Révision 522
Ajouté par chguo il y a plus de 6 ans
| branch/guochao/Emb_App/SessionM32C_E8a_system.hsf | ||
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWndInstanceKey0" "{WK_00000001_PDMR}EmbM32C87AppSessionM32C_E8a_system"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_EVAL_DENORMAL_MODE" "0"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_EVAL_ROUND_MODE" "0"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_0" "0000000000004044"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_1" "0000000000000020"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_0" "0000000000000001"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_1" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_10" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_11" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_12" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_13" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_14" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_15" "0000000000000512"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF06A0"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF3837"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_17" "0000000000FFF800"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "00000000000014FA"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000C20"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_20" "0000000000004004"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000001034"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000C3A"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "00000000000024DF"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_20" "00000000000000C4"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_21" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_22" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_23" "0000000000000000"
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| ... | ... | |
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_27" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_28" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_29" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_3" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_3" "0000000000005F69"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_30" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_31" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_32" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_33" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_34" "000000000000036A"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_34" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_35" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_4" "0000000000000008"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "000000000000151C"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_4" "0000000000CB8057"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "0000000000BE0412"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000001036"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_7" "0000000000000512"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_8" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_9" "0000000000000000"
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| ... | ... | |
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[WINDOW_Z_ORDER]
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"E:\tp_info6_2018_guochao\tp_info6\Emb_App\programme_principal_etud.c"
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"E:\tp_info6_2018_guochao\tp_info6\Emb_App\crt0mr.a30"
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"E:\tp_info6_2018_guochao\tp_info6\Emb_App\Debug\mr308.inc"
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"E:\tp_info6_2018_guochao\tp_info6\Emb_App\conf_noyau.cfg"
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"E:\tp_info6_2018_guochao\tp_info6\bsp\periph.c"
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"E:\tp_info6_2018_guochao\tp_info6\Emb_App\pid.h"
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"E:\tp_info6_2018_guochao\tp_info6\Emb_App\conf_noyau.cfg"
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"E:\tp_info6_2018_guochao\tp_info6\Emb_App\pid.c"
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"E:\tp_info6_2018_guochao\tp_info6\bsp\uart0.c"
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"E:\tp_info6_2018_guochao\tp_info6\Emb_App\Debug\mr308.inc"
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"E:\tp_info6_2018_guochao\tp_info6\bsp\mli.c"
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"E:\tp_info6_2018_guochao\tp_info6\bsp\radiocommande.h"
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"E:\tp_info6_2018_guochao\tp_info6\bsp\periph.c"
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"E:\tp_info6_2018_guochao\tp_info6\Emb_App\Debug\mrtable.a30"
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"E:\tp_info6_2018_guochao\tp_info6\bsp\lcd.c"
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"E:\tp_info6_2018_guochao\tp_info6\bsp\carte_io.h"
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| ... | ... | |
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[FLASH_DETAILS]
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"" 0 0 "" 0 "" 0 0 "" 0 0 0 0 0 0 0 "" "" "" "" ""
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[BREAKPOINTS]
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"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 102419808 1 "{00000000-0000-0000-C000-000000000046}" ""
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"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 96133360 1 "{00000000-0000-0000-C000-000000000046}" ""
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[END]
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| branch/guochao/Emb_App/programme_principal_etud.c | ||
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int vitesseSauter;
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int vitesseBase=0;
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unsigned short info;
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unsigned char vert;
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unsigned char bleu;
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unsigned char rouge;
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unsigned char noir;
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void corrigerAngle()
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{
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CanFrame requete;
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| ... | ... | |
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erreur = lastErreur;
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}
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if( 2 == vitesseBase )
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if( 2 == vitesseBase && pistNoire )
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{
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if( (abs(erreur) > 2) && (positionABS < 695) ) // montrer le pont.
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erreur = 0;
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| ... | ... | |
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}
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else
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{
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if( pistNoire && !boueTerreFini && secouer ) // entre la boueTerre
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if( noir && !boueTerreFini && secouer ) // entre la boueTerre
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{
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setVitesse(11);
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}
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else
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{
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if( 1 == vitesseBase )
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if( 1 == vitesseBase && noir )
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{
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IncPIDInit(POSITION_STANDAR_45, 0, 0, 0);
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setVitesse(13);
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}
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else if ( !Bp_G )
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{
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if( noir )
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setVitesse(31);
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else
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setVitesse(41);
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}
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else
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setVitesse(41);
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secouer = 0;
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dansAir = 0;
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sauter = 0;
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erreurStatic = 0;
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setVitesse(0);
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secouer = 0;
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dansAir = 0;
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sauter = 0;
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erreurStatic = 0;
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}
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}
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}
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| ... | ... | |
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dly_tsk(20);
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}
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}
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void infoPiste()
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{
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int pisteNum = 0;
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while(1)
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{
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info = periph[ADDR('M')].val;
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pisteNum = info & 0xFF;
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switch( pisteNum )
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{
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case 1,5:
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vert = 1; afficher(1); break;
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case 2,6:
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bleu = 1; afficher(2);break;
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case 3,7:
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rouge = 1; afficher(3);break;
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case 4,8:
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noir = 1; afficher(4);break;
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}
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}
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}
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void main()
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{
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| ... | ... | |
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clavier_init(1);
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capture_init();
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IncPIDInit(POSITION_STANDAR_45+200, -0.7, 0);
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sta_cyc(ID_acqui);
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// sta_cyc(ID_itouche);
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sta_tsk(ID_clavier);
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sta_tsk(ID_periph_rx);
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//sta_tsk(ID_infoPiste);
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sta_tsk(ID_corrigerAngle);
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sta_tsk(ID_mesurerDistance);
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| ... | ... | |
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sta_tsk(ID_control);
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sta_tsk(ID_secouerFini);
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pistNoire = 1;
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if( pistNoire )
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{
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vitesseSauter = 42;
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}
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if( noir )
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IncPIDInit(POSITION_STANDAR_45+200, 0.0, 0);
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else
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{
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vitesseSauter = 45;
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}
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IncPIDInit(POSITION_STANDAR_45, 0, 0);
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while(1)
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{
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| branch/guochao/Emb_App/conf_noyau.cfg | ||
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// max definition
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maxdefine{
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max_task = 8;
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max_task = 10;
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max_flag = 3;
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max_dtq = 2;
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max_cyh = 2;
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| ... | ... | |
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exinf = 0x0;
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};
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task[]{
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entry_address = infoPiste();
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name = ID_infoPiste;
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stack_size = 256;
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stack_section = stack;
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priority = 3;
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initial_start = ON;
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exinf = 0x0;
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};
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task[]{
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entry_address = periph_rx();
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name = ID_periph_rx;
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stack_size = 256;
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Formats disponibles : Unified diff
Q1,Q2