Revision 257
| branch/belin/Emb_App.tws | ||
|---|---|---|
| 18 | 18 |
"E:\tp_info_2018_belin\Emb_App\crt0mr.a30" |
| 19 | 19 |
"E:\tp_info_2018_belin\Emb_App\Debug\kernel_id.h" |
| 20 | 20 |
"E:\tp_info_2018_belin\Emb_App\Debug\kernel_sysint.h" |
| 21 |
"E:\tp_info_2018_belin\Emb_App\Debug\mr308.inc" |
|
| 21 | 22 |
"E:\tp_info_2018_belin\Emb_App\programme_principal_etud.c" |
| 22 | 23 |
[WORKSPACE_FILE_STATES] |
| 23 | 24 |
"E:\tp_info_2018_belin\Emb_App\Debug\kernel_id.h" 50 50 790 335 0 1 |
| 24 | 25 |
"E:\tp_info_2018_belin\Emb_App\Debug\kernel_sysint.h" 75 75 790 335 0 2 |
| 26 |
"E:\tp_info_2018_belin\Emb_App\Debug\mr308.inc" 100 100 765 416 0 12 |
|
| 25 | 27 |
"E:\tp_info_2018_belin\Emb_App\conf_noyau.cfg" 50 50 765 416 0 10 |
| 26 |
"E:\tp_info_2018_belin\Emb_App\crt0mr.a30" 100 100 790 335 0 3
|
|
| 27 |
"E:\tp_info_2018_belin\Emb_App\programme_principal_etud.c" -8 -30 956 629 1 0
|
|
| 28 |
"E:\tp_info_2018_belin\Emb_App\crt0mr.a30" -8 -30 956 629 1 3
|
|
| 29 |
"E:\tp_info_2018_belin\Emb_App\programme_principal_etud.c" 0 0 956 629 0 0
|
|
| 28 | 30 |
"E:\tp_info_2018_belin\bsp\can.c" 100 100 765 416 0 4 |
| 29 | 31 |
"E:\tp_info_2018_belin\bsp\clavier.c" 125 125 765 416 0 5 |
| 30 | 32 |
"E:\tp_info_2018_belin\bsp\dma0.c" 150 150 765 416 0 6 |
| branch/belin/Emb_App/SessionM32C_E8a_system.ini | ||
|---|---|---|
| 25 | 25 |
[Target] |
| 26 | 26 |
M32C E8a SYSTEM=Renesas Communications |
| 27 | 27 |
[USER_DATA] |
| 28 |
RESET=ff0014 |
|
| 28 |
RESET=ff001a |
|
| branch/belin/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" "0000000000000000"
|
|
| 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" "0000000000FF057E"
|
|
| 152 |
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_16" "0000000000FF17D2"
|
|
| 153 | 153 |
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_17" "0000000000FFF800"
|
| 154 |
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000AEC"
|
|
| 155 |
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000824"
|
|
| 154 |
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_18" "0000000000000CF6"
|
|
| 155 |
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_19" "0000000000000808"
|
|
| 156 | 156 |
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_2" "0000000000000001"
|
| 157 |
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_20" "0000000000004044"
|
|
| 157 |
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_20" "0000000000004005"
|
|
| 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"
|
| ... | ... | |
| 164 | 164 |
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_27" "0000000000000000"
|
| 165 | 165 |
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_28" "0000000000000000"
|
| 166 | 166 |
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_29" "0000000000000000"
|
| 167 |
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_3" "0000000000000000"
|
|
| 167 |
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_3" "0000000000003000"
|
|
| 168 | 168 |
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_30" "0000000000000000"
|
| 169 | 169 |
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_31" "0000000000000000"
|
| 170 | 170 |
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_32" "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" "0000000000000008"
|
|
| 174 |
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_4" "0000000000000001"
|
|
| 175 | 175 |
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_5" "0000000000000000"
|
| 176 |
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000B20"
|
|
| 176 |
"{64753FED-D387-4B8C-A91D-D3419C869C07}C_REGISTER_REG_6" "0000000000000D22"
|
|
