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Révision 462

Ajouté par ninoisette il y a plus de 6 ans

fin de séance 5 la piste rouge ça passe

Voir les différences:

branch/noisette/Emb_App.tws
[WORKSPACE_FILE_STATES]
"E:\tp_info6_2018_noisette\tp_info6\Emb_App\Debug\mr308.inc" 50 50 790 335 0 9
"E:\tp_info6_2018_noisette\tp_info6\Emb_App\conf_noyau.cfg" 0 0 790 335 0 7
"E:\tp_info6_2018_noisette\tp_info6\Emb_App\crt0mr.a30" 0 0 956 523 0 1
"E:\tp_info6_2018_noisette\tp_info6\Emb_App\programme_principal_etud.c" -8 -30 956 523 1 0
"E:\tp_info6_2018_noisette\tp_info6\Emb_App\crt0mr.a30" -8 -30 956 523 1 1
"E:\tp_info6_2018_noisette\tp_info6\Emb_App\programme_principal_etud.c" 0 0 956 523 0 0
"E:\tp_info6_2018_noisette\tp_info6\bsp\can.c" 0 0 956 523 0 2
"E:\tp_info6_2018_noisette\tp_info6\bsp\clavier.c" 100 100 790 335 0 4
"E:\tp_info6_2018_noisette\tp_info6\bsp\dma0.c" 125 125 790 335 0 5
branch/noisette/Emb_App/SessionM32C_E8a_system.ini
[Target]
M32C E8a SYSTEM=Renesas Communications
[USER_DATA]
RESET=ff0016
RESET=ff0018
branch/noisette/Emb_App/SessionM32C_E8a_system.hsf
"{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" "0000000000FF0576"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_17" "0000000000FFF800"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000001036"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "000000000000086E"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000870"
"{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_20" "0000000000000044"
"{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" "000000000000106A"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "000000000000106C"
"{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}WatchWnd0ECX_WATCH_ITEM0001_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002" "couleur, 1, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0003" "k, 2, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0003" "k, 10, 0, P, Col, Hex, N"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0003_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0004" "vitesse, 1, 0, P, Col, Hex, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0004_SCOPE" "Global,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "5"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0005" "k1, 2, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0005_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0006" "k2, 2, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0006_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0007" "erreur_distance, 1, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0007_SCOPE" "Global,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "8"
"{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_info6_2018_noisette\tp_info6\Emb_App\crt0mr.a30"
"E:\tp_info6_2018_noisette\tp_info6\Emb_App\programme_principal_etud.c"
"E:\tp_info6_2018_noisette\tp_info6\Emb_App\crt0mr.a30"
"E:\tp_info6_2018_noisette\tp_info6\Emb_App\conf_noyau.cfg"
"E:\tp_info6_2018_noisette\tp_info6\Emb_App\Debug\mr308.inc"
