Révision 468
Ajouté par fltronel il y a plus de 6 ans
| branch/tronel_florian/Emb_App/programme_principal_etud.c | ||
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unsigned short cap=0;
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unsigned char cap_H, cap_L;
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int nb_tour=0;
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int d_mur;
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int dist;
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int ang_r;
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| ... | ... | |
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ter_tsk(ID_task_5);//feu ok donc task off
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sta_tsk(ID_task_6);//temps lcd
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sta_tsk(ID_task_6);//lcd
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V=1;
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copV=1;
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| ... | ... | |
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sta_tsk(ID_task_7);//gestion
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sta_tsk(ID_task_1);//vitesse
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sta_tsk(ID_task_2);//tourelle
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sta_tsk(ID_task_9);//dist_mur
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sta_tsk(ID_task_3);//dist
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dly_tsk(800);
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//A mettre en commentaire pour tester LED_R pour accident
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sta_tsk(ID_task_4);//roue
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| ... | ... | |
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CanFrame cons_roue;
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while(1){
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ang_r=1*(dist-700);
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ang_r=1*(dist-d_mur);
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cons_roue.data.id='D';
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| ... | ... | |
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r = periph[ADDR('M')].val;
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p = (r & 0x00FF);//num?ro de piste
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f = (r & 0x8000)>>15;//couleur du feu
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dly_tsk(7);
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}
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| ... | ... | |
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req_lcd.data.id='H';
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req_lcd.data.rtr=1;
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snd_dtq(CanTx,req_lcd.msg);
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/*
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t = periph[ADDR('H')].val;
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t1= t/100;
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t2=t - (t1*100);
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*/
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switch(p){
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case 1 : piste="VERT"; break;
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case 2 : piste="BLEU"; break;
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| ... | ... | |
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}
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}
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if(p>2){
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if(p==3){
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if(cap_L==0x03){
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V=2;
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copV=2;
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V=2;
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copV=2;
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dly_tsk(2300);
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dly_tsk(2300);
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sus_tsk(ID_task_3);
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sus_tsk(ID_task_3);
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dist=700;
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dly_tsk(500);
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dist=700;
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dly_tsk(500);
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V=0;
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copV=0;
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V=0;
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copV=0;
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dly_tsk(900);
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dly_tsk(900);
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V=3;
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copV=3;
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V=3;
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copV=3;
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rsm_tsk(ID_task_3);
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rsm_tsk(ID_task_3);
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dly_tsk(300);
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dly_tsk(300);
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V=4;
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copV=4;
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V=4;
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copV=4;
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dly_tsk(600);
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dly_tsk(600);
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V=5;
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copV=5;
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V=5;
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copV=5;
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dly_tsk(800);
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dly_tsk(800);
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V=1;
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copV=1;
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V=1;
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copV=1;
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}
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}
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| ... | ... | |
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}
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}
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void task_9(){
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while(1){
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dly_tsk(8);
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}
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}
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void HC_1(){
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LED_V =~ LED_V;
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}
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| branch/tronel_florian/Emb_App/conf_noyau.cfg | ||
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initial_start = OFF;
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exinf = 0x0;
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};
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//choix dist_mur
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task[]{
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entry_address = task_9();
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name = ID_task_9;
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stack_size = 256;
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stack_section = stack;
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priority = 2;
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initial_start = OFF;
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exinf = 0x0;
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};
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flag[]{
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name = ev_bus_fin_tr;
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Formats disponibles : Unified diff
commit rapide 14_01_19