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Révision 501

Ajouté par vidaval il y a plus de 6 ans

Fonction lcd ok mise en place du comptage de tour mais problème la voiture ne s'arrete pas

Voir les différences:

branch/daval/Emb_App.tws
"E:\tp_info6_2018_daval\Emb_App\Debug\sys_rom.inc" 125 125 1430 351 0 11
"E:\tp_info6_2018_daval\Emb_App\conf_noyau.cfg" 0 0 1430 351 0 7
"E:\tp_info6_2018_daval\Emb_App\crt0mr.a30" 0 0 1596 539 0 1
"E:\tp_info6_2018_daval\Emb_App\programme_principal_etud.c" -8 -30 1596 539 1 0
"E:\tp_info6_2018_daval\bsp\lcd.c" 75 75 1430 351 0 9
"E:\tp_info6_2018_daval\Emb_App\programme_principal_etud.c" 0 0 1596 539 0 0
"E:\tp_info6_2018_daval\bsp\lcd.c" -8 -30 1596 539 1 9
"E:\tp_info6_2018_daval\bsp\lcd.h" 100 100 1430 351 0 10
"E:\tp_info6_2018_daval\bsp\mli.c" 125 125 1430 351 0 5
"E:\tp_info6_2018_daval\bsp\periph.c" 50 50 1430 351 0 2
branch/daval/Emb_App/SessionM32C_E8a_system.ini
[Target]
M32C E8a SYSTEM=Renesas Communications
[USER_DATA]
RESET=ff004e
RESET=ff0076
branch/daval/Emb_App/SessionM32C_E8a_system.hsf
"{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" "0000000000000001"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_1" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_0" "000000000000000A"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_1" "0000000000000009"
"{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" "0000000000FF35D2"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF2E76"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_17" "0000000000FFF800"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000A96"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "000000000000089A"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "000000000000FFFF"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000001256"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000898"
"{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_27" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_28" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_29" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_3" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_3" "0000000000000004"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_30" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_31" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_32" "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" "000000000000000A"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "0000000000120012"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000A96"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_4" "0000000000FF003C"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "0000000000001292"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "000000000000125C"
"{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_ITEM0004_SCOPE" "Global,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0005" "numero, 2, 0, P, Col, Bin, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0005_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0006" "capteur, 1, 0, P, Col, Bin, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0006" "capteur, 2, 0, P, Col, Hex, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0006_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0007" "mode_course, 1, 0, P, Col, Bin, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0007" "mode_course, 2, 0, P, Col, Bin, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0007_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0008" "num_piste, 2, 0, P, Col, Bin, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0008" "num_piste, 2, 0, P, Col, Hex, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0008_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0009" "code_touche, 10, 0, P, Col, Hex, N"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0009_SCOPE" "Global,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0010" "nbr_tour, 2, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0010_SCOPE" "Global,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "11"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0011" "feu_vert, 2, 0, P, Col, Bin, 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}WatchWnd1ColWidth0" "120"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth1" "150"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth12" "200"
......
"{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 3 "0.52" 365 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 1 "0.07" 365 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 "0.01" 365 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 "0.02" 365 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 5 "0.29" 365 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"
......
[WINDOW_POSITION_STATE_DATA_VD3]
[WINDOW_POSITION_STATE_DATA_VD4]
[WINDOW_Z_ORDER]
"E:\tp_info6_2018_daval\bsp\lcd.c"
"E:\tp_info6_2018_daval\Emb_App\crt0mr.a30"
