Index: branch/colomban/Emb_App.tws
===================================================================
--- branch/colomban/Emb_App.tws	(revision 457)
+++ branch/colomban/Emb_App.tws	(revision 458)
@@ -7,29 +7,17 @@
 [GENERAL_DATA]
 [BREAKPOINTS]
 [OPEN_WORKSPACE_FILES]
-"C:\Users\macolomban1\Downloads\programme_principal_etud (4).c" 
-"E:\tp_info6_2018_colomban\tp_info6\bsp\clavier.c" 
-"E:\tp_info6_2018_colomban\tp_info6\bsp\dma0.c" 
-"E:\tp_info6_2018_colomban\tp_info6\bsp\mli.c" 
 "E:\tp_info6_2018_colomban\tp_info6\bsp\periph.c" 
-"E:\tp_info6_2018_colomban\tp_info6\bsp\radiocommande.c" 
 "E:\tp_info6_2018_colomban\tp_info6\bsp\uart0.c" 
-"E:\tp_info6_2018_colomban\tp_info6\Emb_App\conf_noyau.cfg" 
 "E:\tp_info6_2018_colomban\tp_info6\Emb_App\crt0mr.a30" 
 "E:\tp_info6_2018_colomban\tp_info6\Emb_App\Debug\mr308.inc" 
 "E:\tp_info6_2018_colomban\tp_info6\Emb_App\programme_principal_etud.c" 
 [WORKSPACE_FILE_STATES]
-"C:\Users\macolomban1\Downloads\programme_principal_etud (4).c" 150 150 1430 351 0 10 
-"E:\tp_info6_2018_colomban\tp_info6\Emb_App\Debug\mr308.inc" 0 0 1430 351 0 7 
-"E:\tp_info6_2018_colomban\tp_info6\Emb_App\conf_noyau.cfg" 0 0 1596 539 0 9 
-"E:\tp_info6_2018_colomban\tp_info6\Emb_App\crt0mr.a30" 150 150 1430 351 0 6 
-"E:\tp_info6_2018_colomban\tp_info6\Emb_App\programme_principal_etud.c" -8 -30 1596 539 1 0 
-"E:\tp_info6_2018_colomban\tp_info6\bsp\clavier.c" 75 75 1430 351 0 5 
-"E:\tp_info6_2018_colomban\tp_info6\bsp\dma0.c" 50 50 1430 351 0 4 
-"E:\tp_info6_2018_colomban\tp_info6\bsp\mli.c" 25 25 1430 351 0 3 
-"E:\tp_info6_2018_colomban\tp_info6\bsp\periph.c" 0 0 1430 351 0 2 
-"E:\tp_info6_2018_colomban\tp_info6\bsp\radiocommande.c" 150 150 1430 351 0 1 
-"E:\tp_info6_2018_colomban\tp_info6\bsp\uart0.c" 125 125 1430 351 0 8 
+"E:\tp_info6_2018_colomban\tp_info6\Emb_App\Debug\mr308.inc" 75 75 1430 351 0 3 
+"E:\tp_info6_2018_colomban\tp_info6\Emb_App\crt0mr.a30" -8 -30 1596 539 1 1 
+"E:\tp_info6_2018_colomban\tp_info6\Emb_App\programme_principal_etud.c" 0 0 1596 539 0 0 
+"E:\tp_info6_2018_colomban\tp_info6\bsp\periph.c" 100 100 1430 351 0 4 
+"E:\tp_info6_2018_colomban\tp_info6\bsp\uart0.c" 50 50 1430 351 0 2 
 [LOADED_PROJECTS]
 "EmbM32C87App" 
 [END]
Index: branch/colomban/Emb_App/SessionM32C_E8a_system.ini
===================================================================
--- branch/colomban/Emb_App/SessionM32C_E8a_system.ini	(revision 457)
+++ branch/colomban/Emb_App/SessionM32C_E8a_system.ini	(revision 458)
@@ -25,4 +25,4 @@
 [Target]
 M32C E8a SYSTEM=Renesas Communications
 [USER_DATA]
-RESET=ff001a
+RESET=ff0022
Index: branch/colomban/Emb_App/SessionM32C_E8a_system.hsf
===================================================================
--- branch/colomban/Emb_App/SessionM32C_E8a_system.hsf	(revision 457)
+++ branch/colomban/Emb_App/SessionM32C_E8a_system.hsf	(revision 458)
@@ -83,7 +83,7 @@
 "{4B022541-3E95-11D7-909C-00201898052D}ElfDwarf2Objects" "1" 
 "{4B022541-3E95-11D7-909C-00201898052D}LoadModule0OBJ_ELFDWARF2_ARRAY_EXPAND_LIMIT" "-1" 
 "{4B022541-3E95-11D7-909C-00201898052D}LoadModule0OBJ_STATUS_OF_EBD_CMD" "0" 
-"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRCtrlViews" "1" 
+"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRCtrlViews" "2" 
 "{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd0EnableRRam" "0" 
 "{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd0MrType" "2" 
 "{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd0MrType2ColumnSizeMode0Column0" "4" 
@@ -138,11 +138,66 @@
 "{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd0MrType2StatusBarMode0" "1" 
 "{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd0MrType2StatusBarMode1" "1" 
 "{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd0Sampling" "100" 
+"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1EnableRRam" "0" 
+"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType" "2" 
+"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode0Column0" "4" 
+"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode0Column1" "11" 
+"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode0Column2" "5" 
+"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode0Column3" "19" 
