Revision 238
| branch/vilain_sebastien/Emb_App.tws | ||
|---|---|---|
| 8 | 8 |
[BREAKPOINTS] |
| 9 | 9 |
[OPEN_WORKSPACE_FILES] |
| 10 | 10 |
"E:\tp_info6_2018_vilain_sebastien\bsp\periph.c" |
| 11 |
"E:\tp_info6_2018_vilain_sebastien\bsp\uart0.c" |
|
| 11 | 12 |
"E:\tp_info6_2018_vilain_sebastien\Emb_App\conf_noyau.cfg" |
| 12 | 13 |
"E:\tp_info6_2018_vilain_sebastien\Emb_App\crt0mr.a30" |
| 13 | 14 |
"E:\tp_info6_2018_vilain_sebastien\Emb_App\Debug\mr308.inc" |
| ... | ... | |
| 18 | 19 |
"E:\tp_info6_2018_vilain_sebastien\Emb_App\crt0mr.a30" -8 -30 1596 539 1 1 |
| 19 | 20 |
"E:\tp_info6_2018_vilain_sebastien\Emb_App\programme_principal_etud.c" 0 0 1596 539 0 0 |
| 20 | 21 |
"E:\tp_info6_2018_vilain_sebastien\bsp\periph.c" 75 75 1430 351 0 3 |
| 22 |
"E:\tp_info6_2018_vilain_sebastien\bsp\uart0.c" 125 125 1430 351 0 5 |
|
| 21 | 23 |
[LOADED_PROJECTS] |
| 22 | 24 |
"EmbM32C87App" |
| 23 | 25 |
[END] |
| branch/vilain_sebastien/Emb_App/SessionM32C_E8a_system.hsf | ||
|---|---|---|
| 141 | 141 |
"{55384715-F881-421C-A548-D7D1ABE158E1}PDMRWndInstanceKey0" "{WK_00000001_PDMR}EmbM32C87AppSessionM32C_E8a_system"
|
| 142 | 142 |
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_EVAL_DENORMAL_MODE" "0"
|
| 143 | 143 |
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_EVAL_ROUND_MODE" "0"
|
| 144 |
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_0" "0000000000004044"
|
|
| 144 |
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_0" "0000000000000044"
|
|
| 145 | 145 |
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_1" "0000000000000020"
|
| 146 | 146 |
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_10" "0000000000000000"
|
| 147 | 147 |
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_11" "0000000000000000"
|
| ... | ... | |
| 149 | 149 |
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_13" "0000000000000000"
|
| 150 | 150 |
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_14" "0000000000000000"
|
| 151 | 151 |
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_15" "0000000000000512"
|
| 152 |
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF0574"
|
|
| 152 |
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF0577"
|
|
| 153 | 153 |
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_17" "0000000000FFF800"
|
| 154 |
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000AE0"
|
|
| 155 |
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "000000000000081A"
|
|
| 156 |
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "0000000000000001"
|
|
| 154 |
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000E08"
|
|
| 155 |
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000830"
|
|
| 156 |
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "0000000000000000"
|
|
| 157 | 157 |
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_20" "0000000000000044"
|
| 158 | 158 |
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_21" "0000000000000000"
|
| 159 | 159 |
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_22" "0000000000000000"
|
| ... | ... | |
| 173 | 173 |
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_35" "0000000000000000"
|
| 174 | 174 |
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_4" "000000000000000A"
