Revision 190

View differences:

branch/daval/Emb_App.tws
13 13
"E:\tp_info6_2018_daval\bsp\uart0.c" 
14 14
"E:\tp_info6_2018_daval\Emb_App\conf_noyau.cfg" 
15 15
"E:\tp_info6_2018_daval\Emb_App\crt0mr.a30" 
16
"E:\tp_info6_2018_daval\Emb_App\Debug\mr308.inc" 
16 17
"E:\tp_info6_2018_daval\Emb_App\Debug\mrtable.a30" 
17 18
"E:\tp_info6_2018_daval\Emb_App\programme_principal_etud.c" 
18 19
[WORKSPACE_FILE_STATES]
20
"E:\tp_info6_2018_daval\Emb_App\Debug\mr308.inc" 25 25 1430 351 0 8 
19 21
"E:\tp_info6_2018_daval\Emb_App\Debug\mrtable.a30" 150 150 1430 351 0 6 
20 22
"E:\tp_info6_2018_daval\Emb_App\conf_noyau.cfg" 0 0 1430 351 0 7 
21 23
"E:\tp_info6_2018_daval\Emb_App\crt0mr.a30" 25 25 1430 351 0 1 
branch/daval/Emb_App/SessionM32C_E8a_system.ini
25 25
[Target]
26 26
M32C E8a SYSTEM=Renesas Communications
27 27
[USER_DATA]
28
RESET=ff002c
28
RESET=ff0030
branch/daval/Emb_App/SessionM32C_E8a_system.hsf
83 83
"{4B022541-3E95-11D7-909C-00201898052D}ElfDwarf2Objects" "1" 
84 84
"{4B022541-3E95-11D7-909C-00201898052D}LoadModule0OBJ_ELFDWARF2_ARRAY_EXPAND_LIMIT" "-1" 
85 85
"{4B022541-3E95-11D7-909C-00201898052D}LoadModule0OBJ_STATUS_OF_EBD_CMD" "0" 
86
"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRCtrlViews" "1" 
86
"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRCtrlViews" "2" 
87 87
"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd0EnableRRam" "0" 
88 88
"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd0MrType" "2" 
89 89
"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd0MrType2ColumnSizeMode0Column0" "4" 
......
138 138
"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd0MrType2StatusBarMode0" "1" 
139 139
"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd0MrType2StatusBarMode1" "1" 
140 140
"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd0Sampling" "100" 
141
"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1EnableRRam" "0" 
142
"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType" "2" 
143
"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode0Column0" "4" 
144
"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode0Column1" "11" 
145
"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode0Column2" "5" 
146
"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode0Column3" "19" 
147
"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode0Column4" "8" 
148
"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode0Column5" "8" 
149
"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode0Column6" "7" 
150
"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode0Column7" "8" 
151
"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode0Column8" "9" 
152
"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode1Column0" "5" 
153
"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode1Column1" "130" 
154
"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode2Column0" "7" 
155
"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode2Column1" "35" 
156
"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode3Column0" "4" 
157
"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode3Column1" "29" 
158
"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode3Column2" "8" 
159
"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode3Column3" "91" 
160
"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode4Column0" "4" 
161
"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode4Column1" "10" 
162
"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode4Column2" "8" 
163
"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode4Column3" "113" 
164
"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode5Column0" "4" 
165
"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode5Column1" "21" 
166
"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode5Column2" "55" 
167
"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode5Column3" "55" 
168
"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode6Column0" "8" 
169
"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode6Column1" "10" 
170
"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode6Column2" "7" 
171
"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode6Column3" "7" 
172
"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode6Column4" "53" 
173
"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode6Column5" "53" 
174
"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode7Column0" "4" 
175
"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode7Column1" "11" 
176
"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode7Column2" "8" 
177
"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode7Column3" "8" 
178
"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode7Column4" "7" 
179
"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode7Column5" "10" 
180
"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode8Column0" "4" 
181
"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode8Column1" "11" 
182
"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode8Column2" "8" 
183
"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode8Column3" "10" 
184
"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode9Column0" "9" 
185
"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode9Column1" "10" 
186
"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode9Column2" "11" 
187
"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode9Column3" "7" 
188
"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode9Column4" "8" 
189
"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode9Column5" "9" 
190
"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2ColumnSizeMode9Column6" "81" 
191
"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2MrMode" "0" 
192
"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2StatusBarMode0" "1" 
193
"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1MrType2StatusBarMode1" "1" 
194
"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWnd1Sampling" "100" 
141 195
"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWndInstanceKey0" "{WK_00000001_PDMR}EmbM32C87AppSessionM32C_E8a_system" 
196
"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWndInstanceKey1" "{WK_00000001_PDMR}EmbM32C87AppSessionM32C_E8a_system0" 
142 197
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_EVAL_DENORMAL_MODE" "0" 
143 198
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_EVAL_ROUND_MODE" "0" 
144
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_0" "0000000000004044" 
145
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_1" "0000000000000020" 
199
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_0" "0000000000000001" 
200
