Ajout du README.md

Girouette IDX done
2023-04-17 19:33:28 +02:00 · 2023-04-11 15:03:30 +02:00
47 changed files with 2428 additions and 3536 deletions
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@ -1,11 +1,7 @@
 {
    "files.associations": {
        "driver_uart.h": "c",
-<<<<<<< HEAD
-        "driver_imu.h": "c",
-        "myspi.h": "c"
-=======
-        "app_girouette.h": "c"
->>>>>>> encoder
+        "app_girouette.h": "c",
+        "app_orientation.h": "c"
    }
 }
--- a/README.md
+++ b/README.md
@ -1 +1,44 @@
 # Projet-Voilier-3
+Dans le cadre de la matière "Microcontrôleur", nous réalisons un projet sur un voilier.
+Pour cela, nous avons travaillé sur une carte nucléo avec un micro STM32F103RB. 
+
+Durant ce projet, nous avons réalisé des fichiers génériques qui sont des drivers.
+Chacun d'eux a été codé et testé avec différentes solutions (simulation + tests réels).
+Chaque périphérique a été exploité à l'aide de drivers.
+
+
+Les différentes fonctionnalités validés du projet répondant au cahier des charges sont :
+- Le réglage des voiles en fonction de l'angle de la girouette positionnée au bout du mat du bateau.
+- La gestion de de la vitesse de rotation du plateau, en fonction de la consigne donnée par la télécommande.
+- La gestion de la communication avec la télécommande au travers d'un module XBEE
+
+Fonctionnalité manquante :
+- Réaction de repliment des voiles en cas de fort ballotage (Driver IMU opérationnel)
+
+Liste des drivers et de leur fonctionnalités.
+Driver GPIO :
+- Configurer la valeur des GPIO
+- Set/Reset des GPIO configurés en sortie
+- Lire la valeur des entrées
+
+Driver ADC :
+- Initialisation
+- Lancement de lecture & de la conversion
+- Lecture
+
+Driver Timer :
+- Initialisation générique des Timers et passage de l'adresse d'une fonction appelé lors de l'interruption.
+- Start & Stop du timer.
+- Génération de PWM
+- Lecture d'un encoder incrémental
+
+Driver UART :
+- Initialisation
+- Envoi d'un octet
+- Envoi d'une chaine de caractères (X octets qui composent les X caractères de la chaine)
+- Reception d'un octet
+
+Driver IMU :
+- Envoi de 2 octets successif (adresse registre + valeur) par SPI
+- Initialisation du module par communication SPI (configuration de registres du module)
+- Lecture de valeurs successives (x,y,z), puis leur stockage dans un tableau.
--- a/driver/Driver_ADC.c
+++ b/driver/Driver_ADC.c
@ -47,20 +47,17 @@ void driver_adc_1_init (char Prio, void (*IT_function)(void))
 	ADC1_2_fx = IT_function;
 }

-/* Fonction de lancement*/
 void driver_adc_1_launch_read (void)
 {
 	//Lancement de la conversion
 	ADC1->CR2 |= ADC_CR2_SWSTART;
 }

-/*Lecture de la converstion*/
 uint16_t driver_adc_1_read (void)
 {
 	//Retour de la conversion
 	return ADC1->DR &~ ((0x0F) << 12);
 }
-
 void ADC1_2_IRQHandler(void)
 {
 	//On abaisse le flag pour la prochaine lecture
--- a/driver/Driver_ADC.h
+++ b/driver/Driver_ADC.h
@ -2,33 +2,8 @@
 #define DRIVER_ADC_H
 #include "stm32f10x.h"

-/**
-*************************************************************************************************
-* @brief Activation et configuration de l'ADC1.
-* @param -> char Prio: défini la priorité de l'interruption pour le flag EOC
-				 -> void (*IT_function)(void) : pointeur de fonction qui sera appelé dans l'interruption
-* @Note -> Fonction à lancer systématiquement avant d’aller plus en détail
-*************************************************************************************************
-*/
 void driver_adc_1_init (char Prio, void (*IT_function)(void));
-
-/**
-*************************************************************************************************
-* @brief Fonction pour lancer la convertion
-* @param -> none
-* @Note -> 
-*************************************************************************************************
-*/
 void driver_adc_1_launch_read (void);
-
-/**
-*************************************************************************************************
-* @brief Fonction pour lire la valeur convertie
-* @param -> none
-* @return -> retour de la valeur convertie
-* @Note -> 
-*************************************************************************************************
-*/
 uint16_t driver_adc_1_read (void);

 #endif
--- a/driver/Driver_GPIO.c
+++ b/driver/Driver_GPIO.c
@ -1,7 +1,6 @@
 #include "Driver_GPIO.h"
 #include "stm32f10x.h"
 #include "stdio.h"
-
 /* GPIO init function */
 void MyGPIO_Init ( MyGPIO_Struct_TypeDef * GPIOStructPtr )
 {
@ -46,25 +45,21 @@ void MyGPIO_Init ( MyGPIO_Struct_TypeDef * GPIOStructPtr )
 		GPIOStructPtr->GPIO->ODR |= 0x1<<(GPIOStructPtr->GPIO_Pin);
 	}
 }
-
 /* Read of the state of the GPIO */
 int MyGPIO_Read ( GPIO_TypeDef * GPIO , char GPIO_Pin )
 {
 	return ((GPIO->IDR & (0x1<<GPIO_Pin))>>GPIO_Pin);
 }
-
 /* Set the state of the GPIO */
 void MyGPIO_Set (GPIO_TypeDef * GPIO , char GPIO_Pin)
 {
 	GPIO->ODR |= 0x1<<GPIO_Pin;
 }
-
 /* Reset the state of the GPIO */
 void MyGPIO_Reset (GPIO_TypeDef * GPIO , char GPIO_Pin)
 {
 	GPIO->ODR &= ~(0x1<<GPIO_Pin);
 }
-
 /* Toogle the state of the GPIO */
 void MyGPIO_Toggle ( GPIO_TypeDef * GPIO , char GPIO_Pin )
 {
--- a/driver/Driver_GPIO.h
+++ b/driver/Driver_GPIO.h
@ -17,48 +17,9 @@ typedef struct
 #define AltOut_Ppull 0xA
 #define AltOut_OD 0xE

-/**
-*************************************************************************************************
-* @brief Fonction d'initialisation pour les GPIO
-* @param -> Param<EFBFBD>tre sous forme d<EFBFBD>une structure (son adresse) qui d<EFBFBD>fini le pin, le port et la conf du GPIO
-* @Note -> 
-*************************************************************************************************
-*/
-void MyGPIO_Init ( MyGPIO_Struct_TypeDef * GPIOStructPtr );
-
-/**
-*************************************************************************************************
-* @brief Fonction pour lire l'<EFBFBD>tat de la GPIO
-* @param : Param<EFBFBD>tre sous forme d<EFBFBD>une structure (son adresse) qui d<EFBFBD>fini le pin et le port
-* @return : Renvoie 0 ou autre chose diff<EFBFBD>rent de 0
-*************************************************************************************************
-*/
-int MyGPIO_Read ( GPIO_TypeDef * GPIO , char GPIO_Pin );
-
-/**
-*************************************************************************************************
-* @brief Fonction pour set le pin voulu
-* @param -> Param<EFBFBD>tre sous forme d<EFBFBD>une structure (son adresse) qui d<EFBFBD>fini le pin et le port
-* @Note -> 
-*************************************************************************************************
-*/
-void MyGPIO_Set ( GPIO_TypeDef * GPIO , char GPIO_Pin );
-
-/**
-*************************************************************************************************
-* @brief Fonction pour reset le pin voulu
-* @param -> Param<EFBFBD>tre sous forme d<EFBFBD>une structure (son adresse) qui d<EFBFBD>fini le pin et le port
-* @Note -> 
-*************************************************************************************************
-*/
-void MyGPIO_Reset ( GPIO_TypeDef * GPIO , char GPIO_Pin );
-
-/**
-*************************************************************************************************
-* @brief Fonction pour toogle le pin voulu
-* @param -> Param<EFBFBD>tre sous forme d<EFBFBD>une structure (son adresse) qui d<EFBFBD>fini le pin et le port
-* @Note -> 
-*************************************************************************************************
-*/
+void MyGPIO_Init ( MyGPIO_Struct_TypeDef * GPIOStructPtr ) ;
+int MyGPIO_Read ( GPIO_TypeDef * GPIO , char GPIO_Pin ) ; // renvoie 0 ou autre chose different de 0
+void MyGPIO_Set ( GPIO_TypeDef * GPIO , char GPIO_Pin ) ;
+void MyGPIO_Reset ( GPIO_TypeDef * GPIO , char GPIO_Pin ) ;
 void MyGPIO_Toggle ( GPIO_TypeDef * GPIO , char GPIO_Pin ) ;
 #endif
--- a/driver/Driver_IMU.c
+++ b/driver/Driver_IMU.c
@ -1,63 +1,62 @@
 #include "MySpi.h"

-const char POWER_CTL = 0x2D;	//Power Control Register
+const char POWER_CTL = 0x2D; // Power Control Register
 const char BW_RATE = 0x2C;
 const char DATA_FORMAT = 0x31;

-/*fonction écriture registre IMU*/
+/*fonction écriture registre IMU*/
 void driver_IMU_write_register(char registerAddress, char value)
 {
-	// On s'assure que le Chip Select est bien au niveau bas
-	MySPI_Clear_NSS();
-  // Envoi de l'adresse du registre par SPI
-  MySPI_Send(registerAddress);
-	// Envoi de la valeur désirée du registre par SPI
-  MySPI_Send(value);
-	// On active le chip select
-	MySPI_Set_NSS();
+    // On s'assure que le Chip Select est bien au niveau bas
+    MySPI_Clear_NSS();
+    // Envoi de l'adresse du registre par SPI
+    MySPI_Send(registerAddress);
+    // Envoi de la valeur désirée du registre par SPI
+    MySPI_Send(value);
+    // On active le chip select
+    MySPI_Set_NSS();
 }

 /* Fonction d'initialisation*/
 void driver_IMU_init(void)
 {
-	/* FSCK = 281kHz, Repos SCK = '1', Front actif = up
-					 Gestion /CS logicielle à part, configure les 4 IO
-					 - SCK, MOSI : Out Alt push pull
-					 - MISO : floating input
-					 - /NSS (/CS) : Out push pull */
-	MySPI_Init(SPI1);
-	//Paramètrage du registre POWER_CTL
-	driver_IMU_write_register(POWER_CTL, 0x08);
-	//Paramètrage du registe BW_RATE
-	driver_IMU_write_register(BW_RATE, 0x0A);
-	//Paramètrage du registre DATA_FORMAT
-	driver_IMU_write_register(BW_RATE, 0x08); //Full resolution, et alignement à droite
-	
+    /* FSCK = 281kHz, Repos SCK = '1', Front actif = up
+                     Gestion /CS logicielle à part, configure les 4 IO
+                     - SCK, MOSI : Out Alt push pull
+                     - MISO : floating input
+                     - /NSS (/CS) : Out push pull */
+    MySPI_Init(SPI1);
+    // Paramètrage du registre POWER_CTL
+    driver_IMU_write_register(POWER_CTL, 0x08);
+    // Paramètrage du registe BW_RATE
+    driver_IMU_write_register(BW_RATE, 0x0A);
+    // Paramètrage du registre DATA_FORMAT
+    driver_IMU_write_register(BW_RATE, 0x08); // Full resolution, et alignement à droite
 }

-/* Fonction de lecture des données*/
+/* Fonction de lecture des données*/
 /*
-@param *values : Les valeurs x, y, z sont chacune stockée sur 2 octets dans le tableau values
-	x = values[1]<<8 & value[0];
-	y = values[3]<<8 & value[2];
-	z = values[5]<<8 & value[4];
-@param numBytes : Le nombre de registre à lire à partir de registerAddress
-@param registerAddress : Adresse du premier registre à lire*/
-void driver_IMU_read(char registerAddress, int numBytes, unsigned char * values)
+@param *values : Les valeurs x, y, z sont chacune stockée sur 2 octets dans le tableau values
+    x = values[1]<<8 & value[0];
+    y = values[3]<<8 & value[2];
+    z = values[5]<<8 & value[4];
+@param numBytes : Le nombre de registre à lire à partir de registerAddress
+@param registerAddress : Adresse du premier registre à lire*/
+void driver_IMU_read(char registerAddress, int numBytes, unsigned char *values)
 {
-	int i;
-	// Pour effectuer une lecture des registre, on doit mettre les bits R/W et MB à 1
-	char trame = registerAddress | 0x80;
-	trame = trame | 0x40;
-	// On active le chip select (niveau bas)
-	MySPI_Clear_NSS();
-	// Envoie de la config
-	MySPI_Send(trame);
-	// On effectue la lecture
-	for(i=0; i<numBytes; i++)
-	{
-		values[i] = MySPI_Read();
-	}
-	// On met le Chip Select au niveau haut
-	MySPI_Set_NSS();
+    int i;
+    // Pour effectuer une lecture des registre, on doit mettre les bits R/W et MB à 1
+    char trame = registerAddress | 0x80;
+    trame = trame | 0x40;
+    // On active le chip select (niveau bas)
+    MySPI_Clear_NSS();
+    // Envoie de la config
+    MySPI_Send(trame);
+    // On effectue la lecture
+    for (i = 0; i < numBytes; i++)
+    {
+        values[i] = MySPI_Read();
+    }
+    // On met le Chip Select au niveau haut
+    MySPI_Set_NSS();
 }
--- a/driver/Driver_IMU.h
+++ b/driver/Driver_IMU.h
@ -7,20 +7,20 @@
 *************************************************************************************************
 * @brief Fonction d'initialisation de l'IMU
 * @param -> none
-* @Note -> Fonction a appelé avant l'utilisation du périphérique
+* @Note -> Fonction a appelé avant l'utilisation du périphérique
 *************************************************************************************************
 */
 void driver_IMU_init(void);

 /**
 *************************************************************************************************
-* @brief Fonction de lecture des données de l'IMU
+* @brief Fonction de lecture des données de l'IMU
 * @param -> char registerAddress : adresse du registre
-* 			 -> int numBytes : nombre de bytes à recevoir
-*				 -> unsigned char * values : tableau où les valeurs seront stockés
+* 			 -> int numBytes : nombre de bytes à recevoir
+*				 -> unsigned char * values : tableau où les valeurs seront stockés
 * @Note ->
 *************************************************************************************************
 */
-void driver_IMU_read(char registerAddress, int numBytes, unsigned char * values);
+void driver_IMU_read(char registerAddress, int numBytes, unsigned char *values);

 #endif
--- a/driver/Driver_SPI.c
+++ b/driver/Driver_SPI.c
@ -1,44 +0,0 @@
-#include "stm32f10x.h"
-#include "stdio.h"
-#include "Driver_SPI.h"
-
-void driver_spi_1_init(char Prio, void (*IT_function)(void))
-{
-	/*Activation de la clock*/
-	RCC->APB2ENR = RCC_APB2ENR_SPI1EN;
-	/*Select the freq*/
-	SPI1->CR1 |= SPI_CR1_BR_1; //5Mhz max -> fPCLK = 36Mhz -> 010: fPCLK/8
-	/*Select Master mode*/
-	SPI1->CR1 |= SPI_CR1_MSTR;
-	/*Software slave management*/
-	SPI1->CR1 |= SPI_CR1_SSM;
-	/*Clock Phase Selection*/
-	SPI1->CR1 |= SPI_CR1_CPHA;
-	/*Clock Polarity Selection*/
-	SPI1->CR1 |= SPI_CR1_CPOL;
-	/*Mode 16bits - 16-bit data frame format*/
-	//SPI1->CR1 |= SPI_CR1_DFF;
-	/*Activation de l'interruption*/
-	SPI1->CR2 |= SPI_CR2_RXNEIE;
-	NVIC_EnableIRQ(SPI_IRQn);
-	NVIC_SetPriority(ADC1_2_IRQn, Prio);
-	/*Vider le buffer d'emission/réception 0xFFFF*/
-	SPI1->DR = SPI_DR_DR;
-	/*Enable SPI*/
-	SPI1->CR1 |= SPI_CR1_SPE;
-}
-
-void driver_spi_1_write(uint16_t data_write)
-{
-	SPI1->DR = data_write;
-	/*Active la sélection du SLAVE*/
-	SPI1->CR1 |= SPI_CR1_SSI;
-}
-
-uint16_t driver_spi_1_read()
-{
- //Abaissage automatique du flag RxNE
-	return SPI1->DR;
-}
-
-
--- a/driver/Driver_SPI.h
+++ b/driver/Driver_SPI.h
@ -1,5 +0,0 @@
-#ifndef DRIVER_SPI_H
-#define DRIVER_SPI_H
-#include "stm32f10x.h"
-
-#endif
--- a/driver/Driver_Timer.c
+++ b/driver/Driver_Timer.c
@ -1,7 +1,6 @@
 #include "Driver_Timer.h"
 #include "stm32f10x.h"
 #include "stdio.h"
-
 /* Timer init function */
 void MyTimer_Base_Init(MyTimer_Struct_TypeDef * Timer)
 {
@ -27,49 +26,62 @@ void MyTimer_Base_Init(MyTimer_Struct_TypeDef * Timer)
  	Timer->Timer->ARR = Timer->ARR;
 }

-/* Start function */
+
 void MyTimer_Start(MyTimer_Struct_TypeDef * Timer)
 {
 	Timer->Timer->CR1 |= TIM_CR1_CEN;
 }

-/* Stop function*/
 void MyTimer_Stop(MyTimer_Struct_TypeDef * Timer)
 {
 	Timer->Timer->CR1 &= ~TIM_CR1_CEN;
 }

-// Note : PWM Tested on PA0 
-/*Configuration PWM*/
-void MyTimer_ConfigurePWM(MyTimer_Struct_TypeDef *Timer, uint8_t channel, uint16_t duty_cycle) {
+// Note : PWM Tested on PA0 and PA1
+void MyTimer_ConfigurePWM(MyTimer_Struct_TypeDef *Timer, uint16_t duty_cycle) {

-  uint16_t CCR_Value = (duty_cycle * TIM2->ARR) / 100;
+  uint16_t CCR_Value = (duty_cycle * Timer->Timer->ARR) / 100;

  // Configurer le Channel
  if (Timer->channel == 1) {
 	Timer->Timer->CCMR1 = TIM_CCMR1_OC1M_2 | TIM_CCMR1_OC1M_1;
-	Timer->Timer->CCMR1 |= TIM_CCMR1_OC1PE; // activer la pr<EFBFBD>charge du registre de comparaison
+	Timer->Timer->CCMR1 |= TIM_CCMR1_OC1PE; // activer la précharge du registre de comparaison
 	Timer->Timer->CCER |= TIM_CCER_CC1E;
 	Timer->Timer->CCR1 = CCR_Value;
  } else if (Timer->channel == 2) {
 	Timer->Timer->CCMR1 = TIM_CCMR1_OC2M_2 | TIM_CCMR1_OC2M_1;
-	Timer->Timer->CCMR1 |= TIM_CCMR1_OC2PE; // activer la pr<EFBFBD>charge du registre de comparaison
+	Timer->Timer->CCMR1 |= TIM_CCMR1_OC2PE; // activer la précharge du registre de comparaison
 	Timer->Timer->CCER |= TIM_CCER_CC2E;
 	Timer->Timer->CCR2 = CCR_Value;
  } else if (Timer->channel == 3) {
 	Timer->Timer->CCMR2 = TIM_CCMR2_OC3M_2 | TIM_CCMR2_OC3M_1;
-	Timer->Timer->CCMR2 |= TIM_CCMR2_OC3PE; // activer la pr<EFBFBD>charge du registre de comparaison
+	Timer->Timer->CCMR2 |= TIM_CCMR2_OC3PE; // activer la précharge du registre de comparaison
 	Timer->Timer->CCER |= TIM_CCER_CC3E;
 	Timer->Timer->CCER &= ~TIM_CCER_CC3P;
 	Timer->Timer->CCR3 = CCR_Value;	
  } else if (Timer->channel == 4) {
 	Timer->Timer->CCMR2 = TIM_CCMR2_OC4M_2 | TIM_CCMR2_OC4M_1;
-	Timer->Timer->CCMR2 |= TIM_CCMR2_OC4PE; // activer la pr<EFBFBD>charge du registre de comparaison
+	Timer->Timer->CCMR2 |= TIM_CCMR2_OC4PE; // activer la précharge du registre de comparaison
 	Timer->Timer->CCER |= TIM_CCER_CC4E;
 	Timer->Timer->CCR4 = CCR_Value;
  }
 }

+void MyTimer_SetPWMDutyCycle(MyTimer_Struct_TypeDef *Timer, uint16_t duty_cycle) {
+  uint16_t CCR_Value = (duty_cycle * Timer->Timer->ARR) / 100;
+
+  if (Timer->channel == 1) {
+	Timer->Timer->CCR1 = CCR_Value;
+  } else if (Timer->channel == 2) {
+	Timer->Timer->CCR2 = CCR_Value;
+  } else if (Timer->channel == 3) {
+	Timer->Timer->CCER &= ~TIM_CCER_CC3P;
+	Timer->Timer->CCR3 = CCR_Value;	
+  } else if (Timer->channel == 4) {
+	Timer->Timer->CCR4 = CCR_Value;
+  }	
+}
+
 // Utiliser le TIM4
 void MyTimer_ConfigureEncoder(MyTimer_Struct_TypeDef *Timer) {
    Timer->Timer->PSC = 0; // Configurer le prescaler à 0 (pour diviser l'horloge de base de 72 MHz par 1)
@ -102,16 +114,15 @@ void MyTimer_ConfigureEncoder(MyTimer_Struct_TypeDef *Timer) {
    NVIC_EnableIRQ(EXTI3_IRQn);
 }

-
 void Bug (void)
 {
 	while(1);
 }
+
 void (*TIM2_fx) (void) = &Bug;
 void (*TIM3_fx) (void) = &Bug;
 void (*TIM4_fx) (void) = &Bug;

-/* Interrupt function */
 void MyTimer_ActiveIT (TIM_TypeDef * Timer, char Prio, void (*IT_function)(void))
 {
 	Timer->DIER |= TIM_DIER_UIE;
--- a/driver/Driver_Timer.h
+++ b/driver/Driver_Timer.h
@ -13,57 +13,43 @@ typedef struct

 /**
 *************************************************************************************************
-* @brief Initialisation du timer
-* @param -> Param<EFBFBD>tre sous forme d<EFBFBD>une structure (son adresse) contenant les informations du timer
-* @Note -> Fonction <EFBFBD> lancer syst<EFBFBD>matiquement avant d<EFBFBD>aller plus en d<EFBFBD>tail dans les conf plus fines (PWM, codeur inc...)*************************************************************************************************
+* @brief
+* @param -> Param<EFBFBD>tre sous forme d<EFBFBD>une structure (son adresse) contenant les informations de base
+* @Note -> Fonction <EFBFBD> lancer syst<EFBFBD>matiquement avant d<EFBFBD>aller plus en d<EFBFBD>tail dans les conf plus fines (PWM, codeur inc...)
+*************************************************************************************************
 */
 void MyTimer_Base_Init(MyTimer_Struct_TypeDef * Timer);

-/**
-*************************************************************************************************
-* @brief Fonction pour lancer le timer voulu
-* @param -> Param<EFBFBD>tre sous forme d<EFBFBD>une structure (son adresse) qui d<EFBFBD>fini le num<EFBFBD>ro du timer
-* @Note -> 
-*************************************************************************************************
+/*#define MyTimer_Base_Start(Timer) ...
+#define MyTimer_Base_Stop(Timer) ... 
 */
-void MyTimer_Start(MyTimer_Struct_TypeDef * Timer);

-/**
-*************************************************************************************************
-* @brief Fonction pour arr<EFBFBD>ter le timer voulu
-* @param -> Param<EFBFBD>tre sous forme d<EFBFBD>une structure (son adresse) qui d<EFBFBD>fini le num<EFBFBD>ro du timer
-* @Note 
-*************************************************************************************************
-*/
-void MyTimer_Stop(MyTimer_Struct_TypeDef * Timer);
+void MyTimer_Start(MyTimer_Struct_TypeDef * Timer) ;
+void MyTimer_Stop(MyTimer_Struct_TypeDef * Timer) ;
+
+
 /**
 **************************************************************************************************
-* @brief Active une interruption utilisant un timer
-* @param : -TIM_TypeDef * Timer : Timer concern<EFBFBD>
-* 				- char Prio: de 0 a 15
-* @Note : La fonction MyTimer_Base_Init doit avoir <EFBFBD>t<EFBFBD> lanc<EFBFBD>e au prealable
+* @brief
+* @param : -TIM_TypeDef * Timer : Timer concerne
+- char Prio: de 0 a 15
+* @Note : La fonction MyTimer_Base_Init doit avoir ete lancee au prealable
 **************************************************************************************************
 */
 void MyTimer_ActiveIT (TIM_TypeDef * Timer, char Prio, void (*IT_function)(void));

