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Révision 84

Ajouté par axfont il y a plus de 6 ans

implémentation ralentissement voiture quand angle roue > 40

Voir les différences:

branch/font/Emb_App/SessionM32C_E8a_system.ini
[Target]
M32C E8a SYSTEM=Renesas Communications
[USER_DATA]
RESET=ff001c
RESET=ff0020
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" "0000000000000001"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_1" "0000000000000000"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_0" "0000000000000104"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_1" "0000000000000044"
"{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" "0000000000FF326D"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF1DA9"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_17" "0000000000FFF800"
"{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" "00000000000000C0"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000B0C"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000846"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "0000000000000004"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_20" "0000000000004041"
"{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_34" "000000000000036A"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_35" "0000000000000000"
"{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" "0000000000000A3E"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "0000000000000007"
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000B42"
"{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" "alpha, 2, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000" "alpha, 1, 0, P, Col, Dec, MN"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000_SCOPE" "Current Scope,"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001" "distance, 2, 0, P, Col, Dec, MA"
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001" "distance, 1, 0, P, Col, Dec, MN"
"{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,"
......
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 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_CmdLine}" "WINDOW" 59422 0 1 "0.08" 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 "0.11" 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"
......
[WINDOW_POSITION_STATE_DATA_VD4]
[WINDOW_Z_ORDER]
"E:\tp_info6_2018_font\Emb_App\programme_principal_etud.c"
"E:\tp_info6_2018_font\Emb_App\crt0mr.a30"
"E:\tp_info6_2018_font\bsp\periph.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
......
[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 93512136 1 "{00000000-0000-0000-C000-000000000046}" ""
"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 95936032 1 "{00000000-0000-0000-C000-000000000046}" ""
[END]
branch/font/Emb_App/programme_principal_etud.c
//'I'/73/Ox49 : D?finition du nom du v?hicule. Doit d?buter par le caract?re '#' et entraine le chargement de la configuration de piste
// correspondant au nom du v?hicule si le nom se termine par '*'
unsigned int alpha;
unsigned int distance;
unsigned int distance1;
unsigned int angle = 500;
unsigned int kroue = 2;
unsigned int k = 1;
int couleur_capt;
int alpha;
int distance;
int distance1;
int vitesse = 72;
int virage = 25;
int angle = 500;
int kroue = 1;
int k = 1;
int couleur_capt;
void lecture_telemetre(){
CanFrame reponsed, requeted;
......
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;
if(distance1 > 2000){}
else {
distance = distance1;
}
dly_tsk(5);
}
}
void asservissement_roue(){
CanFrame comm;
CanFrame comm, requete;
UINT flag;
while(1){
dly_tsk(5);
comm.data.id = 'D';
comm.data.rtr = 1;
periph[ADDR('D')].ev = 0x03;
snd_dtq(CanTx, requete.msg);
wai_flg(ev_periph, 0x03, TWF_ANDW, &flag); //Attente de lecture
comm.data.rtr = 0;
comm.data.val = kroue * (distance - 700);
angle = kroue * (distance - 700);
comm.data.val = angle;
snd_dtq(CanTx, comm.msg);
dly_tsk(5);
}
}
......
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
periph[ADDR('R')].ev = 0x01;
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
alpha = periph[ADDR('R')].val; //acquisition position tourelle
//asservissement en 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);
dly_tsk(5);
}
}
void vitesse(){
void demarrage(){
CanFrame comm, requete;
UINT flag;
dly_tsk(4000);
comm.data.id = 'V';
comm.data.rtr = 0;
comm.data.val = vitesse;
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;
while(1){
comm.data.id = 'V';
comm.data.rtr = 0;
if(angle > 40 || angle < -40){
comm.data.val = virage;
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;
}
else {
comm.data.val = vitesse;
snd_dtq(CanTx, comm.msg);
}
}
}
void main()
{
......
clavier_init(1);
capture_init();
sta_tsk(ID_periph_rx);
sta_tsk(ID_demarrage);
sta_cyc(ID_acqui);
sta_tsk(ID_periph_rx);
sta_tsk(ID_vitesse);
sta_tsk(ID_tsk_asserv1);
sta_tsk(ID_lecture_telemetre);
sta_tsk(ID_asservissement_roue);
branch/font/Emb_App/conf_noyau.cfg
};
task[]{
entry_address = vitesse();
name = ID_vitesse;
entry_address = demarrage();
name = ID_demarrage;
stack_size = 512;
stack_section = stack;
priority = 4;
branch/font/Emb_App/EmbM32C87App.tps
"SessionM32C_E8a_system"
[GENERAL_DATA_PROJECT]
[GENERAL_DATA_CONFIGURATION_Debug]
"PROJECT_FILES_MODIFIED_DATA_TAG" "TRUE"
"PROJECT_FILES_MODIFIED_DATA_TAG" "FALSE"
[SESSIONS_Debug]
"DefaultSession"
"SessionM32C_E8a_system"

Formats disponibles : Unified diff