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Révision 73

Ajouté par axfont il y a plus de 6 ans

dernière modif

Voir les différences:

branch/font/Emb_App.tws
[GENERAL_DATA]
[BREAKPOINTS]
[OPEN_WORKSPACE_FILES]
"E:\tp_info6_2018_font\bsp\periph.c"
"E:\tp_info6_2018_font\bsp\sfr32c83.h"
"E:\tp_info6_2018_font\bsp\uart0.c"
"E:\tp_info6_2018_font\Emb_App\conf_noyau.cfg"
"E:\tp_info6_2018_font\Emb_App\crt0mr.a30"
"E:\tp_info6_2018_font\Emb_App\programme_principal_etud.c"
[WORKSPACE_FILE_STATES]
"E:\tp_info6_2018_font\Emb_App\conf_noyau.cfg" 75 75 1430 351 0 2
"E:\tp_info6_2018_font\Emb_App\crt0mr.a30" -8 -30 1596 539 1 0
"E:\tp_info6_2018_font\Emb_App\programme_principal_etud.c" 25 25 1426 347 0 1
"E:\tp_info6_2018_font\Emb_App\crt0mr.a30" 0 0 1596 539 0 0
"E:\tp_info6_2018_font\Emb_App\programme_principal_etud.c" -8 -30 1596 539 1 1
"E:\tp_info6_2018_font\bsp\periph.c" 100 100 1430 351 0 4
"E:\tp_info6_2018_font\bsp\sfr32c83.h" 100 100 1430 351 0 3
"E:\tp_info6_2018_font\bsp\uart0.c" 150 150 1430 351 0 5
[LOADED_PROJECTS]
"EmbM32C87App"
[END]
branch/font/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" "0000000000004044"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_1" "0000000000000020"
"{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_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" "0000000000FF056E"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF326D"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_17" "0000000000FFF800"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000928"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "000000000000074A"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000A3E"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000842"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_20" "0000000000004004"
"{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_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" "0000000000000008"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_4" "0000000000000006"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000946"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000A3E"
"{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}WatchWnd0ColWidth2" "120"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ColWidth3" "200"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH" "c,buff,n,rx,flag,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000" "dma0_fin_tr, 2, 0, P, Col, Hex, MN"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000" "alpha, 2, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "0"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001" "distance, 2, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002" "couleur_capt, 1, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0003" "val_capt, 10, 0, P, Col, Hex, N"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0003_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "4"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth0" "120"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth1" "150"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth12" "200"
......
0
[WINDOW_POSITION_STATE_DATA_VD1]
"Help" "TOOLBAR 0" 59419 2 4 "0.00" 0 0 0 0 0 17 0 "" "0.0"
"{WK_00000001_CmdLine}" "WINDOW" 59422 0 0 "0.14" 365 0 0 350 200 17 0 "32771|32772|32778|<<separator>>|32773|32774|<<separator>>|32820|<<separator>>|32801|32824" "0.0"
"{WK_00000001_CmdLine}" "WINDOW" 59422 0 1 "0.09" 365 0 0 350 200 17 0 "32771|32772|32778|<<separator>>|32773|32774|<<separator>>|32820|<<separator>>|32801|32824" "0.0"
"{WK_00000001_DISASSEMBLY}" "WINDOW" 0 0 0 "0.00" 0 -4 -30 948 486 9 0 "" "0.0"
"{WK_00000001_EVENT}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59422 0 0 "0.16" 365 0 0 350 200 18 0 "32774|32775|32777|<<separator>>|32780|<<separator>>" "0.0"
"{WK_00000001_EVENT}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59422 0 0 "0.11" 365 0 0 350 200 18 0 "32774|32775|32777|<<separator>>|32780|<<separator>>" "0.0"
