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Révision 457

Ajouté par anbelin1 il y a plus de 6 ans

Besoin de plus de robustesse sur piste noire pour 3 tours

     "E:\tp_info_2018_belin\bsp\lcd.c"
     "E:\tp_info_2018_belin\bsp\lcd.h"
     "E:\tp_info_2018_belin\bsp\mli.h"
     "E:\tp_info_2018_belin\bsp\periph.c"
     "E:\tp_info_2018_belin\bsp\uart0.c"
     "E:\tp_info_2018_belin\Emb_App\crt0mr.a30"
     "E:\tp_info_2018_belin\Emb_App\Debug\mr308.inc"
     "E:\tp_info_2018_belin\Emb_App\Debug\mrtable.a30"
     "E:\tp_info_2018_belin\Emb_App\programme_principal_etud.c"
     [WORKSPACE_FILE_STATES]
     "E:\tp_info_2018_belin\Emb_App\Debug\mr308.inc" 175 175 765 416 0 7
     "E:\tp_info_2018_belin\Emb_App\Debug\mrtable.a30" 0 0 765 416 0 8
     "E:\tp_info_2018_belin\Emb_App\crt0mr.a30" 175 175 765 416 0 2
     "E:\tp_info_2018_belin\Emb_App\programme_principal_etud.c" -8 -30 956 629 1 1
     "E:\tp_info_2018_belin\bsp\lcd.c" 50 50 765 416 0 5
     "E:\tp_info_2018_belin\Emb_App\programme_principal_etud.c" 0 0 956 629 0 1
     "E:\tp_info_2018_belin\bsp\lcd.c" -8 -30 956 629 1 5
     "E:\tp_info_2018_belin\bsp\lcd.h" 0 0 765 416 0 3
     "E:\tp_info_2018_belin\bsp\mli.h" 25 25 765 416 0 4
     "E:\tp_info_2018_belin\bsp\periph.c" 25 25 765 416 0 9
     "E:\tp_info_2018_belin\bsp\uart0.c" 75 75 765 416 0 6
     [LOADED_PROJECTS]
     "EmbM32C87App"

     "{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" "0000000000FFFFFF"
     "{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" "000000000000C400"
     "{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_15" "0000000000000512"
     "{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF2CC5"
     "{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_17" "0000000000FFF800"
     "{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000001004"
     "{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000844"
     "{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" "00000000000000C8"
     "{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_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_4" "0000000000FF0033"
     "{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "000000000040054E"
     "{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "000000000000100A"
     "{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}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" "capt, 2, 0, P, Col, Hex, N"
     "{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000" "capt, 2, 0, P, Col, Hex, MA"
     "{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000_SCOPE" "Current Scope,"
     "{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001" "NomPiste, 2, 0, P, Col, Hex, N"
     "{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001" "NomPiste, 2, 0, P, Col, Hex, MA"
     "{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001_SCOPE" "Global,"
     "{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002" "GEL, 2, 0, P, Col, Hex, N"
     "{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002" "GEL, 2, 0, P, Col, Hex, MA"
     "{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002_SCOPE" "Global,"
     "{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0003" "Distance, 2, 0, P, Col, Dec, N"
     "{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0003" "Distance, 1, 0, P, Col, Dec, MA"
     "{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0003_SCOPE" "Global,"
     "{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "4"
     "{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0004" "Distance, 1, 0, P, Col, Dec, MA"
     "{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0004_SCOPE" "Current Scope,"
     "{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0005" "consigneP, 1, 0, P, Col, Dec, MA"
     "{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0005_SCOPE" "Current Scope,"
     "{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0006" "K, 2, 0, P, Col, Hex, MA"
     "{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0006_SCOPE" "Global,"
     "{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "7"
     "{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth0" "120"
     "{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth1" "150"
     "{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth12" "200"
-...
     [WINDOW_POSITION_STATE_DATA_VD3]
     [WINDOW_POSITION_STATE_DATA_VD4]
     [WINDOW_Z_ORDER]
     "E:\tp_info_2018_belin\bsp\lcd.c"
     "E:\tp_info_2018_belin\Emb_App\programme_principal_etud.c"
     "E:\tp_info_2018_belin\Disassembly"
     "E:\tp_info_2018_belin\Emb_App\crt0mr.a30"
     "E:\tp_info_2018_belin\bsp\periph.c"
     "E:\tp_info_2018_belin\Emb_App\Debug\mrtable.a30"
     "E:\tp_info_2018_belin\Emb_App\Debug\mr308.inc"
     "E:\tp_info_2018_belin\bsp\uart0.c"
     "E:\tp_info_2018_belin\bsp\lcd.h"
     "E:\tp_info_2018_belin\bsp\lcd.c"
     "E:\tp_info_2018_belin\bsp\mli.h"
     "E:\tp_info_2018_belin\Disassembly"
     [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 100016304 1 "{00000000-0000-0000-C000-000000000046}" ""
     "d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 92807344 1 "{00000000-0000-0000-C000-000000000046}" ""
     [END]