+"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode0Column4" "8" 
+"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode0Column5" "8" 
+"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode0Column6" "7" 
+"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode0Column7" "8" 
+"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode0Column8" "9" 
+"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode1Column0" "5" 
+"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode1Column1" "130" 
+"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode2Column0" "7" 
+"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode2Column1" "35" 
+"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode3Column0" "4" 
+"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode3Column1" "29" 
+"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode3Column2" "8" 
+"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode3Column3" "91" 
+"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode4Column0" "4" 
+"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode4Column1" "10" 
+"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode4Column2" "8" 
+"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode4Column3" "113" 
+"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode5Column0" "4" 
+"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode5Column1" "21" 
+"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode5Column2" "55" 
+"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode5Column3" "55" 
+"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode6Column0" "8" 
+"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode6Column1" "10" 
+"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode6Column2" "7" 
+"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode6Column3" "7" 
+"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode6Column4" "53" 
+"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode6Column5" "53" 
+"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode7Column0" "4" 
+"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode7Column1" "11" 
+"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode7Column2" "8" 
+"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode7Column3" "8" 
+"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode7Column4" "7" 
+"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode7Column5" "10" 
+"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode8Column0" "4" 
+"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode8Column1" "11" 
+"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode8Column2" "8" 
+"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode8Column3" "10" 
+"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode9Column0" "9" 
+"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode9Column1" "10" 
+"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode9Column2" "11" 
+"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode9Column3" "7" 
+"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode9Column4" "8" 
+"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode9Column5" "9" 
+"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode9Column6" "81" 
+"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2MrMode" "0" 
+"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2StatusBarMode0" "1" 
+"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2StatusBarMode1" "1" 
+"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1Sampling" "100" 
 "{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWndInstanceKey0" "{WK_00000001_PDMR}EmbM32C87AppSessionM32C_E8a_system" 
+"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWndInstanceKey1" "{WK_00000001_PDMR}EmbM32C87AppSessionM32C_E8a_system0" 
 "{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" "0000000000000102" 
-"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_1" "0000000000000143" 
+"{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_10" "0000000000000000" 
 "{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_11" "0000000000000000" 
 "{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_12" "0000000000000000" 
