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Révision 463

Ajouté par stpouotong il y a plus de 6 ans

ajout depart feu vert + piste rouge qui passe 1 fois sur 3

Voir les différences:

branch/Styves_POUOTONG/tp_info6/Emb_App/SessionM32C_E8a_system.ini
[Target]
M32C E8a SYSTEM=Renesas Communications
[USER_DATA]
RESET=ff0016
RESET=ff0018
branch/Styves_POUOTONG/tp_info6/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" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_0" "000000000000FFFF"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_1" "0000000000000000"
"{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" "0000000000FF0016"
"{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" "0000000000000700"
"{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_15" "0000000000000512"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF3066"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_17" "0000000000FFF800"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000B2E"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000842"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "00000000000000C0"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_20" "00000000000000C4"
"{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_27" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_28" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_29" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_3" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_3" "0000000000000001"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_30" "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" "0000000000000B30"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "0000000000000B36"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000B3E"
"{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}WatchWnd0ECX_WATCH_ITEM0001_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002" "dist, 1, 0, P, Col, Dec, MN"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "3"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0003" "couleur_capteur, 1, 0, P, Col, Dec, MN"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0003_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0004" "capt, 1, 0, P, Col, Hex, MN"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0004_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0005" "val_capteur, 1, 0, P, Col, Hex, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0005_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "6"
"{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_VD4]
[WINDOW_Z_ORDER]
"E:\tp_info6_2018_Styves_POUOTONG\tp_info6\Emb_App\programme_principal_etud.c"
"E:\tp_info6_2018_Styves_POUOTONG\tp_info6\bsp\periph.c"
"E:\tp_info6_2018_Styves_POUOTONG\tp_info6\Emb_App\crt0mr.a30"
"E:\tp_info6_2018_Styves_POUOTONG\tp_info6\bsp\uart0.c"
"E:\tp_info6_2018_Styves_POUOTONG\tp_info6\Emb_App\conf_noyau.cfg"
"E:\tp_info6_2018_Styves_POUOTONG\tp_info6\bsp\periph.h"
"E:\tp_info6_2018_Styves_POUOTONG\tp_info6\Emb_App\Debug\sys_rom.inc"
"E:\tp_info6_2018_Styves_POUOTONG\tp_info6\Emb_App\conf_noyau.cfg"
"E:\tp_info6_2018_Styves_POUOTONG\tp_info6\bsp\periph.c"
[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 99796176 1 "{00000000-0000-0000-C000-000000000046}" ""
"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 99411312 1 "{00000000-0000-0000-C000-000000000046}" ""
[END]
branch/Styves_POUOTONG/tp_info6/Emb_App/programme_principal_etud.c
long couleur_capteur;
long capt;
long val_capteur;
short mode;
short etat_feu;