"{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 1 "1.00" 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_system" "WINDOW" 59422 0 3 "0.15" 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_OUTPUT}" "WINDOW" 59422 0 2 "0.54" 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_system" "WINDOW" 59422 0 3 "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_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 4 "0.13" 365 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 4 "0.34" 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"
"{WK_TB00000001_STANDARD}" "TOOLBAR 0" 59419 0 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]
[WINDOW_POSITION_STATE_DATA_VD4]
[WINDOW_Z_ORDER]
"E:\programmation\Travaux_Pratiques\Polytech_Ge_Travaux_Pratiques_2018\polytech-ge-info6-2018\trunk\tp_info6\Emb_App\programme_principal_etud.c"
"E:\tp_info6_2018_font\Emb_App\programme_principal_etud.c"
"E:\tp_info6_2018_font\bsp\uart0.c"
"E:\tp_info6_2018_font\Emb_App\crt0mr.a30"
"E:\tp_info6_2018_font\Emb_App\conf_noyau.cfg"
"E:\tp_info6_2018_font\bsp\periph.c"
"E:\tp_info6_2018_font\bsp\sfr32c83.h"
[TARGET_NAME]
"M32C E8a SYSTEM" "" 0
[STATUSBAR_STATEINFO_VD1]
......
[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 0 1 "{00000000-0000-0000-C000-000000000046}" ""
"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 93512136 1 "{00000000-0000-0000-C000-000000000046}" ""
[END]
branch/font/Emb_App/programme_principal_etud.c
unsigned int alpha;
unsigned int distance;
unsigned int distance1;
unsigned int angle = 500;
unsigned int kroue = 2;
unsigned int k = 1;
unsigned short pot;
int couleur_capt;
void lecture_telemetre(){
CanFrame reponsed, requeted;
UINT flag;
//Lecture distance mesur?e
requeted.data.id = 'U';
requeted.data.rtr = 1; //requete de lecture
periph[ADDR('U')].ev = 0x02;
snd_dtq(CanTx, requeted.msg);
wai_flg(ev_periph, 0x02, TWF_ANDW, &flag); //Attente de lecture
distance = periph[ADDR('U')].val;
while(1){
//Lecture distance mesur?e
dly_tsk(2);
requeted.data.id = 'U';
requeted.data.rtr = 1; //requete de lecture
periph[ADDR('U')].ev = 0x02;
snd_dtq(CanTx, requeted.msg);
wai_flg(ev_periph, 0x02, TWF_ANDW, &flag); //Attente de lecture
distance1 = periph[ADDR('U')].val;
if(distance1 > 2000) distance1 = distance;
distance = distance1;
}
}
void asservissement_roue(){
CanFrame comm;
comm.data.id = 'D';
comm.data.rtr = 0;
while(1){
dly_tsk(5);
comm.data.id = 'D';
comm.data.rtr = 0;
comm.data.val = kroue * (distance - 700);
snd_dtq(CanTx, comm.msg);
}
comm.data.val = kroue * (distance - 637);
snd_dtq(CanTx, comm.msg);
}
// test avec fonction periph
void tsk_asserv1(){
UINT flag;
CanFrame comm, reponse, requete, m;
while(1){
dly_tsk(5);
//Lecture de la position
requete.data.id = 'R';
requete.data.rtr = 1; //requete de lecture
......
snd_dtq(CanTx, requete.msg);
wai_flg(ev_periph, 0x01, TWF_ANDW, &flag); //Attente de la r?ponse
alpha = periph[ADDR('R')].val;
//Contr?le vitesse de rotation de la tourelle
comm.data.id = 'T';
comm.data.rtr = 0;
//asservissement en vitesse
comm.data.val = k * (450 - alpha);
snd_dtq(CanTx, comm.msg);
}
}
void vitesse(){
CanFrame comm;
CanFrame comm, requete;
UINT flag;
//d?marrage de la voiture
comm.data.id = 'V';
comm.data.rtr = 0;
if(comm.data.val == 0);{
comm.data.val = 20;
}
snd_dtq(CanTx, comm.msg);
//d?marrage de la voiture
dly_tsk(500);
while(1){
comm.data.id = 'C';
comm.data.rtr = 0;
periph[ADDR('C')].ev = 0x03;
snd_dtq(CanTx, comm.msg);
wai_flg(ev_periph,0x01,TWF_ANDW, &flag);
couleur_capt = periph[ADDR('C')].val>>2;
comm.data.id = 'V';
comm.data.rtr = 0;
if(couleur_capt == 5504) comm.data.val = 30;
else comm.data.val = 20;
snd_dtq(CanTx, comm.msg);
}
}
void main()
......
sta_cyc(ID_acqui);
sta_tsk(ID_periph_rx);
while(1)
sta_tsk(ID_vitesse);
sta_tsk(ID_tsk_asserv1);
sta_tsk(ID_lecture_telemetre);
sta_tsk(ID_asservissement_roue);
while(1)
{
sta_tsk(ID_vitesse);
sta_tsk(ID_tsk_asserv1);
sta_tsk(ID_lecture_telemetre);
sta_tsk(ID_asservissement_roue);
}
}
branch/font/Emb_App/EmbM32C87App.tps
"SessionM32C_E8a_system"
[GENERAL_DATA_PROJECT]
[GENERAL_DATA_CONFIGURATION_Debug]
"PROJECT_FILES_MODIFIED_DATA_TAG" "FALSE"
"PROJECT_FILES_MODIFIED_DATA_TAG" "TRUE"
[SESSIONS_Debug]
"DefaultSession"
"SessionM32C_E8a_system"

Formats disponibles : Unified diff