Revision 256

View differences:

branch/colomban/Emb_App.tws
7 7 
[GENERAL_DATA]
8 8 
[BREAKPOINTS]
9 9 
[OPEN_WORKSPACE_FILES]
10 
"C:\Users\macolomban1\Downloads\programme_principal_etud (4).c"
10 11 
"E:\tp_info6_2018_colomban\tp_info6\bsp\clavier.c"
11 12 
"E:\tp_info6_2018_colomban\tp_info6\bsp\dma0.c"
12 13 
"E:\tp_info6_2018_colomban\tp_info6\bsp\mli.c"
......
18 19 
"E:\tp_info6_2018_colomban\tp_info6\Emb_App\Debug\mr308.inc"
19 20 
"E:\tp_info6_2018_colomban\tp_info6\Emb_App\programme_principal_etud.c"
20 21 
[WORKSPACE_FILE_STATES]
22 
"C:\Users\macolomban1\Downloads\programme_principal_etud (4).c" 150 150 1430 351 0 10
21 23 
"E:\tp_info6_2018_colomban\tp_info6\Emb_App\Debug\mr308.inc" 0 0 1430 351 0 7
22 24 
"E:\tp_info6_2018_colomban\tp_info6\Emb_App\conf_noyau.cfg" 0 0 1596 539 0 9
23 25 
"E:\tp_info6_2018_colomban\tp_info6\Emb_App\crt0mr.a30" 150 150 1430 351 0 6
branch/colomban/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" "0000000000000044"
145 
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_1" "0000000000000020"
144 
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_0" "0000000000000102"
145 
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_1" "0000000000000143"
146 146 
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_10" "0000000000000000"
147 147 
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_11" "0000000000000000"
148 148 
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_12" "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" "0000000000FF0579"
152 
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF1DC1"
153 153 
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_17" "0000000000FFF800"
154 
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "00000000000009DC"
155 
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000814"
156 
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "0000000000000014"
157 
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_20" "0000000000000044"
154 
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000AFA"
155 
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000834"
156 
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "0000000000000006"
157 
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_20" "0000000000004044"
158 158 
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_21" "0000000000000000"
159 159 
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_22" "0000000000000000"
160 160 
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_23" "0000000000000000"
......
171 171 
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_33" "0000000000000000"
172 172 
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_34" "000000000000036A"
173 173 
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_35" "0000000000000000"
174 
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_4" "0000000000000009"
175 
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "0000000000000000"
176 
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000A08"
174 
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_4" "000000000000000C"
175 
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "0000000000000005"
176 
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000B30"
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"
......
209 209 
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000_SCOPE" "Global,"
210 210 
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001" "alpha, 2, 0, P, Col, Dec, MA"
211 211 
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001_SCOPE" "Global,"
212 
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "2"
212 
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002" "cpt, 2, 0, P, Col, Hex, MA"
213 
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0002_SCOPE" "Global,"
214 
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEMCnt" "3"
213 215 
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth0" "120"
214 216 
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth1" "150"
215 217 
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth12" "200"
......
283 285 
"{WK_00000001_DISASSEMBLY}" "WINDOW" 0 0 0 "0.00" 0 -4 -30 948 486 9 0 "" "0.0"
284 286 
"{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"
285 287 
"{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 3 "0.48" 365 0 0 350 200 18 0 "36756|36757|36758|36759|<<separator>>|36746|36747|<<separator>>|39531|<<separator>>|39500|39534|<<separator>>|36687" "0.0"
288 
"{WK_00000001_OUTPUT}" "WINDOW" 59422 0 3 "0.53" 365 0 0 350 200 18 0 "36756|36757|36758|36759|<<separator>>|36746|36747|<<separator>>|39531|<<separator>>|39500|39534|<<separator>>|36687" "0.0"
287 289 
"{WK_00000001_PDMR}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59422 0 4 "0.18" 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"
288 290 
"{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 1 "0.23" 365 0 0 350 200 18 0 "32781|32783|<<separator>>|32771|32772|32773|<<separator>>|32786|<<separator>>|32810|32811" "0.0"
291 
"{WK_00000001_WATCH}EmbM32C87AppSessionM32C_E8a_system" "WINDOW" 59422 0 1 "0.18" 365 0 0 350 200 18 0 "32781|32783|<<separator>>|32771|32772|32773|<<separator>>|32786|<<separator>>|32810|32811" "0.0"
290 292 
"{WK_00000002_WORKSPACE}" "WINDOW" 59420 0 0 "1.00" 308 0 0 350 200 18 0 "" "0.0"
291 293 
"{WK_TB00000001_STANDARD}" "TOOLBAR 0" 59419 0 2 "0.00" 0 0 0 0 0 18 0 "" "0.0"
292 294 
"{WK_TB00000002_EDITOR}" "TOOLBAR 0" 59419 0 0 "0.00" 0 0 0 0 0 18 0 "" "0.0"
......
313 315 
[WINDOW_Z_ORDER]
314 316 
"E:\tp_info6_2018_colomban\tp_info6\Emb_App\programme_principal_etud.c"
315 317 
"E:\tp_info6_2018_colomban\tp_info6\Emb_App\crt0mr.a30"
318 
"C:\Users\macolomban1\Downloads\programme_principal_etud (4).c"
319 
"E:\tp_info6_2018_colomban\tp_info6\bsp\uart0.c"
320 
"E:\tp_info6_2018_colomban\tp_info6\bsp\radiocommande.c"
321 
"E:\tp_info6_2018_colomban\tp_info6\Emb_App\conf_noyau.cfg"
316 322 
"E:\tp_info6_2018_colomban\tp_info6\Emb_App\Debug\mr308.inc"
317 
"E:\tp_info6_2018_colomban\tp_info6\Emb_App\conf_noyau.cfg"
318 
"E:\tp_info6_2018_colomban\tp_info6\bsp\radiocommande.c"
319 
"E:\tp_info6_2018_colomban\tp_info6\bsp\uart0.c"
320 323 
"E:\tp_info6_2018_colomban\tp_info6\bsp\periph.c"
321 324 
"E:\tp_info6_2018_colomban\tp_info6\bsp\clavier.c"
322 325 
"E:\tp_info6_2018_colomban\tp_info6\bsp\dma0.c"
......
367 370 
[FLASH_DETAILS]
368 371 
"" 0 0 "" 0 "" 0 0 "" 0 0 0 0 0 0 0 "" "" "" "" ""
369 372 
[BREAKPOINTS]
370 
"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 95237480 1 "{00000000-0000-0000-C000-000000000046}" ""
373 
"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 85333832 1 "{00000000-0000-0000-C000-000000000046}" ""
371 374 
[END]
branch/colomban/Emb_App/crt0mr.a30
97 97 
; after reset,this program will start
98 98 
;-----------------------------------------------------------------
99 99 
__SYS_INITIAL:
100 
	LDC	#__Sys_Sp,ISP	; set initial ISP
100 
LDC	#__Sys_Sp,ISP	; set initial ISP
101 101 

