Revision 444
| branch/bacher/Emb_App/SessionM32C_E8a_system.ini | ||
|---|---|---|
| 25 | 25 |
[Target] |
| 26 | 26 |
M32C E8a SYSTEM=Renesas Communications |
| 27 | 27 |
[USER_DATA] |
| 28 |
RESET=ff00ac |
|
| 28 |
RESET=ff009a |
|
| branch/bacher/Emb_App/programme_principal_etud.c | ||
|---|---|---|
| 147 | 147 |
int i_urgence=0; //incr?ment d'urgence |
| 148 | 148 |
int s_urgence=0; //signal d'urgence |
| 149 | 149 |
int cu=0; |
| 150 |
|
|
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int i_ar=0; |
|
| 151 | 151 |
int Temps; |
| 152 | 152 |
int sec; |
| 153 | 153 |
int cent_sec; |
| ... | ... | |
| 163 | 163 |
|
| 164 | 164 |
void demarre() |
| 165 | 165 |
{
|
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dly_tsk(2000); |
|
| 167 | 166 |
piste.data.id='M'; |
| 168 | 167 |
piste.data.rtr=1; |
| 169 | 168 |
periph[ADDR('M')].ev=0x04;
|
| ... | ... | |
| 182 | 181 |
mode=0; |
| 183 | 182 |
break; |
| 184 | 183 |
case 1: //piste verte |
| 185 |
vitesse=65;
|
|
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vitesse=50;
|
|
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vitesse_virage=30; |
| 187 | 186 |
mode=0; |
| 188 | 187 |
break; |
| ... | ... | |
| 226 | 225 |
if(s_urgence==0)snd_dtq (CanTx,comm.msg); //on envoie la modification ? effectuer |
| 227 | 226 |
if(retour!=cons) valeur=k*(cons-retour); |
| 228 | 227 |
} |
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dly_tsk(20);
|
|
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dly_tsk(6);
|
|
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} |
| 231 | 230 |
} |
| 232 | 231 |
|
| ... | ... | |
| 240 | 239 |
if (a>-10 && a<10){
|
| 241 | 240 |
return vitesse;} |
| 242 | 241 |
else if(a>0&&a<50) |
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return -a/2+vitesse; |
|
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//return (a*a)/100-a+vitesse;
|
|
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//return -a/2+vitesse;
|
|
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return (a*a)/100-a+vitesse; |
|
| 245 | 244 |
else if(a<0&&a>-50) |
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return a/2+vitesse; |
|
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//return (a*a)/100+a+vitesse;
|
|
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//return a/2+vitesse;
|
|
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return (a*a)/100+a+vitesse; |
|
| 248 | 247 |
else if (a<-100||a>100){
|
| 249 | 248 |
return vitesse_virage; |
| 250 | 249 |
} |
| ... | ... | |
| 284 | 283 |
distance=periph[ADDR('U')].val;
|
| 285 | 284 |
} |
| 286 | 285 |
} |
| 287 |
dly_tsk(10);
|
|
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dly_tsk(6);
|
|
| 288 | 287 |
} |
| 289 | 288 |
} |
| 290 | 289 |
|
| ... | ... | |
| 313 | 312 |
} |
| 314 | 313 |
if(s_urgence==0)snd_dtq(CanTx, comm.msg); |
| 315 | 314 |
} |
| 316 |
dly_tsk(10);
|
|
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dly_tsk(6);
|
|
| 317 | 316 |
} |
| 318 | 317 |
} |
| 319 | 318 |
|
| ... | ... | |
| 423 | 422 |
vitesse=10; |
| 424 | 423 |
vitesse_virage=10; |
| 425 | 424 |
cons_roue=150; |
| 426 |
dly_tsk(3500); |
|
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vitesse=20; |
|
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vitesse_virage=20; |
|
| 429 | 425 |
i++; |
| 430 | 426 |
} |
| 431 | 427 |
if (retour_C==0x5202 && num_piste==4){ //apr?s la bosse de la piste noire
|
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cons_roue=700; |
|
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dly_tsk(1000); |
|
| 432 | 430 |
vitesse=20; |
| 433 | 431 |
vitesse_virage=20; |
| 434 |
cons_roue=700; |
|
| 435 | 432 |
i=0; |
| 436 | 433 |
} |
| 437 | 434 |
if (retour_C==0x5603 && i==0 && num_piste==4){ //si on passe le capteur avant le tremplin
|
| ... | ... | |
| 483 | 480 |
while (p0_4==0){
|
| 484 | 481 |
vit_roue.data.val=0; |
| 485 | 482 |
snd_dtq (CanTx,vit_roue.msg); |
| 483 |
i_ar=1; |
|
| 484 |
|
|
| 486 | 485 |
cu=1; |
| 487 | 486 |
s_urgence=1; |
| 488 | 487 |
i_urgence=0; |
| 489 | 488 |
} |
| 490 | 489 |
if (p0_4==1 && i_urgence==0){
|
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i_ar=0; |
|
| 491 | 491 |
i_urgence==1; |
| 492 | 492 |
s_urgence=0; |
| 493 | 493 |
vit_roue.data.val=vitesse; |
| ... | ... | |
| 560 | 560 |
} |
| 561 | 561 |
switch(num_piste){
|
| 562 | 562 |
case 1: |
| 563 |
lcd_str("verte Temps: ");
|
|
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lcd_str("verte ");
|
|
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break; |
| 565 | 565 |
case 2: |
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lcd_str("bleue Temps: ");
|
|
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lcd_str("bleue ");
|
|
| 567 | 567 |
break; |
| 568 | 568 |
case 3: |
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lcd_str("rouge Temps: ");
|
|
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lcd_str("rouge ");
|
|
| 570 | 570 |
break; |
| 571 | 571 |
case 4: |
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lcd_str("noire Temps: ");
|
|
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lcd_str("noire ");
|
|
| 573 | 573 |
break; |
| 574 | 574 |
} |
| 575 | 575 |
//AFFICHAGE DU TEMPS |
| ... | ... | |
| 583 | 583 |
c_Temps[3]=decode_int(((Temps%1000)%100)/10); |
| 584 | 584 |
c_Temps[4]=decode_int(((Temps%1000)%100)%10); |
| 585 | 585 |
c_Temps[5]=' '; |
| 586 |
dly_tsk(150);
|
|
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lcd_str("Temps: ");
|
|
| 587 | 587 |
lcd_str(c_Temps); |
| 588 |
dly_tsk(20);
|
|
| 588 |
dly_tsk(100);
|
|
| 589 | 589 |
} |
| 590 | 590 |
} |
| 591 | 591 |
void main() |
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