Révision 478
Ajouté par casotty il y a plus de 6 ans
| branch/sotty/Emb_App/SessionM32C_E8a_system.ini | ||
|---|---|---|
|
[Target]
|
||
|
M32C E8a SYSTEM=Renesas Communications
|
||
|
[USER_DATA]
|
||
|
RESET=ff0208
|
||
|
RESET=ff0218
|
||
| branch/sotty/Emb_App/programme_principal_etud.c | ||
|---|---|---|
|
couleur = capteur & 0xFF00;
|
||
|
switch(couleur){
|
||
|
case 0x4200 :
|
||
|
sprintf(tmp,"%s C:Cyan T:%d Char:%.0f",piste_c,nbre_tours,(float)charge_cpu);
|
||
|
sprintf(tmp,"%s C:Cyan Tr:%d Char:%.0f%%",piste_c,nbre_tours,(float)charge_cpu);
|
||
|
break;
|
||
|
case 0x6300 :
|
||
|
sprintf(tmp,"%s C:Cyan T:%d Char:%.0f",piste_c,nbre_tours,(float)charge_cpu);
|
||
|
sprintf(tmp,"%s C:Cyan Tr:%d Char:%.0f%%",piste_c,nbre_tours,(float)charge_cpu);
|
||
|
break;
|
||
|
case 0x4300 :
|
||
|
sprintf(tmp,"%s C:Bleu T:%d Char:%.0f",piste_c,nbre_tours,(float)charge_cpu);
|
||
|
sprintf(tmp,"%s C:Bleu Tr:%d Char:%.0f%%",piste_c,nbre_tours,(float)charge_cpu);
|
||
|
break;
|
||
|
case 0x5200 :
|
||
|
sprintf(tmp,"%s C:RougeT:%d Char:%.0f",piste_c,nbre_tours,(float)charge_cpu);
|
||
|
sprintf(tmp,"%s C:RougeTr:%d Char:%.0f%%",piste_c,nbre_tours,(float)charge_cpu);
|
||
|
break;
|
||
|
case 0x4A00 :
|
||
|
sprintf(tmp,"%s C:Jaun T:%d Char:%.0f",piste_c,nbre_tours,(float)charge_cpu);
|
||
|
sprintf(tmp,"%s C:JauneTr:%d Char:%.0f%%",piste_c,nbre_tours,(float)charge_cpu);
|
||
|
break;
|
||
|
case 0x5600 :
|
||
|
sprintf(tmp,"%s C:Vert T:%d Char:%.0f",piste_c,nbre_tours,(float)charge_cpu);
|
||
|
sprintf(tmp,"%s C:Vert Tr:%d Char:%.0f%%",piste_c,nbre_tours,(float)charge_cpu);
|
||
|
break;
|
||
|
|
||
|
}
|
||
| ... | ... | |
|
if(k<vit_max_verte/2){vit_roue = k*2;k++;}
|
||
|
K_roue = 1;
|
||
|
pseudo_sem = 1;
|
||
|
if(nbre_tours == 20){
|
||
|
if(nbre_tours == 4){
|
||
|
ter_tsk(ID_main);
|
||
|
ter_tsk(ID_asserv_tourelle);
|
||
|
ter_tsk(ID_asserv_roue);
|
||
|
send_commande('V',0);
|
||
|
send_commande('D',0);
|
||
|
dly_tsk(200);
|
||
|
ter_tsk(ID_periph_tx);
|
||
|
ter_tsk(ID_periph_rx);
|
||
|
}
|
||
| ... | ... | |
|
case 0x5601 : // Feu
|
||
|
vit_roue = 45;
|
||
|
pseudo_sem = 1;
|
||
|
if(nbre_tours == 20){
|
||
|
vit_roue = 0;
|
||
|
rotation_roues_strat = 0; //blocage de langle des roues
|
||
|
//mise en veille de toutes les taches
|
||
|
if(nbre_tours == 4){
|
||
|
ter_tsk(ID_main);
|
||
|
ter_tsk(ID_asserv_tourelle);
|
||
|
ter_tsk(ID_asserv_roue);
|
||
|
send_commande('V',0);
|
||
|
send_commande('D',0);
|
||
|
dly_tsk(200);
|
||
|
ter_tsk(ID_periph_tx);
|
||
|
ter_tsk(ID_periph_rx);
|
||
|
}
|
||
|
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
|
||
|
//mise en veille de toutes les taches
|
||
|
if(nbre_tours == 4){
|
||
|
ter_tsk(ID_main);
|
||
|
ter_tsk(ID_asserv_tourelle);
|
||
|
ter_tsk(ID_asserv_roue);
|
||
|
send_commande('V',0);
|
||
|
send_commande('D',0);
|
||
|
dly_tsk(200);
|
||
|
ter_tsk(ID_periph_tx);
|
||
|
ter_tsk(ID_periph_rx);
|
||
|
}
|
||
|
break;
|
||
|
}
|
||
| ... | ... | |
|
case PISTE_NOIRE :
|
||
|
switch(capteur){
|
||
|
case 0x5601 : //Feu
|
||
|
if(nbre_tours == 20){
|
||
|
vit_roue = 0;
|
||
|
rotation_roues_strat = 0; //blocage de langle des roues
|
||
|
//mise en veille de toutes les taches
|
||
|
if(nbre_tours == 4){
|
||
|
ter_tsk(ID_main);
|
||
|
ter_tsk(ID_asserv_tourelle);
|
||
|
ter_tsk(ID_asserv_roue);
|
||
|
send_commande('V',0);
|
||
|
send_commande('D',0);
|
||
|
dly_tsk(200);
|
||
|
ter_tsk(ID_periph_tx);
|
||
|
ter_tsk(ID_periph_rx);
|
||
|
}
|
||
|
else{
|
||
|
pseudo_sem = 1;
|
||
|
compar_mur = 680; //decalage a gauche
|
||
|
filtre_sup = 1500;
|
||
|
filtre_inf = 300;
|
||
|
filtre_inf = 400;
|
||
|
}
|
||
|
break;
|
||
|
|
||
Formats disponibles : Unified diff
Toutes les pistes sont reussies