 /**
-*************************************************************************************************
-* @brief Fonction pour le timer du PWM
-* @param : -TIM_TypeDef * Timer : Timer concern<EFBFBD>
-* 				- char Channel : channel du PWM concern<EFBFBD>
-*************************************************************************************************
+* @brief
+* @param 
+* @Note Active le channel sp<EFBFBD>cifi<EFBFBD> sur Timer le timer sp<EFBFBD>cifi<EFBFBD>
+* la gestion de la configuration I/O n<EFBFBD>est pas faite dans cette fonction
+* ni le r<EFBFBD>glage de la p<EFBFBD>riode de la PWM (ARR, PSC)
 */
 void MyTimer_PWM(TIM_TypeDef * Timer, char Channel);

-/**
-*************************************************************************************************
-* @brief Fonction pour configurer le PWM
-* @param : -TIM_TypeDef * Timer : Timer concern<EFBFBD>
-* 				- uint8_t pwm_channel : choix du channel du PWM utilis<EFBFBD>
-*					- uint16_t duty_cycle : choix du temps <EFBFBD> la l'<EFBFBD>tat haut
-*************************************************************************************************
-*/
-void MyTimer_ConfigurePWM(MyTimer_Struct_TypeDef *Timer, uint8_t pwm_channel, uint16_t duty_cycle);
+void MyTimer_ConfigurePWM(MyTimer_Struct_TypeDef *Timer, uint16_t duty_cycle);
+
+void MyTimer_SetPWMDutyCycle(MyTimer_Struct_TypeDef *Timer, uint16_t duty_cycle);

 void MyTimer_ConfigureEncoder(MyTimer_Struct_TypeDef *Timer);

--- a/driver/Driver_UART.c
+++ b/driver/Driver_UART.c
@ -1,73 +1,83 @@
 #include "Driver_UART.h"

-void MyUART_Init(MyUART_Struct_TypeDef *UART) {
+void MyUART_Init(MyUART_Struct_TypeDef *UART)
+{
  // Active l'horloge du périphérique UART

-  if (UART->UART == USART1) {
+  if (UART->UART == USART1)
+  {
    RCC->APB2ENR |= RCC_APB2ENR_USART1EN;
-  } else if (UART->UART == USART2) {
+  }
+  else if (UART->UART == USART2)
+  {
    RCC->APB1ENR |= RCC_APB1ENR_USART2EN;
-  } else if (UART->UART == USART3) {
+  }
+  else if (UART->UART == USART3)
+  {
    RCC->APB1ENR |= RCC_APB1ENR_USART3EN;
  }

-	// Active l'UART pour permettre la transmission/réception de données
+  // Active l'UART pour permettre la transmission/réception de données
  UART->UART->CR1 |= USART_CR1_UE;

  // Configure la vitesse de transmission en utilisant la valeur de BRR
-  UART->UART->BRR = 7500/2; // Note : Certains UARTs sont connectés au 72Mhz/2 
+  UART->UART->BRR = 7500 / 2; // Note : Certains UARTs sont connectés au 72Mhz/2

  // Configure le format des données transmises/reçues : 8 bits de données, 1 bit de stop, pas de parité
  UART->UART->CR1 &= ~(USART_CR1_M | USART_CR1_PS);

-
  UART->UART->CR1 |= USART_CR1_TE | USART_CR1_RE;

  UART->UART->CR2 &= ~(0x11 << 12);

  USART3->CR1 |= USART_CR1_RXNEIE | USART_CR1_TXEIE; // Active les interruptions de l'UART

-  __enable_irq();// Active les interruptions globales
-
+  __enable_irq(); // Active les interruptions globales
 }

-void MyUART_SendByte(MyUART_Struct_TypeDef *UART, uint8_t data) {
+void MyUART_SendByte(MyUART_Struct_TypeDef *UART, uint8_t data)
+{
  // Envoyer la donnée
  UART->UART->DR = data;

  // Attendre que la transmission soit terminée
-  while ((UART->UART->SR & USART_SR_TC) == 0);
+  while ((UART->UART->SR & USART_SR_TC) == 0)
+    ;
 }

-void MyUART_SendString(MyUART_Struct_TypeDef *UART, const char *str) {
+void MyUART_SendString(MyUART_Struct_TypeDef *UART, const char *str)
+{
  // Envoyer chaque caractère de la chaîne
-  while (*str != '\0') {
+  while (*str != '\0')
+  {
    MyUART_SendByte(UART, *str);
    str++;
  }
 }

-uint8_t MyUART_ReceiveByte(MyUART_Struct_TypeDef *UART) {
+uint8_t MyUART_ReceiveByte(MyUART_Struct_TypeDef *UART)
+{
  // Attendre que le registre de données soit rempli avec une nouvelle donnée
-  while (!(UART->UART->SR & USART_SR_RXNE));
+  while (!(UART->UART->SR & USART_SR_RXNE))
+    ;

  // Lire la donnée reçue
  uint8_t data = (uint8_t)(UART->UART->DR & 0xFF);

-	// Remettre flag à 0
-	UART->UART->SR &= ~USART_SR_RXNE;
+  // Remettre flag à 0
+  UART->UART->SR &= ~USART_SR_RXNE;

  // Renvoyer la donnée lue
  return data;
 }

-void USART3_IRQHandler(void) {
-  if (USART3->SR & USART_SR_RXNE) {
-    
+void USART3_IRQHandler(void)
+{
+  if (USART3->SR & USART_SR_RXNE)
+  {
  }

-  if (USART3->SR & USART_SR_TXE) {
-   
+  if (USART3->SR & USART_SR_TXE)
+  {
  }
 }
-
--- a/driver/Lib_Com_Periph_2022.lib
+++ b/driver/Lib_Com_Periph_2022.lib
--- a/driver/MyI2C.h
+++ b/driver/MyI2C.h
@ -1,229 +0,0 @@
-#ifndef _I2C_
-#define _I2C_
-
-#include "stm32f10x.h"
-
-/*************************************************************************************
-=====================    By Periph team 	INSA GEI	2022	 ===========================
-*************************************************************************************/
-
-/*
-*************************************************************************************
-=====================     I2C les IO STM32F103      =================================
-*************************************************************************************
-
-Les IO sont pris en charge par la lib, pas besoin de faire les configurations Alt OD.
-
-**I2C1**
-SCL PB6
-SDA PB7
-
-**I2C2**
-SCL PB10
-SDA PB11
-
-
-*************************************************************************************
-==================== Fondamentaux I2C      ==========================================
-*************************************************************************************
- Bus synchrone Low speed (<100kHz) ou high speed (=400kHz), Ici Low speed 100kHz.
- Transfert octet par octet, poids fort en premier, avec aquittement pour chaque octet
- Deux lignes SDA et SCL (horloge) en open drain, repos '1'
- bit "normal" = SDA stable lors du pulse SCL (ie durant l'état haut de SCL, SDA est stable)
- bit Start/Stop/Restart = SDA non stable lorsque SCL vaut '1' (violation règle précédente)
-			* Start : front descendant de SDA lorsque SCL vaut '1'
-			* Stop  : front montant de SDA lorsque SCL = '1'
-			* Restart = Start en cours de trame (typiquement pour changer Write/read).
- uC en Mode Master uniquement (c'est notre choix) : c'est le uC qui est maître de l'horloge SCL.
- Le Slave a une @ 7 bits. On ajoute un bit LSB qui est /WR (donc 0 pour écriture, 1 pour lecture)
- Une adresse s'écrit donc |a6 a5 a4 a3 a2 a1 a0 /WR| ce qui donne 8 bits. Elle indique une future
-lecture ou écriture. 
-On parle d'@ 7 bits en regroupant |a6 a5 a4 a3 a2 a1 a0|
-On parle d'@ 8 bits en regroupant |a6 a5 a4 a3 a2 a1 a0 /WR| (donc une @ écriture, une @ lecture)
-NB : préférer le concept @7bits...c'est plus clair.
-
- On peut lire ou écrire une ou plusieurs données à la suite. C'est lors de l'envoie de l'adresse Slave
-par le Master que le sens à venir pour les datas est indiqué.
- En écriture, 
-			* les Ack sont faits par le slave après chaque octet envoyé par le master (Ack = mise à 0 le bit 9).
- En lecture, 
-			* dès que le l@ slave est transmise (/RW = 1), et le Ack réalisé, le slave positionne le bit 7 
-			du prochain octet à lire sur SDA par anticipation ,			
-			* le master enchaîne ses pulses (9), lors du pulse 9 (le dernier) c'est le master qui acquite.
-			* Après chaque acquitement, le Slave amorce le prochain octet en positionnant son bit 7 sur SDA 
-			* Après le dernier octet, le Master génère un stop.
-					* Pour pouvoir générer le stop, le Master doit piloter SDA, or ce n'est pas possible puisque
-					le Slave positionne le futur bit 7 ... Pour régler ce problème :
-					lors du dernier transfert, le Master N'acquitte PAS (NACK). Ainsi le Slave ne
-					propose plus le bit 7 du prochain octet sur SDA et libère SDA. Le Master peut alors clôturer la 
-					communication avec un Stop.
-
-
-
-
-======= Echange typique avec un Slave  ================================================================
- Une lecture ou écriture se fait vers un Slave et à partir d'une adresse mémoire donnée (pointeur interne).
-Ce pointeur est automatiquement incrémenté dans le slave lors des accès écriture ou lecture.
-
- Ecriture de N octets , trame complète (@ = adresse slave, pt = valeur de chargement du pointeur interne)
-|Start Cond   |@6|@5|@4|@3|@2|@1|@0| Wr =0 |Slave ACK|
-|pt7|pt6|pt5|pt4|pt3|pt2|pt1|pt0|Slave ACK| 
-|d7|d6|d5|d4|d3|d2|d1|d0|Slave ACK| (data 1)
-.....
-|d7|d6|d5|d4|d3|d2|d1|d0|Salve ACK|Stop Cond| (data N)
-
- Lecture de N octets à partir d'une adresse de pointeur donnée
-|Start Cond   |@6|@5|@4|@3|@2|@1|@0| Wr =0 |Slave ACK|
-|pt7|pt6|pt5|pt4|pt3|pt2|pt1|pt0|Slave ACK| 
-|ReStart Cond   |@6|@5|@4|@3|@2|@1|@0| Wr =1 |Slave ACK|    (NB: restart nécessaire pour changer écriture / lecture)
-|d7|d6|d5|d4|d3|d2|d1|d0|Master ACK| (data 1)
-.....
-|d7|d6|d5|d4|d3|d2|d1|d0|Master ACK| (data N-1)
-|d7|d6|d5|d4|d3|d2|d1|d0|Master NACK|Stop Cond| (data N)
-
-
-
-
-
-*************************************************************************************
-==================== La lib I2C            ==========================================
-*************************************************************************************
-
-3 fonctions essentielles :
-MyI2C_Init
-MyI2C_PutString
-MyI2C_GetString
-
-1 fonction spéciale : MyI2C_Get_Error
-
-Les fonctions Put/Get string fonctionnent sur le principe classique décrit précédemment
-(Slave@, Pter @, Data...).
-La fonction init prend parmi ses paramètres le nom d'une fct callback d'erreur.
-En fait, le driver gère en IT les erreurs possibles I2C. La fonction MyI2C_Get_Error permet de 
-recevoir un code erreur.
-Il est conseillé d'utiliser ce callback. Si on tombe dedans, c'est qu'une erreur s'est produite.
-Si le code erreur est "inconnu", souvent c'est qu'il y  a un soucis à l'adressage slave:
-Vérifier alors la connectique physique SDA/SCL ainsi que l'alimentation du slave ou tout simplement
-l'@ slave !
-
-
-==========================================================================================*/
-
-
-
-
-
-/*========================================================================================= 
-														GESTION ERREURS 
-========================================================================================= */
-typedef enum 
-{
-	OK,
-	BusError, 		// 
-	AckFail,  		// Pas,d'ack
-	TimeOut,			// SCL est resté plus de 25ms à l'état bas
-	UnknownError 	// IT erreur déclenchée mais pas de flag explicite ...
-} MyI2C_Err_Enum;
-
-
-
-
-/**
-  * @brief  Retourne les erreurs I2C
-  * @param  I2Cx: where x can be 1 or 2 to select the I2C peripheral.
-  * @retval Type d'erreur rencontrée , voir MyI2C_Err_Enum
-  */
-
-MyI2C_Err_Enum MyI2C_Get_Error(I2C_TypeDef * I2Cx);
-
-
-
-/*========================================================================================= 
-														INITIALISATION I2C
-========================================================================================= */
-
-
-/**
-  * @brief  Initialise l'interface I2C (1 ou 2) 
-  * @param  I2Cx: where x can be 1 or 2 to select the I2C peripheral.
-  * @param char IT_Prio_I2CErr 0 à 15 (utilisé en cas d'erreur, IT courte et non bloquante
-	* @param  *ITErr_function : callback à utiliser pour sortir d'un plantage transmission
-  * @retval None 
-  * @Example  MyI2C_Init(I2C1, 2,My_CallbackErr);
-
-	
-
-  */
-void MyI2C_Init(I2C_TypeDef * I2Cx, char IT_Prio_I2CErr, void (*ITErr_function) (void));
-
-
-
-/*========================================================================================= 
-														EMISSION I2C : PutString
-========================================================================================= */
-
-
-// Structure de données pour l'émission ou la réception I2C :
-typedef struct
-{
-	char SlaveAdress7bits;  // l'adresse I2C du slave device
-	char * Ptr_Data;				// l'adresse du début de tableau char à recevoir/émettre (tableau en RAM uC) 
-	char Nb_Data;						// le nbre d'octets à envoyer / recevoir  
-}
-MyI2C_RecSendData_Typedef;
-
-
-
-/**
-	* @brief|Start Cond   |@6|@5|@4|@3|@2|@1|@0| Wr =0 |Slave ACK|
-					|pt7|pt6|pt5|pt4|pt3|pt2|pt1|pt0|Slave ACK| 
-					|d7|d6|d5|d4|d3|d2|d1|d0|Slave ACK| (data 1)
-					.....
-					|d7|d6|d5|d4|d3|d2|d1|d0|Salve ACK|Stop Cond| (data N) 
-
-  * @param  I2Cx: where x can be 1 or 2 to select the I2C peripheral.
-  * @param  PteurAdress = adresse de démarrage écriture à l'interieur du slave I2C
-  * @param  DataToSend, adresse de la structure qui contient les informations à transmettre 
-             voir définition	MyI2C_RecSendData_Typedef				
-  * @retval None
-	* @Example MyI2C_PutString(I2C1,0xAA, &MyI2C_SendTimeData);
-  *					 Ecrit dans le slave câblé sur I2C1 à partir de l'@ mémoire interne Slave 0xAA
-
-  */
-void MyI2C_PutString(I2C_TypeDef * I2Cx, char PteurAdress, MyI2C_RecSendData_Typedef * DataToSend);
-
-
-
-
-
-
-
-
-
-
-/*========================================================================================= 
-														Réception I2C : GetString 
-========================================================================================= */
-
-/**
-	* @brief  |Start Cond   |@6|@5|@4|@3|@2|@1|@0| Wr =0 |Slave ACK|
-						|pt7|pt6|pt5|pt4|pt3|pt2|pt1|pt0|Slave ACK| 
-						|ReStart Cond   |@6|@5|@4|@3|@2|@1|@0| Wr =1 |Slave ACK|
-						|d7|d6|d5|d4|d3|d2|d1|d0|Master ACK| (data 1)
-						.....
-						|d7|d6|d5|d4|d3|d2|d1|d0|Master NACK|Stop Cond| (data N)
-
-  * @param  I2Cx: where x can be 1 or 2 to select the I2C peripheral.
-  * @param  PteurAdress = adresse de démarrage lecture à l'interieur du slave I2C
-  * @param  DataToSend, adresse de la structure qui contient les informations nécessaires à la
-						réception des données voir définition	MyI2C_RecSendData_Typedef				
-  * @retval None
-	* @Example	MyI2C_GetString(I2C1,0xAA, &MyI2C_RecevievedTimeData);
-							Lit dans le slave câblé sur I2C1 à partir de l'@ mémoire interne Slave 0xAA
-  */
-void	MyI2C_GetString(I2C_TypeDef * I2Cx, char PteurAdress, MyI2C_RecSendData_Typedef * DataToReceive);
-
-
-
-
-#endif
--- a/driver/MySPI.h
+++ b/driver/MySPI.h
@ -1,129 +0,0 @@
-
-#ifndef INC_MYSPI_H_
-#define INC_MYSPI_H_
-
-#include "stm32f10x.h"
-
-/*************************************************************************************
-=====================    By Periph team 	INSA GEI	2022	 ===========================
-*************************************************************************************/
-
-/*
-*************************************************************************************
-=====================     I2C les IO STM32F103      =================================
-*************************************************************************************
-Les IO sont pris en charge par la lib, pas besoin de faire les configurations
-
-
-Sur la Nucléo , le SPI1 est perturbé par la LED2 (PA5), mais doit pouvoir subir les front SCK qd même (LED clignote vite..)
-le SPI2 n'est pas utilisable car pin non connectées par défaut (sauf à modifier les SB). En fait la Nucléo fait un choix entre SPI1 
-et SPI2 par soudage jumper (SB).
-
-> Utiliser SPI1 avec la carte Nucléo
-  
- * 	**IO SPI 1**
-	SPI1_NSS PA4
-	SPI1_SCK PA5
-	SPI1_MISO  PA6  
-	SPI1_MOSI  PA7  
-
-	**IO SPI 2**
-	SPI2_NSS PB12
-	SPI2_SCK PB13
-	SPI2_MISO  PB14  
-	SPI2_MOSI  PB15  
-
-
-
-
-
-*************************************************************************************
-==================== Fondamentaux SPI      ==========================================
-*************************************************************************************
- Bus Synchrone, 4 fils (même si on peut l'utiliser en 3 fils)
- Transfert à l'octet
- Protocole entre un Master (contrôle SCK) et un Slave
- SCK permet de synchroniser les bits de chaque octet. Il se configure par :
-	* son niveau de repos : ici niveau '1'
-	* le front actif de synchronisation pour chaque bit : ici front montant (front up durant bit stable)
- /CS ou /NSS active le slave sur l'état bas
- MOSI : Master Out Slave In (donc data circulant du Master vers le Slave, donc écriture dans le Slave)
- MISO : Master In Slave Out (donc data circulant du Slave vers le Master, donc lecture du Slave)
-
-Bien que la lib propose une fonction d'écriture et de lecture :
-	* une écriture s'accompagne obligatoirement d'une lecture (bidon)
-	* une lecture s'accompagne obligatoirement d'une écriture (bidon)
-La gestion /CS = /NSS se fait "à la main". On peut alors lire toute une série d'octets
-en laissant /CS à l'état bas pendant toute la durée de circulation des octets.
-
-
-*************************************************************************************
-==================== La lib SPI            ==========================================
-*************************************************************************************
-
-fonctions essentielles :
-
-MySPI_Init 
-MySPI_Send 
-MySPI_Read
-MySPI_Set_NSS
-MySPI_Clear_NSS
-
-
-==========================================================================================*/
-
-
-
-
-/*========================================================================================= 
-														INITIALISATION SPI
-========================================================================================= */
-
-/**
-	* @brief Configure le SPI spécifié : FSCK = 281kHz, Repos SCK = '1', Front actif = up
-					 Gestion /CS logicielle à part, configure les 4 IO
-					 - SCK, MOSI : Out Alt push pull
-					 - MISO : floating input
-					 - /NSS (/CS) : Out push pull
-	* @param SPI_TypeDef * SPI : SPI1 ou SPI2 
-  */
-void MySPI_Init(SPI_TypeDef * SPI);
-
-
-
-/**
-  * @brief Envoie un octet (/CS non géré, à faire logiciellement)
-					 Plus en détail, émission de l'octet souhaité sur MOSI
-					 Lecture en même temps d'un octet poubelle sur MISO (non exploité)
-  * @param : char ByteToSend : l'octet à envoyer
-  */
-void MySPI_Send(char ByteToSend);
-
-
-/**
-  * @brief Reçoit un octet (/CS non géré, à faire logiciellement)
-					 Plus en détail, émission d'un octet bidon sur MOSI (0x00)
-					 pour élaborer les 8 fronts sur SCK et donc piloter le slave en lecture 
-					 qui répond sur MISO
-	* @param : none
-	* @retval : l'octet lu.
-  */
-char MySPI_Read(void);
-
-
-
-/**
-  * @brief Positionne /CS = /NSS à '1'. A utiliser pour borner les octets à transmettre/recevoir
-	* @param : none
-  */
-void MySPI_Set_NSS(void);
-
-
-
-/**
-  * @brief Positionne /CS = /NSS à '0'.  A utiliser pour borner les octets à transmettre/recevoir
-	* @param :none
-  */
-void MySPI_Clear_NSS(void);
-
-#endif 
--- a/projet-voilier/Driver_ADC.c
+++ b/projet-voilier/Driver_ADC.c
@ -1,40 +0,0 @@
-#include "Driver_ADC.h"
-#include "stm32f10x.h"
-#include "stdio.h"
-
-void init_adc1 (void)
-{
-	//Activation de l'external trig
-	ADC1->CR2 |= ADC_CR2_EXTTRIG;
-	//Activation SWSTART
-	ADC1->CR2 |= ADC_CR2_EXTSEL;
-	//On règle la fréquence à 12Mhz
-	RCC->CFGR |= RCC_CFGR_ADCPRE_DIV6;
-	//Activation de l'ADC
-	ADC1->CR2 |= ADC_CR2_ADON;
-	//Fixe le nb de conversion, ici 1
-	ADC1->SQR1 &= ADC_SQR1_L;
-	//Numéro de voie à convertir
-	ADC1->SQR3 |= 1;
-	//Lancement de la calibration
-	ADC1->CR2 |= ADC_CR2_CAL;
-	//Attente de la fin de la calibration
-	while((ADC1->CR2 & ADC_CR2_CAL));
-	//Activation de l'intéruption sur le flag EOC
-	ADC1->CR1 |= ADC_CR1_EOCIE;
-}
-
-void launch_read_adc1 (void)
-{
-	//Lancement de la conversion
-	ADC1->CR2 |= ADC_CR2_SWSTART;
-}
-
-int read_adc1 (void)
-{
-	
-	//On abaisse le flag pour la prochaine lecture
-	ADC1->SR &= ~ADC_SR_EOC;
-	//Retour de la conversion
-	return ADC1->DR &~ ((0x0F) << 12);
-}
--- a/projet-voilier/Listings/projet-voilier.map
+++ b/projet-voilier/Listings/projet-voilier.map
--- a/projet-voilier/Listings/projet-voilier_reel.map
+++ b/projet-voilier/Listings/projet-voilier_reel.map
--- a/projet-voilier/Objects/driver_gpio.crf
+++ b/projet-voilier/Objects/driver_gpio.crf
--- a/projet-voilier/Objects/driver_gpio.o
+++ b/projet-voilier/Objects/driver_gpio.o
--- a/projet-voilier/Objects/driver_timer.crf
+++ b/projet-voilier/Objects/driver_timer.crf
--- a/projet-voilier/Objects/driver_timer.o
+++ b/projet-voilier/Objects/driver_timer.o
--- a/projet-voilier/Objects/driver_uart.o
+++ b/projet-voilier/Objects/driver_uart.o
--- a/projet-voilier/Objects/main.crf
+++ b/projet-voilier/Objects/main.crf
--- a/projet-voilier/Objects/main.d
+++ b/projet-voilier/Objects/main.d
@ -8,5 +8,5 @@
  C:\Users\robin\AppData\Local\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include\cmsis_armclang.h \
  C:\Users\robin\AppData\Local\Arm\Packs\Keil\STM32F1xx_DFP\2.4.0\Device\Include\system_stm32f10x.h \
  ..\driver\Driver_GPIO.h ..\driver\Driver_Timer.h \
-  ..\driver\Driver_UART.h ..\driver\Driver_ADC.h ..\driver\MySPI.h \
-  ..\driver\Driver_IMU.h src\App_girouette.h
+  ..\driver\Driver_UART.h src\App_girouette.h src\App_Orientation.h \
+  C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\math.h
--- a/projet-voilier/Objects/main.o
+++ b/projet-voilier/Objects/main.o
--- a/projet-voilier/Objects/projet-voilier.axf
+++ b/projet-voilier/Objects/projet-voilier.axf
--- a/projet-voilier/Objects/projet-voilier.build_log.htm
+++ b/projet-voilier/Objects/projet-voilier.build_log.htm
@ -27,98 +27,39 @@ Project File Date:  04/11/2023
 <h2>Output:</h2>
 *** Using Compiler 'V6.19', folder: 'C:\Keil_v5\ARM\ARMCLANG\Bin'
 Rebuild target 'sim'
-assembling startup_stm32f10x_md.s...
-<<<<<<< HEAD
-src/main.c(16): error: unknown type name 'Encoder'
-Encoder->Timer = TIM4;
-^
-src/main.c(16): error: expected identifier or '('
-Encoder->Timer = TIM4;
-       ^
-src/main.c(17): error: expected parameter declarator
-MyTimer_Base_Init(&Encoder);
-                  ^
-src/main.c(17): error: expected ')'
-src/main.c(17): note: to match this '('
-MyTimer_Base_Init(&Encoder);
-                 ^
-src/main.c(17): warning: a function declaration without a prototype is deprecated in all versions of C and is treated as a zero-parameter prototype in C2x, conflicting with a previous declaration [-Wdeprecated-non-prototype]
-MyTimer_Base_Init(&Encoder);
-^
-../driver\Driver_Timer.h(20): note: conflicting prototype is here
-void MyTimer_Base_Init(MyTimer_Struct_TypeDef * Timer);
-     ^
-src/main.c(17): error: conflicting types for 'MyTimer_Base_Init'
-MyTimer_Base_Init(&Encoder);
-^
-../driver\Driver_Timer.h(20): note: previous declaration is here
-void MyTimer_Base_Init(MyTimer_Struct_TypeDef * Timer);
-     ^
-src/main.c(18): error: expected parameter declarator
-MyTimer_ConfigureEncoder(&Encoder);
-                         ^
-src/main.c(18): error: expected ')'
-src/main.c(18): note: to match this '('
-MyTimer_ConfigureEncoder(&Encoder);
-                        ^
-src/main.c(18): warning: a function declaration without a prototype is deprecated in all versions of C and is treated as a zero-parameter prototype in C2x, conflicting with a previous declaration [-Wdeprecated-non-prototype]
-MyTimer_ConfigureEncoder(&Encoder);
-^
-../driver\Driver_Timer.h(68): note: conflicting prototype is here
-void MyTimer_ConfigureEncoder(MyTimer_Struct_TypeDef *Timer);
-     ^
-src/main.c(18): error: conflicting types for 'MyTimer_ConfigureEncoder'
-MyTimer_ConfigureEncoder(&Encoder);
-^
-../driver\Driver_Timer.h(68): note: previous declaration is here
-void MyTimer_ConfigureEncoder(MyTimer_Struct_TypeDef *Timer);
-     ^
-src/main.c(19): error: expected parameter declarator
-MyTimer_Start(&Encoder);
-              ^
-src/main.c(19): error: expected ')'
-src/main.c(19): note: to match this '('
-MyTimer_Start(&Encoder);
-             ^
-src/main.c(19): warning: a function declaration without a prototype is deprecated in all versions of C and is treated as a zero-parameter prototype in C2x, conflicting with a previous declaration [-Wdeprecated-non-prototype]
-MyTimer_Start(&Encoder);
-^
-../driver\Driver_Timer.h(29): note: conflicting prototype is here
-void MyTimer_Start(MyTimer_Struct_TypeDef * Timer);
-     ^
-src/main.c(19): error: conflicting types for 'MyTimer_Start'
-MyTimer_Start(&Encoder);
-^
-../driver\Driver_Timer.h(29): note: previous declaration is here
-void MyTimer_Start(MyTimer_Struct_TypeDef * Timer);
-     ^
-3 warnings and 11 errors generated.
-=======
-compiling App_girouette.c...
-compiling Driver_UART.c...
-compiling Driver_ADC.c...
->>>>>>> encoder
+src/main.c(122): warning: incompatible pointer types passing 'MyGPIO_Struct_TypeDef *' to parameter of type 'GPIO_TypeDef *' [-Wincompatible-pointer-types]
+                        MyGPIO_Set(&DirPlateau, 9);
+                                   ^~~~~~~~~~~
+../driver\Driver_GPIO.h(22): note: passing argument to parameter 'GPIO' here
+void MyGPIO_Set ( GPIO_TypeDef * GPIO , char GPIO_Pin ) ;
+                                 ^
+src/main.c(124): warning: incompatible pointer types passing 'MyGPIO_Struct_TypeDef *' to parameter of type 'GPIO_TypeDef *' [-Wincompatible-pointer-types]
+                        MyGPIO_Reset(&DirPlateau, 9);
+                                     ^~~~~~~~~~~
+../driver\Driver_GPIO.h(23): note: passing argument to parameter 'GPIO' here
+void MyGPIO_Reset ( GPIO_TypeDef * GPIO , char GPIO_Pin ) ;
+                                   ^
+src/main.c(127): warning: implicitly declaring library function 'abs' with type 'int (int)' [-Wimplicit-function-declaration]
+                MyTimer_SetPWMDutyCycle(&PWM_PLATEAU, abs(tc));         
+                                                      ^
+src/main.c(127): note: include the header <stdlib.h> or explicitly provide a declaration for 'abs'
+src/main.c(132): warning: implicitly declaring library function 'sprintf' with type 'int (char *, const char *, ...)' [-Wimplicit-function-declaration]
+                sprintf(str, "Dir: %f deg", (float)dir);
+                ^
+src/main.c(132): note: include the header <stdio.h> or explicitly provide a declaration for 'sprintf'
+4 warnings generated.
 compiling main.c...
-<<<<<<< HEAD
+compiling App_girouette.c...
+compiling Driver_GPIO.c...
+compiling App_Orientation.c...
 compiling Driver_ADC.c...
 compiling Driver_UART.c...
-compiling Driver_IMU.c...
-=======
->>>>>>> encoder
-compiling Driver_GPIO.c...
 compiling Driver_Timer.c...
-<<<<<<< HEAD
-<<<<<<< HEAD
+assembling startup_stm32f10x_md.s...
 compiling system_stm32f10x.c...
-".\Objects\projet-voilier.axf" - 11 Error(s), 3 Warning(s).
-=======
-=======
-compiling system_stm32f10x.c...
->>>>>>> encoder
 linking...
-Program Size: Code=1528 RO-data=268 RW-data=16 ZI-data=1632  
-".\Objects\projet-voilier.axf" - 0 Error(s), 0 Warning(s).
->>>>>>> encoder
+Program Size: Code=6980 RO-data=444 RW-data=16 ZI-data=1640  
+".\Objects\projet-voilier.axf" - 0 Error(s), 4 Warning(s).