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_1" "0000000000000000" 
146 201
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_10" "0000000000000000" 
147 202
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_11" "0000000000000000" 
148 203
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_12" "0000000000000000" 
149 204
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_13" "0000000000000000" 
150 205
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_14" "0000000000000000" 
151 206
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_15" "0000000000000512" 
152
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF058C" 
207
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF3285" 
153 208
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_17" "0000000000FFF800" 
154
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000ABE" 
155
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "00000000000007F8" 
156
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "0000000000000001" 
157
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_20" "0000000000004044" 
209
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000A4E" 
210
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000852" 
211
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "0000000000000005" 
212
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_20" "00000000000000C0" 
158 213
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_21" "0000000000000000" 
159 214
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_22" "0000000000000000" 
160 215
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_23" "0000000000000000" 
......
171 226
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_33" "0000000000000000" 
172 227
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_34" "000000000000036A" 
173 228
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_35" "0000000000000000" 
174
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_4" "0000000000000008" 
175
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "0000000000000000" 
176
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000AF4" 
229
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_4" "0000000000000005" 
230
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "0000000000000512" 
231
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000A4E" 
177 232
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_7" "0000000000000512" 
178 233
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_8" "0000000000000000" 
179 234
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_9" "0000000000000000" 
......
209 264
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000_SCOPE" "Current Scope," 
210 265
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001" "angle, 1, 0, P, Col, Dec, MN" 
211 266
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001_SCOPE" "Current Scope," 
212
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "2" 
267
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002" "distance_mesure, 1, 0, P, Col, Dec, MN" 
268
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002_SCOPE" "Global," 
269
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "3" 
213 270
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth0" "120" 
214 271
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth1" "150" 
215 272
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth12" "200" 
......
279 336
0 
280 337
[WINDOW_POSITION_STATE_DATA_VD1]
281 338
"Help" "TOOLBAR 0" 59419 2 4 "0.00" 0 0 0 0 0 17 0 "" "0.0" 
282
"{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" 
339
"{WK_00000001_CmdLine}" "WINDOW" 59422 0 2 "0.08" 365 0 0 350 200 17 0 "32771|32772|32778|<<separator>>|32773|32774|<<separator>>|32820|<<separator>>|32801|32824" "0.0" 
283 340
"{WK_00000001_DISASSEMBLY}" "WINDOW" 0 0 0 "0.00" 0 -4 -30 948 486 9 0 "" "0.0" 
284 341
"{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" 
285 342
"{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" 
286
"{WK_00000001_OUTPUT}" "WINDOW" 59422 0 2 "0.58" 365 0 0 350 200 18 0 "36756|36757|36758|36759|<<separator>>|36746|36747|<<separator>>|39531|<<separator>>|39500|39534|<<separator>>|36687" "0.0" 
287
"{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" 
343
"{WK_00000001_OUTPUT}" "WINDOW" 59422 0 3 "0.52" 365 0 0 350 200 18 0 "36756|36757|36758|36759|<<separator>>|36746|36747|<<separator>>|39531|<<separator>>|39500|39534|<<separator>>|36687" "0.0" 
344
"{WK_00000001_PDMR}EmbM32C87AppSessionM32C_E8a_system0" "WINDOW" 59422 0 1 "0.07" 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" 
345
"{WK_00000001_PDMR}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59422 0 4 "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" 
288 346
"{WK_00000001_REGISTERS}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59421 0 0 "1.00" 236 0 0 350 200 2065 0 "" "0.0" 
289
"{WK_00000001_WATCH}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59422 0 4 "0.30" 365 0 0 350 200 18 0 "32781|32783|<<separator>>|32771|32772|32773|<<separator>>|32786|<<separator>>|32810|32811" "0.0" 
347
"{WK_00000001_WATCH}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59422 0 5 "0.30" 365 0 0 350 200 18 0 "32781|32783|<<separator>>|32771|32772|32773|<<separator>>|32786|<<separator>>|32810|32811" "0.0" 
290 348
"{WK_00000002_WORKSPACE}" "WINDOW" 59420 0 0 "1.00" 308 0 0 350 200 18 0 "" "0.0" 
291 349
"{WK_TB00000001_STANDARD}" "TOOLBAR 0" 59419 0 2 "0.00" 0 0 0 0 0 18 0 "" "0.0" 
292 350
"{WK_TB00000002_EDITOR}" "TOOLBAR 0" 59419 0 0 "0.00" 0 0 0 0 0 18 0 "" "0.0" 
......
313 371
[WINDOW_Z_ORDER]
314 372
"E:\tp_info6_2018_daval\Emb_App\programme_principal_etud.c" 
315 373
"E:\tp_info6_2018_daval\Emb_App\crt0mr.a30" 
374
"E:\tp_info6_2018_daval\bsp\uart0.c" 
375
"E:\tp_info6_2018_daval\Emb_App\Debug\mr308.inc" 
316 376
"E:\tp_info6_2018_daval\Emb_App\conf_noyau.cfg" 
377
"E:\tp_info6_2018_daval\Emb_App\Debug\mrtable.a30" 
317 378
"E:\tp_info6_2018_daval\bsp\periph.c" 
318 379
"E:\tp_info6_2018_daval\bsp\mli.c" 
319
"E:\tp_info6_2018_daval\Emb_App\Debug\mrtable.a30" 
320 380
"E:\tp_info6_2018_daval\bsp\radiocommande.c" 
321
"E:\tp_info6_2018_daval\bsp\uart0.c" 
322 381
[TARGET_NAME]
323 382
"M32C E8a SYSTEM" "" 0 
324 383
[STATUSBAR_STATEINFO_VD1]
......
365 424
[FLASH_DETAILS]
366 425
"" 0 0 "" 0 "" 0 0 "" 0 0 0 0 0 0 0 "" "" "" "" "" 
367 426
[BREAKPOINTS]
368
"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 91168816 1 "{00000000-0000-0000-C000-000000000046}" "" 
427
"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 92744024 1 "{00000000-0000-0000-C000-000000000046}" "" 
369 428
[END]
branch/daval/Emb_App/programme_principal_etud.c
123 123

