Index: branch/sotty/Emb_App.tws
===================================================================
--- branch/sotty/Emb_App.tws	(revision 464)
+++ branch/sotty/Emb_App.tws	(revision 465)
@@ -7,9 +7,19 @@
 [GENERAL_DATA]
 [BREAKPOINTS]
 [OPEN_WORKSPACE_FILES]
-"E:\tp_info6_2018_nan_cao\tp_info6\Emb_App.hws" 
+"E:\tp_info6_2018_sotty\bsp\lcd.c" 
+"E:\tp_info6_2018_sotty\bsp\periph.c" 
+"E:\tp_info6_2018_sotty\Emb_App\conf_noyau.cfg" 
+"E:\tp_info6_2018_sotty\Emb_App\crt0mr.a30" 
+"E:\tp_info6_2018_sotty\Emb_App\Debug\mr308.inc" 
+"E:\tp_info6_2018_sotty\Emb_App\programme_principal_etud.c" 
 [WORKSPACE_FILE_STATES]
-"E:\tp_info6_2018_nan_cao\tp_info6\Emb_App.hws" -8 -30 1596 716 1 0 
+"E:\tp_info6_2018_sotty\Emb_App\Debug\mr308.inc" 175 175 1177 453 0 3 
+"E:\tp_info6_2018_sotty\Emb_App\conf_noyau.cfg" 50 50 1177 453 0 5 
+"E:\tp_info6_2018_sotty\Emb_App\crt0mr.a30" 150 150 1177 453 0 2 
+"E:\tp_info6_2018_sotty\Emb_App\programme_principal_etud.c" -8 -30 1346 573 1 0 
+"E:\tp_info6_2018_sotty\bsp\lcd.c" 125 125 1269 453 0 1 
+"E:\tp_info6_2018_sotty\bsp\periph.c" 200 200 1177 453 0 4 
 [LOADED_PROJECTS]
 "EmbM32C87App" 
 [END]
Index: branch/sotty/Emb_App/SessionM32C_E8a_system.ini
===================================================================
--- branch/sotty/Emb_App/SessionM32C_E8a_system.ini	(revision 464)
+++ branch/sotty/Emb_App/SessionM32C_E8a_system.ini	(revision 465)
@@ -25,4 +25,4 @@
 [Target]
 M32C E8a SYSTEM=Renesas Communications
 [USER_DATA]
-RESET=ff01e2
+RESET=ff01f2
Index: branch/sotty/Emb_App/SessionM32C_E8a_system.hsf
===================================================================
--- branch/sotty/Emb_App/SessionM32C_E8a_system.hsf	(revision 464)
+++ branch/sotty/Emb_App/SessionM32C_E8a_system.hsf	(revision 465)
@@ -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" "0000000000004044" 
-"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_1" "0000000000000020" 
+"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_0" "0000000000000258" 
+"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_1" "0000000000000001" 
 "{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" 
@@ -149,12 +204,12 @@
 "{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" "0000000000FF059C" 
+"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF303A" 
 "{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_17" "0000000000FFF800" 
-"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000AF0" 
-"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "000000000000082A" 
-"{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_18" "0000000000000D88" 
+"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000BF0" 
+"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "0000000000000000" 
+"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_20" "00000000000000C0" 
 "{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" 
@@ -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" "0000000000000008" 
-"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "0000000000000000" 
-"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000B26" 
+"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_4" "0000000000000DD2" 
+"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "0000000000560000" 
+"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000D8E" 
 "{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" 
@@ -199,21 +254,43 @@
 "{AC411480-6F0A-11D5-8EB6-00004CC34E9D}ECX_IMAGE_VIEW" "0,0,0,0,0,0" 
 "{AC411480-6F0A-11D5-8EB6-00004CC34E9D}ImageCtrlViews" "0" 
 "{B266D880-6FA1-11D5-8613-00A024591A38}WatchCtrlViews" "4" 
-"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ColWidth0" "174" 
-"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ColWidth1" "186" 
+"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ColWidth0" "232" 
+"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ColWidth1" "229" 
 "{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ColWidth12" "200" 
 "{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ColWidth2" "120" 
 "{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ColWidth3" "200" 
 "{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH" "c,buff,n,rx,flag," 
-"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000" "coef, 10, 0, P, Col, Hex, N" 
+"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000" "distance_mur, 1, 0, P, Col, Dec, MA" 
 "{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000_SCOPE" "Current Scope," 
-"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001" "distance_mur, 1, 0, P, Col, Dec, MA" 
-"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001_SCOPE" "Current Scope," 
-"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002" "capteur, 1, 0, P, Col, Hex, MA" 
-"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002_SCOPE" "Global," 
-"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0003" "reponse, 10, 0, P, Col, Hex, N" 
+"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001" "capteur, 1, 0, P, Col, Hex, MA" 
+"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001_SCOPE" "Global," 