|
| 175 | 175 |
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "0000000000000000"
|
| 176 |
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000B16"
|
|
| 176 |
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000E2C"
|
|
| 177 | 177 |
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_7" "0000000000000512"
|
| 178 | 178 |
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_8" "0000000000000000"
|
| 179 | 179 |
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_9" "0000000000000000"
|
| ... | ... | |
| 205 | 205 |
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ColWidth2" "120"
|
| 206 | 206 |
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ColWidth3" "200"
|
| 207 | 207 |
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH" "c,buff,n,rx,flag,"
|
| 208 |
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000" "erreur, 1, 0, P, Col, Dec, MA"
|
|
| 208 |
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000" "erreur, 10, 0, P, Col, Hex, N"
|
|
| 209 | 209 |
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000_SCOPE" "Current Scope,"
|
| 210 | 210 |
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001" "dist, 1, 0, P, Col, Dec, MA"
|
| 211 | 211 |
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001_SCOPE" "Current Scope,"
|
| 212 |
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "2"
|
|
| 212 |
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002" "angle_roues, 1, 0, P, Col, Dec, MA"
|
|
| 213 |
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002_SCOPE" "Current Scope,"
|
|
| 214 |
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0003" "rampe, 1, 0, P, Col, Dec, MA"
|
|
| 215 |
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0003_SCOPE" "Current Scope,"
|
|
| 216 |
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0004" "lecture, 1, 0, P, Col, Hex, MA"
|
|
| 217 |
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0004_SCOPE" "Current Scope,"
|
|
| 218 |
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "5"
|
|
| 213 | 219 |
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth0" "120"
|
| 214 | 220 |
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth1" "150"
|
| 215 | 221 |
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth12" "200"
|
| ... | ... | |
| 313 | 319 |
[WINDOW_Z_ORDER] |
| 314 | 320 |
"E:\tp_info6_2018_vilain_sebastien\Emb_App\crt0mr.a30" |
| 315 | 321 |
"E:\tp_info6_2018_vilain_sebastien\Emb_App\programme_principal_etud.c" |
| 322 |
"E:\tp_info6_2018_vilain_sebastien\bsp\uart0.c" |
|
| 316 | 323 |
"E:\tp_info6_2018_vilain_sebastien\Emb_App\conf_noyau.cfg" |
| 317 | 324 |
"E:\tp_info6_2018_vilain_sebastien\Emb_App\Debug\mr308.inc" |
| 318 | 325 |
"E:\tp_info6_2018_vilain_sebastien\bsp\periph.c" |
| ... | ... | |
| 362 | 369 |
[FLASH_DETAILS] |
| 363 | 370 |
"" 0 0 "" 0 "" 0 0 "" 0 0 0 0 0 0 0 "" "" "" "" "" |
| 364 | 371 |
[BREAKPOINTS] |
| 365 |
"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 89664616 1 "{00000000-0000-0000-C000-000000000046}" ""
|
|
| 372 |
"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 99232872 1 "{00000000-0000-0000-C000-000000000046}" ""
|
|
| 366 | 373 |
[END] |