  
124 124
int consigne = 450; 	//valeur de la consigne
125 125
int angle=0 ; 			//valeur retournee
126
int k=1; 				//gain du correcteur
126
float k=1.9; 				//gain du correcteur
127 127
int valeur = 0 ; 		//valeur envoyee
128 128

  
129
int consigne_roue=750;
130
int C=1.5;
131
int orientation_roue =0;
132
int vitesse_voulue=20;
129
int consigne_roue=735;		// Consigne en angle pour que les roues soient un peu pr?s droite
130
float C=1.;					// Gain asservissment des roues
131
int orientation_roue =0;	// valeur corrigee pour l orientation des roues
132
int vitesse_voulue=45;		// Commande de vitesse que l'on envoie
133 133
CanFrame vitesse;
134 134
CanFrame requete;
135 135

  
......
158 158
		commande.data.rtr=0; 			//Indique une ecriture
159 159
		valeur=k*(consigne-angle); 
160 160
		commande.data.val=valeur;
161
		snd_dtq (CanTx,commande.msg); 	//Envoi modif
161
		snd_dtq (CanTx,commande.msg); 	//Envoi modification
162 162
		dly_tsk(5);
163 163
	}
164 164
}
165 165

  
166 166
void avance()
167 167
{
168
		vitesse.data.id='V';			//Envoi d'une commande en vitesse
169
		vitesse.data.rtr=0; 			//Indique une ecriture
170
		vitesse.data.val=vitesse_voulue;
168
		vitesse.data.id='V';				//Envoi d'une commande en vitesse
169
		vitesse.data.rtr=0; 				//Indique une ecriture
170
		vitesse.data.val=vitesse_voulue;	
171 171
		snd_dtq (CanTx,vitesse.msg);
172 172
		dly_tsk(15);
173 173

  
......
180 180
    while(1)
181 181
	{
182 182
		
183
        requete_dist.data.id= 'U' ;
184
        requete_dist.data.rtr= 1 ;							//requete lecture
185
        periph[ADDR('U')].ev= 0x02 ;
183
        requete_dist.data.id= 'U' ;			
184
        requete_dist.data.rtr= 1 ;							//requete lecture distance donne par le telemetre
185
        periph[ADDR('U')].ev= 0x01 ;						//L evenement est declenche a chaque fois que la valeur du periph U et mise ? jour
186 186
        snd_dtq(CanTx, requete_dist.msg);
187
        wai_flg (ev_periph, 0x02, TWF_ANDW, &flag);			//Attente lecture
187
        wai_flg (ev_periph, 0x01, TWF_ANDW, &flag);			//Attente lecture
188 188
        distance_mesure=periph[ADDR('U')].val;
189 189
		dly_tsk(15);
190 190
		
branch/daval/Emb_App/EmbM32C87App.tps
18 18
"SessionM32C_E8a_system" 
19 19
[GENERAL_DATA_PROJECT]
20 20
[GENERAL_DATA_CONFIGURATION_Debug]
21
"PROJECT_FILES_MODIFIED_DATA_TAG" "FALSE" 
21
"PROJECT_FILES_MODIFIED_DATA_TAG" "TRUE" 
22 22
[SESSIONS_Debug]
23 23
"DefaultSession" 
24 24
"SessionM32C_E8a_system" 

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