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Révision 460

Ajouté par hanzhang1 il y a plus de 6 ans

piste noir,
arret urgence,
affiche la zone et la piste dans LCD,
fonction normalement lorsque le Feu Tricolore est Vert

Voir les différences:

branch/zhang/Emb_App.tws
"E:\tp_info6_zhan\Emb_App\Debug\mr308.inc" 125 125 1430 351 0 5
"E:\tp_info6_zhan\Emb_App\conf_noyau.cfg" 75 75 1430 351 0 3
"E:\tp_info6_zhan\Emb_App\crt0mr.a30" 25 25 1430 351 0 1
"E:\tp_info6_zhan\Emb_App\programme_principal_etud.c" -8 -30 940 171 1 0
"E:\tp_info6_zhan\Emb_App\programme_principal_etud.c" -8 -30 1596 534 1 0
"E:\tp_info6_zhan\bsp\lcd.c" 100 100 1430 351 0 4
"E:\tp_info6_zhan\bsp\periph.c" 0 0 1430 351 0 7
"E:\tp_info6_zhan\bsp\uart0.c" 150 150 1430 351 0 6
"E:\tp_info6_zhan\bsp\uart0.c" 0 0 1430 351 0 6
[LOADED_PROJECTS]
"EmbM32C87App"
[END]
branch/zhang/Emb_App/SessionM32C_E8a_system.ini
[Target]
M32C E8a SYSTEM=Renesas Communications
[USER_DATA]
RESET=ff0126
RESET=ff0186
branch/zhang/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" "0000000000000044"
"{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_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" "0000000000FF0687"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF06ED"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_17" "0000000000FFF800"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000E98"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000BD0"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000EC6"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000BFE"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "0000000000000001"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_20" "0000000000000044"
"{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"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_23" "0000000000000000"
......
"{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" "0000000000000ECC"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000EFA"
"{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"
......
"{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 "0.11" 370 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 2 "0.54" 370 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 "0.18" 370 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 2 "0.46" 370 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 "0.26" 370 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 "0.17" 370 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"
......
[WINDOW_POSITION_STATE_DATA_VD4]
[WINDOW_Z_ORDER]
"E:\tp_info6_zhan\Emb_App\programme_principal_etud.c"
"E:\tp_info6_zhan\bsp\lcd.c"
"E:\tp_info6_zhan\Emb_App\crt0mr.a30"
"E:\tp_info6_zhan\bsp\lcd.c"
"E:\tp_info6_zhan\Emb_App\conf_noyau.cfg"
"E:\tp_info6_zhan\bsp\uart0.c"
"E:\tp_info6_zhan\bsp\periph.c"
"E:\tp_info6_zhan\Emb_App\Debug\mr308.inc"
"E:\tp_info6_zhan\Emb_App\conf_noyau.cfg"
"E:\tp_info6_zhan\Emb_App\Debug\kernel_id.h"
[TARGET_NAME]
"M32C E8a SYSTEM" "" 0
......
[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 93968296 1 "{00000000-0000-0000-C000-000000000046}" ""
"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 74635768 1 "{00000000-0000-0000-C000-000000000046}" ""
[END]
branch/zhang/Emb_App/programme_principal_etud.c