 <h2>Software Packages used:</h2>

@ -146,13 +87,9 @@ Package Vendor: Keil

   * Component: Keil::Device:Startup:1.0.0
      Source file:   Device/Source/ARM/startup_stm32f10x_md.s
-<<<<<<< HEAD
-Target not created.
-=======
      Source file:   Device/Source/system_stm32f10x.c
      Include file:  RTE_Driver/Config/RTE_Device.h
      Source file:   Device/Source/ARM/STM32F1xx_OPT.s
->>>>>>> encoder
 Build Time Elapsed:  00:00:01
 </pre>
 </body>
--- a/projet-voilier/Objects/projet-voilier.htm
+++ b/projet-voilier/Objects/projet-voilier.htm
--- a/projet-voilier/Objects/projet-voilier.lnp
+++ b/projet-voilier/Objects/projet-voilier.lnp
@ -1,15 +1,11 @@
 --cpu Cortex-M3
 ".\objects\main.o"
 ".\objects\app_girouette.o"
+".\objects\app_orientation.o"
 ".\objects\driver_gpio.o"
 ".\objects\driver_timer.o"
 ".\objects\driver_uart.o"
 ".\objects\driver_adc.o"
-<<<<<<< HEAD
-".\objects\driver_imu.o"
-"..\driver\Lib_Com_Periph_2022.lib"
-=======
->>>>>>> encoder
 ".\objects\startup_stm32f10x_md.o"
 ".\objects\system_stm32f10x.o"
 --ro-base 0x08000000 --entry 0x08000000 --rw-base 0x20000000 --entry Reset_Handler --first __Vectors --strict --summary_stderr --info summarysizes --map --load_addr_map_info --xref --callgraph --symbols
--- a/projet-voilier/Objects/projet-voilier_reel.axf
+++ b/projet-voilier/Objects/projet-voilier_reel.axf
--- a/projet-voilier/Objects/projet-voilier_reel.build_log.htm
+++ b/projet-voilier/Objects/projet-voilier_reel.build_log.htm
@ -27,89 +27,38 @@ Project File Date:  04/11/2023
 <h2>Output:</h2>
 *** Using Compiler 'V6.19', folder: 'C:\Keil_v5\ARM\ARMCLANG\Bin'
 Rebuild target 'reel'
-src/main.c(19): error: unknown type name 'Encoder'
-Encoder->Timer = TIM4;
-^
-src/main.c(19): error: expected identifier or '('
-Encoder->Timer = TIM4;
-       ^
-src/main.c(20): error: expected parameter declarator
-MyTimer_Base_Init(&Encoder);
-                  ^
-src/main.c(20): error: expected ')'
-src/main.c(20): note: to match this '('
-MyTimer_Base_Init(&Encoder);
-                 ^
-src/main.c(20): warning: a function declaration without a prototype is deprecated in all versions of C and is treated as a zero-parameter prototype in C2x, conflicting with a previous declaration [-Wdeprecated-non-prototype]
-MyTimer_Base_Init(&Encoder);
-^
-../driver\Driver_Timer.h(20): note: conflicting prototype is here
-void MyTimer_Base_Init(MyTimer_Struct_TypeDef * Timer);
-     ^
-src/main.c(20): error: conflicting types for 'MyTimer_Base_Init'
-MyTimer_Base_Init(&Encoder);
-^
-../driver\Driver_Timer.h(20): note: previous declaration is here
-void MyTimer_Base_Init(MyTimer_Struct_TypeDef * Timer);
-     ^
-src/main.c(21): error: expected parameter declarator
-MyTimer_ConfigureEncoder(&Encoder);
-                         ^
-src/main.c(21): error: expected ')'
-src/main.c(21): note: to match this '('
-MyTimer_ConfigureEncoder(&Encoder);
-                        ^
-src/main.c(21): warning: a function declaration without a prototype is deprecated in all versions of C and is treated as a zero-parameter prototype in C2x, conflicting with a previous declaration [-Wdeprecated-non-prototype]
-MyTimer_ConfigureEncoder(&Encoder);
-^
-../driver\Driver_Timer.h(68): note: conflicting prototype is here
-void MyTimer_ConfigureEncoder(MyTimer_Struct_TypeDef *Timer);
-     ^
-src/main.c(21): error: conflicting types for 'MyTimer_ConfigureEncoder'
-MyTimer_ConfigureEncoder(&Encoder);
-^
-../driver\Driver_Timer.h(68): note: previous declaration is here
-void MyTimer_ConfigureEncoder(MyTimer_Struct_TypeDef *Timer);
-     ^
-src/main.c(22): error: expected parameter declarator
-MyTimer_Start(&Encoder);
+compiling Driver_UART.c...
+src/main.c(21): warning: logical not is only applied to the left hand side of this comparison [-Wlogical-not-parentheses]
+        while(!MyGPIO_Read(Gir_IDX.GPIO, 9) != 0);
+              ^                             ~~
+src/main.c(21): note: add parentheses after the '!' to evaluate the comparison first
+        while(!MyGPIO_Read(Gir_IDX.GPIO, 9) != 0);
              ^
-src/main.c(22): error: expected ')'
-src/main.c(22): note: to match this '('
-MyTimer_Start(&Encoder);
-             ^
-src/main.c(22): warning: a function declaration without a prototype is deprecated in all versions of C and is treated as a zero-parameter prototype in C2x, conflicting with a previous declaration [-Wdeprecated-non-prototype]
-MyTimer_Start(&Encoder);
-^
-../driver\Driver_Timer.h(29): note: conflicting prototype is here
-void MyTimer_Start(MyTimer_Struct_TypeDef * Timer);
-     ^
-src/main.c(22): error: conflicting types for 'MyTimer_Start'
-MyTimer_Start(&Encoder);
-^
-../driver\Driver_Timer.h(29): note: previous declaration is here
-void MyTimer_Start(MyTimer_Struct_TypeDef * Timer);
-     ^
-src/main.c(47): error: too few arguments to function call, expected 3, have 2
-        MyTimer_ConfigurePWM(&PWM_VOILE, 10);
-        ~~~~~~~~~~~~~~~~~~~~               ^
-../driver\Driver_Timer.h(66): note: 'MyTimer_ConfigurePWM' declared here
-void MyTimer_ConfigurePWM(MyTimer_Struct_TypeDef *Timer, uint8_t pwm_channel, uint16_t duty_cycle);
-     ^
-src/main.c(128): warning: implicitly declaring library function 'sprintf' with type 'int (char *, const char *, ...)' [-Wimplicit-function-declaration]
+               (                                )
+src/main.c(21): note: add parentheses around left hand side expression to silence this warning
+        while(!MyGPIO_Read(Gir_IDX.GPIO, 9) != 0);
+              ^
+              (                            )
+src/main.c(139): warning: implicitly declaring library function 'abs' with type 'int (int)' [-Wimplicit-function-declaration]
+                MyTimer_SetPWMDutyCycle(&PWM_PLATEAU, abs(tc));         
+                                                      ^
+src/main.c(139): note: include the header <stdlib.h> or explicitly provide a declaration for 'abs'
+src/main.c(144): warning: implicitly declaring library function 'sprintf' with type 'int (char *, const char *, ...)' [-Wimplicit-function-declaration]
                sprintf(str, "Dir: %f deg", (float)dir);
                ^
-src/main.c(128): note: include the header <stdio.h> or explicitly provide a declaration for 'sprintf'
-4 warnings and 12 errors generated.
+src/main.c(144): note: include the header <stdio.h> or explicitly provide a declaration for 'sprintf'
+3 warnings generated.
 compiling main.c...
-assembling startup_stm32f10x_md.s...
-compiling Driver_ADC.c...
-compiling Driver_GPIO.c...
 compiling App_girouette.c...
-compiling Driver_UART.c...
+compiling App_Orientation.c...
+compiling Driver_GPIO.c...
+compiling Driver_ADC.c...
 compiling Driver_Timer.c...
+assembling startup_stm32f10x_md.s...
 compiling system_stm32f10x.c...
-".\Objects\projet-voilier_reel.axf" - 12 Error(s), 4 Warning(s).
+linking...
+Program Size: Code=7192 RO-data=280 RW-data=16 ZI-data=1032  
+".\Objects\projet-voilier_reel.axf" - 0 Error(s), 3 Warning(s).

 <h2>Software Packages used:</h2>

@ -140,7 +89,6 @@ Package Vendor: Keil
      Source file:   Device/Source/system_stm32f10x.c
      Include file:  RTE_Driver/Config/RTE_Device.h
      Source file:   Device/Source/ARM/STM32F1xx_OPT.s
-Target not created.
 Build Time Elapsed:  00:00:01
 </pre>
 </body>
--- a/projet-voilier/Objects/projet-voilier_reel.dep
+++ b/projet-voilier/Objects/projet-voilier_reel.dep
@ -1,6 +1,6 @@
 Dependencies for Project 'projet-voilier', Target 'reel': (DO NOT MODIFY !)
 CompilerVersion: 6190000::V6.19::ARMCLANG
-F (.\src\main.c)(0x6435459E)(-xc -std=c90 --target=arm-arm-none-eabi -mcpu=cortex-m3 -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-D__EVAL -D__MICROLIB -gdwarf-4 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ./src -I ../driver

-I./RTE/Device/STM32F103RB

-I./RTE/_reel

-IC:/Users/robin/AppData/Local/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include

-IC:/Users/robin/AppData/Local/Arm/Packs/Keil/STM32F1xx_DFP/2.4.0/Device/Include

-D__UVISION_VERSION="538" -D_RTE_ -DSTM32F10X_MD -D_RTE_

-o ./objects/main.o -MD)
+F (.\src\main.c)(0x64355760)(-xc -std=c90 --target=arm-arm-none-eabi -mcpu=cortex-m3 -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-D__EVAL -D__MICROLIB -gdwarf-4 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ./src -I ../driver

-I./RTE/Device/STM32F103RB

-I./RTE/_reel

-IC:/Users/robin/AppData/Local/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include

-IC:/Users/robin/AppData/Local/Arm/Packs/Keil/STM32F1xx_DFP/2.4.0/Device/Include

-D__UVISION_VERSION="538" -D_RTE_ -DSTM32F10X_MD -D_RTE_

-o ./objects/main.o -MD)
 I (C:\Users\robin\AppData\Local\Arm\Packs\Keil\STM32F1xx_DFP\2.4.0\Device\Include\stm32f10x.h)(0x61ADDBCE)
 I (RTE\_reel\RTE_Components.h)(0x64218849)
 I (C:\Users\robin\AppData\Local\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include\core_cm3.h)(0x626FAD4E)
@ -9,14 +9,13 @@ I (C:\Users\robin\AppData\Local\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include\cms
 I (C:\Users\robin\AppData\Local\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include\cmsis_compiler.h)(0x626FAD4E)
 I (C:\Users\robin\AppData\Local\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include\cmsis_armclang.h)(0x626FAD4E)
 I (C:\Users\robin\AppData\Local\Arm\Packs\Keil\STM32F1xx_DFP\2.4.0\Device\Include\system_stm32f10x.h)(0x61ADDBCE)
-I (..\driver\Driver_GPIO.h)(0x64354588)
-I (..\driver\Driver_Timer.h)(0x64354588)
+I (..\driver\Driver_GPIO.h)(0x6435468D)
+I (..\driver\Driver_Timer.h)(0x6435468D)
 I (..\driver\Driver_UART.h)(0x6435459E)
-I (..\driver\Driver_ADC.h)(0x64354588)
-I (..\driver\MySPI.h)(0x64354588)
-I (..\driver\Driver_IMU.h)(0x64354588)
 I (src\App_girouette.h)(0x6435459E)
-F (.\src\App_girouette.c)(0x6435459E)(-xc -std=c90 --target=arm-arm-none-eabi -mcpu=cortex-m3 -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-D__EVAL -D__MICROLIB -gdwarf-4 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ./src -I ../driver

-I./RTE/Device/STM32F103RB

-I./RTE/_reel

-IC:/Users/robin/AppData/Local/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include

-IC:/Users/robin/AppData/Local/Arm/Packs/Keil/STM32F1xx_DFP/2.4.0/Device/Include

-D__UVISION_VERSION="538" -D_RTE_ -DSTM32F10X_MD -D_RTE_

-o ./objects/app_girouette.o -MD)
+I (src\App_Orientation.h)(0x64354C74)
+I (C:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6388AB78)
+F (.\src\App_girouette.c)(0x6435459E)(-xc -std=c90 --target=arm-arm-none-eabi -mcpu=cortex-m3 -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-D__EVAL -D__MICROLIB -gdwarf-4 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ./src -I ../driver

-I./RTE/Device/STM32F103RB

-I./RTE/_reel

-IC:/Users/robin/AppData/Local/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include

-IC:/Users/robin/AppData/Local/Arm/Packs/Keil/STM32F1xx_DFP/2.4.0/Device/Include

-D__UVISION_VERSION="538" -D_RTE_ -DSTM32F10X_MD -D_RTE_

-o ./objects/app_girouette.o -MD)
 I (src\App_girouette.h)(0x6435459E)
 I (C:\Users\robin\AppData\Local\Arm\Packs\Keil\STM32F1xx_DFP\2.4.0\Device\Include\stm32f10x.h)(0x61ADDBCE)
 I (RTE\_reel\RTE_Components.h)(0x64218849)
@ -26,11 +25,11 @@ I (C:\Users\robin\AppData\Local\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include\cms
 I (C:\Users\robin\AppData\Local\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include\cmsis_compiler.h)(0x626FAD4E)
 I (C:\Users\robin\AppData\Local\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include\cmsis_armclang.h)(0x626FAD4E)
 I (C:\Users\robin\AppData\Local\Arm\Packs\Keil\STM32F1xx_DFP\2.4.0\Device\Include\system_stm32f10x.h)(0x61ADDBCE)
-I (..\driver\Driver_GPIO.h)(0x64354588)
-I (..\driver\Driver_Timer.h)(0x64354588)
+I (..\driver\Driver_GPIO.h)(0x6435468D)
+I (..\driver\Driver_Timer.h)(0x6435468D)
 F (.\src\App_girouette.h)(0x6435459E)()
-F (..\driver\Driver_GPIO.c)(0x6435459E)(-xc -std=c90 --target=arm-arm-none-eabi -mcpu=cortex-m3 -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-D__EVAL -D__MICROLIB -gdwarf-4 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ./src -I ../driver

-I./RTE/Device/STM32F103RB

-I./RTE/_reel

-IC:/Users/robin/AppData/Local/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include

-IC:/Users/robin/AppData/Local/Arm/Packs/Keil/STM32F1xx_DFP/2.4.0/Device/Include

-D__UVISION_VERSION="538" -D_RTE_ -DSTM32F10X_MD -D_RTE_

-o ./objects/driver_gpio.o -MD)
-I (..\driver\Driver_GPIO.h)(0x64354588)
+F (.\src\App_Orientation.c)(0x64354B52)(-xc -std=c90 --target=arm-arm-none-eabi -mcpu=cortex-m3 -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-D__EVAL -D__MICROLIB -gdwarf-4 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ./src -I ../driver

-I./RTE/Device/STM32F103RB

-I./RTE/_reel

-IC:/Users/robin/AppData/Local/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include

-IC:/Users/robin/AppData/Local/Arm/Packs/Keil/STM32F1xx_DFP/2.4.0/Device/Include

-D__UVISION_VERSION="538" -D_RTE_ -DSTM32F10X_MD -D_RTE_

-o ./objects/app_orientation.o -MD)
+I (..\driver\Driver_GPIO.h)(0x6435468D)
 I (C:\Users\robin\AppData\Local\Arm\Packs\Keil\STM32F1xx_DFP\2.4.0\Device\Include\stm32f10x.h)(0x61ADDBCE)
 I (RTE\_reel\RTE_Components.h)(0x64218849)
 I (C:\Users\robin\AppData\Local\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include\core_cm3.h)(0x626FAD4E)
@ -40,9 +39,11 @@ I (C:\Users\robin\AppData\Local\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include\cms
 I (C:\Users\robin\AppData\Local\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include\cmsis_armclang.h)(0x626FAD4E)
 I (C:\Users\robin\AppData\Local\Arm\Packs\Keil\STM32F1xx_DFP\2.4.0\Device\Include\system_stm32f10x.h)(0x61ADDBCE)
 I (C:\Keil_v5\ARM\ARMCLANG\include\stdio.h)(0x6388AB78)
-F (..\driver\Driver_GPIO.h)(0x64354588)()
-F (..\driver\Driver_Timer.c)(0x6435459E)(-xc -std=c90 --target=arm-arm-none-eabi -mcpu=cortex-m3 -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-D__EVAL -D__MICROLIB -gdwarf-4 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ./src -I ../driver

-I./RTE/Device/STM32F103RB

-I./RTE/_reel

-IC:/Users/robin/AppData/Local/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include

-IC:/Users/robin/AppData/Local/Arm/Packs/Keil/STM32F1xx_DFP/2.4.0/Device/Include

-D__UVISION_VERSION="538" -D_RTE_ -DSTM32F10X_MD -D_RTE_

-o ./objects/driver_timer.o -MD)
-I (..\driver\Driver_Timer.h)(0x64354588)
+I (..\driver\Driver_UART.h)(0x6435459E)
+I (src\App_Orientation.h)(0x64354C74)
+F (.\src\App_Orientation.h)(0x64354C74)()
+F (..\driver\Driver_GPIO.c)(0x6435468D)(-xc -std=c90 --target=arm-arm-none-eabi -mcpu=cortex-m3 -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-D__EVAL -D__MICROLIB -gdwarf-4 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ./src -I ../driver

-I./RTE/Device/STM32F103RB

-I./RTE/_reel

-IC:/Users/robin/AppData/Local/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include

-IC:/Users/robin/AppData/Local/Arm/Packs/Keil/STM32F1xx_DFP/2.4.0/Device/Include

-D__UVISION_VERSION="538" -D_RTE_ -DSTM32F10X_MD -D_RTE_

-o ./objects/driver_gpio.o -MD)
+I (..\driver\Driver_GPIO.h)(0x6435468D)
 I (C:\Users\robin\AppData\Local\Arm\Packs\Keil\STM32F1xx_DFP\2.4.0\Device\Include\stm32f10x.h)(0x61ADDBCE)
 I (RTE\_reel\RTE_Components.h)(0x64218849)
 I (C:\Users\robin\AppData\Local\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include\core_cm3.h)(0x626FAD4E)
@ -52,8 +53,20 @@ I (C:\Users\robin\AppData\Local\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include\cms
 I (C:\Users\robin\AppData\Local\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include\cmsis_armclang.h)(0x626FAD4E)
 I (C:\Users\robin\AppData\Local\Arm\Packs\Keil\STM32F1xx_DFP\2.4.0\Device\Include\system_stm32f10x.h)(0x61ADDBCE)
 I (C:\Keil_v5\ARM\ARMCLANG\include\stdio.h)(0x6388AB78)
-F (..\driver\Driver_Timer.h)(0x64354588)()
-F (..\driver\Driver_UART.c)(0x6435459E)(-xc -std=c90 --target=arm-arm-none-eabi -mcpu=cortex-m3 -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-D__EVAL -D__MICROLIB -gdwarf-4 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ./src -I ../driver

-I./RTE/Device/STM32F103RB

-I./RTE/_reel

-IC:/Users/robin/AppData/Local/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include

-IC:/Users/robin/AppData/Local/Arm/Packs/Keil/STM32F1xx_DFP/2.4.0/Device/Include

-D__UVISION_VERSION="538" -D_RTE_ -DSTM32F10X_MD -D_RTE_

-o ./objects/driver_uart.o -MD)
+F (..\driver\Driver_GPIO.h)(0x6435468D)()
+F (..\driver\Driver_Timer.c)(0x64354E19)(-xc -std=c90 --target=arm-arm-none-eabi -mcpu=cortex-m3 -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-D__EVAL -D__MICROLIB -gdwarf-4 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ./src -I ../driver

-I./RTE/Device/STM32F103RB

-I./RTE/_reel

-IC:/Users/robin/AppData/Local/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include

-IC:/Users/robin/AppData/Local/Arm/Packs/Keil/STM32F1xx_DFP/2.4.0/Device/Include

-D__UVISION_VERSION="538" -D_RTE_ -DSTM32F10X_MD -D_RTE_

-o ./objects/driver_timer.o -MD)
+I (..\driver\Driver_Timer.h)(0x6435468D)
+I (C:\Users\robin\AppData\Local\Arm\Packs\Keil\STM32F1xx_DFP\2.4.0\Device\Include\stm32f10x.h)(0x61ADDBCE)
+I (RTE\_reel\RTE_Components.h)(0x64218849)
+I (C:\Users\robin\AppData\Local\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include\core_cm3.h)(0x626FAD4E)
+I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6388AB78)
+I (C:\Users\robin\AppData\Local\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include\cmsis_version.h)(0x626FAD4E)
+I (C:\Users\robin\AppData\Local\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include\cmsis_compiler.h)(0x626FAD4E)
+I (C:\Users\robin\AppData\Local\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include\cmsis_armclang.h)(0x626FAD4E)
+I (C:\Users\robin\AppData\Local\Arm\Packs\Keil\STM32F1xx_DFP\2.4.0\Device\Include\system_stm32f10x.h)(0x61ADDBCE)
+I (C:\Keil_v5\ARM\ARMCLANG\include\stdio.h)(0x6388AB78)
+F (..\driver\Driver_Timer.h)(0x6435468D)()
+F (..\driver\Driver_UART.c)(0x6435459E)(-xc -std=c90 --target=arm-arm-none-eabi -mcpu=cortex-m3 -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-D__EVAL -D__MICROLIB -gdwarf-4 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ./src -I ../driver

-I./RTE/Device/STM32F103RB

-I./RTE/_reel

-IC:/Users/robin/AppData/Local/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include

-IC:/Users/robin/AppData/Local/Arm/Packs/Keil/STM32F1xx_DFP/2.4.0/Device/Include

-D__UVISION_VERSION="538" -D_RTE_ -DSTM32F10X_MD -D_RTE_

-o ./objects/driver_uart.o -MD)
 I (..\driver\Driver_UART.h)(0x6435459E)
 I (C:\Users\robin\AppData\Local\Arm\Packs\Keil\STM32F1xx_DFP\2.4.0\Device\Include\stm32f10x.h)(0x61ADDBCE)
 I (RTE\_reel\RTE_Components.h)(0x64218849)
@ -64,7 +77,7 @@ I (C:\Users\robin\AppData\Local\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include\cms
 I (C:\Users\robin\AppData\Local\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include\cmsis_armclang.h)(0x626FAD4E)
 I (C:\Users\robin\AppData\Local\Arm\Packs\Keil\STM32F1xx_DFP\2.4.0\Device\Include\system_stm32f10x.h)(0x61ADDBCE)
 F (..\driver\Driver_UART.h)(0x6435459E)()
-F (..\driver\Driver_ADC.c)(0x64354588)(-xc -std=c90 --target=arm-arm-none-eabi -mcpu=cortex-m3 -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-D__EVAL -D__MICROLIB -gdwarf-4 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ./src -I ../driver

-I./RTE/Device/STM32F103RB

-I./RTE/_reel

-IC:/Users/robin/AppData/Local/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include

-IC:/Users/robin/AppData/Local/Arm/Packs/Keil/STM32F1xx_DFP/2.4.0/Device/Include

-D__UVISION_VERSION="538" -D_RTE_ -DSTM32F10X_MD -D_RTE_

-o ./objects/driver_adc.o -MD)
+F (..\driver\Driver_ADC.c)(0x6435468D)(-xc -std=c90 --target=arm-arm-none-eabi -mcpu=cortex-m3 -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-D__EVAL -D__MICROLIB -gdwarf-4 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ./src -I ../driver

-I./RTE/Device/STM32F103RB

-I./RTE/_reel

-IC:/Users/robin/AppData/Local/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include

-IC:/Users/robin/AppData/Local/Arm/Packs/Keil/STM32F1xx_DFP/2.4.0/Device/Include

-D__UVISION_VERSION="538" -D_RTE_ -DSTM32F10X_MD -D_RTE_

-o ./objects/driver_adc.o -MD)
 I (C:\Users\robin\AppData\Local\Arm\Packs\Keil\STM32F1xx_DFP\2.4.0\Device\Include\stm32f10x.h)(0x61ADDBCE)
 I (RTE\_reel\RTE_Components.h)(0x64218849)
 I (C:\Users\robin\AppData\Local\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include\core_cm3.h)(0x626FAD4E)
@ -74,11 +87,11 @@ I (C:\Users\robin\AppData\Local\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include\cms
 I (C:\Users\robin\AppData\Local\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include\cmsis_armclang.h)(0x626FAD4E)
 I (C:\Users\robin\AppData\Local\Arm\Packs\Keil\STM32F1xx_DFP\2.4.0\Device\Include\system_stm32f10x.h)(0x61ADDBCE)
 I (C:\Keil_v5\ARM\ARMCLANG\include\stdio.h)(0x6388AB78)
-I (..\driver\Driver_ADC.h)(0x64354588)