  		




  102
  102
  
    
	MOV.B	#2,0AH


  		




  103
  103
  
    
	MOV.B	#00,PMOD		; Set Processor Mode Register


  		












  

    
      branch/colomban/Emb_App/programme_principal_etud.c
    
  





  124
  124
  
    
unsigned short      dist ;


  		




  125
  125
  
    
unsigned short      k=4; //pour augmenter la vitesse jusqu'a la position souhait?e


  		




  126
  126
  
    
unsigned short      ka=1;


  		




  
  127
  
    
unsigned short 		cpt;


  		




  127
  128
  
    
void vitesse(unsigned short vit);


  		




  
  129
  
    
CanFrame comm;


  		




  
  130
  
    
CanFrame req;


  		




  
  131
  
    
UINT flag;


  		




  128
  132
  
    

  		




  129
  133
  
    
void main()


  		




  130
  134
  
    
{   


  		




  ......




  142
  146
  
    
	sta_cyc(ID_acqui);


  		




  143
  147
  
    
	sta_tsk(ID_periph_rx);


  		




  144
  148
  
    
	sta_tsk(ID_asserv);


  		




  145
  
  
    
	sta_tsk(ID_roue);


  		




  
  149
  
    
	sta_tsk(ID_roue);


  		




  
  150
  
    
	sta_tsk(ID_capteur);


  		




  
  151
  
    
	


  		




  146
  152
  
    
	dly_tsk(1500);


  		




  147
  153
  
    
	


  		




  148
  154
  
    
    while(1)


  		




  ......




  150
  156
  
    
		LED_J=1;


  		




  151
  157
  
    
		


  		




  152
  158
  
    
		LED_J=0;


  		




  
  159
  
    
		vitesse(30);


  		




  
  160
  
    
        


  		




  153
  161
  
    
		


  		




  154
  
  
    
        vitesse(20);


  		




  155
  
  
    
		


  		




  156
  162
  
    
	}


  		




  157
  163
  
    
	


  		




  158
  164
  
    
}


  		




  ......