+"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002" "vit_roue, 2, 0, P, Col, Dec, MA" 
+"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002_SCOPE" "Current Scope," 
+"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0003" "rotation_roues_asserv, 2, 0, P, Col, Dec, MA" 
 "{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0003_SCOPE" "Current Scope," 
-"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "3" 
+"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0004" "rotation_roues_strat, 2, 0, P, Col, Dec, MA" 
+"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0004_SCOPE" "Current Scope," 
+"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0005" "ang_roue, 1, 0, P, Col, Dec, MA" 
+"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0005_SCOPE" "Current Scope," 
+"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0006" "K_roue, 1, 0, P, Col, Dec, MA" 
+"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0006_SCOPE" "Global," 
+"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0007" "distance_mur, 1, 0, P, Col, Dec, MA" 
+"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0007_SCOPE" "Global," 
+"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0008" "compar_mur, 1, 0, P, Col, Dec, MA" 
+"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0008_SCOPE" "Global," 
+"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0009" "code_secret, 1, 0, P, Col, Dec, MA" 
+"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0009_SCOPE" "Global," 
+"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0010" "cpt_cpu, 2, 0, P, Col, Dec, MA" 
+"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0010_SCOPE" "Current Scope," 
+"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0011" "charge_cpu, 2, 0, P, Col, Dec, MA" 
+"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0011_SCOPE" "Current Scope," 
+"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0012" "i, 1, 0, P, Col, Hex, MN" 
+"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0012_SCOPE" "Current Scope," 
+"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0013" "n, 1, 0, P, Col, Hex, MN" 
+"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0013_SCOPE" "Current Scope," 
+"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0014" "last_vitesse, 2, 0, P, Col, Hex, MA" 
+"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0014_SCOPE" "Current Scope," 
+"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "15" 
 "{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth0" "120" 
 "{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth1" "150" 
 "{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth12" "200" 
@@ -283,15 +360,16 @@
 0 
 [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 1 "0.07" 188 0 0 350 200 17 0 "32771|32772|32778|<<separator>>|32773|32774|<<separator>>|32820|<<separator>>|32801|32824" "0.0" 
+"{WK_00000001_CmdLine}" "WINDOW" 59422 0 2 "0.07" 331 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" 188 0 0 350 200 18 0 "32774|32775|32777|<<separator>>|32780|<<separator>>" "0.0" 
+"{WK_00000001_EVENT}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59422 0 0 "0.08" 331 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 "0.49" 188 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 "0.20" 188 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 1 "0.29" 331 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 3 "0.60" 331 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 "0.04" 331 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 "0.20" 188 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_00000001_WATCH}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59421 0 0 "1.00" 362 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" 189 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" 
 "{WK_TB00000003_BOOKMARKS}" "TOOLBAR 0" 59419 1 1 "0.00" 0 0 0 0 0 17 0 "" "0.0" 
@@ -316,8 +394,11 @@
 [WINDOW_POSITION_STATE_DATA_VD4]
 [WINDOW_Z_ORDER]
 "E:\tp_info6_2018_sotty\Emb_App\programme_principal_etud.c" 
+"E:\tp_info6_2018_sotty\bsp\lcd.c" 
 "E:\tp_info6_2018_sotty\Emb_App\crt0mr.a30" 
-"E:\tp_info6_2018_sotty\bsp\radiocommande.c" 
+"E:\tp_info6_2018_sotty\Emb_App\conf_noyau.cfg" 
+"E:\tp_info6_2018_sotty\bsp\periph.c" 
+"E:\tp_info6_2018_sotty\Emb_App\Debug\mr308.inc" 
 [TARGET_NAME]
 "M32C E8a SYSTEM" "" 0 
 [STATUSBAR_STATEINFO_VD1]
@@ -364,5 +445,5 @@
 [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 95487264 1 "{00000000-0000-0000-C000-000000000046}" "" 
+"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 91108032 1 "{00000000-0000-0000-C000-000000000046}" "" 
 [END]
Index: branch/sotty/Emb_App/crt0mr.a30
===================================================================
--- branch/sotty/Emb_App/crt0mr.a30	(revision 464)
+++ branch/sotty/Emb_App/crt0mr.a30	(revision 465)
@@ -97,7 +97,7 @@
 ; after reset,this program will start
 ;-----------------------------------------------------------------
 __SYS_INITIAL:
-	LDC	#__Sys_Sp,ISP	; set initial ISP
+	LDC	#__Sys_Sp, ISP	; set initial ISP
 