| branch/vilain_sebastien/Emb_App/programme_principal_etud.c | ||
|---|---|---|
| 124 | 124 |
void commande_angle_roues(short angle_roues); |
| 125 | 125 |
short lecture_angle(); |
| 126 | 126 |
short lecture_telemetre(); |
| 127 |
short lecture_capteur(); |
|
| 127 | 128 |
void commande_vitesse(short vitesse); |
| 128 |
void choix_circuit(int i);
|
|
| 129 |
void init_vitesse(short vitesse);
|
|
| 129 | 130 |
short consigne_angle = 450; |
| 130 |
short erreur; |
|
| 131 |
short vitesse = 120; |
|
| 132 |
short consigne_telemetre = 714; |
|
| 131 |
short consigne_telemetre = 705; |
|
| 133 | 132 |
FLGPTN flag; |
| 134 | 133 |
short dist; |
| 134 |
short angle_roues; |
|
| 135 |
int rampe = 0; |
|
| 136 |
short lecture; |
|
| 135 | 137 |
|
| 136 | 138 |
void main() |
| 137 | 139 |
{
|
| ... | ... | |
| 139 | 141 |
ports_mcu(); |
| 140 | 142 |
lcd_init(); |
| 141 | 143 |
periph_init(); |
| 142 |
periph_nom("#Test*");
|
|
| 144 |
periph_nom("#Seb*");
|
|
| 143 | 145 |
|
| 144 | 146 |
can_init(); |
| 145 | 147 |
clavier_init(1); |
| 146 | 148 |
capture_init(); |
| 147 | 149 |
|
| 148 | 150 |
periph[ADDR('R')].ev=0x01;
|
| 151 |
periph[ADDR('U')].ev=0x02;
|
|
| 152 |
periph[ADDR('C')].ev=0x03;
|
|
| 149 | 153 |
|
| 150 | 154 |
sta_cyc(ID_acqui); |
| 151 | 155 |
sta_tsk(ID_periph_rx); |
| 152 | 156 |
sta_tsk(ID_asserv0); |
| 153 | 157 |
sta_tsk(ID_asserv1); |
| 158 |
sta_tsk(ID_commande_capteur); |
|
| 154 | 159 |
|
| 155 |
commande_vitesse(35);
|
|
| 160 |
init_vitesse(45);
|
|
| 156 | 161 |
|
| 157 | 162 |
while(1) |
| 158 | 163 |
{
|
| ... | ... | |
| 180 | 185 |
|
| 181 | 186 |
short lecture_angle() |
| 182 | 187 |
{
|
| 183 |
CanFrame requete, reponse;
|
|
| 188 |
CanFrame requete; |
|
| 184 | 189 |
|
| 185 | 190 |
requete.data.id = 'R'; |
| 186 | 191 |
requete.data.rtr = 1; |
| ... | ... | |
| 198 | 203 |
{
|
| 199 | 204 |
erreur = K*(consigne_angle-lecture_angle()); |
| 200 | 205 |
commande_tourelle(erreur); |
| 201 |
dly_tsk(98);
|
|
| 206 |
dly_tsk(25);
|
|
| 202 | 207 |
} |
| 203 | 208 |
} |
| 204 | 209 |
|
| ... | ... | |
| 214 | 219 |
|
| 215 | 220 |
short lecture_telemetre() |
| 216 | 221 |
{
|
| 217 |
CanFrame requete, reponse;
|
|
| 222 |
CanFrame requete; |
|
| 218 | 223 |
|
| 219 | 224 |
requete.data.id = 'U'; |
| 220 | 225 |
requete.data.rtr = 1; |
| 221 | 226 |
snd_dtq(CanTx, requete.msg); |
| 222 |
wai_flg (ev_periph,0x01,TWF_ORW,&flag);
|
|
| 223 |
clr_flg(ev_periph,~0x01);
|
|
| 227 |
wai_flg (ev_periph,0x02,TWF_ORW,&flag);
|
|
| 228 |
clr_flg(ev_periph,~0x02);
|
|
| 224 | 229 |
return (periph[ADDR('U')].val);
|
| 225 | 230 |
} |
| 226 | 231 |
|
| 227 | 232 |
void asserv1() |
| 228 | 233 |
{
|
| 229 |
int K = 1;
|
|
| 234 |
int K = 2;
|
|
| 230 | 235 |
short erreur; |
| 231 | 236 |
short ancien_dist; |
| 232 | 237 |
while(1) |
| 233 | 238 |
{
|
| 234 |
ancien_dist = dist; |
|
| 235 |
dist = lecture_telemetre(); |
|
| 236 |
if(dist >= 1000) |
|
| 239 |
if (rampe == 0) |
|
| 237 | 240 |
{
|
| 238 |
dist = ancien_dist; |
|
| 241 |
ancien_dist = dist; |
|
| 242 |
dist = lecture_telemetre(); |
|
| 243 |
if((dist >= 2000)||(dist <= -2000)) |
|
| 244 |
{
|
|
| 245 |
dist = ancien_dist; |
|
| 246 |
} |
|
| 247 |
erreur = K*(consigne_telemetre-dist); |
|
| 248 |
angle_roues = -erreur; |
