Index: branch/font/Emb_App.tws
===================================================================
--- branch/font/Emb_App.tws	(revision 72)
+++ branch/font/Emb_App.tws	(revision 73)
@@ -7,15 +7,19 @@
 [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]
Index: branch/font/Emb_App/SessionM32C_E8a_system.hsf
===================================================================
--- branch/font/Emb_App/SessionM32C_E8a_system.hsf	(revision 72)
+++ branch/font/Emb_App/SessionM32C_E8a_system.hsf	(revision 73)
@@ -141,8 +141,8 @@
 "{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" 
@@ -149,12 +149,12 @@
 "{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" 
@@ -171,9 +171,9 @@
 "{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" 
@@ -205,9 +205,15 @@
 "{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" 
@@ -277,14 +283,14 @@
 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" 
@@ -309,7 +315,12 @@
 [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]
@@ -356,5 +367,5 @@
 [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]
Index: branch/font/Emb_App/programme_principal_etud.c
===================================================================
--- branch/font/Emb_App/programme_principal_etud.c	(revision 72)
+++ branch/font/Emb_App/programme_principal_etud.c	(revision 73)
@@ -122,40 +122,49 @@
 
 	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 mesurée
-	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 mesurée
+		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
@@ -163,29 +172,37 @@
 		snd_dtq(CanTx, requete.msg);
 		wai_flg(ev_periph, 0x01, TWF_ANDW, &flag); //Attente de la réponse
 		alpha = periph[ADDR('R')].val;
-		
 		//Contrôle 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;
 	
-	//démarrage 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);
+		//démarrage 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()
@@ -201,13 +218,14 @@
 
 	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);
+		
     }
 }
 
Index: branch/font/Emb_App/EmbM32C87App.tps
===================================================================
--- branch/font/Emb_App/EmbM32C87App.tps	(revision 72)
+++ branch/font/Emb_App/EmbM32C87App.tps	(revision 73)
@@ -18,7 +18,7 @@
 "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" 