@@ -149,11 +204,11 @@
 "{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" "0000000000FF1DC1" 
+"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF058C" 
 "{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_17" "0000000000FFF800" 
-"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000AFA" 
-"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000834" 
-"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "0000000000000006" 
+"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000B16" 
+"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000850" 
+"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "0000000000000001" 
 "{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_20" "0000000000004044" 
 "{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_21" "0000000000000000" 
 "{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_22" "0000000000000000" 
@@ -171,9 +226,9 @@
 "{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" "000000000000000C" 
-"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "0000000000000005" 
-"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000B30" 
+"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_4" "000000000000000A" 
+"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "0000000000000000" 
+"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000B4C" 
 "{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" 
@@ -282,13 +337,14 @@
 [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 2 "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_00000001_DISASSEMBLY}" "WINDOW" 0 0 0 "0.00" 0 -8 -30 1596 539 9 0 "" "0.0" 
+"{WK_00000001_EVENT}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59422 0 0 "0.09" 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 3 "0.53" 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 "0.18" 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 "0.43" 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_system0" "WINDOW" 59422 0 5 "0.33" 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_PDMR}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59422 0 4 "0.01" 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 1 "0.18" 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 "0.14" 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" 
@@ -313,17 +369,11 @@
 [WINDOW_POSITION_STATE_DATA_VD3]
 [WINDOW_POSITION_STATE_DATA_VD4]
 [WINDOW_Z_ORDER]
+"E:\tp_info6_2018_colomban\tp_info6\Emb_App\crt0mr.a30" 
 "E:\tp_info6_2018_colomban\tp_info6\Emb_App\programme_principal_etud.c" 
-"E:\tp_info6_2018_colomban\tp_info6\Emb_App\crt0mr.a30" 
-"C:\Users\macolomban1\Downloads\programme_principal_etud (4).c" 
 "E:\tp_info6_2018_colomban\tp_info6\bsp\uart0.c" 
-"E:\tp_info6_2018_colomban\tp_info6\bsp\radiocommande.c" 
-"E:\tp_info6_2018_colomban\tp_info6\Emb_App\conf_noyau.cfg" 
+"E:\tp_info6_2018_colomban\tp_info6\bsp\periph.c" 
 "E:\tp_info6_2018_colomban\tp_info6\Emb_App\Debug\mr308.inc" 
-"E:\tp_info6_2018_colomban\tp_info6\bsp\periph.c" 
-"E:\tp_info6_2018_colomban\tp_info6\bsp\clavier.c" 
-"E:\tp_info6_2018_colomban\tp_info6\bsp\dma0.c" 
-"E:\tp_info6_2018_colomban\tp_info6\bsp\mli.c" 
 [TARGET_NAME]
 "M32C E8a SYSTEM" "" 0 
 [STATUSBAR_STATEINFO_VD1]
@@ -370,5 +420,5 @@
 [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 85333832 1 "{00000000-0000-0000-C000-000000000046}" "" 
+"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 92919704 1 "{00000000-0000-0000-C000-000000000046}" "" 
 [END]
Index: branch/colomban/Emb_App/crt0mr.a30
===================================================================
--- branch/colomban/Emb_App/crt0mr.a30	(revision 457)
+++ branch/colomban/Emb_App/crt0mr.a30	(revision 458)
@@ -98,7 +98,6 @@
 ;-----------------------------------------------------------------
 __SYS_INITIAL:
 LDC	#__Sys_Sp,ISP	; set initial ISP
-
 	MOV.B	#2,0AH
 	MOV.B	#00,PMOD		; Set Processor Mode Register
 	MOV.B	#0,0AH
Index: branch/colomban/Emb_App/programme_principal_etud.c
===================================================================
--- branch/colomban/Emb_App/programme_principal_etud.c	(revision 457)
+++ branch/colomban/Emb_App/programme_principal_etud.c	(revision 458)
@@ -122,10 +122,13 @@
 