"E:\tp_info6_2018_daval\Emb_App\programme_principal_etud.c"
"E:\tp_info6_2018_daval\Emb_App\crt0mr.a30"
"E:\tp_info6_2018_daval\bsp\uart0.c"
"E:\tp_info6_2018_daval\Emb_App\conf_noyau.cfg"
"E:\tp_info6_2018_daval\bsp\lcd.h"
"E:\tp_info6_2018_daval\Emb_App\Debug\sys_rom.inc"
"E:\tp_info6_2018_daval\Emb_App\Debug\mr308.inc"
"E:\tp_info6_2018_daval\Emb_App\Debug\sys_rom.inc"
"E:\tp_info6_2018_daval\bsp\lcd.c"
"E:\tp_info6_2018_daval\bsp\radiocommande.c"
"E:\tp_info6_2018_daval\bsp\periph.c"
"E:\tp_info6_2018_daval\bsp\uart0.c"
"E:\tp_info6_2018_daval\Emb_App\Debug\mrtable.a30"
"E:\tp_info6_2018_daval\bsp\mli.c"
[TARGET_NAME]
......
[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 93137240 1 "{00000000-0000-0000-C000-000000000046}" ""
"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 91367768 1 "{00000000-0000-0000-C000-000000000046}" ""
[END]
branch/daval/Emb_App/programme_principal_etud.c
//Variables pour les capteurs
int capteur;
unsigned short capteur;
char couleur;
char numero;
//Variables pour les pistes
char num_piste;
unsigned short nbr_tour=0;
// Gestion piste et feu
int mode_course;
unsigned short mode_course;
char feu_vert;
//Gestion nombre de tour
int i=0;
char nb_tour=0;
void mode2course(){ //Recuperation de l'info sur la couleur du feu et de la piste sur laquelle on est
CanFrame requete;
UINT flag;
......
mode_course = periph[ADDR('M')].val;
feu_vert = (mode_course>>15)&& 0x01;
num_piste = mode_course;
switch(num_piste)
{
case 0x01 :
lcd_init();
lcd_com(0x80);
lcd_str("vert");
break;
case 0x02 :
lcd_init();
lcd_com(0x80);
lcd_str("bleu");
break;
case 0x01 :
lcd_init();
lcd_com(0x80);
lcd_str("rouge");
break;
case 0x01 :
lcd_init();
lcd_com(0x80);
lcd_str("noir");
break;
}
dly_tsk(20);
}
}
}
void asservissement_tourelle()
......
{
dly_tsk(2000);
//if(feu_vert==1)
//{
vitesse.data.id='V'; //Envoi d'une commande en vitesse
vitesse.data.rtr=0; //Indique une ecritur
vitesse.data.rtr=0; //Indique une ecriture
while(1)
{
switch(num_piste)
switch(num_piste) //Envoi des diff?rentes consignes de vitesse en fonction du numero de la piste
{
case 1: vitesse_rapide= 65;
vitesse_lente=35;
case 1: vitesse_rapide= 70;
vitesse_lente=30;
break;
case 2: vitesse_rapide= 40;
......
vitesse.data.val=10;
snd_dtq (CanTx,vitesse.msg);
}
/*if(capteur == 0b0101011000000101) //Compte le nombre de tour au bout de trois la voiture s'arr?te
{
nbr_tour+=1;
if(nbr_tour==3)
/*if (capteur==0x5605 && i==0) //Comptage des tours : utilisation de deux variables sinon ca ne fonctionne pas, on incremente pas de 1 a chaque tour
{
i++;
nb_tour++;
if (nb_tour>=3)
{
vitesse.data.val=0;
vitesse_rapide=0;
vitesse_lente=0;
vitesse.data.val=vitesse_rapide;
snd_dtq (CanTx,vitesse.msg);
}
}*/
}
if (capteur==0x5601 && i!=0)
{
i=0;
} */
while(Bp_G==1)
{
vitesse.data.val=0;
......
dly_tsk(15);
}
dly_tsk(10);
//}
}
void distance_bord()
......
}
}
void detection_capteur(){
void detection_capteur()
{
CanFrame requete;
UINT flag;
while(1)
......
capteur = periph[ADDR('C')].val;
couleur = capteur >> 8; //On decale pour avoir les 8 bits de poids forts : info sur la couleur
numero = capteur ;
switch(capteur)
dly_tsk(15);
}
}
void affichage_lcd()
{
while(1)
{
switch(capteur) //aAffichage la couleur du capteur sur
{
case 0x5601 :
lcd_init();
lcd_com(0xC0);
lcd_str("vert");
lcd_str("cap vert");
break;
case 0x4a01 :
lcd_init();
lcd_com(0xC0);
lcd_str("jaune");
lcd_str("cap jaune");
break;
case 0x5602 :
lcd_init();
lcd_com(0xC0);
lcd_str("vert");
lcd_str("cap vert");
break;
case 0x5202 :
lcd_init();
lcd_com(0xC0);
lcd_str("rouge");
lcd_str("cap rouge");
break;
case 0x5603 :
lcd_init();
lcd_com(0xC0);
lcd_str("vert");
lcd_str("cap vert");
break;
case 0x4203 :
lcd_init();
lcd_com(0xC0);
lcd_str("bleu");
lcd_str("cap bleu");
break;
case 0x5604 :
lcd_init();
lcd_com(0xC0);
lcd_str("vert");
lcd_str("cap vert");
break;
case 0x4304 :
lcd_init();
lcd_com(0xC0);
lcd_str("cyan");
lcd_str("cap cyan");
break;
case 0x5605 :
lcd_init();
lcd_com(0xC0);
lcd_str("vert");
lcd_str("cap vert");
break;
}
dly_tsk(15);
}
}
void clavier()
{
while(1)
{
short code_touche;
vrcv_dtq(QdmTouche,&code_touche);
switch(num_piste)
{
case 0x01 :
lcd_init();
lcd_com(0x80);
lcd_str("p vert");
break;
case 0x02 :
lcd_init();
lcd_com(0x80);
lcd_str("p bleu");
break;
case 0x03 :
lcd_init();
lcd_com(0x80);
lcd_str("p rouge");
break;
case 0x04 :
lcd_init();
lcd_com(0x80);
lcd_str("p noir");
break;
}
}
dly_tsk(25);
dly_tsk(15);
}
void main()
......
sta_tsk(ID_avance);
sta_tsk(ID_detection_capteur);
sta_tsk(ID_mode2course);
sta_tsk(ID_clavier);
sta_tsk(ID_affichage_lcd);
while(1);
}
void acqui()
{
LED_V=!LED_V;
LED_R=!LED_R;
LED_J=!LED_J;
// LED_V=!LED_V;
if(Bp_G==1)
{
LED_R =1;
}
else
{
LED_R =0;
}
}
branch/daval/Emb_App/conf_noyau.cfg
exinf = 0x0;
};
task[]{
entry_address = clavier();
name = ID_clavier;
entry_address = affichage_lcd();
name = ID_affichage_lcd;
stack_size = 256;
stack_section = stack;
priority = 10;

Formats disponibles : Unified diff