-F (..\driver\Driver_ADC.h)(0x64354588)()
+I (..\driver\Driver_ADC.h)(0x6435468D)
+F (..\driver\Driver_ADC.h)(0x6435468D)()
 F (RTE/Device/STM32F103RB/RTE_Device.h)(0x641B050C)()
 F (RTE/Device/STM32F103RB/startup_stm32f10x_md.s)(0x641B050C)(--target=arm-arm-none-eabi -mcpu=cortex-m3 -masm=auto  -Wa,armasm,--diag_suppress=A1950W -c

-gdwarf-4 -Wa,armasm,--pd,"__MICROLIB SETA 1" -Wa,armasm,--pd,"__EVAL SETA 1"

-I./RTE/Device/STM32F103RB

-I./RTE/_reel

-IC:/Users/robin/AppData/Local/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include

-IC:/Users/robin/AppData/Local/Arm/Packs/Keil/STM32F1xx_DFP/2.4.0/Device/Include

-Wa,armasm,--pd,"__UVISION_VERSION SETA 538" -Wa,armasm,--pd,"_RTE_ SETA 1" -Wa,armasm,--pd,"STM32F10X_MD SETA 1" -Wa,armasm,--pd,"_RTE_ SETA 1"

-o ./objects/startup_stm32f10x_md.o)
-F (RTE/Device/STM32F103RB/system_stm32f10x.c)(0x641B050C)(-xc -std=c90 --target=arm-arm-none-eabi -mcpu=cortex-m3 -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-D__EVAL -D__MICROLIB -gdwarf-4 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ./src -I ../driver

-I./RTE/Device/STM32F103RB

-I./RTE/_reel

-IC:/Users/robin/AppData/Local/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include

-IC:/Users/robin/AppData/Local/Arm/Packs/Keil/STM32F1xx_DFP/2.4.0/Device/Include

-D__UVISION_VERSION="538" -D_RTE_ -DSTM32F10X_MD -D_RTE_

-o ./objects/system_stm32f10x.o -MD)
+F (RTE/Device/STM32F103RB/system_stm32f10x.c)(0x641B050C)(-xc -std=c90 --target=arm-arm-none-eabi -mcpu=cortex-m3 -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-D__EVAL -D__MICROLIB -gdwarf-4 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ./src -I ../driver

-I./RTE/Device/STM32F103RB

-I./RTE/_reel

-IC:/Users/robin/AppData/Local/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include

-IC:/Users/robin/AppData/Local/Arm/Packs/Keil/STM32F1xx_DFP/2.4.0/Device/Include

-D__UVISION_VERSION="538" -D_RTE_ -DSTM32F10X_MD -D_RTE_

-o ./objects/system_stm32f10x.o -MD)
 I (C:\Users\robin\AppData\Local\Arm\Packs\Keil\STM32F1xx_DFP\2.4.0\Device\Include\stm32f10x.h)(0x61ADDBCE)
 I (RTE\_reel\RTE_Components.h)(0x64218849)
 I (C:\Users\robin\AppData\Local\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include\core_cm3.h)(0x626FAD4E)
--- a/projet-voilier/Objects/projet-voilier_reel.htm
+++ b/projet-voilier/Objects/projet-voilier_reel.htm
@ -3,29 +3,11 @@
 <title>Static Call Graph - [.\Objects\projet-voilier_reel.axf]</title></head>
 <body><HR>
 <H1>Static Call Graph for image .\Objects\projet-voilier_reel.axf</H1><HR>
-<<<<<<< HEAD
-<<<<<<< HEAD
-<<<<<<< HEAD
-<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 5060960: Last Updated: Fri Apr 07 13:57:22 2023
+<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 6190004: Last Updated: Tue Apr 11 14:50:11 2023
 <BR><P>
-<H3>Maximum Stack Usage =         40 bytes + Unknown(Cycles, Untraceable Function Pointers)</H3><H3>
-=======
-<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 6190004: Last Updated: Tue Apr 11 09:37:28 2023
-=======
-<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 6190004: Last Updated: Tue Apr 11 09:52:31 2023
->>>>>>> 73cabe3969d793656407180a8db5feffe014593b
-<BR><P>
-<H3>Maximum Stack Usage =         56 bytes + Unknown(Cycles, Untraceable Function Pointers)</H3><H3>
->>>>>>> encoder
-Call chain for Maximum Stack Depth:</H3>
-main &rArr; driver_IMU_read
-=======
-<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 6190004: Last Updated: Tue Apr 11 13:30:39 2023
-<BR><P>
-<H3>Maximum Stack Usage =        168 bytes + Unknown(Cycles, Untraceable Function Pointers)</H3><H3>
+<H3>Maximum Stack Usage =        272 bytes + Unknown(Cycles, Untraceable Function Pointers)</H3><H3>
 Call chain for Maximum Stack Depth:</H3>
 main &rArr; App_Girouette_GetDirection &rArr; __aeabi_dmul &rArr; _double_epilogue &rArr; _double_round
->>>>>>> encoder
 <P>
 <H3>
 Mutually Recursive functions
@ -39,36 +21,15 @@ Mutually Recursive functions
 <LI><a href="#[8]">PendSV_Handler</a>&nbsp;&nbsp;&nbsp;&rArr;&nbsp;&nbsp;&nbsp;<a href="#[8]">PendSV_Handler</a><BR>
 <LI><a href="#[9]">SysTick_Handler</a>&nbsp;&nbsp;&nbsp;&rArr;&nbsp;&nbsp;&nbsp;<a href="#[9]">SysTick_Handler</a><BR>
 <LI><a href="#[1f]">CAN1_RX1_IRQHandler</a>&nbsp;&nbsp;&nbsp;&rArr;&nbsp;&nbsp;&nbsp;<a href="#[1f]">CAN1_RX1_IRQHandler</a><BR>
-<<<<<<< HEAD
-<<<<<<< HEAD
-=======
- <LI><a href="#[39]">Bug</a>&nbsp;&nbsp;&nbsp;&rArr;&nbsp;&nbsp;&nbsp;<a href="#[39]">Bug</a><BR>
- <LI><a href="#[38]">erreur</a>&nbsp;&nbsp;&nbsp;&rArr;&nbsp;&nbsp;&nbsp;<a href="#[38]">erreur</a><BR>
->>>>>>> encoder
-=======
- <LI><a href="#[3a]">Bug</a>&nbsp;&nbsp;&nbsp;&rArr;&nbsp;&nbsp;&nbsp;<a href="#[3a]">Bug</a><BR>
- <LI><a href="#[39]">erreur</a>&nbsp;&nbsp;&nbsp;&rArr;&nbsp;&nbsp;&nbsp;<a href="#[39]">erreur</a><BR>
->>>>>>> encoder
 </UL>
 <P>
 <H3>
 Function Pointers
 </H3><UL>
-<<<<<<< HEAD
- <LI><a href="#[1c]">ADC1_2_IRQHandler</a> from driver_adc.o(i.ADC1_2_IRQHandler) referenced from startup_stm32f10x_md.o(RESET)
- <LI><a href="#[38]">Bug</a> from driver_timer.o(i.Bug) referenced 3 times from driver_timer.o(.data)
-=======
 <LI><a href="#[1c]">ADC1_2_IRQHandler</a> from driver_adc.o(.text.ADC1_2_IRQHandler) referenced from startup_stm32f10x_md.o(RESET)
-<<<<<<< HEAD
- <LI><a href="#[39]">Bug</a> from driver_timer.o(.text.Bug) referenced from driver_timer.o(.data.TIM2_fx)
- <LI><a href="#[39]">Bug</a> from driver_timer.o(.text.Bug) referenced from driver_timer.o(.data.TIM3_fx)
- <LI><a href="#[39]">Bug</a> from driver_timer.o(.text.Bug) referenced from driver_timer.o(.data.TIM4_fx)
->>>>>>> encoder
-=======
 <LI><a href="#[3a]">Bug</a> from driver_timer.o(.text.Bug) referenced from driver_timer.o(.data.TIM2_fx)
 <LI><a href="#[3a]">Bug</a> from driver_timer.o(.text.Bug) referenced from driver_timer.o(.data.TIM3_fx)
 <LI><a href="#[3a]">Bug</a> from driver_timer.o(.text.Bug) referenced from driver_timer.o(.data.TIM4_fx)
->>>>>>> encoder
 <LI><a href="#[4]">BusFault_Handler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
 <LI><a href="#[1f]">CAN1_RX1_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
 <LI><a href="#[20]">CAN1_SCE_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
@ -100,20 +61,20 @@ Function Pointers
 <LI><a href="#[f]">RCC_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
 <LI><a href="#[33]">RTCAlarm_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
 <LI><a href="#[d]">RTC_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
- <LI><a href="#[3a]">Reset_Handler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
+ <LI><a href="#[0]">Reset_Handler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
 <LI><a href="#[2d]">SPI1_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
 <LI><a href="#[2e]">SPI2_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
 <LI><a href="#[6]">SVC_Handler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
 <LI><a href="#[9]">SysTick_Handler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
- <LI><a href="#[36]">SystemInit</a> from system_stm32f10x.o(i.SystemInit) referenced from startup_stm32f10x_md.o(.text)
+ <LI><a href="#[36]">SystemInit</a> from system_stm32f10x.o(.text.SystemInit) referenced from startup_stm32f10x_md.o(.text)
 <LI><a href="#[c]">TAMPER_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
 <LI><a href="#[22]">TIM1_BRK_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
 <LI><a href="#[25]">TIM1_CC_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
 <LI><a href="#[24]">TIM1_TRG_COM_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
 <LI><a href="#[23]">TIM1_UP_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
- <LI><a href="#[26]">TIM2_IRQHandler</a> from driver_timer.o(i.TIM2_IRQHandler) referenced from startup_stm32f10x_md.o(RESET)
- <LI><a href="#[27]">TIM3_IRQHandler</a> from driver_timer.o(i.TIM3_IRQHandler) referenced from startup_stm32f10x_md.o(RESET)
- <LI><a href="#[28]">TIM4_IRQHandler</a> from driver_timer.o(i.TIM4_IRQHandler) referenced from startup_stm32f10x_md.o(RESET)
+ <LI><a href="#[26]">TIM2_IRQHandler</a> from driver_timer.o(.text.TIM2_IRQHandler) referenced from startup_stm32f10x_md.o(RESET)
+ <LI><a href="#[27]">TIM3_IRQHandler</a> from driver_timer.o(.text.TIM3_IRQHandler) referenced from startup_stm32f10x_md.o(RESET)
+ <LI><a href="#[28]">TIM4_IRQHandler</a> from driver_timer.o(.text.TIM4_IRQHandler) referenced from startup_stm32f10x_md.o(RESET)
 <LI><a href="#[2f]">USART1_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
 <LI><a href="#[30]">USART2_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
 <LI><a href="#[31]">USART3_IRQHandler</a> from driver_uart.o(.text.USART3_IRQHandler) referenced from startup_stm32f10x_md.o(RESET)
@ -123,18 +84,9 @@ Function Pointers
 <LI><a href="#[5]">UsageFault_Handler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
 <LI><a href="#[a]">WWDG_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
 <LI><a href="#[37]">__main</a> from entry.o(.ARM.Collect$$$$00000000) referenced from startup_stm32f10x_md.o(.text)
-<<<<<<< HEAD
-<<<<<<< HEAD
- <LI><a href="#[39]">erreur</a> from driver_adc.o(i.erreur) referenced from driver_adc.o(.data)
- <LI><a href="#[35]">main</a> from main.o(i.main) referenced from entry9a.o(.ARM.Collect$$$$0000000B)
-=======
- <LI><a href="#[38]">erreur</a> from driver_adc.o(.text.erreur) referenced from driver_adc.o(.data.ADC1_2_fx)
-=======
 <LI><a href="#[38]">_sputc</a> from printfa.o(i._sputc) referenced from printfa.o(i.__0sprintf)
 <LI><a href="#[39]">erreur</a> from driver_adc.o(.text.erreur) referenced from driver_adc.o(.data.ADC1_2_fx)
->>>>>>> encoder
 <LI><a href="#[35]">main</a> from main.o(.text.main) referenced from entry9a.o(.ARM.Collect$$$$0000000B)
->>>>>>> encoder
 </UL>
 <P>
 <H3>
@ -143,60 +95,29 @@ Global Symbols
 <P><STRONG><a name="[37]"></a>__main</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry.o(.ARM.Collect$$$$00000000))
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(.text)
 </UL>
-<<<<<<< HEAD
-<<<<<<< HEAD
-<P><STRONG><a name="[49]"></a>_main_stk</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry2.o(.ARM.Collect$$$$00000001))
+<P><STRONG><a name="[6f]"></a>_main_stk</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry2.o(.ARM.Collect$$$$00000001))

 <P><STRONG><a name="[3b]"></a>_main_scatterload</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry5.o(.ARM.Collect$$$$00000004))
 <BR><BR>[Calls]<UL><LI><a href="#[3c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__scatterload
 </UL>

-<P><STRONG><a name="[3d]"></a>__main_after_scatterload</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry5.o(.ARM.Collect$$$$00000004))
+<P><STRONG><a name="[4d]"></a>__main_after_scatterload</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry5.o(.ARM.Collect$$$$00000004))
 <BR><BR>[Called By]<UL><LI><a href="#[3c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__scatterload
 </UL>

-<P><STRONG><a name="[4a]"></a>_main_clock</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry7b.o(.ARM.Collect$$$$00000008))
+<P><STRONG><a name="[70]"></a>_main_clock</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry7b.o(.ARM.Collect$$$$00000008))

-<P><STRONG><a name="[4b]"></a>_main_cpp_init</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry8b.o(.ARM.Collect$$$$0000000A))
+<P><STRONG><a name="[71]"></a>_main_cpp_init</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry8b.o(.ARM.Collect$$$$0000000A))

-<P><STRONG><a name="[4c]"></a>_main_init</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry9a.o(.ARM.Collect$$$$0000000B))
+<P><STRONG><a name="[72]"></a>_main_init</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry9a.o(.ARM.Collect$$$$0000000B))

-<P><STRONG><a name="[4d]"></a>__rt_lib_shutdown_fini</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry12b.o(.ARM.Collect$$$$0000000E))
+<P><STRONG><a name="[73]"></a>__rt_final_cpp</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry10a.o(.ARM.Collect$$$$0000000D))

-<P><STRONG><a name="[4e]"></a>__rt_final_cpp</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry10a.o(.ARM.Collect$$$$0000000F))
+<P><STRONG><a name="[74]"></a>__rt_final_exit</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry11a.o(.ARM.Collect$$$$0000000F))

-<P><STRONG><a name="[4f]"></a>__rt_final_exit</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry11a.o(.ARM.Collect$$$$00000011))
-
-<P><STRONG><a name="[3a]"></a>Reset_Handler</STRONG> (Thumb, 8 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
-=======
-<P><STRONG><a name="[42]"></a>_main_stk</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry2.o(.ARM.Collect$$$$00000001))
-=======
-<P><STRONG><a name="[61]"></a>_main_stk</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry2.o(.ARM.Collect$$$$00000001))
->>>>>>> encoder
-
-<P><STRONG><a name="[3b]"></a>_main_scatterload</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry5.o(.ARM.Collect$$$$00000004))
-<BR><BR>[Calls]<UL><LI><a href="#[3c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__scatterload
+<P><STRONG><a name="[0]"></a>Reset_Handler</STRONG> (Thumb, 8 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
+<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(RESET)
 </UL>
-
-<P><STRONG><a name="[4c]"></a>__main_after_scatterload</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry5.o(.ARM.Collect$$$$00000004))
-<BR><BR>[Called By]<UL><LI><a href="#[3c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__scatterload
-</UL>
-
-<P><STRONG><a name="[62]"></a>_main_clock</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry7b.o(.ARM.Collect$$$$00000008))
-
-<P><STRONG><a name="[63]"></a>_main_cpp_init</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry8b.o(.ARM.Collect$$$$0000000A))
-
-<P><STRONG><a name="[64]"></a>_main_init</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry9a.o(.ARM.Collect$$$$0000000B))
-
-<P><STRONG><a name="[65]"></a>__rt_final_cpp</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry10a.o(.ARM.Collect$$$$0000000D))
-
-<<<<<<< HEAD
-<P><STRONG><a name="[47]"></a>__rt_final_exit</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry11a.o(.ARM.Collect$$$$0000000F))
->>>>>>> encoder
-=======
-<P><STRONG><a name="[66]"></a>__rt_final_exit</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry11a.o(.ARM.Collect$$$$0000000F))
->>>>>>> encoder
-
 <P><STRONG><a name="[1]"></a>NMI_Handler</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
 <BR><BR>[Calls]<UL><LI><a href="#[1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;NMI_Handler
 </UL>
@ -375,482 +296,455 @@ Global Symbols
 <P><STRONG><a name="[a]"></a>WWDG_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(RESET)
 </UL>
-<<<<<<< HEAD
-<<<<<<< HEAD
-<P><STRONG><a name="[3c]"></a>__scatterload</STRONG> (Thumb, 28 bytes, Stack size 0 bytes, init.o(.text))
-<BR><BR>[Calls]<UL><LI><a href="#[3d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__main_after_scatterload
-</UL>
-<BR>[Called By]<UL><LI><a href="#[3b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_main_scatterload
+<P><STRONG><a name="[65]"></a>abs</STRONG> (Thumb, 8 bytes, Stack size 0 bytes, siabs.o(.text))
+<BR><BR>[Called By]<UL><LI><a href="#[35]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
 </UL>

-<P><STRONG><a name="[50]"></a>__scatterload_rt2</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, init.o(.text), UNUSED)
-
-<P><STRONG><a name="[1c]"></a>ADC1_2_IRQHandler</STRONG> (Thumb, 22 bytes, Stack size 8 bytes, driver_adc.o(i.ADC1_2_IRQHandler))
-<BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = ADC1_2_IRQHandler
-</UL>
-<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(RESET)
-=======
-<P><STRONG><a name="[3b]"></a>__scatterload</STRONG> (Thumb, 28 bytes, Stack size 0 bytes, init.o(.text))
-<BR><BR>[Calls]<UL><LI><a href="#[3c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__main_after_scatterload
-=======
 <P><STRONG><a name="[3d]"></a>__aeabi_dmul</STRONG> (Thumb, 228 bytes, Stack size 48 bytes, dmul.o(.text))
 <BR><BR>[Stack]<UL><LI>Max Depth = 88<LI>Call Chain = __aeabi_dmul &rArr; _double_epilogue &rArr; _double_round
->>>>>>> encoder
 </UL>
 <BR>[Calls]<UL><LI><a href="#[3e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_double_epilogue
 </UL>
-<BR>[Called By]<UL><LI><a href="#[5c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_fp_digits
-<LI><a href="#[4d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;App_Girouette_GetDirection
+<BR>[Called By]<UL><LI><a href="#[6a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_fp_digits
+<LI><a href="#[4e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;App_Girouette_GetDirection
 </UL>

-<P><STRONG><a name="[3f]"></a>__aeabi_i2d</STRONG> (Thumb, 34 bytes, Stack size 16 bytes, dflti.o(.text))
-<BR><BR>[Stack]<UL><LI>Max Depth = 56<LI>Call Chain = __aeabi_i2d &rArr; _double_epilogue &rArr; _double_round
+<P><STRONG><a name="[3f]"></a>__aeabi_i2f</STRONG> (Thumb, 18 bytes, Stack size 0 bytes, fflti.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 4<LI>Call Chain = __aeabi_i2f &rArr; _float_epilogue
 </UL>
-<BR>[Calls]<UL><LI><a href="#[3e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_double_epilogue
-</UL>
-<BR>[Called By]<UL><LI><a href="#[4d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;App_Girouette_GetDirection
-</UL>
-
-<P><STRONG><a name="[40]"></a>__aeabi_ui2d</STRONG> (Thumb, 26 bytes, Stack size 16 bytes, dfltui.o(.text))
-<BR><BR>[Stack]<UL><LI>Max Depth = 56<LI>Call Chain = __aeabi_ui2d &rArr; _double_epilogue &rArr; _double_round
-</UL>
-<BR>[Calls]<UL><LI><a href="#[3e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_double_epilogue
+<BR>[Calls]<UL><LI><a href="#[40]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_float_epilogue
 </UL>
 <BR>[Called By]<UL><LI><a href="#[35]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
 </UL>

-<P><STRONG><a name="[41]"></a>__aeabi_d2iz</STRONG> (Thumb, 62 bytes, Stack size 16 bytes, dfixi.o(.text))
+<P><STRONG><a name="[41]"></a>__aeabi_i2d</STRONG> (Thumb, 34 bytes, Stack size 16 bytes, dflti.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 56<LI>Call Chain = __aeabi_i2d &rArr; _double_epilogue &rArr; _double_round
+</UL>
+<BR>[Calls]<UL><LI><a href="#[3e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_double_epilogue
+</UL>
+<BR>[Called By]<UL><LI><a href="#[4e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;App_Girouette_GetDirection
+</UL>
+
+<P><STRONG><a name="[42]"></a>__aeabi_d2iz</STRONG> (Thumb, 62 bytes, Stack size 16 bytes, dfixi.o(.text))
 <BR><BR>[Stack]<UL><LI>Max Depth = 16<LI>Call Chain = __aeabi_d2iz
 </UL>
-<BR>[Calls]<UL><LI><a href="#[42]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_llsr
+<BR>[Calls]<UL><LI><a href="#[43]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_llsr
 </UL>
-<BR>[Called By]<UL><LI><a href="#[4d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;App_Girouette_GetDirection
+<BR>[Called By]<UL><LI><a href="#[4e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;App_Girouette_GetDirection
 </UL>

-<P><STRONG><a name="[67]"></a>__aeabi_uidiv</STRONG> (Thumb, 0 bytes, Stack size 12 bytes, uidiv.o(.text), UNUSED)
-
-<P><STRONG><a name="[60]"></a>__aeabi_uidivmod</STRONG> (Thumb, 44 bytes, Stack size 12 bytes, uidiv.o(.text), UNUSED)
-<BR><BR>[Called By]<UL><LI><a href="#[5b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_core
+<P><STRONG><a name="[66]"></a>__aeabi_f2d</STRONG> (Thumb, 38 bytes, Stack size 0 bytes, f2d.o(.text))
+<BR><BR>[Called By]<UL><LI><a href="#[35]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
 </UL>

-<P><STRONG><a name="[43]"></a>__aeabi_uldivmod</STRONG> (Thumb, 98 bytes, Stack size 40 bytes, uldiv.o(.text), UNUSED)
-<BR><BR>[Calls]<UL><LI><a href="#[42]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_llsr
-<LI><a href="#[44]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_llsl
-</UL>
-<BR>[Called By]<UL><LI><a href="#[5b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_core
-<LI><a href="#[5c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_fp_digits
+<P><STRONG><a name="[75]"></a>__aeabi_uidiv</STRONG> (Thumb, 0 bytes, Stack size 12 bytes, uidiv.o(.text), UNUSED)
+
+<P><STRONG><a name="[6e]"></a>__aeabi_uidivmod</STRONG> (Thumb, 44 bytes, Stack size 12 bytes, uidiv.o(.text), UNUSED)
+<BR><BR>[Called By]<UL><LI><a href="#[69]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_core
 </UL>

-<P><STRONG><a name="[42]"></a>__aeabi_llsr</STRONG> (Thumb, 32 bytes, Stack size 0 bytes, llushr.o(.text))
-<BR><BR>[Called By]<UL><LI><a href="#[43]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_uldivmod
+<P><STRONG><a name="[44]"></a>__aeabi_uldivmod</STRONG> (Thumb, 98 bytes, Stack size 40 bytes, uldiv.o(.text), UNUSED)
+<BR><BR>[Calls]<UL><LI><a href="#[45]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_llsl
+<LI><a href="#[43]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_llsr