     ; after reset,this program will start
     ;-----------------------------------------------------------------
     __SYS_INITIAL:
     	LDC	#__Sys_Sp,ISP	; set initial ISP
     ;	LDC	#__Sys_Sp,ISP	; set initial ISP
     	MOV.B	#2,0AH
     	MOV.B	#00,PMOD		; Set Processor Mode Register

     //'I'/73/Ox49 : D?finition du nom du v?hicule. Doit d?buter par le caract?re '#' et entraine le chargement de la configuration de piste
     //				correspondant au nom du v?hicule si le nom se termine par '*'
     unsigned short pos_tourelle;
     short pos_tourelle;
     unsigned short capt=0;
     unsigned short GEL=0;
     unsigned short NomPiste;
     unsigned short consigneP;
     unsigned short Distance;
     unsigned short consigneT;
     short consigneP;
     short Distance;
     short consigneT;
     unsigned short K;
-...
     		retour=periph[ADDR('R')].val;
     		//Asservissement
     		correction=8*(consigneT-retour);
     		correction=5*(consigneT-retour);
     		comm.data.id='T';
     		comm.data.rtr = 0;
     		comm.data.val = correction;
-...
     void position(){
     	CanFrame req;
     	CanFrame comm;
     	unsigned short correction;
     	short correction;
     	consigneP=700;
     	while(1){
-...
+    		}
     		else{
     				//Asservissement
     				correction=1*(Distance-consigneP);
     				correction=K*(Distance-consigneP);
     				comm.data.id='D';
     				comm.data.rtr = 0;
     				comm.data.val = correction;
-...
     				snd_dtq(CanTx,comm.msg);
     				dly_tsk(10);
+    		}
     		dly_tsk(10);
     		dly_tsk(3);
+    	}
+    }
-...
+    		}
     		//Circuit noir
     		if(capt==0x5601) GEL=1;
     		if(capt==0x7600){
     			consigneP=950;
     		if(capt==0x5601){
     			GEL=1;
     			K=1;
     			commMoteur(25);
     			consigneT=450;
     			consigneP=700;
+    		}
     		if(capt==0x4A01)consigneP=700;
     		if(capt==0x6201) GEL=1;
     		if(capt==0x7600) consigneP=900;
     		if(capt==0x4a01)consigneP=700;
     		if(capt==0x5602){
     			K=3;
     			commMoteur(10);
     			consigneT=700;
     			dly_tsk(80);
     			consigneP=525;
+    		}
     		if(capt==0x5603) commMoteur(20);
     		if(capt==0x7680){
     			commMoteur(42);
     			GEL=1;
     			K=1;
+    		}
     		if(capt==0x4203){
     			commMoteur(10);
     			GEL=0;
+    		}
     		if(capt==0x6208)commMoteur(0);
     		if(capt==0x5604) commMoteur(13);
     		dly_tsk(30);
+    	}
+    }
-...
     			break;
     			case 0x0100: lcd_str("Piste Verte");
     			break;
     			ter_tsk();
+    		}
     		dly_tsk(20);
+    	}
+    }
-...
     	sta_tsk(ID_tourelle);
     	sta_tsk(ID_position);
     	sta_tsk(ID_capteur);
     	sta_tsk(ID_nomPiste);
     	//sta_tsk(ID_nomPiste);
     	dly_tsk(500);
     	commMoteur(25);
     	K=1;
         while(1)
+        {
     		LED_J=1;

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Travaux Pratiques » Polytech Ge Info6 2018

Révision 457

Ajouté par anbelin1 il y a plus de 6 ans