Révision 543
Ajouté par crzemeta il y a plus de 6 ans
| 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.hsf | ||
|---|---|---|
|
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_15" "0000000000000512"
|
||
|
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF058C"
|
||
|
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_17" "0000000000FFF800"
|
||
|
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000C24"
|
||
|
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "000000000000095E"
|
||
|
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000C3A"
|
||
|
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000974"
|
||
|
"{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_35" "0000000000000000"
|
||
|
"{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" "0000000000000C5A"
|
||
|
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000C70"
|
||
|
"{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_ITEM0015_SCOPE" "Current Scope,"
|
||
|
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0016" "noire, 10, 0, P, Col, Hex, N"
|
||
|
"{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}WatchWnd0ECX_WATCH_ITEM0017" "temps, 2, 0, P, Col, Dec, MA"
|
||
|
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0017_SCOPE" "Current Scope,"
|
||
|
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "18"
|
||
|
"{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\Emb_App\crt0mr.a30"
|
||
|
"E:\tp_info6_2018_zemeta\tp_info6\bsp\dma0.c"
|
||
|
"E:\tp_info6_2018_zemeta\tp_info6\bsp\uart0.c"
|
||
|
"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\bsp\periph.c"
|
||
|
"E:\tp_info6_2018_zemeta\tp_info6\bsp\lcd.c"
|
||
|
"E:\tp_info6_2018_zemeta\tp_info6\Disassembly"
|
||
| ... | ... | |
|
[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 92721520 1 "{00000000-0000-0000-C000-000000000046}" ""
|
||
|
"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 92796424 1 "{00000000-0000-0000-C000-000000000046}" ""
|
||
|
[END]
|
||
| branch/zemeta/Emb_App/programme_principal_etud.c | ||
|---|---|---|
|
// correspondant au nom du v?hicule si le nom se termine par '*'
|
||
|
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 short consigne_tour/*=450*/, vitesse_roue/*=20*/, capt_detecte, comRoue, mode_course ,num_piste ,depart,temps; // V = 30 pour piste verte , V = 38 pour piste bleu
|
||
|
unsigned char couleur;
|
||
|
CanFrame requete,requete3,requete4 ;
|
||
|
|
||
| ... | ... | |
|
sta_tsk(id_piste);
|
||
|
sta_tsk(id_piste_verte_bleue); // ? activer pour piste verte et bleue
|
||
|
sta_tsk(id_noire);
|
||
|
|
||
|
sta_tsk(id_temps);
|
||
|
|
||
|
// sta_tsk(id_comm_v); ralentit asservissement
|
||
|
// sta_tsk(id_arret); ralentit asservissement
|
||
|
comRoue=-k2*error2 ;
|
||
| ... | ... | |
|
sta_tsk(id_ass_t);
|
||
|
dly_tsk(2000);
|
||
|
sta_tsk(id_avance);
|
||
|
|
||
|
|
||
|
switch(couleur)
|
||
|
{
|
||
|
case 1: lcd_str("Verte");
|
||
| ... | ... | |
|
consigne_tour=450;
|
||
|
if(appui_Bp!=1)
|
||
|
{
|
||
|
vitesse_roue = 20;
|
||
|
vitesse_roue = 25;
|
||
|
comRoue = -k2*error2;
|
||
|
}
|
||
|
else if (appui_Bp)
|
||
| ... | ... | |
|
comRoue = 0;
|
||
|
}
|
||
|
}
|
||
|
/* else */if (capt_detecte==30212) // detection de ligne droite de saut
|
||
|
if (capt_detecte==30212) // detection de ligne droite de saut
|
||
|
{
|
||
|
D=705;
|
||
|
consigne_tour=450;
|
||
| ... | ... | |
|
consigne_tour=450;
|
||
|
if(appui_Bp!=1)
|
||
|
{
|
||
|
vitesse_roue = 35;
|
||
|
vitesse_roue = 43;
|
||
|
comRoue = -k2*error2;
|
||
|
}
|
||
|
else if (appui_Bp)
|
||
| ... | ... | |
|
dly_tsk(5);
|
||
|
}
|
||
|
}
|
||
|
|
||
|
|
||
|
void temps_course() // Temps reel de course
|
||
|
|
||
|
{
|
||
|
while (1)
|
||
|
{
|
||
|
requete.data.id = 'H' ;
|
||
|
requete.data.rtr = 1 ;
|
||
|
snd_dtq(CanTx, requete.msg);
|
||
|
dly_tsk(5) ;
|
||
|
temps = periph[ADDR('H')].val;
|
||
|
|
||
|
dly_tsk(10) ;
|
||
|
}
|
||
|
}
|
||
| branch/zemeta/Emb_App/conf_noyau.cfg | ||
|---|---|---|
|
};
|
||
|
|
||
|
task[]{
|
||
|
entry_address =temps_course();
|
||
|
name = id_temps;
|
||
|
stack_size = 256;
|
||
|
stack_section = stack;
|
||
|
priority = 2;
|
||
|
initial_start = OFF;
|
||
|
exinf = 0x0;
|
||
|
};
|
||
|
|
||
|
|
||
|
task[]{
|
||
|
entry_address = p_noire();
|
||
|
name = id_noire;
|
||
|
stack_size = 256;
|
||
Formats disponibles : Unified diff
Dernier commit : Toutes les pistes passent