"E:\tp_info6_2018_noisette\tp_info6\bsp\uart0.c"
"E:\tp_info6_2018_noisette\tp_info6\bsp\periph.c"
"E:\tp_info6_2018_noisette\tp_info6\bsp\uart0.c"
"E:\tp_info6_2018_noisette\tp_info6\bsp\can.c"
"E:\tp_info6_2018_noisette\tp_info6\bsp\dma0.c"
"E:\tp_info6_2018_noisette\tp_info6\bsp\clavier.c"
......
[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 97587872 1 "{00000000-0000-0000-C000-000000000046}" ""
"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 91558560 1 "{00000000-0000-0000-C000-000000000046}" ""
[END]
branch/noisette/Emb_App/programme_principal_etud.c
int couleur;
int consigne_tourelle;
int consigne_distance;
unsigned short k;
unsigned short k1, k2;
int erreur_tourelle;
int erreur_distance;
int vitesse;
......
UINT flag;
CanFrame comm, requete, reponse, req;
void capteur(){
/*void capteur(){
while(1){
req.data.id='C';
req.data.rtr=1;
......
wai_flg(ev_periph,0x0007,TWF_ANDW,&flag);
couleur=periph[ADDR('C')].val;
}
}
}*/
void tremplin(){
while(1){
......
dly_tsk(50);
wai_flg(ev_periph,0x0007,TWF_ANDW,&flag);
couleur=periph[ADDR('C')].val;
req.data.id='U';
req.data.rtr=1;
periph[ADDR('U')].ev=0x01;
snd_dtq(CanTx,req.msg);
dly_tsk(50);
wai_flg(ev_periph,0x01, TWF_ANDW, &flag);
distance_tourelle=periph[ADDR('U')].val;
while(couleur==30212){
k=0;
if(couleur==22020 && distance_tourelle<600) {
erreur_distance=0;
k2=0;
comm.data.id= 'V';
comm.data.rtr=0;
comm.data.val=47;
comm.data.val=50;
snd_dtq(CanTx, comm.msg);
dly_tsk(5);
}
}
}
void trous(){
while(1){
req.data.id='C';
req.data.rtr=1;
periph[ADDR('C')].ev=0x0007;
snd_dtq(CanTx,req.msg);
dly_tsk(50);
wai_flg(ev_periph,0x0007,TWF_ANDW,&flag);
couleur=periph[ADDR('C')].val;
req.data.id='U';
req.data.rtr=1;
periph[ADDR('U')].ev=0x01;
......
dly_tsk(5);
wai_flg(ev_periph,0x01, TWF_ANDW, &flag);
distance_tourelle=periph[ADDR('U')].val;
while (distance_tourelle>900){
stop==1;
k=0;
if (couleur>22000 && distance_tourelle>900 || couleur>22000 && distance_tourelle<500){
k2=0;
consigne_distance=0;
comm.data.id= 'V';
comm.data.rtr=0;
comm.data.val=2;
comm.data.val=45;
snd_dtq(CanTx, comm.msg);
}
}
}
}
void freinage(){
while(1){
req.data.id='C';
req.data.rtr=1;
periph[ADDR('C')].ev=0x0007;
snd_dtq(CanTx,req.msg);
dly_tsk(50);
wai_flg(ev_periph,0x0007,TWF_ANDW,&flag);
couleur=periph[ADDR('C')].val;
if (couleur ==16899) {
comm.data.id= 'V';
comm.data.rtr=0;
comm.data.val=2;
snd_dtq(CanTx, comm.msg);
dly_tsk(5);
k2=1;
}
}
}
void asserv_tourelle()
{
while(1){
req.data.id='R';
req.data.rtr=1;
periph[ADDR('R')].ev=0x01;
......
dly_tsk(5);
wai_flg(ev_periph,0x01, TWF_ANDW, &flag);
alpha=periph[ADDR('R')].val;
k=2;
k1=2;
erreur_tourelle = 450 - alpha;
consigne_tourelle = k*erreur_tourelle;
consigne_tourelle = k1*erreur_tourelle;
comm.data.id= 'T';
comm.data.rtr=0;
comm.data.val=consigne_tourelle;
......
void asserv_virage() {
while(1) {
while (stop==1){
req.data.id='C';
req.data.rtr=1;
periph[ADDR('C')].ev=0x0007;
snd_dtq(CanTx,req.msg);
dly_tsk(50);
wai_flg(ev_periph,0x0007,TWF_ANDW,&flag);
couleur=periph[ADDR('C')].val;
req.data.id='U';
req.data.rtr=1;
