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Révision 471

Ajouté par stpouotong il y a plus de 6 ans

piste verte+bleu+rouge valide

Voir les différences:

branch/Styves_POUOTONG/tp_info6/Emb_App.tws
"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\Emb_App\crt0mr.a30"
"E:\tp_info6_2018_Styves_POUOTONG\tp_info6\Emb_App\Debug\mr308.inc"
"E:\tp_info6_2018_Styves_POUOTONG\tp_info6\Emb_App\Debug\sys_rom.inc"
"E:\tp_info6_2018_Styves_POUOTONG\tp_info6\Emb_App\programme_principal_etud.c"
[WORKSPACE_FILE_STATES]
"E:\tp_info6_2018_Styves_POUOTONG\tp_info6\Emb_App\Debug\mr308.inc" 0 0 1430 351 0 7
"E:\tp_info6_2018_Styves_POUOTONG\tp_info6\Emb_App\Debug\sys_rom.inc" 100 100 1430 351 0 4
"E:\tp_info6_2018_Styves_POUOTONG\tp_info6\Emb_App\conf_noyau.cfg" 75 75 1430 351 0 3
"E:\tp_info6_2018_Styves_POUOTONG\tp_info6\Emb_App\crt0mr.a30" 0 0 1596 539 0 1
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" "000000000000FFFF"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_1" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_0" "0000000000000000"
"{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_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" "0000000000000512"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF3066"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF05A7"
"{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_18" "0000000000000B28"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "000000000000084A"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "0000000000000001"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_20" "0000000000004005"
"{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_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" "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_4" "0000000000000001"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000B5C"
"{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}WatchWnd0ColWidth2" "148"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ColWidth3" "238"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH" "c,buff,n,rx,flag,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000" "alpha, 10, 0, P, Col, Hex, N"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000" "dist, 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" "cmd, 10, 0, P, Col, Hex, N"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001" "capt, 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" "dist, 1, 0, P, Col, Dec, MN"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002" "num_piste, 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" "couleur_capteur, 1, 0, P, Col, Dec, MN"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0003" "val_capteur, 1, 0, P, Col, Dec, MA"
"{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" "cons_vitesse, 1, 0, P, Col, Dec, MA"
"{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" "etat_feu, 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"
......
[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\Debug\mr308.inc"
"E:\tp_info6_2018_Styves_POUOTONG\tp_info6\bsp\periph.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"
......
[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 99411312 1 "{00000000-0000-0000-C000-000000000046}" ""
"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 91223040 1 "{00000000-0000-0000-C000-000000000046}" ""
[END]
branch/Styves_POUOTONG/tp_info6/Emb_App/programme_principal_etud.c
}
void vitesse()
{
CanFrame requete;
if(etat_feu == 0x8000){
CanFrame requete;
requete.data.id = 'V';
requete.data.rtr = 0;
if (etat_feu == 0x8000){
requete.data.val=25;
snd_dtq(CanTx,requete.msg);
}
while(1)
{
switch (num_piste)
{
case 0x0001:
cons_vitesse=25;
requete.data.id = 'V';
requete.data.rtr = 0;
requete.data.val=cons_vitesse;
requete.data.val=cons_vitesse;
snd_dtq(CanTx,requete.msg);
break;
case 0x0002:
cons_vitesse=25;
requete.data.val=cons_vitesse;
snd_dtq(CanTx,requete.msg);
break;
case 0x0003:
if (val_capteur == 0xC8 || val_capteur == 0x74){
cons_vitesse=45;
requete.data.val=cons_vitesse;
snd_dtq(CanTx,requete.msg);
}
else if (val_capteur == 0xD8 || val_capteur == 0xD4){
cons_vitesse=10;
requete.data.val=cons_vitesse;
snd_dtq(CanTx,requete.msg);
}
else {
cons_vitesse=25;
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);
}*/
}
break;
case 0x0004:
cons_vitesse=25;
requete.data.val=cons_vitesse;
snd_dtq(CanTx,requete.msg);
break;
}
}
dly_tsk(10);
}
void Asserv1() //asservissemt de la tourelle
void Asserv1() //asservissemt des roues
{
CanFrame requete,req;
CanFrame requete;
CanFrame comm;
short cmd;
short erreur;
......
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);
}
}
comm.data.id = 'D';
comm.data.rtr = 0;
switch (num_piste)
{
case 0x0001:
comm.data.val = cmd;
snd_dtq(CanTx, comm.msg);
break;
case 0x0002:
if(val_capteur == 0xF4){
comm.data.val = 0;
snd_dtq(CanTx, comm.msg);
}
else if(dist < 1500 || val_capteur == 0x80){
comm.data.val = cmd;
snd_dtq(CanTx, comm.msg);
}
break;
case 0x0003:
if(dist < 1500 || val_capteur == 0xD8 || val_capteur == 0xD4){
comm.data.val = cmd;
snd_dtq(CanTx, comm.msg);
}
else if (val_capteur == 0x74){
comm.data.val = 0;
snd_dtq(CanTx, comm.msg);
}
break;
case 0x0004:
comm.data.val = cmd;
snd_dtq(CanTx, comm.msg);
break;
}
}
dly_tsk(10);
}
void capteur()
{

Formats disponibles : Unified diff