Révision 537
Ajouté par bamendiond il y a plus de 6 ans
| branch/mendiondo/Emb_App.tws | ||
|---|---|---|
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[BREAKPOINTS]
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[OPEN_WORKSPACE_FILES]
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"E:\tp_info6_2018_mendiondo\tp_info6\bsp\can.c"
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"E:\tp_info6_2018_mendiondo\tp_info6\bsp\lcd.c"
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"E:\tp_info6_2018_mendiondo\tp_info6\bsp\periph.c"
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"E:\tp_info6_2018_mendiondo\tp_info6\bsp\periph.h"
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"E:\tp_info6_2018_mendiondo\tp_info6\bsp\radiocommande.c"
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| ... | ... | |
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"E:\tp_info6_2018_mendiondo\tp_info6\Emb_App\Debug\sys_rom.inc"
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"E:\tp_info6_2018_mendiondo\tp_info6\Emb_App\programme_principal_etud.c"
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[WORKSPACE_FILE_STATES]
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"E:\tp_info6_2018_mendiondo\tp_info6\Emb_App\Debug\mr308.inc" 0 638 160 38 0 9
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"E:\tp_info6_2018_mendiondo\tp_info6\Emb_App\Debug\mr308.inc" 0 0 160 38 0 9
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"E:\tp_info6_2018_mendiondo\tp_info6\Emb_App\Debug\mrtable.a30" 25 25 1380 465 0 10
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"E:\tp_info6_2018_mendiondo\tp_info6\Emb_App\Debug\sys_rom.inc" 1280 634 160 38 0 6
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"E:\tp_info6_2018_mendiondo\tp_info6\Emb_App\conf_noyau.cfg" 320 634 160 38 0 4
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"E:\tp_info6_2018_mendiondo\tp_info6\Emb_App\crt0mr.a30" -8 -30 1596 580 1 1
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"E:\tp_info6_2018_mendiondo\tp_info6\Emb_App\programme_principal_etud.c" 160 638 160 38 0 0
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"E:\tp_info6_2018_mendiondo\tp_info6\bsp\can.c" 1120 634 160 38 0 3
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"E:\tp_info6_2018_mendiondo\tp_info6\bsp\periph.c" 640 634 160 38 0 5
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"E:\tp_info6_2018_mendiondo\tp_info6\bsp\periph.h" 960 634 160 38 0 8
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"E:\tp_info6_2018_mendiondo\tp_info6\bsp\radiocommande.c" 800 634 160 38 0 2
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"E:\tp_info6_2018_mendiondo\tp_info6\bsp\uart0.c" 480 634 160 38 0 7
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"E:\tp_info6_2018_mendiondo\tp_info6\Emb_App\Debug\sys_rom.inc" 0 0 160 38 0 6
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"E:\tp_info6_2018_mendiondo\tp_info6\Emb_App\conf_noyau.cfg" 0 0 160 38 0 4
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"E:\tp_info6_2018_mendiondo\tp_info6\Emb_App\crt0mr.a30" 0 0 1596 580 0 1
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"E:\tp_info6_2018_mendiondo\tp_info6\Emb_App\programme_principal_etud.c" -8 -30 1596 580 1 0
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"E:\tp_info6_2018_mendiondo\tp_info6\bsp\can.c" 0 0 160 38 0 3
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"E:\tp_info6_2018_mendiondo\tp_info6\bsp\lcd.c" 75 75 1405 367 0 11
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"E:\tp_info6_2018_mendiondo\tp_info6\bsp\periph.c" 0 0 160 38 0 5
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"E:\tp_info6_2018_mendiondo\tp_info6\bsp\periph.h" 0 0 160 38 0 8
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"E:\tp_info6_2018_mendiondo\tp_info6\bsp\radiocommande.c" 0 0 160 38 0 2
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"E:\tp_info6_2018_mendiondo\tp_info6\bsp\uart0.c" 0 0 160 38 0 7
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[LOADED_PROJECTS]
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"EmbM32C87App"
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[END]
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| branch/mendiondo/Emb_App/SessionM32C_FoUSB_UART.hsf | ||
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[HIMDBVersion]
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2.0
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[DATABASE_VERSION]
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"2.2"