 unsigned short      alpha ;
 unsigned short      dist ;
-unsigned short      k=4; //pour augmenter la vitesse jusqu'a la position souhaitée
+unsigned short      k=5; //pour augmenter la vitesse jusqu'a la position souhaitée
 unsigned short      ka=1;
 unsigned short 		cpt;
-void vitesse(unsigned short vit);
+unsigned short      vit;
+short consignes = 770;
+short consigne = 400;
+
 CanFrame comm;
 CanFrame req;
 UINT flag;
@@ -137,7 +140,7 @@
 	ports_mcu();
     lcd_init();
 	periph_init();
-	periph_nom("#AutoTest*");
+	periph_nom("#vegamissile*");
 
     can_init();
     clavier_init(1);
@@ -148,15 +151,16 @@
 	sta_tsk(ID_asserv);
 	sta_tsk(ID_roue);
 	sta_tsk(ID_capteur);
+	dly_tsk(1000);
+	sta_tsk(ID_vitesse);
+	
 	
-	dly_tsk(1500);
-	
     while(1)
     {
 		LED_J=1;
-		
+		dly_tsk(100);
 		LED_J=0;
-		vitesse(30);
+		dly_tsk(100);
         
 		
 	}
@@ -170,7 +174,7 @@
 void asservissement()
 
 {
-		unsigned short consigne = 400;
+		
 		while(1){
 			
 			req.data.id = 'R';
@@ -185,21 +189,21 @@
 			comm.data.rtr = 0;
 			comm.data.val = k*(consigne - alpha);
 			snd_dtq(CanTx, comm.msg);
-			dly_tsk(100);
+			dly_tsk(7);
 		}
 } 
 
-void vitesse(unsigned short vit){
-		comm.data.id = 'V';
-		comm.data.rtr = 0;
-		comm.data.val = vit;
-		snd_dtq(CanTx, comm.msg);
-	
-	
+void vitesse(){
+		while(1){
+			comm.data.id = 'V';
+			comm.data.rtr = 0;
+            comm.data.val = 15;
+			snd_dtq(CanTx, comm.msg);
+			dly_tsk(7);
+		}
 	}	
 
 void asserv_roue(){
-	unsigned short consignes = 770;
 	    
 		while(1){
 			req.data.id = 'U';
@@ -208,20 +212,23 @@
 			snd_dtq(CanTx, req.msg);
 			wai_flg(ev_periph,0X01,TWF_ANDW, &flag);
 			dist=periph[ADDR('U')].val;
-			if(dist>1600){
+			        if(dist>1200 || dist <400){
 					comm.data.id = 'D';
 					comm.data.rtr = 0;
 					comm.data.val = 0;
 					snd_dtq(CanTx, comm.msg);
-					dly_tsk(150);
+					dly_tsk(10);
 				
 				}
-			comm.data.id = 'D';
-			comm.data.rtr = 0;
-			comm.data.val = ka*(-consignes + dist);
-			snd_dtq(CanTx, comm.msg);
-			
-		
+				
+				
+			else{
+				comm.data.id = 'D';
+				comm.data.rtr = 0;
+				comm.data.val = ka*(-consignes + dist);
+				snd_dtq(CanTx, comm.msg);
+				dly_tsk(7);
+			}
 		}		
 	}
 
@@ -235,5 +242,113 @@
 			wai_flg(ev_periph,0X01,TWF_ANDW, &flag);
 			cpt=periph[ADDR('C')].val;
 			