//8 La piste a change , remis a zero lors de la lecture du peripherique 'M'
//9 Le mode de course a change , remis a zero lors de la lecture du peripherique 'M'
//10
//11 Le vehicule a termine un tour, remis a zero au changement du mode de course.
//11 Le vehicule a termine un tour, remis a zerpo au changement du mode de course.
//12 Sortie de la piste,
//13 Teleportation a ete utilisee, remis a zero au changement de piste ou du mode de course.
//14 Faux depart remise a zero au changement du mode de course.
......
unsigned int c; //
unsigned int touche_couleur; //capteur de couleur
unsigned int pist; //piste V B R N
int feu; //feu tricolore
int a;
int b;
void main()
{
ports_mcu();
lcd_init();
periph_init();
periph_nom("ZHANG");
periph_nom("zhang");
can_init();
clavier_init(1);
......
sta_tsk(ID_periph_rx); //config de periph, donc je peut utilise periph(R U)
// sta_cyc(ID_asserv);
sta_tsk(ID_capteur_couleur);
sta_tsk(ID_zone);
sta_tsk(ID_piste);
sta_tsk(ID_comm_feu);
sta_tsk(ID_control_tourelle);
sta_tsk(ID_control_direct);
sta_tsk(ID_vitesse);
sta_cyc(ID_affiche);
......
/*****************************************************************************************/
void control_tourelle(){
// Q5 obtenir l'angle
// et commande la vitesse de tourelle(asservissement)
CanFrame requete, reponse, comm;
CanFrame requete, comm;
FLGPTN flag;
unsigned int a;
float kt = 2;
......
FLGPTN flag;
while(1){
requete.data.id = 'C'; // angle de tourelle
requete.data.id = 'C';
requete.data.rtr = 1; //indique une requ?te(demende) de lecture
periph[ADDR('C')].ev=0x03; // event mise au 0x01
snd_dtq(CanTx, requete.msg); //send demendes
......
wai_flg (ev_periph,0x03,TWF_ANDW,&flag); //wait reponse
touche_couleur = periph[ADDR('C')].val;
dly_tsk(20);
dly_tsk(10);
}
}
void piste(){
CanFrame requete;
void piste(){ // lecture pist et feu
CanFrame requete,comm;
FLGPTN flag;
int a;
while(1){
requete.data.id = 'M'; // angle de tourelle
......
a = periph[ADDR('M')].val;
pist = a & 0x00FF; //1Vert 2Bleu 3Rouge 4Roir
feu = (a & 0x8000)>>15; //1:vert feu
dly_tsk(10);
}
}
void comm_feu(){
CanFrame requete,comm;
FLGPTN flag;
a = a & 0x7fff; //set feu est rouge
comm.data.id = 'M'; // vitesse de tourelle
comm.data.rtr = 0;
comm.data.val = a; //command feu est vert
snd_dtq(CanTx, comm.msg); //send command
dly_tsk(300);
comm.data.id = 'M'; // vitesse de tourelle
comm.data.rtr = 0;
comm.data.val = a|0x8000; //command feu est vert
snd_dtq(CanTx, comm.msg); //send command
}
void zone(){ // lecture pist et feu
CanFrame requete;
FLGPTN flag;
while(1){
requete.data.id = 'C'; // angle de tourelle
requete.data.rtr = 1; //indique une requ?te(demende) de lecture
periph[ADDR('C')].ev=0x06; // event mise au 0x01
snd_dtq(CanTx, requete.msg); //send demendes
wai_flg (ev_periph,0x06,TWF_ANDW,&flag); //wait reponse
b = periph[ADDR('C')].val;
dly_tsk(10);
}
}
/******************************************************************************/
void control_direct(){
CanFrame requete, reponse, comm;
......
c = kd *( distance - 705);
if( pist==2){
if( touche_couleur == 0x5603) {
if(distance<680|| distance>725) distance = 705;
c = distance - 705;
}
}
if( pist==3){ //piste rouge
if( touche_couleur == 0x5603) c = 0;
if( touche_couleur == 0x5601) {
if(distance>1000) distance = 705;
c = distance - 705;
}
if( touche_couleur == 0x5602) {