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"2.3"
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[SESSION_DETAILS]
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""
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[INFORMATION]
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| ... | ... | |
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[WINDOW_POSITION_STATE_DATA_VD3]
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[WINDOW_POSITION_STATE_DATA_VD4]
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[WINDOW_Z_ORDER]
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[TARGET_NAME]
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"M32C FoUSB/UART" "" 0
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[STATUSBAR_STATEINFO_VD1]
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"MasterShowState" 1
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"ApplicationShowState" 1
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| ... | ... | |
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[STATUSBAR_DEBUGGER_PANESTATE_VD2]
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[STATUSBAR_DEBUGGER_PANESTATE_VD3]
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[STATUSBAR_DEBUGGER_PANESTATE_VD4]
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[TARGET_NAME]
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"M32C FoUSB/UART"
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[DEBUGGER_OPTIONS]
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"Unknown Options"
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[DOWNLOAD_MODULES]
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| ... | ... | |
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"FALSE"
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[DISABLE_MEMORY_ACCESS_DURING_EXECUTION]
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"FALSE"
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[DEBUGGER_OPTIONS_PROPERTIES]
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"0"
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[COMMAND_FILES]
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[DEFAULT_DEBUG_FORMAT]
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"IEEE695_RENESAS"
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| branch/mendiondo/Emb_App/SessionM32C_Simulator.hsf | ||
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[HIMDBVersion]
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2.0
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[DATABASE_VERSION]
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"2.2"
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"2.3"
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[SESSION_DETAILS]
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""
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[INFORMATION]
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| ... | ... | |
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[WINDOW_POSITION_STATE_DATA_VD3]
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[WINDOW_POSITION_STATE_DATA_VD4]
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[WINDOW_Z_ORDER]
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[TARGET_NAME]
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"" "" 0
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[STATUSBAR_STATEINFO_VD1]
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"MasterShowState" 1
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"ApplicationShowState" 1
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| ... | ... | |
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[STATUSBAR_DEBUGGER_PANESTATE_VD2]
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[STATUSBAR_DEBUGGER_PANESTATE_VD3]
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[STATUSBAR_DEBUGGER_PANESTATE_VD4]
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[TARGET_NAME]
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""
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[DEBUGGER_OPTIONS]
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""
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[DOWNLOAD_MODULES]
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| ... | ... | |
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"FALSE"
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[DISABLE_MEMORY_ACCESS_DURING_EXECUTION]
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"FALSE"
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[DEBUGGER_OPTIONS_PROPERTIES]