| 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" "Distance, 2, 0, P, Col, Dec, MA"
|
|
| 209 |
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000_SCOPE" "Global,"
|
|
| 208 |
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000" "capt, 2, 0, P, Col, Hex, MA"
|
|
| 209 |
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0000_SCOPE" "Current Scope,"
|
|
| 210 | 210 |
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd0ECX_WATCH_ITEM0001" "correction, 10, 0, P, Col, Hex, N"
|
| 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_ITEMCnt" "1"
|
|
| 213 | 213 |
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth0" "120"
|
| 214 | 214 |
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth1" "150"
|
| 215 | 215 |
"{B266D880-6FA1-11D5-8613-00A024591A38}WatchWnd1ColWidth12" "200"
|
| ... | ... | |
| 849 | 849 |
[WINDOW_POSITION_STATE_DATA_VD3] |
| 850 | 850 |
[WINDOW_POSITION_STATE_DATA_VD4] |
| 851 | 851 |
[WINDOW_Z_ORDER] |
| 852 |
"E:\tp_info_2018_belin\Emb_App\crt0mr.a30" |
|
| 852 | 853 |
"E:\tp_info_2018_belin\Emb_App\programme_principal_etud.c" |
| 853 |
"E:\tp_info_2018_belin\Emb_App\crt0mr.a30" |
|
| 854 |
"E:\tp_info_2018_belin\Emb_App\Debug\mr308.inc" |
|
| 855 |
"E:\tp_info_2018_belin\Emb_App\conf_noyau.cfg" |
|
| 854 | 856 |
"E:\tp_info_2018_belin\bsp\periph.c" |
| 855 |
"E:\tp_info_2018_belin\Emb_App\conf_noyau.cfg" |
|
| 856 | 857 |
"E:\tp_info_2018_belin\Emb_App\Debug\kernel_id.h" |
| 857 | 858 |
"E:\tp_info_2018_belin\bsp\uart0.c" |
| 858 | 859 |
"E:\tp_info_2018_belin\bsp\dma0.c" |
| ... | ... | |
| 907 | 908 |
[FLASH_DETAILS] |
| 908 | 909 |
"" 0 0 "" 0 "" 0 0 "" 0 0 0 0 0 0 0 "" "" "" "" "" |
| 909 | 910 |
[BREAKPOINTS] |
| 910 |
"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 101788032 1 "{00000000-0000-0000-C000-000000000046}" ""
|
|
| 911 |
"d:\profs\tp_info14_travail\tp_info14\emb_app\programme_principal_etud.c" 95 101067480 1 "{00000000-0000-0000-C000-000000000046}" ""
|
|
| 911 | 912 |
[END] |
| branch/belin/Emb_App/programme_principal_etud.c | ||
|---|---|---|
| 120 | 120 |
//'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 |
| 121 | 121 |
// correspondant au nom du v?hicule si le nom se termine par '*' |
| 122 | 122 |
|
| 123 |
|
|
| 124 |
unsigned short Distance; |
|
| 125 | 123 |
unsigned short pos_tourelle; |
| 124 |
unsigned short capt=0; |
|
| 125 |
unsigned short GEL=0; |
|
| 126 | 126 |
|
| 127 |
|
|
| 128 | 127 |
|
| 129 | 128 |
|
| 130 | 129 |
void asservissementTourelle(){
|
| ... | ... | |
| 148 | 147 |
retour=periph[ADDR('R')].val;
|
| 149 | 148 |
|
| 150 | 149 |
//Asservissement |
| 151 |
correction=5*(consigne-retour);
|
|
| 150 |
correction=4*(consigne-retour);
|
|
| 152 | 151 |
comm.data.id='T'; |
| 153 | 152 |
comm.data.rtr = 0; |
| 154 | 153 |
comm.data.val = correction; |
| 155 | 154 |
|
| 156 | 155 |
snd_dtq(CanTx,comm.msg); |
| 157 |
dly_tsk(100);
|
|
| 156 |
dly_tsk(10); |
|
| 158 | 157 |
} |
| 159 | 158 |
|
| 160 | 159 |
} |
| ... | ... | |
| 168 | 167 |
snd_dtq(CanTx,commMoteur.msg); |
| 169 | 168 |
} |
| 170 | 169 |
|
| 171 |
void CalculDistance(){
|
|
| 170 |
void position(){
|
|
| 172 | 171 |
CanFrame req; |
| 173 | 172 |
UINT flag; |
| 174 |
|
|
| 173 |
CanFrame comm; |
|
| 174 |
unsigned short correction,Distance,consigne; |
|
| 175 |
consigne=700; |
|
| 176 |
|
|
| 175 | 177 |
while(1){
|
| 176 |
|
|
| 178 |
req.data.id = 'U'; |
|
| 179 |
req.data.rtr = 1; |
|
| 180 |
snd_dtq(CanTx, req.msg); |
|
| 181 |
Distance=periph[ADDR('U')].val;
|
|
| 182 |
if(Distance>1500 || GEL==1){
|
|
| 183 |
comm.data.id='D'; |
|
| 184 |
comm.data.rtr = 0; |
|
| 185 |
comm.data.val = 0; |
|
| 186 |
dly_tsk(10); |
|
| 187 |
} |
|
| 188 |
else{
|
|
| 189 |