periph[ADDR('U')].ev=0x01;
snd_dtq(CanTx,req.msg);
dly_tsk(5);
wai_flg(ev_periph,0x01, TWF_ANDW, &flag);
distance_tourelle=periph[ADDR('U')].val;
if (distance_tourelle>1500 || (couleur==22020 && distance_tourelle<600)) {
erreur_distance=0;
k2=0;
comm.data.id= 'V';
comm.data.rtr=0;
comm.data.val=50;
snd_dtq(CanTx, comm.msg);
dly_tsk(2);
}
else{
if (couleur==22019 && distance_tourelle<697) {
k2=0;
comm.data.id= 'V';
comm.data.rtr=0;
comm.data.val=48;
snd_dtq(CanTx, comm.msg);
dly_tsk(5);
}
else {
if (couleur>22000 && distance_tourelle<735 && distance_tourelle>690){
req.data.id='U';
req.data.rtr=1;
periph[ADDR('U')].ev=0x01;
......
dly_tsk(5);
wai_flg(ev_periph,0x01, TWF_ANDW, &flag);
distance_tourelle=periph[ADDR('U')].val;
k=0;
k2=0;
erreur_distance = 720 - distance_tourelle;
consigne_distance = k*erreur_distance;
consigne_distance = k2*erreur_distance;
consigne_distance = consigne_distance/10;
comm.data.id= 'D';
comm.data.rtr=0;
comm.data.val=-consigne_distance;
snd_dtq(CanTx, comm.msg);
dly_tsk(5);
comm.data.id= 'V';
comm.data.rtr=0;
comm.data.val=26;
snd_dtq(CanTx, comm.msg);
dly_tsk(5);
}
else {
req.data.id='U';
req.data.rtr=1;
periph[ADDR('U')].ev=0x01;
......
dly_tsk(5);
wai_flg(ev_periph,0x01, TWF_ANDW, &flag);
distance_tourelle=periph[ADDR('U')].val;
k=12;
k2=7;
erreur_distance = 720 - distance_tourelle;
consigne_distance = k*erreur_distance;
consigne_distance = k2*erreur_distance;
consigne_distance = consigne_distance/10;
comm.data.id= 'D';
comm.data.rtr=0;
comm.data.val=-consigne_distance;
snd_dtq(CanTx, comm.msg);
dly_tsk(5);
comm.data.id= 'V';
comm.data.rtr=0;
comm.data.val=10;
snd_dtq(CanTx, comm.msg);
dly_tsk(5);
}
}
}
}
}
void command(vitesse){
comm.data.id= 'V';
comm.data.rtr=0;
comm.data.val=vitesse;
snd_dtq(CanTx, comm.msg);
dly_tsk(50);
}
void main()
{
......
ports_mcu();
lcd_init();
periph_init();
periph_nom("#AutoTest*");
periph_nom("#giletjone*");
can_init();
clavier_init(1);
......
sta_cyc(ID_acqui);
sta_tsk(ID_periph_rx);
sta_tsk(ID_asserv_tourelle);
sta_tsk(ID_capteur);
// sta_tsk(ID_capteur);
sta_tsk(ID_tremplin);
sta_tsk(ID_freinage);
dly_tsk(2500);
sta_tsk(ID_asserv_virage);
sta_tsk(ID_trous);
......
command(10);
}
}
branch/noisette/Emb_App/conf_noyau.cfg
name = ID_asserv_tourelle;
stack_size = 256;
stack_section = stack;
priority = 6;
priority = 5;
initial_start = OFF;
exinf = 0x0;
};
task[]{
entry_address = capteur();
name = ID_capteur;
entry_address =tremplin();
name = ID_tremplin;
stack_size = 256;
stack_section = stack;
priority = 6;
priority = 2;
initial_start = OFF;
exinf = 0x0;
};
task[]{
entry_address =tremplin();
name = ID_tremplin;
entry_address = freinage();
name = ID_freinage;
stack_size = 256;
stack_section = stack;
priority = 3;
priority = 1;
initial_start = OFF;
exinf = 0x0;
};
......
name = ID_trous;
stack_size = 256;
stack_section = stack;
priority = 2;
priority = 3;
initial_start = OFF;
exinf = 0x0;
};
......
name = ID_asserv_virage;
stack_size = 256;
stack_section = stack;
priority = 8;
priority = 5;
initial_start = OFF;
exinf = 0x0;
};

Formats disponibles : Unified diff