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"0"
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[COMMAND_FILES]
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[DEFAULT_DEBUG_FORMAT]
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""
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| branch/mendiondo/Emb_App/SessionM32C_E8a_system.ini | ||
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[Target]
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M32C E8a SYSTEM=Renesas Communications
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[USER_DATA]
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RESET=ff0020
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RESET=ff0162
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| branch/mendiondo/Emb_App/SessionM32C_E8a_system.hsf | ||
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"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWndInstanceKey1" "{WK_00000001_PDMR}EmbM32C87AppSessionM32C_E8a_system0"
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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" "0000000000000000"
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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_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_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" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF001C"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_17" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000700"
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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" "0000000000FF05B0"
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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" "0000000000000A48"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "000000000000086A"
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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" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_20" "0000000000000044"
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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_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" "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_35" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_4" "0000000000000000"
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||
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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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||
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_7" "0000000000000000"
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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000A66"
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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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"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_COUNT" "36"
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| ... | ... | |
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0007_SCOPE" "Current Scope,"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0008" "piste, 1, 0, P, Col, Bin, MA"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0008_SCOPE" "Global,"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "9"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0009" "temps, 2, 0, P, Col, Dec, MA"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0009_SCOPE" "Current Scope,"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0010" "tour, 2, 0, P, Col, Dec, MA"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0010_SCOPE" "Global,"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0011" "feu, 2, 0, P, Col, Dec, MA"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0011_SCOPE" "Global,"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "12"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth0" "120"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth1" "150"
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"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth12" "200"
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| ... | ... | |
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0
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[WINDOW_POSITION_STATE_DATA_VD1]
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"Help" "TOOLBAR 0" 59419 2 5 "0.00" 0 0 0 0 0 17 0 "" "0.0"
