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Révision 499

Ajouté par crzemeta il y a plus de 6 ans

Affichage sur LCD la couleur de la piste : OK

Voir les différences:

branch/zemeta/Emb_App.tws
[WORKSPACE_FILE_STATES]
"E:\tp_info6_2018_zemeta\tp_info6\Emb_App\Debug\mr308.inc" 25 25 1430 351 0 8
"E:\tp_info6_2018_zemeta\tp_info6\Emb_App\conf_noyau.cfg" 1 0 1426 347 0 1
"E:\tp_info6_2018_zemeta\tp_info6\Emb_App\crt0mr.a30" 0 0 1596 527 0 5
"E:\tp_info6_2018_zemeta\tp_info6\Emb_App\programme_principal_etud.c" -8 -30 1596 527 1 4
"E:\tp_info6_2018_zemeta\tp_info6\Emb_App\crt0mr.a30" -8 -30 1596 527 1 5
"E:\tp_info6_2018_zemeta\tp_info6\Emb_App\programme_principal_etud.c" 0 0 1596 527 0 4
"E:\tp_info6_2018_zemeta\tp_info6\bsp\can.c" 50 50 1430 351 0 2
"E:\tp_info6_2018_zemeta\tp_info6\bsp\dma0.c" 75 75 1430 351 0 3
"E:\tp_info6_2018_zemeta\tp_info6\bsp\lcd.c" 50 50 1430 339 0 9
branch/zemeta/Emb_App/SessionM32C_E8a_system.ini
[Target]
M32C E8a SYSTEM=Renesas Communications
[USER_DATA]
RESET=ff002c
RESET=ff0034
branch/zemeta/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" "0000000000000258"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_1" "0000000000000001"
"{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_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" "0000000000FF2D4A"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF0584"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_17" "0000000000FFF800"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "00000000000013CE"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "000000000000090A"
"{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_18" "0000000000000BEC"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000924"
"{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_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" "0000000000FF0008"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "0000000000120000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "00000000000013D4"
"{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" "0000000000000C20"
"{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}WatchWnd0ECX_WATCH_ITEM0010_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0011" "appui_Bp, 2, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0011_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "12"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0012" "depart, 2, 0, P, Col, Bin, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0012_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0013" "verte, 2, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0013_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0014" "bleue, 2, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0014_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0015" "rouge, 2, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0015_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0016" "noire, 2, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0016_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "17"
"{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_VD3]
[WINDOW_POSITION_STATE_DATA_VD4]
[WINDOW_Z_ORDER]
"E:\tp_info6_2018_zemeta\tp_info6\Emb_App\crt0mr.a30"
"E:\tp_info6_2018_zemeta\tp_info6\Emb_App\programme_principal_etud.c"
"E:\tp_info6_2018_zemeta\tp_info6\bsp\lcd.c"
"E:\tp_info6_2018_zemeta\tp_info6\Emb_App\crt0mr.a30"
"E:\tp_info6_2018_zemeta\tp_info6\Emb_App\conf_noyau.cfg"
"E:\tp_info6_2018_zemeta\tp_info6\bsp\dma0.c"
"E:\tp_info6_2018_zemeta\tp_info6\Emb_App\conf_noyau.cfg"
"E:\tp_info6_2018_zemeta\tp_info6\Disassembly"
"E:\tp_info6_2018_zemeta\tp_info6\Emb_App\Debug\mr308.inc"
"E:\tp_info6_2018_zemeta\tp_info6\bsp\periph.c"
......
[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 92799536 1 "{00000000-0000-0000-C000-000000000046}" ""
"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 99340520 1 "{00000000-0000-0000-C000-000000000046}" ""
[END]
branch/zemeta/Emb_App/programme_principal_etud.c
CanFrame comm,comm2,comm3;
unsigned short k=1,k2=1, angle_reel, error,error2,d_reel,D/*=714*/, d_max = 2000, appui_Bp = 0 ; // D = 500 pour piste verte , D = 714 pour piste verte
unsigned short consigne_tour/*=450*/, vitesse_roue/*=20*/, capt_detecte, comRoue, mode_course ,num_piste ,depart; // V = 30 pour piste verte , V = 38 pour piste bleu
unsigned char verte,bleue,rouge,noire;
CanFrame requete,requete3,requete4 ;
unsigned char couleur;
CanFrame requete,requete3,requete4 ;
void main()
{
......
sta_tsk(id_mode);
sta_tsk(id_piste);
sta_tsk(id_piste_verte_bleue); // ? activer pour piste verte et bleue
comRoue=-k2*error2 ;
sta_tsk(id_roue);
sta_tsk(id_detec); // ? activer pour piste rouge
......
sta_tsk(id_ass_t);
dly_tsk(2000);
sta_tsk(id_avance);
switch(couleur)
{
case 1: lcd_str("Verte");
break ;
case 2: lcd_str("Bleue");
break ;
case 3: lcd_str("Rouge");
break ;
case 4: lcd_str("Noire");
break ;
}
/*while(1) // Portion de code sans importance
{
LED_J=1;
......
while (1)
{
if (num_piste==768)
{
lcd_str("Rouge") ;
{
LED_R=0;
if(capt_detecte!=22019) // course normale
{
......
vitesse_roue = 0;
comRoue = 0;
}
//vitesse_roue = 20;
//comRoue = -k2*error2 ;
}
else if (capt_detecte==22019) // detection de ligne droite de saut
{
......
{
while (1)
{
//LED_R=0;
LED_R=0;
if(num_piste==256 || num_piste==512) // course normale
{
if (num_piste==256) lcd_str("Verte");
else if (num_piste==512) lcd_str("Bleu");
D=705;
consigne_tour=450;
if(appui_Bp!=1)
......
}
}
void piste()
{
while (1)
{
dly_tsk(5) ;
dly_tsk(1) ;
switch(num_piste)
{
case 256: verte=1;
case 256: couleur=1;
break;
case 512: bleue=1;
case 512: couleur=2;
break;
case 768: rouge=1;
case 768: couleur=3;
break;
case 1024: noire=1;
case 1024: couleur=4;
break;
}
}dly_tsk(5);
}
dly_tsk(5);
}
}

Formats disponibles : Unified diff