  165
  171
  
    

  		




  166
  172
  
    
{


  		




  167
  173
  
    
		unsigned short consigne = 400;


  		




  168
  
  
    
		CanFrame comm;


  		




  169
  
  
    
	    CanFrame req;


  		




  170
  
  
    
		UINT flag;


  		




  171
  174
  
    
		while(1){


  		




  172
  175
  
    
			


  		




  173
  176
  
    
			req.data.id = 'R';


  		




  ......




  187
  190
  
    
} 


  		




  188
  191
  
    

  		




  189
  192
  
    
void vitesse(unsigned short vit){


  		




  190
  
  
    
		CanFrame comm;


  		




  191
  193
  
    
		comm.data.id = 'V';


  		




  192
  194
  
    
		comm.data.rtr = 0;


  		




  193
  195
  
    
		comm.data.val = vit;


  		




  ......




  198
  200
  
    

  		




  199
  201
  
    
void asserv_roue(){


  		




  200
  202
  
    
	unsigned short consignes = 770;


  		




  201
  
  
    
	    CanFrame comm;


  		




  202
  
  
    
	    CanFrame req;


  		




  203
  
  
    
		UINT flag;


  		




  
  203
  
    
	    


  		




  204
  204
  
    
		while(1){


  		




  205
  
  
    
			


  		




  206
  205
  
    
			req.data.id = 'U';


  		




  207
  206
  
    
			req.data.rtr = 1;


  		




  208
  207
  
    
			periph[ADDR('U')].ev=0X01;


  		




  209
  208
  
    
			snd_dtq(CanTx, req.msg);


  		




  210
  209
  
    
			wai_flg(ev_periph,0X01,TWF_ANDW, &flag);


  		




  211
  210
  
    
			dist=periph[ADDR('U')].val;


  		




  212
  
  
    
			


  		




  
  211
  
    
			if(dist>1600){


  		




  
  212
  
    
					comm.data.id = 'D';


  		




  
  213
  
    
					comm.data.rtr = 0;


  		




  
  214
  
    
					comm.data.val = 0;


  		




  
  215
  
    
					snd_dtq(CanTx, comm.msg);


  		




  
  216
  
    
					dly_tsk(150);


  		




  
  217
  
    
				


  		




  
  218
  
    
				}


  		




  213
  219
  
    
			comm.data.id = 'D';


  		




  214
  220
  
    
			comm.data.rtr = 0;


  		




  215
  221
  
    
			comm.data.val = ka*(-consignes + dist);


  		




  ......




  217
  223
  
    
			


  		




  218
  224
  
    
		


  		




  219
  225
  
    
		}		


  		




  220
  
  
    
	}


  		




  
  226
  
    
	}


  		




  
  227
  
    

  		




  
  228
  
    
void capteur(){


  		




  
  229
  
    
	     	while(1)


  		




  
  230
  
    
			{


  		




  
  231
  
    
			req.data.id = 'C';


  		




  
  232
  
    
			req.data.rtr = 1;


  		




  
  233
  
    
			periph[ADDR('C')].ev=0X01;


  		




  
  234
  
    
			snd_dtq(CanTx, req.msg);


  		




  
  235
  
    
			wai_flg(ev_periph,0X01,TWF_ANDW, &flag);


  		




  
  236
  
    
			cpt=periph[ADDR('C')].val;


  		




  
  237
  
    
			


  		




  
  238
  
    
	}


  		




  
  239
  
    
}


  		












  

    
      branch/colomban/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 2018/12/11 15:58:50


  		




  
  5
  
    
//    Generated by M3T-MR308 GUI Configurator at 2018/12/14 14:46:45


  		




  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;


  		




  ......




  79
  79
  
    
	initial_start	= OFF;


  		




  80
  80
  
    
	exinf	= 0x0;


  		




  81
  81
  
    
};


  		




  
  82
  
    
task[]{


  		




  
  83
  
    
	entry_address	= capteur();


  		




  
  84
  
    
	name	= ID_capteur;


  		




  
  85
  
    
	stack_size	= 256;


  		




  
  86
  
    
	stack_section	= stack;


  		




  
  87
  
    
	priority	= 6;


  		




  
  88
  
    
	initial_start	= OFF;


  		




  
  89
  
    
	exinf	= 0x0;


  		




  
  90
  
    
};


  		




  82
  91
  
    

  		




  83
  92
  
    
flag[]{


  		




  84
  93
  
    
	name	= ev_bus_fin_tr;


  		












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