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"{WK_00000001_CmdLine}" "WINDOW" 59422 0 2 "0.07" 324 0 0 350 200 17 0 "32771|32772|32778|<<separator>>|32773|32774|<<separator>>|32820|<<separator>>|32801|32824" "0.0"
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"{WK_00000001_CmdLine}" "WINDOW" 59422 0 3 "0.06" 324 0 0 350 200 17 0 "32771|32772|32778|<<separator>>|32773|32774|<<separator>>|32820|<<separator>>|32801|32824" "0.0"
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"{WK_00000001_DISASSEMBLY}" "WINDOW" 0 0 0 "0.00" 0 -4 -30 948 486 9 0 "" "0.0"
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"{WK_00000001_EVENT}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59422 0 1 "0.04" 324 0 0 350 200 18 0 "32774|32775|32777|<<separator>>|32780|<<separator>>" "0.0"
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"{WK_00000001_EVENT}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59422 0 1 "0.02" 324 0 0 350 200 18 0 "32774|32775|32777|<<separator>>|32780|<<separator>>" "0.0"
|
||
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"{WK_00000001_IO}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59422 0 0 "0.07" 324 0 0 350 200 18 0 "32817|32826|32819|32820|32821|32829" "0.0"
|
||
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"{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 "0.10" 324 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 4 "0.30" 324 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_OUTPUT}" "WINDOW" 59422 0 4 "0.42" 324 0 0 350 200 18 0 "36756|36757|36758|36759|<<separator>>|36746|36747|<<separator>>|39531|<<separator>>|39500|39534|<<separator>>|36687" "0.0"
|
||
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"{WK_00000001_PDMR}EmbM32C87AppSessionM32C_E8a_system0" "WINDOW" 59422 0 2 "0.03" 324 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 5 "0.01" 324 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 6 "0.49" 324 0 0 350 200 18 0 "32781|32783|<<separator>>|32771|32772|32773|<<separator>>|32786|<<separator>>|32810|32811" "0.0"
|
||
|
"{WK_00000001_WATCH}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59422 0 6 "0.45" 324 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"
|
||
|
"{WK_TB00000001_STANDARD}" "TOOLBAR 0" 59419 2 2 "0.00" 0 0 0 0 0 18 0 "" "0.0"
|
||
|
"{WK_TB00000002_EDITOR}" "TOOLBAR 0" 59419 0 0 "0.00" 0 0 0 0 0 18 0 "" "0.0"
|
||
| ... | ... | |
|
[WINDOW_POSITION_STATE_DATA_VD3]
|
||
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[WINDOW_POSITION_STATE_DATA_VD4]
|
||
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[WINDOW_Z_ORDER]
|
||
|
"E:\tp_info6_2018_mendiondo\tp_info6\Emb_App\programme_principal_etud.c"
|
||
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"E:\tp_info6_2018_mendiondo\tp_info6\Emb_App\crt0mr.a30"
|
||
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"E:\tp_info6_2018_mendiondo\tp_info6\Emb_App\programme_principal_etud.c"
|
||
|
"E:\tp_info6_2018_mendiondo\tp_info6\bsp\lcd.c"
|
||
|
"E:\tp_info6_2018_mendiondo\tp_info6\Emb_App\conf_noyau.cfg"
|
||
|
"E:\tp_info6_2018_mendiondo\tp_info6\Emb_App\Debug\mr308.inc"
|
||
|
"E:\tp_info6_2018_mendiondo\tp_info6\bsp\uart0.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 100081440 1 "{00000000-0000-0000-C000-000000000046}" ""
|
||
|
"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 89790576 1 "{00000000-0000-0000-C000-000000000046}" ""
|
||
|
[END]
|
||
| branch/mendiondo/Emb_App/programme_principal_etud.c | ||
|---|---|---|
|
unsigned int alpha;j;
|
||
|
unsigned int dist;
|
||
|
unsigned int k=2,cpt=0;ka=1;
|
||
|
unsigned int numero_capt,couleur_capt,couleur_piste,couleur,num_piste,feu,ok=0,tour=0;
|
||
|
unsigned int numero_capt,couleur_capt,couleur_piste,couleur,num_piste,feu,ok=0,tour=0,temps=0;
|
||
|
unsigned short capteur;piste;
|
||
|
unsigned char c[]="";
|
||
|
char ca[]="";
|
||
|
|
||
|
|
||
|
|
||
|
void arret(){
|
||
|
CanFrame comm;
|
||
|
while(1){
|
||
|
comm.data.id='V';
|
||
|
comm.data.rtr=0;
|
||
|
comm.data.val=0;
|
||
|
snd_dtq(CanTx,comm.msg);
|
||
|
dly_tsk(50);
|
||
|
}
|
||
|
}
|
||
|
void avancer(){
|
||
|
CanFrame comm;
|
||
|
|
||
| ... | ... | |
|
ka=1;
|
||
|
comm.data.val=65; // 75 pour niveaux 1 , 65 pour 2, 45 pour 3
|
||
|
}
|
||
|
else if (tour==3)comm.data.val=0;
|
||
|
else if(tour== 3)comm.data.val=0;
|
||
|
else{
|
||
|
comm.data.val=35; // 30 1,2,3 20 4 vitesse virage
|
||
|
comm.data.val=30; // 30 1,2,3 20 4 vitesse virage
|
||
|
k=6;
|
||
|
}
|
||
|
snd_dtq(CanTx,comm.msg);
|
||
|
// lcd_com(0xC0);
|
||
|
// ca="piste verte";
|
||
|
|
||
|
// dly_tsk(100);
|
||
|
break;
|
||
|
|
||
| ... | ... | |
|
if (cpt%2 ==1){
|
||
|
k=2;
|
||
|
