Révision 46
Ajouté par nacao il y a plus de 6 ans
| branch/nan_cao/Emb_App/programme_principal_etud.c | ||
|---|---|---|
|
// correspondant au nom du v?hicule si le nom se termine par '*'
|
||
|
|
||
|
|
||
|
|
||
|
|
||
|
|
||
|
|
||
|
void mesureD(){
|
||
|
CanFrame demande;
|
||
|
CanFrame reponse;
|
||
|
CanFrame comm;
|
||
|
unsigned int alpha;
|
||
|
int g=10;
|
||
|
while(1){
|
||
|
dly_tsk(10);
|
||
|
demande.data.id='R';
|
||
|
demande.data.rtr=1;
|
||
|
snd_dtq (CanTx,demande.msg);
|
||
|
rcv_dtq (CanRx,&reponse.msg);
|
||
|
alpha=reponse.data.val;
|
||
|
comm.data.id='T';
|
||
|
comm.data.rtr=0;
|
||
|
comm.data.val=g*(alpha-45);
|
||
|
snd_dtq(CanTx, comm.msg);
|
||
|
|
||
|
}
|
||
|
|
||
|
}
|
||
|
|
||
|
|
||
|
|
||
|
void main()
|
||
|
{
|
||
|
{
|
||
|
CanFrame comm;
|
||
|
CanFrame commD;
|
||
|
|
||
|
ports_mcu();
|
||
|
lcd_init();
|
||
|
periph_init();
|
||
| ... | ... | |
|
can_init();
|
||
|
clavier_init(1);
|
||
|
capture_init();
|
||
|
|
||
|
|
||
|
sta_tsk(tache1);
|
||
|
sta_cyc(ID_acqui);
|
||
|
// sta_tsk(ID_periph_rx);
|
||
|
// sta_tsk(ID_periph_rx);
|
||
|
|
||
|
|
||
|
|
||
|
comm.data.id='V';
|
||
|
comm.data.rtr=0;
|
||
|
comm.data.val=20;
|
||
|
snd_dtq(CanTx, comm.msg);
|
||
|
|
||
|
comm.data.id='D';
|
||
|
comm.data.rtr=0;
|
||
|
comm.data.val=0;
|
||
|
snd_dtq(CanTx, comm.msg);
|
||
|
|
||
|
|
||
|
while(1)
|
||
|
{
|
||
|
LED_J=1;
|
||
|
dly_tsk(100);
|
||
|
LED_J=0;
|
||
|
dly_tsk(100);
|
||
|
dly_tsk(100);
|
||
|
// LED_R=1;
|
||
|
// dly_tsk(100);
|
||
|
// LED_R=0;
|
||
|
// dly_tsk(100);
|
||
|
}
|
||
|
}
|
||
|
|
||
|
void acqui()
|
||
|
{
|
||
|
LED_V=!LED_V;
|
||
|
}
|
||
|
|
||
|
}
|
||
| branch/nan_cao/Emb_App/conf_noyau.cfg | ||
|---|---|---|
|
exinf = 0x0;
|
||
|
};
|
||
|
task[]{
|
||
|
entry_address = mesureD();
|
||
|
name = tache1;
|
||
|
stack_size = 512;
|
||
|
stack_section = stack;
|
||
|
priority = 4;
|
||
|
initial_start = OFF;
|
||
|
exinf = 0x0;
|
||
|
};
|
||
|
task[]{
|
||
|
entry_address = periph_tx();
|
||
|
name = ID_periph_tx;
|
||
|
stack_size = 256;
|
||
Formats disponibles : Unified diff
mesure l'angle et faire bouger l'automobile