short num_piste;
long dist;
short cons_vitesse=0;
void Asserv0() //asservissemt de la tourelle
{
CanFrame requete;
......
}
}
void vitesse()
{
CanFrame requete;
requete.data.id = 'V';
requete.data.rtr = 0;
requete.data.val=25;
snd_dtq(CanTx,requete.msg);
}
short dist;
void Asserv1() //asservissemt de la tourelle
{
CanFrame requete;
if(etat_feu == 0x8000){
cons_vitesse=25;
requete.data.id = 'V';
requete.data.rtr = 0;
requete.data.val=cons_vitesse;
snd_dtq(CanTx,requete.msg);
}
/*if(val_capteur == 0xC8){
cons_vitesse=50;
requete.data.id = 'V';
requete.data.rtr = 0;
requete.data.val=cons_vitesse;
snd_dtq(CanTx,requete.msg);
}
else if(val_capteur == 0xD8 || etat_feu == 0x8000 ){
cons_vitesse=25;
requete.data.id = 'V';
requete.data.rtr = 0;
requete.data.val=cons_vitesse;
snd_dtq(CanTx,requete.msg);
}*/
}
void Asserv1() //asservissemt de la tourelle
{
CanFrame requete;
CanFrame comm;
CanFrame requete,req;
CanFrame comm;
short cmd;
short erreur;
short consigne=703;
short k=-1;
while(1){
requete.data.id = 'U';
requete.data.rtr = 1;
snd_dtq(CanTx,requete.msg);
dist = periph[ADDR('U')].val;
erreur = consigne - dist;
cmd = erreur*k;
if(val_capteur == 0xF4){
comm.data.id = 'D';
comm.data.rtr = 0; //Indique une ecriture
comm.data.val = 0;
snd_dtq(CanTx, comm.msg);
}
else if(dist < 1000 || val_capteur == 0x80){
comm.data.id = 'D';
comm.data.rtr = 0; //Indique une ecriture
comm.data.val = cmd;
snd_dtq(CanTx, comm.msg);
}
dly_tsk(10);
}
}
short k=-1;
while(1){
requete.data.id = 'U';
requete.data.rtr = 1;
snd_dtq(CanTx,requete.msg);
dist = periph[ADDR('U')].val;
erreur = consigne - dist;
cmd = erreur*k;
if(/*val_capteur == 0xF4 || */val_capteur == 0xC8){
cons_vitesse=45;
requete.data.id = 'V';
requete.data.rtr = 0;
requete.data.val=cons_vitesse;
snd_dtq(CanTx,requete.msg);
/* comm.data.id = 'D';
comm.data.rtr = 0; //Indique une ecriture
comm.data.val = 0;
snd_dtq(CanTx, comm.msg);
dly_tsk(45);
cons_vitesse=5;
requete.data.id = 'V';
requete.data.rtr = 0;
requete.data.val=cons_vitesse;
snd_dtq(CanTx,requete.msg);
*/
comm.data.id = 'D';
comm.data.rtr = 0; //Indique une ecriture
comm.data.val = cmd;
snd_dtq(CanTx, comm.msg);
dly_tsk(30);
comm.data.val = 0;
snd_dtq(CanTx, comm.msg);
}
else if((dist < 1000 && dist > 0) /*|| val_capteur == 0x80*/ || val_capteur == 0xD4){
cons_vitesse=25;
requete.data.id = 'V';
requete.data.rtr = 0;
requete.data.val=cons_vitesse;
snd_dtq(CanTx,requete.msg);
comm.data.id = 'D';
comm.data.rtr = 0; //Indique une ecriture
comm.data.val = cmd;
snd_dtq(CanTx, comm.msg);
}
dly_tsk(10);
}
}
void capteur()
{
CanFrame req;
......
val_capteur = capt & 0x00FF;
}
dly_tsk(10);
}
}
void mode_course()
{
CanFrame req;
CanFrame comm;
UINT flag;
while(1)
{
req.data.id = 'M';
req.data.rtr = 1;
periph[ADDR('M')].ev = 0x02;
snd_dtq(CanTx, req.msg);
dly_tsk(200);
wai_flg(ev_periph, 0x02, TWF_ANDW, &flag);
mode = periph[ADDR('M')].val;
etat_feu = mode & 0x8000;
num_piste = mode & 0x00FF;
}
dly_tsk(10);
}
void main()
{
CanFrame comm;
//short couleur_capteur;
ports_mcu();
lcd_init();
periph_init();
......
sta_cyc(ID_acqui);
sta_tsk(ID_periph_rx);
sta_tsk(ID_mode_course);
sta_tsk(ID_Asserv0);
dly_tsk(2000);
sta_tsk(ID_vitesse);
......
void acqui()
{
LED_V=!LED_V;
}
}
branch/Styves_POUOTONG/tp_info6/Emb_App/conf_noyau.cfg
exinf = 0x0;
};
task[]{
entry_address = mode_course();
name = ID_mode_course;
stack_size = 256;
stack_section = stack;
priority = 3;
initial_start = OFF;
exinf = 0x0;
};
task[]{
entry_address = capteur();
name = ID_capteur;
stack_size = 256;

Formats disponibles : Unified diff