ka=1;
|
||
|
comm.data.val=65; // 75 pour niveaux 1 , 65 pour 2, 45 pour 3
|
||
|
comm.data.val=50; // 75 pour niveaux 1 , 65 pour 2, 45 pour 3
|
||
|
}
|
||
|
else if (tour==3)comm.data.val=0;
|
||
|
else{
|
||
| ... | ... | |
|
k=6;
|
||
|
}
|
||
|
snd_dtq(CanTx,comm.msg);
|
||
|
// lcd_com(0xC0);
|
||
|
// lcd_str("piste bleue");
|
||
|
|
||
|
// dly_tsk(100);
|
||
|
break;
|
||
|
|
||
| ... | ... | |
|
else if (cpt%2 ==1){
|
||
|
k=2;
|
||
|
ka=1;
|
||
|
comm.data.val=50; // 75 pour niveaux 1 , 65 pour 2, 45 pour 3
|
||
|
comm.data.val=45; // 75 pour niveaux 1 , 65 pour 2, 45 pour 3
|
||
|
}
|
||
|
|
||
|
else{
|
||
| ... | ... | |
|
k=6;
|
||
|
}
|
||
|
snd_dtq(CanTx,comm.msg);
|
||
|
// lcd_com(0xC0);
|
||
|
// lcd_str("piste rouge");
|
||
|
|
||
|
// dly_tsk(100);
|
||
|
break;
|
||
|
|
||
| ... | ... | |
|
k=2;
|
||
|
}
|
||
|
snd_dtq(CanTx,comm.msg);
|
||
|
// lcd_com(0xC0);
|
||
|
// lcd_str("piste noire");
|
||
|
|
||
|
// dly_tsk(100);
|
||
|
break;
|
||
|
|
||
| ... | ... | |
|
snd_dtq(CanTx, req.msg);
|
||
|
wai_flg(ev_periph, 0x02,TWF_ANDW, &flag);
|
||
|
dist=periph[ADDR('U')].val; //lecture de la distance
|
||
|
/* if((dist=0)||(dist>2000)){
|
||
|
LED_J=1;
|
||
|
dly_tsk(1000);
|
||
|
}
|
||
|
*/
|
||
|
|
||
|
|
||
|
|
||
|
if(dist<1500){
|
||
|
comm.data.id='D';
|
||
| ... | ... | |
|
if ((numero_capt==1024)&&(couleur_capt==118)){ // on passe le capteur saut du niveau 3
|
||
|
dly_tsk(220);
|
||
|
}
|
||
|
|
||
|
periph[ADDR('U')].ev=0x02;
|
||
|
snd_dtq(CanTx, req.msg);
|
||
|
wai_flg(ev_periph, 0x02,TWF_ANDW, &flag);
|
||
|
dist=periph[ADDR('U')].val; //lecture de la distance
|
||
|
if((dist<1500)&&(dist>400)){
|
||
|
// LED_J=0;
|
||
|
comm.data.id='D';
|
||
|
comm.data.rtr=0;
|
||
|
comm.data.val=ka*(-710 +dist);
|
||
| ... | ... | |
|
snd_dtq(CanTx, req.msg);
|
||
|
wai_flg(ev_periph, 0x02,TWF_ANDW, &flag);
|
||
|
dist=periph[ADDR('U')].val; //lecture de la distance
|
||
|
|
||
|
if((dist<1500)&&(dist>400)){
|
||
|
LED_J=0;
|
||
|
comm.data.id='D';
|
||
|
comm.data.rtr=0;
|
||
|
comm.data.val=ka*(-710 +dist);
|
||
|
}
|
||
|
else LED_J=1;
|
||
|
snd_dtq(CanTx, comm.msg);
|
||
|
break;
|
||
|
}
|
||
| ... | ... | |
|
}
|
||
|
couleur=couleur_capt;
|
||
|
|
||
|
dly_tsk(100);
|
||
|
dly_tsk(10);
|
||
|
}
|
||
|
}
|
||
|
|
||
| ... | ... | |
|
}
|
||
|
}
|
||
|
|
||
|
|
||
|
|
||
|
void chrono (){
|
||
|
CanFrame req;
|
||
|
UINT flag;
|
||
|
while (1){
|
||
|
req.data.id='H';
|
||
|
req.data.rtr=1;
|
||
|
periph[ADDR('H')].ev=0x05;
|
||
|
snd_dtq(CanTx, req.msg);
|
||
|
wai_flg(ev_periph, 0x05, TWF_ANDW, &flag);
|
||
|
temps=periph[ADDR('H')].val;
|
||
|
sprintf(c,"%d",temps);
|
||
|
lcd_str(c);
|
||
|
lcd_com(0xC0);
|
||
|
// lcd_str(ca);
|
||
|
switch (num_piste){
|
||
|
case (256):
|
||
|
lcd_str("piste verte");
|
||
|
break;
|
||
|
case (512):
|
||
|
lcd_str("piste bleue");
|
||
|
break;
|
||
|
case (768):
|
||
|
lcd_str("piste rouge");
|
||
|
break;
|
||
|
case (1024):
|
||
|
lcd_str("piste noire");
|
||
|
break;
|
||
|
}
|
||
|
dly_tsk(800);
|
||
|
lcd_init();
|
||
|
}
|
||
|
}
|
||
|
void main()
|
||
|
{
|
||
|
ports_mcu();
|
||
| ... | ... | |
|
sta_tsk(ID_asserv_tourelle);
|
||
|
sta_tsk(ID_distance);
|
||
|
sta_tsk(ID_capte);
|
||
|
// sta_tsk(ID_chrono);
|
||
|
|
||
|
|
||
|
|
||
|
while(1){
|
||
|
|
||
|
dly_tsk(1000);
|
||
|
dly_tsk(100);
|
||
|
|
||
|
if (feu == 65535){
|
||
|
ok=1;
|
||
|
ok++;
|
||
|
}
|
||
|
if(ok == 1){
|
||
|
sta_tsk(ID_avancer);
|
||
|
}
|
||
|
if(tour == 3)/*||(Bp_G==1))*/{
|
||
|
if((tour== 3)||(Bp_D==1)){
|
||
|
ter_tsk(ID_pistes);
|
||
|
// ok=0;
|
||
|
ter_tsk(ID_avancer);
|
||
|
ok=0;
|
||
|
sta_tsk(ID_arret);
|
||
|
ter_tsk(ID_asserv_tourelle);
|
||
|
ter_tsk(ID_distance);
|
||
|
ter_tsk(ID_capte);
|
||
|
ter_tsk(ID_periph_rx);
|
||
|
ter_tsk(ID_periph_rx);
|
||
|
// ter_tsk(ID_chrono);
|
||
|
ter_tsk(ID_arret);
|
||
|
LED_R=1;
|
||
|
|
||
|
}
|
||
|
}
|
||
|
}
|
||
| branch/mendiondo/Emb_App/conf_noyau.cfg | ||
|---|---|---|
|
initial_start = OFF;
|
||
|
exinf = 0x0;
|
||
|
};
|
||
|
|
||
|
task[]{
|
||
|
entry_address = arret();
|
||
|
name = ID_arret;
|
||
|
stack_size = 256;
|
||
|
stack_section = stack;
|
||
|
priority = 6;
|
||
|
initial_start = OFF;
|
||
|
exinf = 0x0;
|
||
|
};
|
||
|
task[]{
|
||
|
entry_address = chrono();
|
||
|
name = ID_chrono;
|
||
|
stack_size = 256;
|
||
|
stack_section = stack;
|
||
|
priority = 8;
|
||
|
initial_start = OFF;
|
||
|
exinf = 0x0;
|
||
|
};
|
||
|
flag[]{
|
||
|
name = ev_bus_fin_tr;
|
||
|
initial_pattern = 0x0000;
|
||
Formats disponibles : Unified diff
fin du tp