 "0.16" 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_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 "0.13" 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 1 "0.18" 365 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"
......
[WINDOW_POSITION_STATE_DATA_VD3]
[WINDOW_POSITION_STATE_DATA_VD4]
[WINDOW_Z_ORDER]
"E:\programmation\Travaux_Pratiques\Polytech_Ge_Travaux_Pratiques_2018\polytech-ge-info6-2018\trunk\tp_info6\Emb_App\programme_principal_etud.c"
"E:\tp_info6_2018_schiano\tp_info6\Emb_App\programme_principal_etud.c"
"E:\tp_info6_2018_schiano\tp_info6\Emb_App\conf_noyau.cfg"
"E:\tp_info6_2018_schiano\tp_info6\Emb_App\Debug\sys_rom.inc"
"E:\tp_info6_2018_schiano\tp_info6\Emb_App\crt0mr.a30"
"E:\tp_info6_2018_schiano\tp_info6\Emb_App\Debug\mr308.inc"
[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 0 1 "{00000000-0000-0000-C000-000000000046}" ""
"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 94254904 1 "{00000000-0000-0000-C000-000000000046}" ""
[END]
branch/schiano/Emb_App/programme_principal_etud.c
#include "carte_io.h"
#include "carte_m32.h"
#include <math.h>
void asserv0(void);
//void asserv0(void);
// Potentiometre: lire les registres ad00 et ad01, les valeurs sont sur 10 bits.
// Clavier: vrcv_dtq(QdmTouche,&code_touche) pour lire la derniere touche appuyee sur le clavier.
......
unsigned int alpha =0;
unsigned int teta =100;
unsigned int consignealpha = 450;
unsigned int angleRoue =0;
//unsigned int distancemur =0;
//unsigned int consignedistance = 724;
int k=10;
void main()
{
......
sta_cyc(ID_acqui);
// sta_tsk(ID_periph_rx);
sta_cyc(ID_asserv1);
sta_tsk(ID_asserv0);
//sta_cyc(ID_asservangleroue);
//sta_tsk(ID_asservRoue);
while(1)
{
//LED_J=1;
//dly_tsk(100);
//LED_J=0;
//dly_tsk(100);
asserv0();
//asserv0();
}
}
......
}
void asserv0()
{
{
CanFrame comm;
//CanFrame go;
CanFrame go;
CanFrame demande;
CanFrame reponse;
int k=1;
while(1){
comm.data.id='T';
comm.data.rtr=0;
comm.data.val=teta; //consigne de vitesse de rotation de la tourelle
comm.data.id='T';
comm.data.rtr=0;
comm.data.val=teta; //consigne de vitesse de rotation de la tourelle
snd_dtq (CanTx,comm.msg);
snd_dtq (CanTx,comm.msg);
/*go.data.id='V';
go.data.rtr=0;
go.data.val=100; //consigne de vitesse de rotation de la voiture
go.data.id='V';
go.data.rtr=0;
go.data.val=10; //consigne de vitesse de la voiture
snd_dtq (CanTx,go.msg);*/
snd_dtq (CanTx,go.msg);
demande.data.id='R';
demande.data.rtr=1;
demande.data.id='R';
demande.data.rtr=1;
snd_dtq (CanTx,demande.msg); // Interrogation du peripherique
rcv_dtq (CanRx,&reponse.msg); // Attente de la reponse
snd_dtq (CanTx,demande.msg); // Interrogation du peripherique
rcv_dtq (CanRx,&reponse.msg); // Attente de la reponse
alpha = reponse.data.val;
alpha = reponse.data.val;
//if (alpha==450)teta = (alpha -450);
if (alpha!=450)teta = k*(450 - alpha);
}
}
}
void asserv1(){
if (alpha!=consignealpha)teta = k*(consignealpha - alpha);
}
/*void asservRoue(){
CanFrame angle;
CanFrame demandeU;
CanFrame reponseU;
while(1){
angle.data.id='D';
angle.data.rtr=0;
angle.data.val=angleRoue; //consigne d'angle des roues de la voiture
snd_dtq (CanTx,angle.msg);
demandeU.data.id='U';
demandeU.data.rtr=1;
snd_dtq (CanTx,demandeU.msg); //Interrogation du peripherique
rcv_dtq (CanRx,&reponseU.msg); //Attente de la reponse
distancemur = reponseU.data.val;
}
}*/
/*void asservangleroue(){
if (distancemur!=consignedistance)angleRoue = (consignedistance - distancemur);
}*/
branch/schiano/Emb_App/conf_noyau.cfg
exinf = 0x0;
};
task[]{
entry_address = asservRoue();
name = ID_asservRoue;
stack_size = 256;
stack_section = stack;
priority = 5;
initial_start = OFF;
exinf = 0x0;
};
task[]{
entry_address = asserv0();
name = ID_asserv0;
stack_size = 256;
stack_section = stack;
priority = 4;
initial_start = OFF;
exinf = 0x0;
};
flag[]{
name = ev_bus_fin_tr;
initial_pattern = 0x0000;
......
phs_counter = 0x0;
};
cyclic_hand[]{
entry_address = asserv1();
name = ID_asserv1;
exinf = 0x0;
start = OFF;
phsatr = OFF;
interval_counter = 100;
phs_counter = 0x0;
};
cyclic_hand[]{
entry_address = asservangleroue();
name = ID_asservangleroue;
exinf = 0x0;
start = OFF;
phsatr = OFF;
interval_counter = 150;
phs_counter = 0x0;
};
vdataqueue[]{
name = QdmTouche;
wait_queue = TA_TFIFO;

Formats disponibles : Unified diff