+</UL>
+<BR>[Called By]<UL><LI><a href="#[69]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_core
+<LI><a href="#[6a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_fp_digits
+</UL>
+
+<P><STRONG><a name="[43]"></a>__aeabi_llsr</STRONG> (Thumb, 32 bytes, Stack size 0 bytes, llushr.o(.text))
+<BR><BR>[Called By]<UL><LI><a href="#[44]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_uldivmod
 <LI><a href="#[3e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_double_epilogue
-<LI><a href="#[4b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_d2ulz
-<LI><a href="#[41]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_d2iz
+<LI><a href="#[4c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_d2ulz
+<LI><a href="#[42]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_d2iz
 </UL>

-<P><STRONG><a name="[68]"></a>_ll_ushift_r</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, llushr.o(.text), UNUSED)
+<P><STRONG><a name="[76]"></a>_ll_ushift_r</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, llushr.o(.text), UNUSED)

-<P><STRONG><a name="[69]"></a>__I$use$fp</STRONG> (Thumb, 0 bytes, Stack size 8 bytes, iusefp.o(.text), UNUSED)
+<P><STRONG><a name="[77]"></a>__I$use$fp</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, iusefp.o(.text), UNUSED)

-<P><STRONG><a name="[45]"></a>_double_round</STRONG> (Thumb, 30 bytes, Stack size 8 bytes, depilogue.o(.text))
+<P><STRONG><a name="[78]"></a>_float_round</STRONG> (Thumb, 18 bytes, Stack size 0 bytes, fepilogue.o(.text), UNUSED)
+
+<P><STRONG><a name="[40]"></a>_float_epilogue</STRONG> (Thumb, 92 bytes, Stack size 4 bytes, fepilogue.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 4<LI>Call Chain = _float_epilogue
+</UL>
+<BR>[Called By]<UL><LI><a href="#[3f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_i2f
+</UL>
+
+<P><STRONG><a name="[46]"></a>_double_round</STRONG> (Thumb, 30 bytes, Stack size 8 bytes, depilogue.o(.text))
 <BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = _double_round
 </UL>
 <BR>[Called By]<UL><LI><a href="#[3e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_double_epilogue
-<LI><a href="#[4a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_ddiv
-<LI><a href="#[46]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_dadd
+<LI><a href="#[4b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_ddiv
+<LI><a href="#[47]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_dadd
 </UL>

 <P><STRONG><a name="[3e]"></a>_double_epilogue</STRONG> (Thumb, 156 bytes, Stack size 32 bytes, depilogue.o(.text))
 <BR><BR>[Stack]<UL><LI>Max Depth = 40<LI>Call Chain = _double_epilogue &rArr; _double_round
 </UL>
-<BR>[Calls]<UL><LI><a href="#[45]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_double_round
-<LI><a href="#[42]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_llsr
-<LI><a href="#[44]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_llsl
+<BR>[Calls]<UL><LI><a href="#[45]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_llsl
+<LI><a href="#[46]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_double_round
+<LI><a href="#[43]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_llsr
 </UL>
-<BR>[Called By]<UL><LI><a href="#[46]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_dadd
+<BR>[Called By]<UL><LI><a href="#[47]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_dadd
 <LI><a href="#[3d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_dmul
-<LI><a href="#[3f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_i2d
-<LI><a href="#[40]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_ui2d
+<LI><a href="#[41]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_i2d
 </UL>

-<P><STRONG><a name="[46]"></a>__aeabi_dadd</STRONG> (Thumb, 322 bytes, Stack size 48 bytes, dadd.o(.text), UNUSED)
-<BR><BR>[Calls]<UL><LI><a href="#[45]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_double_round
+<P><STRONG><a name="[47]"></a>__aeabi_dadd</STRONG> (Thumb, 322 bytes, Stack size 48 bytes, dadd.o(.text), UNUSED)
+<BR><BR>[Calls]<UL><LI><a href="#[48]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_lasr
+<LI><a href="#[45]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_llsl
+<LI><a href="#[46]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_double_round
 <LI><a href="#[3e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_double_epilogue
-<LI><a href="#[47]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_lasr
-<LI><a href="#[44]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_llsl
 </UL>
-<BR>[Called By]<UL><LI><a href="#[49]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_drsub
-<LI><a href="#[48]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_dsub
-<LI><a href="#[5c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_fp_digits
+<BR>[Called By]<UL><LI><a href="#[4a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_drsub
+<LI><a href="#[49]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_dsub
+<LI><a href="#[6a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_fp_digits
 </UL>

-<P><STRONG><a name="[48]"></a>__aeabi_dsub</STRONG> (Thumb, 6 bytes, Stack size 0 bytes, dadd.o(.text), UNUSED)
-<BR><BR>[Calls]<UL><LI><a href="#[46]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_dadd
+<P><STRONG><a name="[49]"></a>__aeabi_dsub</STRONG> (Thumb, 6 bytes, Stack size 0 bytes, dadd.o(.text), UNUSED)
+<BR><BR>[Calls]<UL><LI><a href="#[47]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_dadd
 </UL>

-<P><STRONG><a name="[49]"></a>__aeabi_drsub</STRONG> (Thumb, 6 bytes, Stack size 0 bytes, dadd.o(.text), UNUSED)
-<BR><BR>[Calls]<UL><LI><a href="#[46]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_dadd
+<P><STRONG><a name="[4a]"></a>__aeabi_drsub</STRONG> (Thumb, 6 bytes, Stack size 0 bytes, dadd.o(.text), UNUSED)
+<BR><BR>[Calls]<UL><LI><a href="#[47]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_dadd
 </UL>

-<P><STRONG><a name="[4a]"></a>__aeabi_ddiv</STRONG> (Thumb, 222 bytes, Stack size 32 bytes, ddiv.o(.text), UNUSED)
-<BR><BR>[Calls]<UL><LI><a href="#[45]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_double_round
+<P><STRONG><a name="[4b]"></a>__aeabi_ddiv</STRONG> (Thumb, 222 bytes, Stack size 32 bytes, ddiv.o(.text), UNUSED)
+<BR><BR>[Calls]<UL><LI><a href="#[46]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_double_round
 </UL>
-<BR>[Called By]<UL><LI><a href="#[5c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_fp_digits
+<BR>[Called By]<UL><LI><a href="#[6a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_fp_digits
 </UL>

-<P><STRONG><a name="[4b]"></a>__aeabi_d2ulz</STRONG> (Thumb, 48 bytes, Stack size 0 bytes, dfixul.o(.text), UNUSED)
-<BR><BR>[Calls]<UL><LI><a href="#[42]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_llsr
-<LI><a href="#[44]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_llsl
+<P><STRONG><a name="[4c]"></a>__aeabi_d2ulz</STRONG> (Thumb, 48 bytes, Stack size 0 bytes, dfixul.o(.text), UNUSED)
+<BR><BR>[Calls]<UL><LI><a href="#[45]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_llsl
+<LI><a href="#[43]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_llsr
 </UL>
-<BR>[Called By]<UL><LI><a href="#[5c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_fp_digits
+<BR>[Called By]<UL><LI><a href="#[6a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_fp_digits
 </UL>

-<P><STRONG><a name="[5d]"></a>__aeabi_cdrcmple</STRONG> (Thumb, 48 bytes, Stack size 0 bytes, cdrcmple.o(.text), UNUSED)
-<BR><BR>[Called By]<UL><LI><a href="#[5c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_fp_digits
+<P><STRONG><a name="[6b]"></a>__aeabi_cdrcmple</STRONG> (Thumb, 48 bytes, Stack size 0 bytes, cdrcmple.o(.text), UNUSED)
+<BR><BR>[Called By]<UL><LI><a href="#[6a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_fp_digits
 </UL>

 <P><STRONG><a name="[3c]"></a>__scatterload</STRONG> (Thumb, 28 bytes, Stack size 0 bytes, init.o(.text))
-<BR><BR>[Calls]<UL><LI><a href="#[4c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__main_after_scatterload
+<BR><BR>[Calls]<UL><LI><a href="#[4d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__main_after_scatterload
 </UL>
 <BR>[Called By]<UL><LI><a href="#[3b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_main_scatterload
 </UL>

-<P><STRONG><a name="[6a]"></a>__scatterload_rt2</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, init.o(.text), UNUSED)
+<P><STRONG><a name="[79]"></a>__scatterload_rt2</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, init.o(.text), UNUSED)

-<P><STRONG><a name="[44]"></a>__aeabi_llsl</STRONG> (Thumb, 30 bytes, Stack size 0 bytes, llshl.o(.text))
-<BR><BR>[Called By]<UL><LI><a href="#[43]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_uldivmod
+<P><STRONG><a name="[45]"></a>__aeabi_llsl</STRONG> (Thumb, 30 bytes, Stack size 0 bytes, llshl.o(.text))
+<BR><BR>[Called By]<UL><LI><a href="#[44]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_uldivmod
 <LI><a href="#[3e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_double_epilogue
-<LI><a href="#[46]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_dadd
-<LI><a href="#[4b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_d2ulz
+<LI><a href="#[47]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_dadd
+<LI><a href="#[4c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_d2ulz
 </UL>

-<P><STRONG><a name="[6b]"></a>_ll_shift_l</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, llshl.o(.text), UNUSED)
+<P><STRONG><a name="[7a]"></a>_ll_shift_l</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, llshl.o(.text), UNUSED)

-<P><STRONG><a name="[47]"></a>__aeabi_lasr</STRONG> (Thumb, 36 bytes, Stack size 0 bytes, llsshr.o(.text), UNUSED)
-<BR><BR>[Called By]<UL><LI><a href="#[46]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_dadd
+<P><STRONG><a name="[48]"></a>__aeabi_lasr</STRONG> (Thumb, 36 bytes, Stack size 0 bytes, llsshr.o(.text), UNUSED)
+<BR><BR>[Called By]<UL><LI><a href="#[47]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_dadd
 </UL>

-<P><STRONG><a name="[6c]"></a>_ll_sshift_r</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, llsshr.o(.text), UNUSED)
+<P><STRONG><a name="[7b]"></a>_ll_sshift_r</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, llsshr.o(.text), UNUSED)

-<P><STRONG><a name="[1c]"></a>ADC1_2_IRQHandler</STRONG> (Thumb, 28 bytes, Stack size 0 bytes, driver_adc.o(.text.ADC1_2_IRQHandler))
+<P><STRONG><a name="[1c]"></a>ADC1_2_IRQHandler</STRONG> (Thumb, 32 bytes, Stack size 8 bytes, driver_adc.o(.text.ADC1_2_IRQHandler))
+<BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = ADC1_2_IRQHandler
+</UL>
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(RESET)
 </UL>
-<P><STRONG><a name="[4d]"></a>App_Girouette_GetDirection</STRONG> (Thumb, 42 bytes, Stack size 8 bytes, app_girouette.o(.text.App_Girouette_GetDirection))
-<BR><BR>[Stack]<UL><LI>Max Depth = 96<LI>Call Chain = App_Girouette_GetDirection &rArr; __aeabi_dmul &rArr; _double_epilogue &rArr; _double_round
+<P><STRONG><a name="[4e]"></a>App_Girouette_GetDirection</STRONG> (Thumb, 72 bytes, Stack size 16 bytes, app_girouette.o(.text.App_Girouette_GetDirection))
+<BR><BR>[Stack]<UL><LI>Max Depth = 104<LI>Call Chain = App_Girouette_GetDirection &rArr; __aeabi_dmul &rArr; _double_epilogue &rArr; _double_round
 </UL>
-<<<<<<< HEAD
-<BR>[Called By]<UL><LI><a href="#[39]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Bug
->>>>>>> encoder
-=======
-<BR>[Calls]<UL><LI><a href="#[41]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_d2iz
+<BR>[Calls]<UL><LI><a href="#[42]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_d2iz
 <LI><a href="#[3d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_dmul
-<LI><a href="#[3f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_i2d
-<LI><a href="#[4e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM_GetCounter
+<LI><a href="#[41]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_i2d
+<LI><a href="#[4f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM_GetCounter
 </UL>
 <BR>[Called By]<UL><LI><a href="#[35]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
 </UL>

-<P><STRONG><a name="[4f]"></a>App_Girouette_Init</STRONG> (Thumb, 80 bytes, Stack size 48 bytes, app_girouette.o(.text.App_Girouette_Init))
-<BR><BR>[Stack]<UL><LI>Max Depth = 56<LI>Call Chain = App_Girouette_Init &rArr; MyGPIO_Init
+<P><STRONG><a name="[50]"></a>App_Girouette_Init</STRONG> (Thumb, 98 bytes, Stack size 48 bytes, app_girouette.o(.text.App_Girouette_Init))
+<BR><BR>[Stack]<UL><LI>Max Depth = 72<LI>Call Chain = App_Girouette_Init &rArr; MyTimer_ConfigureEncoder &rArr; __NVIC_SetPriority
 </UL>
-<BR>[Calls]<UL><LI><a href="#[51]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MyTimer_ConfigureEncoder
-<LI><a href="#[52]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MyTimer_Start
-<LI><a href="#[50]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MyTimer_Base_Init
-<LI><a href="#[53]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MyGPIO_Init
+<BR>[Calls]<UL><LI><a href="#[52]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MyTimer_ConfigureEncoder
+<LI><a href="#[53]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MyTimer_Start
+<LI><a href="#[51]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MyTimer_Base_Init
+<LI><a href="#[54]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MyGPIO_Init
 </UL>
 <BR>[Called By]<UL><LI><a href="#[35]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
 </UL>

-<P><STRONG><a name="[3a]"></a>Bug</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, driver_timer.o(.text.Bug))
-<BR><BR>[Calls]<UL><LI><a href="#[3a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Bug
+<P><STRONG><a name="[3a]"></a>Bug</STRONG> (Thumb, 4 bytes, Stack size 0 bytes, driver_timer.o(.text.Bug))
+<BR>[Address Reference Count : 3]<UL><LI> driver_timer.o(.data.TIM2_fx)
+<LI> driver_timer.o(.data.TIM3_fx)
+<LI> driver_timer.o(.data.TIM4_fx)
 </UL>
-<BR>[Called By]<UL><LI><a href="#[3a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Bug
->>>>>>> encoder
+<P><STRONG><a name="[13]"></a>EXTI3_IRQHandler</STRONG> (Thumb, 16 bytes, Stack size 16 bytes, driver_timer.o(.text.EXTI3_IRQHandler))
+<BR><BR>[Stack]<UL><LI>Max Depth = 20<LI>Call Chain = EXTI3_IRQHandler &rArr; seed
 </UL>
-<P><STRONG><a name="[38]"></a>Bug</STRONG> (Thumb, 4 bytes, Stack size 0 bytes, driver_timer.o(i.Bug))
-<BR>[Address Reference Count : 1]<UL><LI> driver_timer.o(.data)
+<BR>[Calls]<UL><LI><a href="#[55]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;seed
 </UL>
-<<<<<<< HEAD
-<P><STRONG><a name="[45]"></a>MySPI_Clear_NSS</STRONG> (Thumb, 30 bytes, Stack size 0 bytes, myspi.o(i.MySPI_Clear_NSS))
-<BR><BR>[Called By]<UL><LI><a href="#[43]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;driver_IMU_write_register
-<LI><a href="#[44]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;driver_IMU_read
+<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(RESET)
+</UL>
+<P><STRONG><a name="[54]"></a>MyGPIO_Init</STRONG> (Thumb, 322 bytes, Stack size 4 bytes, driver_gpio.o(.text.MyGPIO_Init))
+<BR><BR>[Stack]<UL><LI>Max Depth = 4<LI>Call Chain = MyGPIO_Init
+</UL>
+<BR>[Called By]<UL><LI><a href="#[61]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;telecommande_init
+<LI><a href="#[50]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;App_Girouette_Init
+<LI><a href="#[35]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
 </UL>

-<P><STRONG><a name="[3e]"></a>MySPI_Init</STRONG> (Thumb, 480 bytes, Stack size 4 bytes, myspi.o(i.MySPI_Init))
-<BR><BR>[Stack]<UL><LI>Max Depth = 4<LI>Call Chain = MySPI_Init
+<P><STRONG><a name="[5e]"></a>MyGPIO_Read</STRONG> (Thumb, 28 bytes, Stack size 8 bytes, driver_gpio.o(.text.MyGPIO_Read))
+<BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = MyGPIO_Read
 </UL>
-<BR>[Calls]<UL><LI><a href="#[3f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MySPI_Set_NSS
-</UL>
-<BR>[Called By]<UL><LI><a href="#[42]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;driver_IMU_init
+<BR>[Called By]<UL><LI><a href="#[35]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
 </UL>

-<P><STRONG><a name="[47]"></a>MySPI_Read</STRONG> (Thumb, 70 bytes, Stack size 0 bytes, myspi.o(i.MySPI_Read))
-<BR><BR>[Called By]<UL><LI><a href="#[44]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;driver_IMU_read
+<P><STRONG><a name="[64]"></a>MyGPIO_Reset</STRONG> (Thumb, 30 bytes, Stack size 8 bytes, driver_gpio.o(.text.MyGPIO_Reset))
+<BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = MyGPIO_Reset
+</UL>
+<BR>[Called By]<UL><LI><a href="#[35]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
 </UL>

-<P><STRONG><a name="[46]"></a>MySPI_Send</STRONG> (Thumb, 68 bytes, Stack size 0 bytes, myspi.o(i.MySPI_Send))
-<BR><BR>[Called By]<UL><LI><a href="#[43]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;driver_IMU_write_register
-<LI><a href="#[44]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;driver_IMU_read
+<P><STRONG><a name="[63]"></a>MyGPIO_Set</STRONG> (Thumb, 30 bytes, Stack size 8 bytes, driver_gpio.o(.text.MyGPIO_Set))
+<BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = MyGPIO_Set
+</UL>
+<BR>[Called By]<UL><LI><a href="#[35]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
 </UL>

-<P><STRONG><a name="[3f]"></a>MySPI_Set_NSS</STRONG> (Thumb, 28 bytes, Stack size 0 bytes, myspi.o(i.MySPI_Set_NSS))
-<BR><BR>[Called By]<UL><LI><a href="#[3e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MySPI_Init
-<LI><a href="#[43]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;driver_IMU_write_register
-<LI><a href="#[44]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;driver_IMU_read
+<P><STRONG><a name="[51]"></a>MyTimer_Base_Init</STRONG> (Thumb, 168 bytes, Stack size 4 bytes, driver_timer.o(.text.MyTimer_Base_Init))
+<BR><BR>[Stack]<UL><LI>Max Depth = 4<LI>Call Chain = MyTimer_Base_Init
+</UL>
+<BR>[Called By]<UL><LI><a href="#[50]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;App_Girouette_Init
+<LI><a href="#[35]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
 </UL>

-<P><STRONG><a name="[36]"></a>SystemInit</STRONG> (Thumb, 78 bytes, Stack size 8 bytes, system_stm32f10x.o(i.SystemInit))
-<BR><BR>[Stack]<UL><LI>Max Depth = 28<LI>Call Chain = SystemInit &rArr; SetSysClock &rArr; SetSysClockTo72
+<P><STRONG><a name="[52]"></a>MyTimer_ConfigureEncoder</STRONG> (Thumb, 200 bytes, Stack size 16 bytes, driver_timer.o(.text.MyTimer_ConfigureEncoder))
+<BR><BR>[Stack]<UL><LI>Max Depth = 24<LI>Call Chain = MyTimer_ConfigureEncoder &rArr; __NVIC_SetPriority
 </UL>
-<BR>[Calls]<UL><LI><a href="#[40]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;SetSysClock
+<BR>[Calls]<UL><LI><a href="#[57]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__NVIC_EnableIRQ
+<LI><a href="#[56]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__NVIC_SetPriority
+</UL>
+<BR>[Called By]<UL><LI><a href="#[50]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;App_Girouette_Init
+</UL>
+
+<P><STRONG><a name="[5f]"></a>MyTimer_ConfigurePWM</STRONG> (Thumb, 286 bytes, Stack size 8 bytes, driver_timer.o(.text.MyTimer_ConfigurePWM))
+<BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = MyTimer_ConfigurePWM
+</UL>
+<BR>[Called By]<UL><LI><a href="#[35]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
+</UL>
+
+<P><STRONG><a name="[62]"></a>MyTimer_SetPWMDutyCycle</STRONG> (Thumb, 154 bytes, Stack size 8 bytes, driver_timer.o(.text.MyTimer_SetPWMDutyCycle))
+<BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = MyTimer_SetPWMDutyCycle
+</UL>
+<BR>[Called By]<UL><LI><a href="#[35]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
+</UL>
+
+<P><STRONG><a name="[53]"></a>MyTimer_Start</STRONG> (Thumb, 20 bytes, Stack size 4 bytes, driver_timer.o(.text.MyTimer_Start))
+<BR><BR>[Stack]<UL><LI>Max Depth = 4<LI>Call Chain = MyTimer_Start
+</UL>
+<BR>[Called By]<UL><LI><a href="#[50]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;App_Girouette_Init
+<LI><a href="#[35]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
+</UL>
+
+<P><STRONG><a name="[60]"></a>MyUART_Init</STRONG> (Thumb, 196 bytes, Stack size 4 bytes, driver_uart.o(.text.MyUART_Init))
+<BR><BR>[Stack]<UL><LI>Max Depth = 4<LI>Call Chain = MyUART_Init
+</UL>
+<BR>[Called By]<UL><LI><a href="#[61]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;telecommande_init
+<LI><a href="#[35]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
+</UL>
+
+<P><STRONG><a name="[5d]"></a>MyUART_ReceiveByte</STRONG> (Thumb, 52 bytes, Stack size 8 bytes, driver_uart.o(.text.MyUART_ReceiveByte))
+<BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = MyUART_ReceiveByte
+</UL>
+<BR>[Called By]<UL><LI><a href="#[5c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Telecommande_Get_Dir
+</UL>
