voilier-team-1/implementation/girouette.c

#include "girouette.h"

void MyGirouette_Init(TIM_TypeDef *TIMX)
{
	
	//configuration  gpiob6 et gpiob7 en entr<74>es In_Floating imposer par le timer4 
  MyGPIO_Struct_TypeDef MyGPIO={GPIOB,6,In_Floating};
	MyGPIO_Init(&MyGPIO);
	MyGPIO.GPIO_Pin=7;
	MyGPIO_Init(&MyGPIO);
	//config pa0 en entr<74>es  
	MyGPIO.GPIO_Pin=0;
	MyGPIO.GPIO=GPIOA;
	MyGPIO_Init(&MyGPIO);
	//configuration TIM4 reset a 360 
	MyTimer_Struct_Typedef MyTimerGirouette ={TIMX,1439,0};
	MyTimer_Base_Init(&MyTimerGirouette);
	
	TIMX->SMCR  &=~0x07;	
	TIMX->SMCR  |=TIM_SMCR_SMS_1;	
	TIMX->CCMR1 &=~(0xF2F2);
	TIMX->CCMR1 |= TIM_CCMR1_CC1S_0;
	TIMX->CCMR1 |= TIM_CCMR1_CC2S_0; //CC2S dans CCMR1 et pas CCMR2
	TIMX->CCER &=~TIM_CCER_CC1P;
	TIMX->CCER &=~TIM_CCER_CC2P;
	TIMX->CCMR1&=~(0x0F<<4); //IC1F
	TIMX->CCMR1&=~(0x0F<<12);//IC2F
	TIMX->CR1 |= 1;
}


int MyGirouette_Angle(TIM_TypeDef *TIMX)
{
	return (TIMX->CNT)/4;
}



void MyGirouette_Init_IT_Z(uint8_t GPIO_Pin)
{
	RCC->APB2ENR |=0x01;
	EXTI->IMR |= (0x01<<GPIO_Pin);   // Autorisation de l'interruption de la ligne 
	EXTI->RTSR|= (0x01<<GPIO_Pin);   // Activation du d<>clenchement de l'interruption sur un front montant  
	AFIO->EXTICR[0] &= ~(0x0000000F);// L'interruption <20> EXTI0 <20> doit <20>tre provoqu<71>e par une modification PA0
	NVIC->ISER[0] |= (1 << (6 & 0x1F));   // Autorisation de l'interruption <20> EXTI0 <20> NUMERO 6,

}

void EXTI0_IRQHandler(void) {
	TIM4->CNT=0;
	EXTI->PR|=0x01;
}