if(distance<680|| distance>725) distance = 705;
c = distance - 705;
}
if( touche_couleur == 0x5603) {
if(distance<700 || distance>730) c = 0;
}
if( touche_couleur == 0x5604) {
if(distance>725) distance = 705;
c = distance - 705;
}
}
if( pist==4){ //piste noir
if( touche_couleur == 0x5601) {
c = distance - 900;
if(distance<800 || distance>1100) c =0;
if(distance<670 || distance>1200) c = 0;
}
if( touche_couleur == 0x5602) {
if(distance<680|| distance>725) distance = 705;
c = distance - 705;
c = 1*(distance - 705);
}
if( touche_couleur == 0x5603) {
c = kd *( distance - 705);
if(distance<700 || distance>730) c =0;
if(distance<700 || distance>730) c = 0;
}
}
if( pist==7){ //piste rouge
if( touche_couleur == 0x5603) c = 0;
}
if( pist==8){ //piste noir
if( touche_couleur == 0x5603) {
if(distance<700 || distance>730) c =0;
}
}
comm.data.id = 'D';
comm.data.rtr = 0;
comm.data.val = c;
snd_dtq(CanTx, comm.msg);
}
}
}
/****************************************************************************/
void affiche(){
......
char str3[20];
lcd_com(0xC0);
sprintf(str1," %d ", distance);
lcd_str(str1);
if(pist == 1)
lcd_str("piste vert ");
if(pist == 2)
lcd_str("piste bleu ");
if(pist == 3)
lcd_str("piste rouge ");
if(pist == 4)
lcd_str("piste noir ");
lcd_com(0x90);
sprintf(str2," %d ", pist);
lcd_str(str2);
if((b&0x0001) == 0x0001)
lcd_str("zone Vert");
if((b&0x0002) == 0x0002)
lcd_str("zone Jaune");
if((b&0x0004) == 0x0004)
lcd_str("zone Rouge");
if((b&0x0008) == 0x0008)
lcd_str("zone Bleu");
if((b&0x0010) == 0x0010)
lcd_str("zone Cyan");
lcd_com(0xD0);
sprintf(str3," %x ", touche_couleur);
lcd_str(str3);
......
/*******************************************************************************/
void vitesse(){
CanFrame comm;
while (1){
if(feu==1){ // feu est vert,demarre normalement
if(Bp_G==1) v=0; // arret urgence
else{
if ( distance<680 || distance>750) v = 20;
else v = 50;
if(pist == 3){
if(pist == 3){// rouge piste
if( touche_couleur == 0x5601) v = 20;
if( touche_couleur == 0x4203) v = 10;
if( touche_couleur == 0x5602) v = 30;
if( touche_couleur == 0x5603) v = 45;
if( touche_couleur == 0x5604) v = 30;
}
if(pist == 4){
if(pist == 4){//piste noir
if( touche_couleur == 0x4a01) v = 10;
if( touche_couleur == 0x4203) v = 17;
if( touche_couleur == 0x5601) v = 20;
if( touche_couleur == 0x5602) v = 18;
if( touche_couleur == 0x5603) v = 42.5;
if( touche_couleur == 0x5604) v = 10;
if( touche_couleur == 0x5602) v = 12;
if( touche_couleur == 0x5603) v = 43;
if( touche_couleur == 0x5604) v = 11;
}
if(pist == 7){
if( touche_couleur == 0x5603) v = 45;
}
if(pist == 8){
if( touche_couleur == 0x5603) v = 42.5;
if( touche_couleur == 0x5604) v = 10;
}
else v =0; // feu n'est pas vert, arret
comm.data.id = 'V';
comm.data.rtr = 0;
comm.data.val = v;
branch/zhang/Emb_App/conf_noyau.cfg
initial_start = OFF;
exinf = 0x0;
};
task[]{
entry_address = comm_feu();
name = ID_comm_feu;
stack_size = 256;
stack_section = stack;
priority = 2;
initial_start = OFF;
exinf = 0x0;
};
task[]{
entry_address = zone();
name = ID_zone;
stack_size = 256;
stack_section = stack;
priority = 2;
initial_start = OFF;
exinf = 0x0;
};
flag[]{
name = ev_bus_fin_tr;
initial_pattern = 0x0000;
branch/zhang/bsp/lcd.c
{
int i;
for (i=0;i<n*60;i++);
for (i=0;i<n*60;i++);
}

Formats disponibles : Unified diff