+
+<P><STRONG><a name="[59]"></a>MyUART_SendByte</STRONG> (Thumb, 40 bytes, Stack size 8 bytes, driver_uart.o(.text.MyUART_SendByte))
+<BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = MyUART_SendByte
+</UL>
+<BR>[Called By]<UL><LI><a href="#[58]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MyUART_SendString
+<LI><a href="#[35]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
+</UL>
+
+<P><STRONG><a name="[58]"></a>MyUART_SendString</STRONG> (Thumb, 40 bytes, Stack size 16 bytes, driver_uart.o(.text.MyUART_SendString))
+<BR><BR>[Stack]<UL><LI>Max Depth = 24<LI>Call Chain = MyUART_SendString &rArr; MyUART_SendByte
+</UL>
+<BR>[Calls]<UL><LI><a href="#[59]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MyUART_SendByte
+</UL>
+<BR>[Called By]<UL><LI><a href="#[35]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
+</UL>
+
+<P><STRONG><a name="[36]"></a>SystemInit</STRONG> (Thumb, 102 bytes, Stack size 8 bytes, system_stm32f10x.o(.text.SystemInit))
+<BR><BR>[Stack]<UL><LI>Max Depth = 32<LI>Call Chain = SystemInit &rArr; SetSysClock &rArr; SetSysClockTo72
+</UL>
+<BR>[Calls]<UL><LI><a href="#[5a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;SetSysClock
 </UL>
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(.text)
 </UL>
-<P><STRONG><a name="[26]"></a>TIM2_IRQHandler</STRONG> (Thumb, 26 bytes, Stack size 8 bytes, driver_timer.o(i.TIM2_IRQHandler))
+<P><STRONG><a name="[26]"></a>TIM2_IRQHandler</STRONG> (Thumb, 30 bytes, Stack size 8 bytes, driver_timer.o(.text.TIM2_IRQHandler))
 <BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = TIM2_IRQHandler
 </UL>
-<<<<<<< HEAD
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(RESET)
 </UL>
-<P><STRONG><a name="[27]"></a>TIM3_IRQHandler</STRONG> (Thumb, 22 bytes, Stack size 8 bytes, driver_timer.o(i.TIM3_IRQHandler))
+<P><STRONG><a name="[27]"></a>TIM3_IRQHandler</STRONG> (Thumb, 32 bytes, Stack size 8 bytes, driver_timer.o(.text.TIM3_IRQHandler))
 <BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = TIM3_IRQHandler
 </UL>
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(RESET)
 </UL>
-<P><STRONG><a name="[28]"></a>TIM4_IRQHandler</STRONG> (Thumb, 22 bytes, Stack size 8 bytes, driver_timer.o(i.TIM4_IRQHandler))
+<P><STRONG><a name="[28]"></a>TIM4_IRQHandler</STRONG> (Thumb, 32 bytes, Stack size 8 bytes, driver_timer.o(.text.TIM4_IRQHandler))
 <BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = TIM4_IRQHandler
 </UL>
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(RESET)
 </UL>
-<P><STRONG><a name="[51]"></a>__scatterload_copy</STRONG> (Thumb, 14 bytes, Stack size unknown bytes, handlers.o(i.__scatterload_copy), UNUSED)
-
-<P><STRONG><a name="[52]"></a>__scatterload_null</STRONG> (Thumb, 2 bytes, Stack size unknown bytes, handlers.o(i.__scatterload_null), UNUSED)
-
-<P><STRONG><a name="[53]"></a>__scatterload_zeroinit</STRONG> (Thumb, 14 bytes, Stack size unknown bytes, handlers.o(i.__scatterload_zeroinit), UNUSED)
-
-<P><STRONG><a name="[42]"></a>driver_IMU_init</STRONG> (Thumb, 34 bytes, Stack size 8 bytes, driver_imu.o(i.driver_IMU_init))
-<BR><BR>[Stack]<UL><LI>Max Depth = 24<LI>Call Chain = driver_IMU_init &rArr; driver_IMU_write_register
+<P><STRONG><a name="[4f]"></a>TIM_GetCounter</STRONG> (Thumb, 12 bytes, Stack size 4 bytes, driver_timer.o(.text.TIM_GetCounter))
+<BR><BR>[Stack]<UL><LI>Max Depth = 4<LI>Call Chain = TIM_GetCounter
 </UL>
-<BR>[Calls]<UL><LI><a href="#[3e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MySPI_Init
-<LI><a href="#[43]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;driver_IMU_write_register
-=======
-<P><STRONG><a name="[32]"></a>EXTI15_10_IRQHandler</STRONG> (Thumb, 26 bytes, Stack size 0 bytes, main.o(.text.EXTI15_10_IRQHandler))
-<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(RESET)
-</UL>
-=======
->>>>>>> 73cabe3969d793656407180a8db5feffe014593b
-<P><STRONG><a name="[13]"></a>EXTI3_IRQHandler</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, driver_timer.o(.text.EXTI3_IRQHandler))
-<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(RESET)
-</UL>
-<P><STRONG><a name="[53]"></a>MyGPIO_Init</STRONG> (Thumb, 144 bytes, Stack size 8 bytes, driver_gpio.o(.text.MyGPIO_Init))
-<BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = MyGPIO_Init
->>>>>>> encoder
-</UL>
-<BR>[Called By]<UL><LI><a href="#[4f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;App_Girouette_Init
-<LI><a href="#[35]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
+<BR>[Called By]<UL><LI><a href="#[4e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;App_Girouette_GetDirection
 </UL>

-<<<<<<< HEAD
-<<<<<<< HEAD
-<P><STRONG><a name="[44]"></a>driver_IMU_read</STRONG> (Thumb, 52 bytes, Stack size 24 bytes, driver_imu.o(i.driver_IMU_read))
-<BR><BR>[Stack]<UL><LI>Max Depth = 24<LI>Call Chain = driver_IMU_read
+<P><STRONG><a name="[5c]"></a>Telecommande_Get_Dir</STRONG> (Thumb, 16 bytes, Stack size 8 bytes, app_orientation.o(.text.Telecommande_Get_Dir))
+<BR><BR>[Stack]<UL><LI>Max Depth = 16<LI>Call Chain = Telecommande_Get_Dir &rArr; MyUART_ReceiveByte
 </UL>
-<BR>[Calls]<UL><LI><a href="#[3f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MySPI_Set_NSS
-<LI><a href="#[46]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MySPI_Send
-<LI><a href="#[47]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MySPI_Read
-<LI><a href="#[45]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MySPI_Clear_NSS
+<BR>[Calls]<UL><LI><a href="#[5d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MyUART_ReceiveByte
 </UL>
 <BR>[Called By]<UL><LI><a href="#[35]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
 </UL>

-<P><STRONG><a name="[43]"></a>driver_IMU_write_register</STRONG> (Thumb, 28 bytes, Stack size 16 bytes, driver_imu.o(i.driver_IMU_write_register))
-<BR><BR>[Stack]<UL><LI>Max Depth = 16<LI>Call Chain = driver_IMU_write_register
-</UL>
-<BR>[Calls]<UL><LI><a href="#[3f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MySPI_Set_NSS
-<LI><a href="#[46]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MySPI_Send
-<LI><a href="#[45]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MySPI_Clear_NSS
-</UL>
-<BR>[Called By]<UL><LI><a href="#[42]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;driver_IMU_init
-</UL>
-
-<P><STRONG><a name="[48]"></a>driver_adc_1_launch_read</STRONG> (Thumb, 14 bytes, Stack size 0 bytes, driver_adc.o(i.driver_adc_1_launch_read))
-<BR><BR>[Called By]<UL><LI><a href="#[35]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
-</UL>
-
-<P><STRONG><a name="[39]"></a>erreur</STRONG> (Thumb, 4 bytes, Stack size 0 bytes, driver_adc.o(i.erreur))
-<BR>[Address Reference Count : 1]<UL><LI> driver_adc.o(.data)
-</UL>
-<P><STRONG><a name="[35]"></a>main</STRONG> (Thumb, 26 bytes, Stack size 16 bytes, main.o(i.main))
-<BR><BR>[Stack]<UL><LI>Max Depth = 40<LI>Call Chain = main &rArr; driver_IMU_read
-</UL>
-<BR>[Calls]<UL><LI><a href="#[48]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;driver_adc_1_launch_read
-<LI><a href="#[44]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;driver_IMU_read
-<LI><a href="#[42]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;driver_IMU_init
-</UL>
-<BR>[Address Reference Count : 1]<UL><LI> entry9a.o(.ARM.Collect$$$$0000000B)
-</UL><P>
-=======
-<P><STRONG><a name="[3f]"></a>MyTimer_Base_Init</STRONG> (Thumb, 140 bytes, Stack size 0 bytes, driver_timer.o(.text.MyTimer_Base_Init))
-=======
-<P><STRONG><a name="[50]"></a>MyTimer_Base_Init</STRONG> (Thumb, 140 bytes, Stack size 0 bytes, driver_timer.o(.text.MyTimer_Base_Init))
-<BR><BR>[Called By]<UL><LI><a href="#[4f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;App_Girouette_Init
-<LI><a href="#[35]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
-</UL>
-
-<P><STRONG><a name="[51]"></a>MyTimer_ConfigureEncoder</STRONG> (Thumb, 168 bytes, Stack size 0 bytes, driver_timer.o(.text.MyTimer_ConfigureEncoder))
-<BR><BR>[Called By]<UL><LI><a href="#[4f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;App_Girouette_Init
-</UL>
-
-<P><STRONG><a name="[54]"></a>MyTimer_ConfigurePWM</STRONG> (Thumb, 166 bytes, Stack size 0 bytes, driver_timer.o(.text.MyTimer_ConfigurePWM))
->>>>>>> encoder
-<BR><BR>[Called By]<UL><LI><a href="#[35]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
-</UL>
-
-<P><STRONG><a name="[56]"></a>MyTimer_SetPWMDutyCycle</STRONG> (Thumb, 82 bytes, Stack size 0 bytes, driver_timer.o(.text.MyTimer_SetPWMDutyCycle))
-<BR><BR>[Called By]<UL><LI><a href="#[35]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
-</UL>
-
-<P><STRONG><a name="[52]"></a>MyTimer_Start</STRONG> (Thumb, 12 bytes, Stack size 0 bytes, driver_timer.o(.text.MyTimer_Start))
-<BR><BR>[Called By]<UL><LI><a href="#[4f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;App_Girouette_Init
-<LI><a href="#[35]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
-</UL>
-
-<P><STRONG><a name="[55]"></a>MyUART_Init</STRONG> (Thumb, 152 bytes, Stack size 0 bytes, driver_uart.o(.text.MyUART_Init))
-<BR><BR>[Called By]<UL><LI><a href="#[35]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
-</UL>
-
-<P><STRONG><a name="[59]"></a>MyUART_SendByte</STRONG> (Thumb, 12 bytes, Stack size 0 bytes, driver_uart.o(.text.MyUART_SendByte))
-<BR><BR>[Called By]<UL><LI><a href="#[35]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
-</UL>
-
-<P><STRONG><a name="[58]"></a>MyUART_SendString</STRONG> (Thumb, 32 bytes, Stack size 0 bytes, driver_uart.o(.text.MyUART_SendString))
-<BR><BR>[Called By]<UL><LI><a href="#[35]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
-</UL>
-
-<P><STRONG><a name="[36]"></a>SystemInit</STRONG> (Thumb, 272 bytes, Stack size 8 bytes, system_stm32f10x.o(.text.SystemInit))
-<BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = SystemInit
-</UL>
-<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(.text)
-</UL>
-<P><STRONG><a name="[26]"></a>TIM2_IRQHandler</STRONG> (Thumb, 26 bytes, Stack size 0 bytes, driver_timer.o(.text.TIM2_IRQHandler))
+<P><STRONG><a name="[31]"></a>USART3_IRQHandler</STRONG> (Thumb, 42 bytes, Stack size 0 bytes, driver_uart.o(.text.USART3_IRQHandler))
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(RESET)
 </UL>
-<P><STRONG><a name="[27]"></a>TIM3_IRQHandler</STRONG> (Thumb, 28 bytes, Stack size 0 bytes, driver_timer.o(.text.TIM3_IRQHandler))
-<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(RESET)
-</UL>
-<P><STRONG><a name="[28]"></a>TIM4_IRQHandler</STRONG> (Thumb, 28 bytes, Stack size 0 bytes, driver_timer.o(.text.TIM4_IRQHandler))
-<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(RESET)
-</UL>
-<P><STRONG><a name="[4e]"></a>TIM_GetCounter</STRONG> (Thumb, 4 bytes, Stack size 0 bytes, driver_timer.o(.text.TIM_GetCounter))
-<BR><BR>[Called By]<UL><LI><a href="#[4d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;App_Girouette_GetDirection
-</UL>
-
-<P><STRONG><a name="[31]"></a>USART3_IRQHandler</STRONG> (Thumb, 14 bytes, Stack size 0 bytes, driver_uart.o(.text.USART3_IRQHandler))
-<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(RESET)
-</UL>
-<P><STRONG><a name="[39]"></a>erreur</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, driver_adc.o(.text.erreur))
-<BR><BR>[Calls]<UL><LI><a href="#[39]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;erreur
-</UL>
-<BR>[Called By]<UL><LI><a href="#[39]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;erreur
-</UL>
+<P><STRONG><a name="[39]"></a>erreur</STRONG> (Thumb, 4 bytes, Stack size 0 bytes, driver_adc.o(.text.erreur))
 <BR>[Address Reference Count : 1]<UL><LI> driver_adc.o(.data.ADC1_2_fx)
 </UL>
-<P><STRONG><a name="[35]"></a>main</STRONG> (Thumb, 272 bytes, Stack size 72 bytes, main.o(.text.main))
-<BR><BR>[Stack]<UL><LI>Max Depth = 168<LI>Call Chain = main &rArr; App_Girouette_GetDirection &rArr; __aeabi_dmul &rArr; _double_epilogue &rArr; _double_round
+<P><STRONG><a name="[35]"></a>main</STRONG> (Thumb, 620 bytes, Stack size 168 bytes, main.o(.text.main))
+<BR><BR>[Stack]<UL><LI>Max Depth = 272<LI>Call Chain = main &rArr; App_Girouette_GetDirection &rArr; __aeabi_dmul &rArr; _double_epilogue &rArr; _double_round
 </UL>
-<BR>[Calls]<UL><LI><a href="#[57]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__2sprintf
-<LI><a href="#[4d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;App_Girouette_GetDirection
+<BR>[Calls]<UL><LI><a href="#[67]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;sprintf
+<LI><a href="#[65]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;abs
 <LI><a href="#[59]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MyUART_SendByte
 <LI><a href="#[58]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MyUART_SendString
-<LI><a href="#[40]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_ui2d
-<LI><a href="#[56]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MyTimer_SetPWMDutyCycle
-<LI><a href="#[4f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;App_Girouette_Init
-<LI><a href="#[55]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MyUART_Init
-<LI><a href="#[52]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MyTimer_Start
-<LI><a href="#[54]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MyTimer_ConfigurePWM
-<LI><a href="#[50]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MyTimer_Base_Init
-<LI><a href="#[53]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MyGPIO_Init
+<LI><a href="#[66]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_f2d
+<LI><a href="#[3f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_i2f
+<LI><a href="#[64]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MyGPIO_Reset
+<LI><a href="#[63]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MyGPIO_Set
+<LI><a href="#[62]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MyTimer_SetPWMDutyCycle
+<LI><a href="#[5c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Telecommande_Get_Dir
+<LI><a href="#[4e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;App_Girouette_GetDirection
+<LI><a href="#[61]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;telecommande_init
+<LI><a href="#[50]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;App_Girouette_Init
+<LI><a href="#[60]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MyUART_Init
+<LI><a href="#[53]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MyTimer_Start
+<LI><a href="#[5f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MyTimer_ConfigurePWM
+<LI><a href="#[51]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MyTimer_Base_Init
+<LI><a href="#[5e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MyGPIO_Read
+<LI><a href="#[54]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MyGPIO_Init
 </UL>
 <BR>[Address Reference Count : 1]<UL><LI> entry9a.o(.ARM.Collect$$$$0000000B)
 </UL>
-<P><STRONG><a name="[5a]"></a>__0sprintf</STRONG> (Thumb, 34 bytes, Stack size 24 bytes, printfa.o(i.__0sprintf), UNUSED)
-<BR><BR>[Calls]<UL><LI><a href="#[38]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_sputc
-<LI><a href="#[5b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_core
+<P><STRONG><a name="[55]"></a>seed</STRONG> (Thumb, 12 bytes, Stack size 4 bytes, driver_timer.o(.text.seed))
+<BR><BR>[Stack]<UL><LI>Max Depth = 4<LI>Call Chain = seed
+</UL>
+<BR>[Called By]<UL><LI><a href="#[13]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;EXTI3_IRQHandler
 </UL>

-<P><STRONG><a name="[6d]"></a>__1sprintf</STRONG> (Thumb, 0 bytes, Stack size 24 bytes, printfa.o(i.__0sprintf), UNUSED)
-
-<P><STRONG><a name="[57]"></a>__2sprintf</STRONG> (Thumb, 0 bytes, Stack size 24 bytes, printfa.o(i.__0sprintf))
-<BR><BR>[Stack]<UL><LI>Max Depth = 24<LI>Call Chain = __2sprintf
+<P><STRONG><a name="[61]"></a>telecommande_init</STRONG> (Thumb, 88 bytes, Stack size 24 bytes, app_orientation.o(.text.telecommande_init))
+<BR><BR>[Stack]<UL><LI>Max Depth = 28<LI>Call Chain = telecommande_init &rArr; MyUART_Init
+</UL>
+<BR>[Calls]<UL><LI><a href="#[60]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MyUART_Init
+<LI><a href="#[54]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MyGPIO_Init
 </UL>
 <BR>[Called By]<UL><LI><a href="#[35]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
 </UL>

-<P><STRONG><a name="[6e]"></a>__c89sprintf</STRONG> (Thumb, 0 bytes, Stack size 24 bytes, printfa.o(i.__0sprintf), UNUSED)
+<P><STRONG><a name="[68]"></a>__0sprintf</STRONG> (Thumb, 34 bytes, Stack size 24 bytes, printfa.o(i.__0sprintf), UNUSED)
+<BR><BR>[Calls]<UL><LI><a href="#[38]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_sputc
+<LI><a href="#[69]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_core
+</UL>

-<P><STRONG><a name="[6f]"></a>sprintf</STRONG> (Thumb, 0 bytes, Stack size 24 bytes, printfa.o(i.__0sprintf), UNUSED)
+<P><STRONG><a name="[7c]"></a>__1sprintf</STRONG> (Thumb, 0 bytes, Stack size 24 bytes, printfa.o(i.__0sprintf), UNUSED)

-<P><STRONG><a name="[70]"></a>__scatterload_copy</STRONG> (Thumb, 14 bytes, Stack size unknown bytes, handlers.o(i.__scatterload_copy), UNUSED)
+<P><STRONG><a name="[7d]"></a>__2sprintf</STRONG> (Thumb, 0 bytes, Stack size 24 bytes, printfa.o(i.__0sprintf), UNUSED)

-<P><STRONG><a name="[71]"></a>__scatterload_null</STRONG> (Thumb, 2 bytes, Stack size unknown bytes, handlers.o(i.__scatterload_null), UNUSED)
+<P><STRONG><a name="[7e]"></a>__c89sprintf</STRONG> (Thumb, 0 bytes, Stack size 24 bytes, printfa.o(i.__0sprintf), UNUSED)

-<P><STRONG><a name="[72]"></a>__scatterload_zeroinit</STRONG> (Thumb, 14 bytes, Stack size unknown bytes, handlers.o(i.__scatterload_zeroinit), UNUSED)
+<P><STRONG><a name="[67]"></a>sprintf</STRONG> (Thumb, 0 bytes, Stack size 24 bytes, printfa.o(i.__0sprintf))
+<BR><BR>[Stack]<UL><LI>Max Depth = 24<LI>Call Chain = sprintf
+</UL>
+<BR>[Called By]<UL><LI><a href="#[35]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
+</UL>
+
+<P><STRONG><a name="[7f]"></a>__scatterload_copy</STRONG> (Thumb, 14 bytes, Stack size unknown bytes, handlers.o(i.__scatterload_copy), UNUSED)
+
+<P><STRONG><a name="[80]"></a>__scatterload_null</STRONG> (Thumb, 2 bytes, Stack size unknown bytes, handlers.o(i.__scatterload_null), UNUSED)
+
+<P><STRONG><a name="[81]"></a>__scatterload_zeroinit</STRONG> (Thumb, 14 bytes, Stack size unknown bytes, handlers.o(i.__scatterload_zeroinit), UNUSED)
 <P>
->>>>>>> encoder
 <H3>
 Local Symbols
 </H3>
-<<<<<<< HEAD
-<P><STRONG><a name="[40]"></a>SetSysClock</STRONG> (Thumb, 8 bytes, Stack size 8 bytes, system_stm32f10x.o(i.SetSysClock))
-<BR><BR>[Stack]<UL><LI>Max Depth = 20<LI>Call Chain = SetSysClock &rArr; SetSysClockTo72
+<P><STRONG><a name="[56]"></a>__NVIC_SetPriority</STRONG> (Thumb, 66 bytes, Stack size 8 bytes, driver_timer.o(.text.__NVIC_SetPriority))
+<BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = __NVIC_SetPriority
 </UL>
-<BR>[Calls]<UL><LI><a href="#[41]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;SetSysClockTo72
+<BR>[Called By]<UL><LI><a href="#[52]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MyTimer_ConfigureEncoder
+</UL>
+
+<P><STRONG><a name="[57]"></a>__NVIC_EnableIRQ</STRONG> (Thumb, 48 bytes, Stack size 4 bytes, driver_timer.o(.text.__NVIC_EnableIRQ))
+<BR><BR>[Stack]<UL><LI>Max Depth = 4<LI>Call Chain = __NVIC_EnableIRQ
+</UL>
+<BR>[Called By]<UL><LI><a href="#[52]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MyTimer_ConfigureEncoder
+</UL>
+
+<P><STRONG><a name="[5a]"></a>SetSysClock</STRONG> (Thumb, 8 bytes, Stack size 8 bytes, system_stm32f10x.o(.text.SetSysClock))
+<BR><BR>[Stack]<UL><LI>Max Depth = 24<LI>Call Chain = SetSysClock &rArr; SetSysClockTo72
+</UL>
+<BR>[Calls]<UL><LI><a href="#[5b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;SetSysClockTo72
 </UL>
 <BR>[Called By]<UL><LI><a href="#[36]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;SystemInit
 </UL>

-<P><STRONG><a name="[41]"></a>SetSysClockTo72</STRONG> (Thumb, 214 bytes, Stack size 12 bytes, system_stm32f10x.o(i.SetSysClockTo72))
-<BR><BR>[Stack]<UL><LI>Max Depth = 12<LI>Call Chain = SetSysClockTo72
+<P><STRONG><a name="[5b]"></a>SetSysClockTo72</STRONG> (Thumb, 290 bytes, Stack size 16 bytes, system_stm32f10x.o(.text.SetSysClockTo72))
+<BR><BR>[Stack]<UL><LI>Max Depth = 16<LI>Call Chain = SetSysClockTo72
 </UL>
-<BR>[Called By]<UL><LI><a href="#[40]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;SetSysClock
+<BR>[Called By]<UL><LI><a href="#[5a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;SetSysClock
 </UL>
-<P>
-=======
-<P><STRONG><a name="[5c]"></a>_fp_digits</STRONG> (Thumb, 366 bytes, Stack size 64 bytes, printfa.o(i._fp_digits), UNUSED)
-<BR><BR>[Calls]<UL><LI><a href="#[43]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_uldivmod
-<LI><a href="#[4a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_ddiv
-<LI><a href="#[46]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_dadd
-<LI><a href="#[4b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_d2ulz