 	MOV.B	#2,0AH
 	MOV.B	#00,PMOD		; Set Processor Mode Register
Index: branch/sotty/Emb_App/programme_principal_etud.c
===================================================================
--- branch/sotty/Emb_App/programme_principal_etud.c	(revision 464)
+++ branch/sotty/Emb_App/programme_principal_etud.c	(revision 465)
@@ -176,6 +176,9 @@
 
 short code_secret = 0123;
 
+unsigned long long charge_cpu = 0; //en %
+unsigned long long cpt_cpu = 0;
+
 void main()
 {
 	int k;
@@ -192,7 +195,10 @@
     clavier_init(1);
 	capture_init();
 	sta_tsk(ID_periph_rx);
-	sta_cyc(ID_acqui);
+	
+	sta_tsk(ID_compteur);
+	sta_cyc(ID_charge);
+	
 	dly_tsk(100);
 	sta_tsk(ID_asserv_tourelle);
 
@@ -493,6 +499,7 @@
 								break;
 
 		                    case 0x5601	: // Capteur debut de piste
+								vit_roue=40;
 		                        if(nbre_tours == 20){
 		                            vit_roue = 0;
 		                            rotation_roues_strat = 0; //blocage de langle des roues
@@ -618,7 +625,6 @@
 }
 
 
-
 void couleur_piste(void){
 	//Obtention de la piste
     num_piste = send_requete(MODE_COURSE) & 0x00FF;
@@ -678,8 +684,18 @@
 	snd_dtq(CanTx, comm.msg);
 }
 
-void acqui()
-{
-	LED_V = !LED_V;
+void compteur(VP_INT stacd){
+//Compte quand le cpt ne fait rien d'autre
+//ter_tsk(ID_main);
+//ter_tsk(ID_periph_tx);
+	while(1){
+		cpt_cpu++;
+	}
 }
 
+void charge()
+{	
+	charge_cpu = 100 - (cpt_cpu/485245.0)*100;
+	cpt_cpu =0;
+}
+
Index: branch/sotty/Emb_App/conf_noyau.cfg
===================================================================
--- branch/sotty/Emb_App/conf_noyau.cfg	(revision 464)
+++ branch/sotty/Emb_App/conf_noyau.cfg	(revision 465)
@@ -9,7 +9,7 @@
 // system definition
 system{
 	stack_size	= 256;
-	priority	= 8;
+	priority	= 10;
 	system_IPL	 = 4;
 	message_pri	 = 1;
 	timeout	 = YES;
@@ -88,6 +88,15 @@
 	initial_start	= OFF;
 	exinf	= 0x0;
 };
+task[]{
+	entry_address	= compteur();
+	name	= ID_compteur;
+	stack_size	= 256;
+	stack_section	= stack;
+	priority	= 10;
+	initial_start	= OFF;
+	exinf	= 0x0;
+};
 
 flag[]{
 	name	= ev_bus_fin_tr;
@@ -127,12 +136,12 @@
 
 
 cyclic_hand[]{
-	entry_address	= acqui();
-	name	= ID_acqui;
+	entry_address	= charge();
+	name	= ID_charge;
 	exinf	= 0x0;
 	start	= OFF;
 	phsatr	= OFF;
-	interval_counter	= 0x64;
+	interval_counter	= 0x256;
 	phs_counter	= 0x0;
 };
 
Index: branch/sotty/Emb_App/EmbM32C87App.tps
===================================================================
--- branch/sotty/Emb_App/EmbM32C87App.tps	(revision 464)
+++ branch/sotty/Emb_App/EmbM32C87App.tps	(revision 465)
@@ -18,7 +18,7 @@
 "SessionM32C_E8a_system" 
 [GENERAL_DATA_PROJECT]
 [GENERAL_DATA_CONFIGURATION_Debug]
-"PROJECT_FILES_MODIFIED_DATA_TAG" "FALSE" 
+"PROJECT_FILES_MODIFIED_DATA_TAG" "TRUE" 
 [SESSIONS_Debug]
 "DefaultSession" 
 "SessionM32C_E8a_system" 