+			if(cpt==0x6301){
+				sus_tsk(ID_roue);
+				sus_tsk(ID_vitesse);
+				comm.data.id = 'V';
+				comm.data.rtr = 0;
+	            comm.data.val = 50;
+				snd_dtq(CanTx, comm.msg);
+				dly_tsk(7);
+				}
+			if(cpt==0x7600){
+				comm.data.id = 'V';
+				comm.data.rtr = 0;
+	            comm.data.val = 10;
+				snd_dtq(CanTx, comm.msg);
+				dly_tsk(14);
+				rsm_tsk(ID_roue);
+				rsm_tsk(ID_vitesse);
+				dly_tsk(7);
+				}
+			if(cpt==0x7601){
+				consignes = 950;
+				}	
+				dly_tsk(7);
+			if(cpt==0x7602){
+				consignes = 770;
+				}	
+				dly_tsk(7);
+			if(cpt==0x7603 || cpt==0x7604){
+					sus_tsk(ID_vitesse);
+					sus_tsk(ID_roue);
+				comm.data.id = 'V';
+				comm.data.rtr = 0;
+	            comm.data.val = 5;
+				snd_dtq(CanTx, comm.msg);
+			consigne = 700;
+			consignes = 529;
+			 
+			 	req.data.id = 'U';
+			req.data.rtr = 1;
+			periph[ADDR('U')].ev=0X01;
+			snd_dtq(CanTx, req.msg);
+			wai_flg(ev_periph,0X01,TWF_ANDW, &flag);
+			dist=periph[ADDR('U')].val;
+			        if(dist>1200){
+					comm.data.id = 'D';
+					comm.data.rtr = 0;
+					comm.data.val = 0;
+					snd_dtq(CanTx, comm.msg);
+					dly_tsk(10);
+				
+				}
+				
+				
+			else{
+				comm.data.id = 'D';
+				comm.data.rtr = 0;
+				comm.data.val = (-consignes + dist);
+				snd_dtq(CanTx, comm.msg);
+				dly_tsk(7);
+			}
+				}	
+				
+			
+			
+			if(cpt==0x7605){
+				consignes = 770;
+			 	consigne = 400;
+				rsm_tsk(ID_roue);
+				rsm_tsk(ID_vitesse);
+				dly_tsk(7);
+				}
+				
+			if(cpt==0x7606){
+				sus_tsk(ID_roue);
+				sus_tsk(ID_vitesse);
+				comm.data.id = 'V';
+				comm.data.rtr = 0;
+	            comm.data.val = 49;
+				snd_dtq(CanTx, comm.msg);
+				dly_tsk(7);
+				}
+			if(cpt==0x7607){
+				comm.data.id = 'V';
+				comm.data.rtr = 0;
+	            comm.data.val = 11;
+				snd_dtq(CanTx, comm.msg);
+				dly_tsk(14);
+				rsm_tsk(ID_roue);
+				rsm_tsk(ID_vitesse);
+				dly_tsk(7);
+				}
+			
+				if(cpt==0x7608){
+				consignes = 950;
+				}	
+				dly_tsk(7);
+			if(cpt==0x7609){
+				sus_tsk(ID_vitesse);
+				comm.data.id = 'V';
+				comm.data.rtr = 0;
+	            comm.data.val = 10;
+				snd_dtq(CanTx, comm.msg);
+				dly_tsk(7);
+				}	
+						
+					
+			
+			}				
 	}
-}
\ No newline at end of file
+	 
Index: branch/colomban/Emb_App/conf_noyau.cfg
===================================================================
--- branch/colomban/Emb_App/conf_noyau.cfg	(revision 457)
+++ branch/colomban/Emb_App/conf_noyau.cfg	(revision 458)
@@ -2,7 +2,7 @@
 //
 //    kernel.cfg : building file for MR308 Ver.4.00
 //
-//    Generated by M3T-MR308 GUI Configurator at 2018/12/14 14:46:45
+//    Generated by M3T-MR308 GUI Configurator at 2018/12/19 13:36:15
 //
 ////////////////////////////////////////////////////////////////////////////////
 
@@ -9,7 +9,7 @@
 // system definition
 system{
 	stack_size	= 256;
-	priority	= 9;
+	priority	= 10;
 	system_IPL	 = 4;
 	message_pri	 = 1;
 	timeout	 = YES;
@@ -20,7 +20,7 @@
 
 // max definition
 maxdefine{
-	max_task	= 6;
+	max_task	= 7;
 	max_flag	= 3;
 	max_dtq	= 2;
 	max_cyh	= 1;
@@ -88,6 +88,15 @@
 	initial_start	= OFF;
 	exinf	= 0x0;
 };
+task[]{
+	entry_address	= vitesse();
+	name	= ID_vitesse;
+	stack_size	= 256;
+	stack_section	= stack;
+	priority	= 10;
+	initial_start	= OFF;
+	exinf	= 0x0;
+};
 
 flag[]{
 	name	= ev_bus_fin_tr;
Index: branch/colomban/Emb_App/conf_noyau.hcf
===================================================================
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