-<LI><a href="#[5d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_cdrcmple
+
+<P><STRONG><a name="[6a]"></a>_fp_digits</STRONG> (Thumb, 366 bytes, Stack size 64 bytes, printfa.o(i._fp_digits), UNUSED)
+<BR><BR>[Calls]<UL><LI><a href="#[44]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_uldivmod
+<LI><a href="#[4b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_ddiv
+<LI><a href="#[47]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_dadd
+<LI><a href="#[4c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_d2ulz
+<LI><a href="#[6b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_cdrcmple
 <LI><a href="#[3d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_dmul
 </UL>
-<BR>[Called By]<UL><LI><a href="#[5b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_core
+<BR>[Called By]<UL><LI><a href="#[69]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_core
 </UL>

-<P><STRONG><a name="[5b]"></a>_printf_core</STRONG> (Thumb, 1744 bytes, Stack size 136 bytes, printfa.o(i._printf_core), UNUSED)
-<BR><BR>[Calls]<UL><LI><a href="#[43]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_uldivmod
-<LI><a href="#[60]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_uidivmod
-<LI><a href="#[5e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_pre_padding
-<LI><a href="#[5f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_post_padding
-<LI><a href="#[5c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_fp_digits
+<P><STRONG><a name="[69]"></a>_printf_core</STRONG> (Thumb, 1744 bytes, Stack size 136 bytes, printfa.o(i._printf_core), UNUSED)
+<BR><BR>[Calls]<UL><LI><a href="#[44]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_uldivmod
+<LI><a href="#[6e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_uidivmod
+<LI><a href="#[6c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_pre_padding
+<LI><a href="#[6d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_post_padding
+<LI><a href="#[6a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_fp_digits
 </UL>
-<BR>[Called By]<UL><LI><a href="#[5a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__0sprintf
+<BR>[Called By]<UL><LI><a href="#[68]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__0sprintf
 </UL>

-<P><STRONG><a name="[5f]"></a>_printf_post_padding</STRONG> (Thumb, 36 bytes, Stack size 24 bytes, printfa.o(i._printf_post_padding), UNUSED)
-<BR><BR>[Called By]<UL><LI><a href="#[5b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_core
+<P><STRONG><a name="[6d]"></a>_printf_post_padding</STRONG> (Thumb, 36 bytes, Stack size 24 bytes, printfa.o(i._printf_post_padding), UNUSED)
+<BR><BR>[Called By]<UL><LI><a href="#[69]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_core
 </UL>

-<P><STRONG><a name="[5e]"></a>_printf_pre_padding</STRONG> (Thumb, 46 bytes, Stack size 24 bytes, printfa.o(i._printf_pre_padding), UNUSED)
-<BR><BR>[Called By]<UL><LI><a href="#[5b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_core
+<P><STRONG><a name="[6c]"></a>_printf_pre_padding</STRONG> (Thumb, 46 bytes, Stack size 24 bytes, printfa.o(i._printf_pre_padding), UNUSED)
+<BR><BR>[Called By]<UL><LI><a href="#[69]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_core
 </UL>

 <P><STRONG><a name="[38]"></a>_sputc</STRONG> (Thumb, 10 bytes, Stack size 0 bytes, printfa.o(i._sputc))
-<BR><BR>[Called By]<UL><LI><a href="#[5a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__0sprintf
+<BR><BR>[Called By]<UL><LI><a href="#[68]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__0sprintf
 </UL>
 <BR>[Address Reference Count : 1]<UL><LI> printfa.o(i.__0sprintf)
 </UL><P>
->>>>>>> encoder
 <H3>
 Undefined Global Symbols
 </H3><HR></body></html>
--- a/projet-voilier/Objects/projet-voilier_reel.lnp
+++ b/projet-voilier/Objects/projet-voilier_reel.lnp
@ -1,16 +1,11 @@
 --cpu Cortex-M3
 ".\objects\main.o"
 ".\objects\app_girouette.o"
+".\objects\app_orientation.o"
 ".\objects\driver_gpio.o"
 ".\objects\driver_timer.o"
-<<<<<<< HEAD
-".\objects\driver_adc.o"
-"..\driver\Lib_Com_Periph_2022.lib"
-".\objects\driver_imu.o"
-=======
 ".\objects\driver_uart.o"
 ".\objects\driver_adc.o"
->>>>>>> encoder
 ".\objects\startup_stm32f10x_md.o"
 ".\objects\system_stm32f10x.o"
 --library_type=microlib --ro-base 0x08000000 --entry 0x08000000 --rw-base 0x20000000 --entry Reset_Handler --first __Vectors --strict --summary_stderr --info summarysizes --map --load_addr_map_info --xref --callgraph --symbols
--- a/projet-voilier/Objects/projet-voilier_sim.dep
+++ b/projet-voilier/Objects/projet-voilier_sim.dep
@ -1,14 +1,6 @@
 Dependencies for Project 'projet-voilier', Target 'sim': (DO NOT MODIFY !)
 CompilerVersion: 6190000::V6.19::ARMCLANG
-<<<<<<< HEAD
-<<<<<<< HEAD
-F (.\src\main.c)(0x64300F40)(-xc -std=c90 --target=arm-arm-none-eabi -mcpu=cortex-m3 -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-D__EVAL -gdwarf-4 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../driver -I ./src

-I./RTE/Device/STM32F103RB

-I./RTE/_sim

-IC:/Users/robin/AppData/Local/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include

-IC:/Users/robin/AppData/Local/Arm/Packs/Keil/STM32F1xx_DFP/2.4.0/Device/Include

-D__UVISION_VERSION="538" -D_RTE_ -DSTM32F10X_MD -D_RTE_

-o ./objects/main.o -MD)
-=======
-F (.\src\main.c)(0x643507C6)(-xc -std=c90 --target=arm-arm-none-eabi -mcpu=cortex-m3 -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-D__EVAL -gdwarf-4 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../driver -I ./src

-I./RTE/Device/STM32F103RB

-I./RTE/_sim

-IC:/Users/robin/AppData/Local/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include

-IC:/Users/robin/AppData/Local/Arm/Packs/Keil/STM32F1xx_DFP/2.4.0/Device/Include

-D__UVISION_VERSION="538" -D_RTE_ -DSTM32F10X_MD -D_RTE_

-o ./objects/main.o -MD)
->>>>>>> encoder
-=======
-F (.\src\main.c)(0x64352014)(-xc -std=c90 --target=arm-arm-none-eabi -mcpu=cortex-m3 -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-D__EVAL -gdwarf-4 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../driver -I ./src

-I./RTE/Device/STM32F103RB

-I./RTE/_sim

-IC:/Users/robin/AppData/Local/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include

-IC:/Users/robin/AppData/Local/Arm/Packs/Keil/STM32F1xx_DFP/2.4.0/Device/Include

-D__UVISION_VERSION="538" -D_RTE_ -DSTM32F10X_MD -D_RTE_

-o ./objects/main.o -MD)
->>>>>>> encoder
+F (.\src\main.c)(0x64354D85)(-xc -std=c90 --target=arm-arm-none-eabi -mcpu=cortex-m3 -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-D__EVAL -gdwarf-4 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../driver -I ./src

-I./RTE/Device/STM32F103RB

-I./RTE/_sim

-IC:/Users/robin/AppData/Local/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include

-IC:/Users/robin/AppData/Local/Arm/Packs/Keil/STM32F1xx_DFP/2.4.0/Device/Include

-D__UVISION_VERSION="538" -D_RTE_ -DSTM32F10X_MD -D_RTE_

-o ./objects/main.o -MD)
 I (C:\Users\robin\AppData\Local\Arm\Packs\Keil\STM32F1xx_DFP\2.4.0\Device\Include\stm32f10x.h)(0x61ADDBCE)
 I (RTE\_sim\RTE_Components.h)(0x6421A260)
 I (C:\Users\robin\AppData\Local\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include\core_cm3.h)(0x626FAD4E)
@ -17,30 +9,14 @@ I (C:\Users\robin\AppData\Local\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include\cms
 I (C:\Users\robin\AppData\Local\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include\cmsis_compiler.h)(0x626FAD4E)
 I (C:\Users\robin\AppData\Local\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include\cmsis_armclang.h)(0x626FAD4E)
 I (C:\Users\robin\AppData\Local\Arm\Packs\Keil\STM32F1xx_DFP\2.4.0\Device\Include\system_stm32f10x.h)(0x61ADDBCE)
-<<<<<<< HEAD
-<<<<<<< HEAD
-I (..\driver\Driver_GPIO.h)(0x64300B3D)
-I (..\driver\Driver_Timer.h)(0x64300E6B)
-I (..\driver\Driver_UART.h)(0x642C85A4)
-I (..\driver\Driver_ADC.h)(0x64300B06)
-I (..\driver\MySPI.h)(0x64300B06)
-I (..\driver\Driver_IMU.h)(0x64300B06)
-F (..\driver\Driver_GPIO.c)(0x64300B3C)(-xc -std=c90 --target=arm-arm-none-eabi -mcpu=cortex-m3 -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-D__EVAL -gdwarf-4 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../driver -I ./src

-I./RTE/Device/STM32F103RB

-I./RTE/_sim

-IC:/Users/robin/AppData/Local/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include

-IC:/Users/robin/AppData/Local/Arm/Packs/Keil/STM32F1xx_DFP/2.4.0/Device/Include

-D__UVISION_VERSION="538" -D_RTE_ -DSTM32F10X_MD -D_RTE_

-o ./objects/driver_gpio.o -MD)
-I (..\driver\Driver_GPIO.h)(0x64300B3D)
-=======
-I (..\driver\Driver_GPIO.h)(0x64301005)
-I (..\driver\Driver_Timer.h)(0x64301005)
-I (..\driver\Driver_UART.h)(0x642C85A4)
-F (..\driver\Driver_GPIO.c)(0x643507C3)(-xc -std=c90 --target=arm-arm-none-eabi -mcpu=cortex-m3 -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-D__EVAL -gdwarf-4 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../driver -I ./src

-I./RTE/Device/STM32F103RB

-I./RTE/_sim

-IC:/Users/robin/AppData/Local/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include

-IC:/Users/robin/AppData/Local/Arm/Packs/Keil/STM32F1xx_DFP/2.4.0/Device/Include

-D__UVISION_VERSION="538" -D_RTE_ -DSTM32F10X_MD -D_RTE_

-o ./objects/driver_gpio.o -MD)
-I (..\driver\Driver_GPIO.h)(0x64301005)
->>>>>>> encoder
-=======
-I (..\driver\Driver_GPIO.h)(0x64351540)
-I (..\driver\Driver_Timer.h)(0x64351540)
-I (..\driver\Driver_UART.h)(0x642C85A4)
-I (src\App_girouette.h)(0x643516BD)
-F (.\src\App_girouette.c)(0x643517F2)(-xc -std=c90 --target=arm-arm-none-eabi -mcpu=cortex-m3 -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-D__EVAL -gdwarf-4 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../driver -I ./src

-I./RTE/Device/STM32F103RB

-I./RTE/_sim

-IC:/Users/robin/AppData/Local/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include

-IC:/Users/robin/AppData/Local/Arm/Packs/Keil/STM32F1xx_DFP/2.4.0/Device/Include

-D__UVISION_VERSION="538" -D_RTE_ -DSTM32F10X_MD -D_RTE_

-o ./objects/app_girouette.o -MD)
-I (src\App_girouette.h)(0x643516BD)
+I (..\driver\Driver_GPIO.h)(0x6435468D)
+I (..\driver\Driver_Timer.h)(0x6435468D)
+I (..\driver\Driver_UART.h)(0x6435459E)
+I (src\App_girouette.h)(0x6435459E)
+I (src\App_Orientation.h)(0x64354C74)
+I (C:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6388AB78)
+F (.\src\App_girouette.c)(0x6435459E)(-xc -std=c90 --target=arm-arm-none-eabi -mcpu=cortex-m3 -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-D__EVAL -gdwarf-4 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../driver -I ./src

-I./RTE/Device/STM32F103RB

-I./RTE/_sim

-IC:/Users/robin/AppData/Local/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include

-IC:/Users/robin/AppData/Local/Arm/Packs/Keil/STM32F1xx_DFP/2.4.0/Device/Include

-D__UVISION_VERSION="538" -D_RTE_ -DSTM32F10X_MD -D_RTE_

-o ./objects/app_girouette.o -MD)
+I (src\App_girouette.h)(0x6435459E)
 I (C:\Users\robin\AppData\Local\Arm\Packs\Keil\STM32F1xx_DFP\2.4.0\Device\Include\stm32f10x.h)(0x61ADDBCE)
 I (RTE\_sim\RTE_Components.h)(0x6421A260)
 I (C:\Users\robin\AppData\Local\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include\core_cm3.h)(0x626FAD4E)
@ -49,12 +25,11 @@ I (C:\Users\robin\AppData\Local\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include\cms
 I (C:\Users\robin\AppData\Local\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include\cmsis_compiler.h)(0x626FAD4E)
 I (C:\Users\robin\AppData\Local\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include\cmsis_armclang.h)(0x626FAD4E)
 I (C:\Users\robin\AppData\Local\Arm\Packs\Keil\STM32F1xx_DFP\2.4.0\Device\Include\system_stm32f10x.h)(0x61ADDBCE)
-I (..\driver\Driver_GPIO.h)(0x64351540)
-I (..\driver\Driver_Timer.h)(0x64351540)
-F (.\src\App_girouette.h)(0x643516BD)()
-F (..\driver\Driver_GPIO.c)(0x64351540)(-xc -std=c90 --target=arm-arm-none-eabi -mcpu=cortex-m3 -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-D__EVAL -gdwarf-4 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../driver -I ./src

-I./RTE/Device/STM32F103RB

-I./RTE/_sim

-IC:/Users/robin/AppData/Local/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include

-IC:/Users/robin/AppData/Local/Arm/Packs/Keil/STM32F1xx_DFP/2.4.0/Device/Include

-D__UVISION_VERSION="538" -D_RTE_ -DSTM32F10X_MD -D_RTE_

-o ./objects/driver_gpio.o -MD)
-I (..\driver\Driver_GPIO.h)(0x64351540)
->>>>>>> encoder
+I (..\driver\Driver_GPIO.h)(0x6435468D)
+I (..\driver\Driver_Timer.h)(0x6435468D)
+F (.\src\App_girouette.h)(0x6435459E)()
+F (.\src\App_Orientation.c)(0x64354B52)(-xc -std=c90 --target=arm-arm-none-eabi -mcpu=cortex-m3 -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-D__EVAL -gdwarf-4 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../driver -I ./src

-I./RTE/Device/STM32F103RB

-I./RTE/_sim

-IC:/Users/robin/AppData/Local/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include

-IC:/Users/robin/AppData/Local/Arm/Packs/Keil/STM32F1xx_DFP/2.4.0/Device/Include

-D__UVISION_VERSION="538" -D_RTE_ -DSTM32F10X_MD -D_RTE_

-o ./objects/app_orientation.o -MD)
+I (..\driver\Driver_GPIO.h)(0x6435468D)
 I (C:\Users\robin\AppData\Local\Arm\Packs\Keil\STM32F1xx_DFP\2.4.0\Device\Include\stm32f10x.h)(0x61ADDBCE)
 I (RTE\_sim\RTE_Components.h)(0x6421A260)
 I (C:\Users\robin\AppData\Local\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include\core_cm3.h)(0x626FAD4E)
@ -64,21 +39,11 @@ I (C:\Users\robin\AppData\Local\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include\cms
 I (C:\Users\robin\AppData\Local\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include\cmsis_armclang.h)(0x626FAD4E)
 I (C:\Users\robin\AppData\Local\Arm\Packs\Keil\STM32F1xx_DFP\2.4.0\Device\Include\system_stm32f10x.h)(0x61ADDBCE)
 I (C:\Keil_v5\ARM\ARMCLANG\include\stdio.h)(0x6388AB78)
-<<<<<<< HEAD
-<<<<<<< HEAD
-F (..\driver\Driver_GPIO.h)(0x64300B3D)()
-F (..\driver\Driver_Timer.c)(0x64300E52)(-xc -std=c90 --target=arm-arm-none-eabi -mcpu=cortex-m3 -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-D__EVAL -gdwarf-4 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../driver -I ./src

-I./RTE/Device/STM32F103RB

-I./RTE/_sim

-IC:/Users/robin/AppData/Local/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include

-IC:/Users/robin/AppData/Local/Arm/Packs/Keil/STM32F1xx_DFP/2.4.0/Device/Include

-D__UVISION_VERSION="538" -D_RTE_ -DSTM32F10X_MD -D_RTE_

-o ./objects/driver_timer.o -MD)
-I (..\driver\Driver_Timer.h)(0x64300E6B)
-=======
-F (..\driver\Driver_GPIO.h)(0x64301005)()
-F (..\driver\Driver_Timer.c)(0x64301341)(-xc -std=c90 --target=arm-arm-none-eabi -mcpu=cortex-m3 -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-D__EVAL -gdwarf-4 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../driver -I ./src

-I./RTE/Device/STM32F103RB

-I./RTE/_sim

-IC:/Users/robin/AppData/Local/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include

-IC:/Users/robin/AppData/Local/Arm/Packs/Keil/STM32F1xx_DFP/2.4.0/Device/Include

-D__UVISION_VERSION="538" -D_RTE_ -DSTM32F10X_MD -D_RTE_

-o ./objects/driver_timer.o -MD)
-I (..\driver\Driver_Timer.h)(0x64301005)
->>>>>>> encoder
-=======
-F (..\driver\Driver_GPIO.h)(0x64351540)()
-F (..\driver\Driver_Timer.c)(0x643517CC)(-xc -std=c90 --target=arm-arm-none-eabi -mcpu=cortex-m3 -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-D__EVAL -gdwarf-4 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../driver -I ./src

-I./RTE/Device/STM32F103RB

-I./RTE/_sim

-IC:/Users/robin/AppData/Local/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include

-IC:/Users/robin/AppData/Local/Arm/Packs/Keil/STM32F1xx_DFP/2.4.0/Device/Include

-D__UVISION_VERSION="538" -D_RTE_ -DSTM32F10X_MD -D_RTE_

-o ./objects/driver_timer.o -MD)
-I (..\driver\Driver_Timer.h)(0x64351540)
->>>>>>> encoder
+I (..\driver\Driver_UART.h)(0x6435459E)
+I (src\App_Orientation.h)(0x64354C74)
+F (.\src\App_Orientation.h)(0x64354C74)()
+F (..\driver\Driver_GPIO.c)(0x6435468D)(-xc -std=c90 --target=arm-arm-none-eabi -mcpu=cortex-m3 -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-D__EVAL -gdwarf-4 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../driver -I ./src

-I./RTE/Device/STM32F103RB

-I./RTE/_sim

-IC:/Users/robin/AppData/Local/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include

-IC:/Users/robin/AppData/Local/Arm/Packs/Keil/STM32F1xx_DFP/2.4.0/Device/Include

-D__UVISION_VERSION="538" -D_RTE_ -DSTM32F10X_MD -D_RTE_

-o ./objects/driver_gpio.o -MD)
+I (..\driver\Driver_GPIO.h)(0x6435468D)
 I (C:\Users\robin\AppData\Local\Arm\Packs\Keil\STM32F1xx_DFP\2.4.0\Device\Include\stm32f10x.h)(0x61ADDBCE)
 I (RTE\_sim\RTE_Components.h)(0x6421A260)
 I (C:\Users\robin\AppData\Local\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include\core_cm3.h)(0x626FAD4E)
@ -88,36 +53,9 @@ I (C:\Users\robin\AppData\Local\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include\cms
 I (C:\Users\robin\AppData\Local\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include\cmsis_armclang.h)(0x626FAD4E)
 I (C:\Users\robin\AppData\Local\Arm\Packs\Keil\STM32F1xx_DFP\2.4.0\Device\Include\system_stm32f10x.h)(0x61ADDBCE)
 I (C:\Keil_v5\ARM\ARMCLANG\include\stdio.h)(0x6388AB78)
-<<<<<<< HEAD
-<<<<<<< HEAD
-F (..\driver\Driver_Timer.h)(0x64300E6B)()
-=======
-F (..\driver\Driver_Timer.h)(0x64301005)()
->>>>>>> encoder
-F (..\driver\Driver_UART.c)(0x64300B0F)(-xc -std=c90 --target=arm-arm-none-eabi -mcpu=cortex-m3 -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-D__EVAL -gdwarf-4 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../driver -I ./src

-I./RTE/Device/STM32F103RB

-I./RTE/_sim

-IC:/Users/robin/AppData/Local/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include

-IC:/Users/robin/AppData/Local/Arm/Packs/Keil/STM32F1xx_DFP/2.4.0/Device/Include

-D__UVISION_VERSION="538" -D_RTE_ -DSTM32F10X_MD -D_RTE_

-o ./objects/driver_uart.o -MD)
-=======
-F (..\driver\Driver_Timer.h)(0x64351540)()
-F (..\driver\Driver_UART.c)(0x6435210E)(-xc -std=c90 --target=arm-arm-none-eabi -mcpu=cortex-m3 -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-D__EVAL -gdwarf-4 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../driver -I ./src

-I./RTE/Device/STM32F103RB

-I./RTE/_sim

-IC:/Users/robin/AppData/Local/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include

-IC:/Users/robin/AppData/Local/Arm/Packs/Keil/STM32F1xx_DFP/2.4.0/Device/Include

-D__UVISION_VERSION="538" -D_RTE_ -DSTM32F10X_MD -D_RTE_

-o ./objects/driver_uart.o -MD)
->>>>>>> encoder
-I (..\driver\Driver_UART.h)(0x642C85A4)
-I (C:\Users\robin\AppData\Local\Arm\Packs\Keil\STM32F1xx_DFP\2.4.0\Device\Include\stm32f10x.h)(0x61ADDBCE)
-I (RTE\_sim\RTE_Components.h)(0x6421A260)
-I (C:\Users\robin\AppData\Local\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include\core_cm3.h)(0x626FAD4E)
-I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6388AB78)
-I (C:\Users\robin\AppData\Local\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include\cmsis_version.h)(0x626FAD4E)
-I (C:\Users\robin\AppData\Local\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include\cmsis_compiler.h)(0x626FAD4E)
-I (C:\Users\robin\AppData\Local\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include\cmsis_armclang.h)(0x626FAD4E)
-I (C:\Users\robin\AppData\Local\Arm\Packs\Keil\STM32F1xx_DFP\2.4.0\Device\Include\system_stm32f10x.h)(0x61ADDBCE)
-F (..\driver\Driver_UART.h)(0x642C85A4)()
-<<<<<<< HEAD
-<<<<<<< HEAD
-F (..\driver\Driver_ADC.c)(0x64300B06)(-xc -std=c90 --target=arm-arm-none-eabi -mcpu=cortex-m3 -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-D__EVAL -gdwarf-4 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../driver -I ./src

-I./RTE/Device/STM32F103RB

-I./RTE/_sim

-IC:/Users/robin/AppData/Local/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include

-IC:/Users/robin/AppData/Local/Arm/Packs/Keil/STM32F1xx_DFP/2.4.0/Device/Include

-D__UVISION_VERSION="538" -D_RTE_ -DSTM32F10X_MD -D_RTE_

-o ./objects/driver_adc.o -MD)
-=======
-F (..\driver\Driver_ADC.c)(0x64301005)(-xc -std=c90 --target=arm-arm-none-eabi -mcpu=cortex-m3 -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-D__EVAL -gdwarf-4 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../driver -I ./src

-I./RTE/Device/STM32F103RB

-I./RTE/_sim

-IC:/Users/robin/AppData/Local/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include

-IC:/Users/robin/AppData/Local/Arm/Packs/Keil/STM32F1xx_DFP/2.4.0/Device/Include

-D__UVISION_VERSION="538" -D_RTE_ -DSTM32F10X_MD -D_RTE_

-o ./objects/driver_adc.o -MD)
->>>>>>> encoder
-=======
-F (..\driver\Driver_ADC.c)(0x64351540)(-xc -std=c90 --target=arm-arm-none-eabi -mcpu=cortex-m3 -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-D__EVAL -gdwarf-4 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../driver -I ./src

-I./RTE/Device/STM32F103RB

-I./RTE/_sim

-IC:/Users/robin/AppData/Local/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include

-IC:/Users/robin/AppData/Local/Arm/Packs/Keil/STM32F1xx_DFP/2.4.0/Device/Include