|
| 249 |
commande_angle_roues(-erreur); |
|
| 239 | 250 |
} |
| 240 |
erreur = K*(consigne_telemetre-dist); |
|
| 241 |
commande_angle_roues(-erreur); |
|
| 242 |
dly_tsk(98); |
|
| 251 |
dly_tsk(5); |
|
| 243 | 252 |
} |
| 244 | 253 |
} |
| 245 | 254 |
|
| 246 | 255 |
void commande_vitesse(short vitesse) |
| 256 |
{
|
|
| 257 |
CanFrame comm; |
|
| 258 |
|
|
| 259 |
comm.data.id = 'V'; |
|
| 260 |
comm.data.rtr = 0; |
|
| 261 |
comm.data.val=vitesse; |
|
| 262 |
snd_dtq(CanTx, comm.msg); |
|
| 263 |
} |
|
| 264 |
|
|
| 265 |
void init_vitesse(short vitesse) |
|
| 247 | 266 |
{
|
| 267 |
dly_tsk(3000); |
|
| 268 |
commande_vitesse(vitesse); |
|
| 269 |
} |
|
| 270 |
|
|
| 271 |
short lecture_capteur() |
|
| 272 |
{
|
|
| 248 | 273 |
CanFrame requete; |
| 249 | 274 |
|
| 250 |
dly_tsk(3000); |
|
| 251 |
requete.data.id = 'V'; |
|
| 252 |
requete.data.rtr = 0; |
|
| 253 |
requete.data.val=vitesse; |
|
| 275 |
requete.data.id = 'C'; |
|
| 276 |
requete.data.rtr = 1; |
|
| 254 | 277 |
snd_dtq(CanTx, requete.msg); |
| 278 |
wai_flg (ev_periph,0x03,TWF_ORW,&flag); |
|
| 279 |
clr_flg(ev_periph,~0x03); |
|
| 280 |
return (periph[ADDR('C')].val);
|
|
| 281 |
} |
|
| 282 |
|
|
| 283 |
void commande_capteur() |
|
| 284 |
{
|
|
| 285 |
while(1) |
|
| 286 |
{
|
|
| 287 |
lecture = lecture_capteur(); |
|
| 288 |
if((lecture & 0xFF00) == 0x6200) //bleu |
|
| 289 |
{
|
|
| 290 |
rampe = 1; |
|
| 291 |
} |
|
| 292 |
if ((lecture & 0xFF00) == 0x7600) //vert |
|
| 293 |
{
|
|
| 294 |
rampe = 0; |
|
| 295 |
commande_vitesse(20); |
|
| 296 |
} |
|
| 297 |
if ((lecture & 0xFF00) == 0x6a00) //jaune |
|
| 298 |
{
|
|
| 299 |
rampe = 0; |
|
| 300 |
} |
|
| 301 |
if ((lecture & 0xFF00) == 0x5604) |
|
| 302 |
{
|
|
| 303 |
commande_vitesse(45); |
|
| 304 |
} |
|
| 305 |
if ((lecture & 0xFF00) == 0x7200) //rouge |
|
| 306 |
{
|
|
| 307 |
consigne_telemetre = 600; |
|
| 308 |
} |
|
| 309 |
if ((lecture & 0xFF00) == 0x6300) //cyan |
|
| 310 |
{
|
|
| 311 |
consigne_telemetre = 705; |
|
| 312 |
} |
|
| 313 |
dly_tsk(100); |
|
| 314 |
} |
|
| 255 | 315 |
} |
| branch/vilain_sebastien/Emb_App/conf_noyau.cfg | ||
|---|---|---|
| 2 | 2 |
// |
| 3 | 3 |
// kernel.cfg : building file for MR308 Ver.4.00 |
| 4 | 4 |
// |
| 5 |
// Generated by M3T-MR308 GUI Configurator at 2018/12/03 16:28:30
|
|
| 5 |
// Generated by M3T-MR308 GUI Configurator at 2018/12/12 15:16:07
|
|
| 6 | 6 |
// |
| 7 | 7 |
//////////////////////////////////////////////////////////////////////////////// |
| 8 | 8 |
|
| ... | ... | |
| 20 | 20 |
|
| 21 | 21 |
// max definition |
| 22 | 22 |
maxdefine{
|
| 23 |
max_task = 5;
|
|
| 23 |
max_task = 6;
|
|
| 24 | 24 |
max_flag = 3; |
| 25 | 25 |
max_dtq = 2; |
| 26 | 26 |
max_cyh = 1; |
| ... | ... | |
| 75 | 75 |
name = ID_asserv1; |
| 76 | 76 |
stack_size = 256; |
| 77 | 77 |
stack_section = stack; |
| 78 |
priority = 8; |
|
| 79 |
initial_start = OFF; |
|
| 80 |
exinf = 0x0; |
|
| 81 |
}; |
|
| 82 |
task[]{
|
|
| 83 |
entry_address = commande_capteur(); |
|
| 84 |
name = ID_commande_capteur; |
|
| 85 |
stack_size = 256; |
|
| 86 |
stack_section = stack; |
|
| 78 | 87 |
priority = 1; |
| 79 | 88 |
initial_start = OFF; |
| 80 | 89 |
exinf = 0x0; |
Also available in: Unified diff