//Lecture de distance |
|
| 190 |
req.data.id = 'U'; |
|
| 191 |
req.data.rtr = 1; |
|
| 192 |
snd_dtq(CanTx, req.msg); |
|
| 193 |
Distance=periph[ADDR('U')].val;
|
|
| 194 |
//Asservissement |
|
| 195 |
correction=1*(Distance-consigne); |
|
| 196 |
comm.data.id='D'; |
|
| 197 |
comm.data.rtr = 0; |
|
| 198 |
comm.data.val = correction; |
|
| 177 | 199 |
|
| 178 |
req.data.id = 'U'; |
|
| 179 |
req.data.rtr = 1; |
|
| 180 |
periph[ADDR('R')].ev=0x01;
|
|
| 181 |
snd_dtq(CanTx, req.msg); |
|
| 182 |
wai_flg(ev_periph,0x01,TWF_ANDW, &flag); |
|
| 183 |
|
|
| 184 |
Distance=periph[ADDR('U')].val;
|
|
| 185 |
dly_tsk(100); |
|
| 186 |
} |
|
| 200 |
snd_dtq(CanTx,comm.msg); |
|
| 201 |
dly_tsk(10); |
|
| 202 |
} |
|
| 203 |
dly_tsk(10); |
|
| 204 |
} |
|
| 187 | 205 |
} |
| 188 | 206 |
|
| 189 |
void position(){
|
|
| 190 |
unsigned short correction; |
|
| 207 |
void capteur(){
|
|
| 208 |
CanFrame req; |
|
| 209 |
UINT flag; |
|
| 191 | 210 |
CanFrame comm; |
| 192 |
while(1){
|
|
| 193 |
correction=1*(720-Distance); |
|
| 194 |
comm.data.id='D'; |
|
| 195 |
comm.data.rtr = 0; |
|
| 196 |
comm.data.val = correction; |
|
| 197 |
snd_dtq(CanTx,comm.msg); |
|
| 198 |
dly_tsk(100); |
|
| 199 |
LED_R=1; |
|
| 211 |
while (1){
|
|
| 212 |
req.data.id = 'C'; |
|
| 213 |
req.data.rtr = 1; |
|
| 214 |
snd_dtq(CanTx, req.msg); |
|
| 215 |
capt=periph[ADDR('C')].val;
|
|
| 216 |
GEL=0; |
|
| 217 |
while(capt==0x7610){
|
|
| 218 |
GEL=1; |
|
| 219 |
req.data.id = 'C'; |
|
| 220 |
req.data.rtr = 1; |
|
| 221 |
snd_dtq(CanTx, req.msg); |
|
| 222 |
capt=periph[ADDR('C')].val;
|
|
| 223 |
commMoteur(45); |
|
| 224 |
comm.data.id='D'; |
|
| 225 |
comm.data.rtr = 0; |
|
| 226 |
comm.data.val = 0; |
|
| 227 |
snd_dtq(CanTx,comm.msg); |
|
| 228 |
dly_tsk(100); |
|
| 229 |
} |
|
| 230 |
dly_tsk(10); |
|
| 200 | 231 |
} |
| 201 | 232 |
} |
| 202 | 233 |
|
| 203 |
|
|
| 234 |
|
|
| 235 |
|
|
| 204 | 236 |
void main() |
| 205 | 237 |
{
|
| 206 | 238 |
ports_mcu(); |
| 207 | 239 |
lcd_init(); |
| 208 | 240 |
periph_init(); |
| 209 |
periph_nom("Matthias");
|
|
| 241 |
periph_nom("#BelinMob*");
|
|
| 210 | 242 |
can_init(); |
| 211 | 243 |
clavier_init(1); |
| 212 | 244 |
capture_init(); |
| ... | ... | |
| 214 | 246 |
|
| 215 | 247 |
|
| 216 | 248 |
sta_tsk(ID_periph_rx); |
| 217 |
commMoteur(5); |
|
| 218 | 249 |
sta_tsk(ID_tourelle); |
| 219 |
sta_tsk(ID_CalculDistance); |
|
| 220 | 250 |
sta_tsk(ID_position); |
| 221 |
|
|
| 251 |
sta_tsk(ID_capteur); |
|
| 252 |
dly_tsk(1500); |
|
| 253 |
commMoteur(30); |
|
| 222 | 254 |
|
| 223 | 255 |
while(1) |
| 224 | 256 |
{
|
| branch/belin/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 16:36:34
|
|
| 5 |
// Generated by M3T-MR308 GUI Configurator at 2018/12/14 15:56:26
|
|
| 6 | 6 |
// |
| 7 | 7 |
//////////////////////////////////////////////////////////////////////////////// |
| 8 | 8 |
|
| ... | ... | |
| 71 | 71 |
exinf = 0x0; |
| 72 | 72 |
}; |
| 73 | 73 |
task[]{
|
| 74 |
entry_address = CalculDistance();
|
|
| 75 |
name = ID_CalculDistance;
|
|
| 74 |
entry_address = position();
|
|
| 75 |
name = ID_position;
|
|
| 76 | 76 |
stack_size = 256; |
| 77 | 77 |
stack_section = stack; |
| 78 |
priority = 5;
|
|
| 78 |
priority = 6;
|
|
| 79 | 79 |
initial_start = OFF; |
| 80 | 80 |
exinf = 0x0; |
| 81 | 81 |
}; |
| 82 | 82 |
task[]{
|
| 83 |
entry_address = position();
|
|
| 84 |
name = ID_position;
|
|
| 83 |
entry_address = capteur();
|
|
| 84 |
name = ID_capteur;
|
|
| 85 | 85 |
stack_size = 256; |
| 86 | 86 |
stack_section = stack; |
| 87 |
priority = 6;
|
|
| 87 |
priority = 5;
|
|
| 88 | 88 |
initial_start = OFF; |
| 89 | 89 |
exinf = 0x0; |
| 90 | 90 |
}; |
Also available in: Unified diff