-D__UVISION_VERSION="538" -D_RTE_ -DSTM32F10X_MD -D_RTE_

-o ./objects/driver_adc.o -MD)
->>>>>>> encoder
+F (..\driver\Driver_GPIO.h)(0x6435468D)()
+F (..\driver\Driver_Timer.c)(0x64354E19)(-xc -std=c90 --target=arm-arm-none-eabi -mcpu=cortex-m3 -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-D__EVAL -gdwarf-4 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../driver -I ./src

-I./RTE/Device/STM32F103RB

-I./RTE/_sim

-IC:/Users/robin/AppData/Local/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include

-IC:/Users/robin/AppData/Local/Arm/Packs/Keil/STM32F1xx_DFP/2.4.0/Device/Include

-D__UVISION_VERSION="538" -D_RTE_ -DSTM32F10X_MD -D_RTE_

-o ./objects/driver_timer.o -MD)
+I (..\driver\Driver_Timer.h)(0x6435468D)
 I (C:\Users\robin\AppData\Local\Arm\Packs\Keil\STM32F1xx_DFP\2.4.0\Device\Include\stm32f10x.h)(0x61ADDBCE)
 I (RTE\_sim\RTE_Components.h)(0x6421A260)
 I (C:\Users\robin\AppData\Local\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include\core_cm3.h)(0x626FAD4E)
@ -127,12 +65,9 @@ I (C:\Users\robin\AppData\Local\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include\cms
 I (C:\Users\robin\AppData\Local\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include\cmsis_armclang.h)(0x626FAD4E)
 I (C:\Users\robin\AppData\Local\Arm\Packs\Keil\STM32F1xx_DFP\2.4.0\Device\Include\system_stm32f10x.h)(0x61ADDBCE)
 I (C:\Keil_v5\ARM\ARMCLANG\include\stdio.h)(0x6388AB78)
-<<<<<<< HEAD
-<<<<<<< HEAD
-I (..\driver\Driver_ADC.h)(0x64300B06)
-F (..\driver\Driver_ADC.h)(0x64300B06)()
-F (..\driver\Driver_IMU.c)(0x64300B06)(-xc -std=c90 --target=arm-arm-none-eabi -mcpu=cortex-m3 -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-D__EVAL -gdwarf-4 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../driver -I ./src

-I./RTE/Device/STM32F103RB

-I./RTE/_sim

-IC:/Users/robin/AppData/Local/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include

-IC:/Users/robin/AppData/Local/Arm/Packs/Keil/STM32F1xx_DFP/2.4.0/Device/Include

-D__UVISION_VERSION="538" -D_RTE_ -DSTM32F10X_MD -D_RTE_

-o ./objects/driver_imu.o -MD)
-I (..\driver\MySpi.h)(0x64300B06)
+F (..\driver\Driver_Timer.h)(0x6435468D)()
+F (..\driver\Driver_UART.c)(0x6435459E)(-xc -std=c90 --target=arm-arm-none-eabi -mcpu=cortex-m3 -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-D__EVAL -gdwarf-4 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../driver -I ./src

-I./RTE/Device/STM32F103RB

-I./RTE/_sim

-IC:/Users/robin/AppData/Local/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include

-IC:/Users/robin/AppData/Local/Arm/Packs/Keil/STM32F1xx_DFP/2.4.0/Device/Include

-D__UVISION_VERSION="538" -D_RTE_ -DSTM32F10X_MD -D_RTE_

-o ./objects/driver_uart.o -MD)
+I (..\driver\Driver_UART.h)(0x6435459E)
 I (C:\Users\robin\AppData\Local\Arm\Packs\Keil\STM32F1xx_DFP\2.4.0\Device\Include\stm32f10x.h)(0x61ADDBCE)
 I (RTE\_sim\RTE_Components.h)(0x6421A260)
 I (C:\Users\robin\AppData\Local\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include\core_cm3.h)(0x626FAD4E)
@ -141,18 +76,19 @@ I (C:\Users\robin\AppData\Local\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include\cms
 I (C:\Users\robin\AppData\Local\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include\cmsis_compiler.h)(0x626FAD4E)
 I (C:\Users\robin\AppData\Local\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include\cmsis_armclang.h)(0x626FAD4E)
 I (C:\Users\robin\AppData\Local\Arm\Packs\Keil\STM32F1xx_DFP\2.4.0\Device\Include\system_stm32f10x.h)(0x61ADDBCE)
-F (..\driver\Driver_IMU.h)(0x64300B06)()
-F (..\driver\MyI2C.h)(0x64300B06)()
-F (..\driver\MySPI.h)(0x64300B06)()
-F (..\driver\Lib_Com_Periph_2022.lib)(0x64300B06)()
-=======
-I (..\driver\Driver_ADC.h)(0x64301005)
-F (..\driver\Driver_ADC.h)(0x64301005)()
->>>>>>> encoder
-=======
-I (..\driver\Driver_ADC.h)(0x64351540)
-F (..\driver\Driver_ADC.h)(0x64351540)()
->>>>>>> encoder
+F (..\driver\Driver_UART.h)(0x6435459E)()
+F (..\driver\Driver_ADC.c)(0x6435468D)(-xc -std=c90 --target=arm-arm-none-eabi -mcpu=cortex-m3 -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-D__EVAL -gdwarf-4 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../driver -I ./src

-I./RTE/Device/STM32F103RB

-I./RTE/_sim

-IC:/Users/robin/AppData/Local/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include

-IC:/Users/robin/AppData/Local/Arm/Packs/Keil/STM32F1xx_DFP/2.4.0/Device/Include

-D__UVISION_VERSION="538" -D_RTE_ -DSTM32F10X_MD -D_RTE_

-o ./objects/driver_adc.o -MD)
+I (C:\Users\robin\AppData\Local\Arm\Packs\Keil\STM32F1xx_DFP\2.4.0\Device\Include\stm32f10x.h)(0x61ADDBCE)
+I (RTE\_sim\RTE_Components.h)(0x6421A260)
+I (C:\Users\robin\AppData\Local\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include\core_cm3.h)(0x626FAD4E)
+I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6388AB78)
+I (C:\Users\robin\AppData\Local\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include\cmsis_version.h)(0x626FAD4E)
+I (C:\Users\robin\AppData\Local\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include\cmsis_compiler.h)(0x626FAD4E)
+I (C:\Users\robin\AppData\Local\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include\cmsis_armclang.h)(0x626FAD4E)
+I (C:\Users\robin\AppData\Local\Arm\Packs\Keil\STM32F1xx_DFP\2.4.0\Device\Include\system_stm32f10x.h)(0x61ADDBCE)
+I (C:\Keil_v5\ARM\ARMCLANG\include\stdio.h)(0x6388AB78)
+I (..\driver\Driver_ADC.h)(0x6435468D)
+F (..\driver\Driver_ADC.h)(0x6435468D)()
 F (RTE/Device/STM32F103RB/RTE_Device.h)(0x641B050C)()
 F (RTE/Device/STM32F103RB/startup_stm32f10x_md.s)(0x641B050C)(--target=arm-arm-none-eabi -mcpu=cortex-m3 -masm=auto  -Wa,armasm,--diag_suppress=A1950W -c

-gdwarf-4 -Wa,armasm,--pd,"__EVAL SETA 1"

-I./RTE/Device/STM32F103RB

-I./RTE/_sim

-IC:/Users/robin/AppData/Local/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include

-IC:/Users/robin/AppData/Local/Arm/Packs/Keil/STM32F1xx_DFP/2.4.0/Device/Include

-Wa,armasm,--pd,"__UVISION_VERSION SETA 538" -Wa,armasm,--pd,"_RTE_ SETA 1" -Wa,armasm,--pd,"STM32F10X_MD SETA 1" -Wa,armasm,--pd,"_RTE_ SETA 1"

-o ./objects/startup_stm32f10x_md.o)
 F (RTE/Device/STM32F103RB/system_stm32f10x.c)(0x641B050C)(-xc -std=c90 --target=arm-arm-none-eabi -mcpu=cortex-m3 -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-D__EVAL -gdwarf-4 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../driver -I ./src

-I./RTE/Device/STM32F103RB

-I./RTE/_sim

-IC:/Users/robin/AppData/Local/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include

-IC:/Users/robin/AppData/Local/Arm/Packs/Keil/STM32F1xx_DFP/2.4.0/Device/Include

-D__UVISION_VERSION="538" -D_RTE_ -DSTM32F10X_MD -D_RTE_

-o ./objects/system_stm32f10x.o -MD)
--- a/projet-voilier/Objects/system_stm32f10x.crf
+++ b/projet-voilier/Objects/system_stm32f10x.crf
--- a/projet-voilier/Objects/system_stm32f10x.o
+++ b/projet-voilier/Objects/system_stm32f10x.o
--- a/projet-voilier/projet-voilier.uvguix.robin
+++ b/projet-voilier/projet-voilier.uvguix.robin
--- a/projet-voilier/projet-voilier.uvguix.sanch
+++ b/projet-voilier/projet-voilier.uvguix.sanch
--- a/projet-voilier/projet-voilier.uvoptx
+++ b/projet-voilier/projet-voilier.uvoptx
@ -79,8 +79,8 @@
      </OPTFL>
      <CpuCode>18</CpuCode>
      <DebugOpt>
-        <uSim>0</uSim>
-        <uTrg>1</uTrg>
+        <uSim>1</uSim>
+        <uTrg>0</uTrg>
        <sLdApp>1</sLdApp>
        <sGomain>1</sGomain>
        <sRbreak>1</sRbreak>
@ -117,6 +117,11 @@
        <pMon>STLink\ST-LINKIII-KEIL_SWO.dll</pMon>
      </DebugOpt>
      <TargetDriverDllRegistry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>DLGDARM</Key>
+          <Name>(1010=-1,-1,-1,-1,0)(1007=-1,-1,-1,-1,0)(1008=-1,-1,-1,-1,0)(1009=-1,-1,-1,-1,0)(100=-1,-1,-1,-1,0)(110=-1,-1,-1,-1,0)(111=-1,-1,-1,-1,0)(1011=-1,-1,-1,-1,0)(180=-1,-1,-1,-1,0)(120=75,104,496,531,1)(121=-1,-1,-1,-1,0)(122=-1,-1,-1,-1,0)(123=-1,-1,-1,-1,0)(140=-1,-1,-1,-1,0)(240=-1,-1,-1,-1,0)(190=-1,-1,-1,-1,0)(200=-1,-1,-1,-1,0)(170=-1,-1,-1,-1,0)(130=-1,-1,-1,-1,0)(131=-1,-1,-1,-1,0)(132=882,149,1476,900,1)(133=-1,-1,-1,-1,0)(160=-1,-1,-1,-1,0)(161=-1,-1,-1,-1,0)(162=-1,-1,-1,-1,0)(210=-1,-1,-1,-1,0)(211=-1,-1,-1,-1,0)(220=-1,-1,-1,-1,0)(221=-1,-1,-1,-1,0)(230=-1,-1,-1,-1,0)(234=-1,-1,-1,-1,0)(231=-1,-1,-1,-1,0)(232=-1,-1,-1,-1,0)(233=-1,-1,-1,-1,0)(150=-1,-1,-1,-1,0)(151=-1,-1,-1,-1,0)</Name>
+        </SetRegEntry>
        <SetRegEntry>
          <Number>0</Number>
          <Key>ARMRTXEVENTFLAGS</Key>
@ -130,7 +135,7 @@
        <SetRegEntry>
          <Number>0</Number>
          <Key>ARMDBGFLAGS</Key>
-          <Name></Name>
+          <Name>-T0</Name>
        </SetRegEntry>
        <SetRegEntry>
          <Number>0</Number>
@ -148,40 +153,7 @@
          <Name>UL2CM3(-S0 -C0 -P0 -FD20000000 -FC1000 -FN1 -FF0STM32F10x_128 -FS08000000 -FL020000 -FP0($$Device:STM32F103RB$Flash\STM32F10x_128.FLM))</Name>
        </SetRegEntry>
      </TargetDriverDllRegistry>
-      <Breakpoint>
-        <Bp>
-          <Number>0</Number>
-          <Type>0</Type>
-          <LineNumber>50</LineNumber>
-          <EnabledFlag>1</EnabledFlag>
-          <Address>134219480</Address>
-          <ByteObject>0</ByteObject>
-          <HtxType>0</HtxType>
-          <ManyObjects>0</ManyObjects>
-          <SizeOfObject>0</SizeOfObject>
-          <BreakByAccess>0</BreakByAccess>
-          <BreakIfRCount>1</BreakIfRCount>
-          <Filename>.\src\main.c</Filename>
-          <ExecCommand></ExecCommand>
-          <Expression>\\projet_voilier\src/main.c\50</Expression>
-        </Bp>
-        <Bp>
-          <Number>1</Number>
-          <Type>0</Type>
-          <LineNumber>27</LineNumber>
-          <EnabledFlag>1</EnabledFlag>
-          <Address>134219466</Address>
-          <ByteObject>0</ByteObject>
-          <HtxType>0</HtxType>
-          <ManyObjects>0</ManyObjects>
-          <SizeOfObject>0</SizeOfObject>
-          <BreakByAccess>0</BreakByAccess>
-          <BreakIfRCount>1</BreakIfRCount>
-          <Filename>.\src\main.c</Filename>
-          <ExecCommand></ExecCommand>
-          <Expression>\\projet_voilier\src/main.c\27</Expression>
-        </Bp>
-      </Breakpoint>
+      <Breakpoint/>
      <Tracepoint>
        <THDelay>0</THDelay>
      </Tracepoint>
@ -338,7 +310,7 @@
        <SetRegEntry>
          <Number>0</Number>
          <Key>DLGTARM</Key>
-          <Name>(1010=-1,-1,-1,-1,0)(1007=-1,-1,-1,-1,0)(1008=-1,-1,-1,-1,0)(1009=-1,-1,-1,-1,0)(100=16,47,662,720,0)(110=61,96,281,556,0)(111=-1,-1,-1,-1,0)(1011=-1,-1,-1,-1,0)(180=-1,-1,-1,-1,0)(120=942,311,1363,716,0)(121=961,76,1382,481,0)(122=1030,235,1451,640,0)(123=-1,-1,-1,-1,0)(140=-1,-1,-1,-1,0)(240=105,137,504,482,0)(190=-1,-1,-1,-1,0)(200=-1,-1,-1,-1,0)(170=120,153,405,449,0)(130=-1,-1,-1,-1,0)(131=418,192,1012,886,0)(132=207,214,801,908,0)(133=955,258,1549,952,1)(160=-1,-1,-1,-1,0)(161=978,399,1426,813,0)(162=455,416,903,830,0)(210=-1,-1,-1,-1,0)(211=-1,-1,-1,-1,0)(220=-1,-1,-1,-1,0)(221=-1,-1,-1,-1,0)(230=-1,-1,-1,-1,0)(231=-1,-1,-1,-1,0)(232=-1,-1,-1,-1,0)(233=-1,-1,-1,-1,0)(150=-1,-1,-1,-1,0)(151=-1,-1,-1,-1,0)</Name>
+          <Name>(1010=-1,-1,-1,-1,0)(1007=-1,-1,-1,-1,0)(1008=-1,-1,-1,-1,0)(1009=-1,-1,-1,-1,0)(100=16,47,662,720,0)(110=61,96,281,556,0)(111=-1,-1,-1,-1,0)(1011=-1,-1,-1,-1,0)(180=-1,-1,-1,-1,0)(120=495,261,916,666,0)(121=961,76,1382,481,0)(122=1030,235,1451,640,1)(123=-1,-1,-1,-1,0)(140=-1,-1,-1,-1,0)(240=105,137,504,482,0)(190=-1,-1,-1,-1,0)(200=-1,-1,-1,-1,0)(170=120,153,405,449,0)(130=-1,-1,-1,-1,0)(131=418,192,1012,886,0)(132=591,257,1185,951,0)(133=955,258,1549,952,0)(160=-1,-1,-1,-1,0)(161=978,399,1426,813,0)(162=455,416,903,830,0)(210=-1,-1,-1,-1,0)(211=-1,-1,-1,-1,0)(220=-1,-1,-1,-1,0)(221=-1,-1,-1,-1,0)(230=-1,-1,-1,-1,0)(231=-1,-1,-1,-1,0)(232=-1,-1,-1,-1,0)(233=-1,-1,-1,-1,0)(150=-1,-1,-1,-1,0)(151=-1,-1,-1,-1,0)</Name>
        </SetRegEntry>
        <SetRegEntry>
          <Number>0</Number>
@ -378,6 +350,38 @@
          <ExecCommand></ExecCommand>
          <Expression>\\projet_voilier_reel\RTE/Device/STM32F103RB/system_stm32f10x.c\409</Expression>
        </Bp>
+        <Bp>
+          <Number>1</Number>
+          <Type>0</Type>
+          <LineNumber>26</LineNumber>
+          <EnabledFlag>1</EnabledFlag>
+          <Address>134221086</Address>
+          <ByteObject>0</ByteObject>
+          <HtxType>0</HtxType>
+          <ManyObjects>0</ManyObjects>
+          <SizeOfObject>0</SizeOfObject>
+          <BreakByAccess>0</BreakByAccess>
+          <BreakIfRCount>1</BreakIfRCount>
+          <Filename>.\src\main.c</Filename>
+          <ExecCommand></ExecCommand>
+          <Expression>\\projet_voilier_reel\src/main.c\26</Expression>
+        </Bp>
+        <Bp>
+          <Number>2</Number>
+          <Type>0</Type>
+          <LineNumber>21</LineNumber>
+          <EnabledFlag>1</EnabledFlag>
+          <Address>134221068</Address>
+          <ByteObject>0</ByteObject>
+          <HtxType>0</HtxType>
+          <ManyObjects>0</ManyObjects>
+          <SizeOfObject>0</SizeOfObject>
+          <BreakByAccess>0</BreakByAccess>
+          <BreakIfRCount>1</BreakIfRCount>
+          <Filename>.\src\main.c</Filename>
+          <ExecCommand></ExecCommand>
+          <Expression>\\projet_voilier_reel\src/main.c\21</Expression>
+        </Bp>
      </Breakpoint>
      <Tracepoint>
        <THDelay>0</THDelay>
@ -473,6 +477,30 @@
      <RteFlg>0</RteFlg>
      <bShared>0</bShared>
    </File>
+    <File>
+      <GroupNumber>1</GroupNumber>
+      <FileNumber>4</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>.\src\App_Orientation.c</PathWithFileName>
+      <FilenameWithoutPath>App_Orientation.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>1</GroupNumber>
+      <FileNumber>5</FileNumber>
+      <FileType>5</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>.\src\App_Orientation.h</PathWithFileName>
+      <FilenameWithoutPath>App_Orientation.h</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
  </Group>

  <Group>
@ -483,7 +511,7 @@
    <RteFlg>0</RteFlg>
    <File>
      <GroupNumber>2</GroupNumber>
-      <FileNumber>4</FileNumber>
+      <FileNumber>6</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@ -495,7 +523,7 @@
    </File>
    <File>
      <GroupNumber>2</GroupNumber>
-      <FileNumber>5</FileNumber>
+      <FileNumber>7</FileNumber>
      <FileType>5</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@ -507,7 +535,7 @@
    </File>
    <File>
      <GroupNumber>2</GroupNumber>
-      <FileNumber>6</FileNumber>
+      <FileNumber>8</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@ -519,7 +547,7 @@
    </File>
    <File>
      <GroupNumber>2</GroupNumber>
-      <FileNumber>7</FileNumber>
+      <FileNumber>9</FileNumber>
      <FileType>5</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@ -531,7 +559,7 @@
    </File>
    <File>
      <GroupNumber>2</GroupNumber>
-      <FileNumber>8</FileNumber>
+      <FileNumber>10</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@ -543,7 +571,7 @@
    </File>
    <File>
      <GroupNumber>2</GroupNumber>
-      <FileNumber>9</FileNumber>
+      <FileNumber>11</FileNumber>
      <FileType>5</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@ -555,7 +583,7 @@
    </File>
    <File>
      <GroupNumber>2</GroupNumber>
-      <FileNumber>10</FileNumber>
+      <FileNumber>12</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@ -567,7 +595,7 @@
    </File>
    <File>
      <GroupNumber>2</GroupNumber>
-      <FileNumber>11</FileNumber>
+      <FileNumber>13</FileNumber>
      <FileType>5</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
--- a/projet-voilier/projet-voilier.uvprojx
+++ b/projet-voilier/projet-voilier.uvprojx
@ -399,6 +399,16 @@
              <FileType>5</FileType>
              <FilePath>.\src\App_girouette.h</FilePath>
            </File>
+            <File>
+              <FileName>App_Orientation.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>.\src\App_Orientation.c</FilePath>
+            </File>
+            <File>
+              <FileName>App_Orientation.h</FileName>
+              <FileType>5</FileType>
+              <FilePath>.\src\App_Orientation.h</FilePath>
+            </File>
          </Files>
        </Group>
        <Group>
@ -762,7 +772,7 @@
          </ArmAdsMisc>
          <Cads>
            <interw>1</interw>
-            <Optim>2</Optim>
+            <Optim>1</Optim>
            <oTime>0</oTime>
            <SplitLS>0</SplitLS>
            <OneElfS>1</OneElfS>
@ -847,6 +857,16 @@
              <FileType>5</FileType>
              <FilePath>.\src\App_girouette.h</FilePath>
            </File>
+            <File>
+              <FileName>App_Orientation.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>.\src\App_Orientation.c</FilePath>
+            </File>
+            <File>
+              <FileName>App_Orientation.h</FileName>
+              <FileType>5</FileType>
+              <FilePath>.\src\App_Orientation.h</FilePath>
+            </File>
          </Files>
        </Group>
        <Group>
--- a/projet-voilier/src/App_Orientation.c
+++ b/projet-voilier/src/App_Orientation.c
@ -0,0 +1,41 @@
+#include "Driver_GPIO.h"
+#include "stm32f10x.h"
+#include "stdio.h"
+#include "Driver_UART.h"
+
+#include "App_Orientation.h"
+
+MyUART_Struct_TypeDef MY_UART;
+
+void telecommande_init(void)
+{
+	MyGPIO_Struct_TypeDef UART;
+	UART.GPIO_Pin = 10;
+	UART.GPIO_Conf = AltOut_Ppull;
+	UART.GPIO = GPIOB;
+	MyGPIO_Init(&UART);
+
+	UART.GPIO_Pin = 11;
+	UART.GPIO_Conf = In_Floating;
+	UART.GPIO = GPIOB;
+	MyGPIO_Init(&UART);
+
+	//MyUART_Struct_TypeDef MY_UART;
+	MY_UART.baudrate = 9600;
+	MY_UART.UART = USART3; // USART3_TX : PB10
+	MyUART_Init(&MY_UART);
+}
+
+char Telecommande_Get_Dir(void)
+{
+	return MyUART_ReceiveByte(&MY_UART);
+}
+
+void Telecommande_Send_Data(const char *str) {
+  // Envoyer chaque caractère de la chaîne
+  while (*str != '\0') {
+    MyUART_SendByte(&MY_UART, *str);
+    str++;
+  }
+}
+
--- a/projet-voilier/src/App_Orientation.h
+++ b/projet-voilier/src/App_Orientation.h
@ -0,0 +1,8 @@
+#ifndef ORIENTATION_H
+#define ORIENTATION_H
+
+void telecommande_init(void);
+uint16_t App_Girouette_GetDirection(void);
+void Telecommande_Send_Data(const char *str);
+
+#endif
--- a/projet-voilier/src/girouette.c
+++ b/projet-voilier/src/girouette.c
--- a/projet-voilier/src/main.c
+++ b/projet-voilier/src/main.c
@ -2,42 +2,40 @@
 #include "Driver_GPIO.h"
 #include "Driver_Timer.h"
 #include "Driver_UART.h"
-//=======
-#include "Driver_ADC.h"
-#include "MySPI.h"
-#include "Driver_IMU.h"
-
-
-//Applications
-
-MyGPIO_Struct_TypeDef TI1;
-
-MyGPIO_Struct_TypeDef TI2;
-
-
-MyTimer_Struct_TypeDef Encoder;
-Encoder->Timer = TIM4;
-MyTimer_Base_Init(&Encoder);
-MyTimer_ConfigureEncoder(&Encoder);
-MyTimer_Start(&Encoder);

 // Application
 #include "App_girouette.h"
+#include "App_Orientation.h"
+
+// Utils
+#include "math.h"

 int main() {

+	MyGPIO_Struct_TypeDef Gir_IDX;
+	Gir_IDX.GPIO = GPIOC;
+	Gir_IDX.GPIO_Conf = In_PullUp;
+	Gir_IDX.GPIO_Pin = 9;
+	MyGPIO_Init(&Gir_IDX);
+
+	while(!MyGPIO_Read(Gir_IDX.GPIO, 9) != 0);
+
+
+
 	MyGPIO_Struct_TypeDef PWM_GPIO;
 	PWM_GPIO.GPIO_Pin = 1;
 	PWM_GPIO.GPIO_Conf = AltOut_Ppull;
 	PWM_GPIO.GPIO = GPIOA;
 	MyGPIO_Init(&PWM_GPIO);

-	PWM_GPIO.GPIO_Pin = 0;
+	PWM_GPIO.GPIO_Pin = 6;
 	PWM_GPIO.GPIO_Conf = AltOut_Ppull;
 	PWM_GPIO.GPIO = GPIOA;
 	MyGPIO_Init(&PWM_GPIO);

 	
+	
+
 	MyTimer_Struct_TypeDef PWM_VOILE;
 	PWM_VOILE.Timer = TIM2;
 	PWM_VOILE.PSC = 7200;
@ -48,14 +46,14 @@ int main() {
 	MyTimer_Start(&PWM_VOILE);


-	// MyTimer_Struct_TypeDef PWM_PLATEAU;
-	// PWM_PLATEAU.Timer = TIM2;
-	// PWM_PLATEAU.PSC = 7200;
-	// PWM_PLATEAU.ARR = 200;
-	// PWM_PLATEAU.channel = 1;
-	// MyTimer_Base_Init(&PWM_PLATEAU);
-	// MyTimer_ConfigurePWM(&PWM_PLATEAU, 60);
-	// MyTimer_Start(&PWM_PLATEAU);
+	MyTimer_Struct_TypeDef PWM_PLATEAU;
+	PWM_PLATEAU.Timer = TIM3; 
+	PWM_PLATEAU.PSC = 7200;
+	PWM_PLATEAU.ARR = 200;
+	PWM_PLATEAU.channel = 1; // PA6
+	MyTimer_Base_Init(&PWM_PLATEAU);
+	MyTimer_ConfigurePWM(&PWM_PLATEAU, 50);
+	MyTimer_Start(&PWM_PLATEAU);



@ -89,9 +87,18 @@ int main() {
 	// RX: PB11


+	// Direction plateau
+	MyGPIO_Struct_TypeDef DirPlateau;
+	DirPlateau.GPIO_Pin = 9;
+	DirPlateau.GPIO = GPIOB;
+	DirPlateau.GPIO_Conf = Out_Ppull;
+	MyGPIO_Init(&DirPlateau);
+
+
+
 	// Initialisation
 	App_Girouette_Init();
-
+	telecommande_init();



@ -102,6 +109,7 @@ int main() {
 	while(1) {
 	
 		int dir = App_Girouette_GetDirection();
+		signed char tc = Telecommande_Get_Dir();

 		
 		if ((dir >= 335) && (dir < 25)) {				//Vent debout
@ -122,6 +130,14 @@ int main() {
 		}


+		if (tc > 0) {
+			MyGPIO_Set(DirPlateau.GPIO, 9);
+		} else {
+			MyGPIO_Reset(DirPlateau.GPIO, 9);
+		}
+
+		MyTimer_SetPWMDutyCycle(&PWM_PLATEAU, abs(tc));		
+

 		
 		char str[32];
Author	SHA1	Message	Date
Clément Gauché	5bf3dc3397	Ajout du README.md	2023-04-17 19:33:28 +02:00
Robin M	78171ec308	Girouette IDX done	2023-04-11 15:03:30 +02:00