From 0669098ea85f244ba265d37677505e1b2af7a473 Mon Sep 17 00:00:00 2001
From: William Woodward <woodward@insa-toulouse.fr>
Date: Mon, 1 Dec 2025 18:33:57 +0100
Subject: [PATCH] Ajout girouette/bordage

---
 Services/Girouette.c | 51 ++++++++++++++++++++++++++++++++++++++++++++
 Services/Girouette.h | 15 +++++++++++++
 Services/bordage.c   | 30 ++++++++++++++++++++++++++
 Services/bordage.h   |  9 ++++++++
 4 files changed, 105 insertions(+)
 create mode 100644 Services/Girouette.c
 create mode 100644 Services/Girouette.h
 create mode 100644 Services/bordage.c
 create mode 100644 Services/bordage.h

diff --git a/Services/Girouette.c b/Services/Girouette.c
new file mode 100644
index 0000000..ac26b68
--- /dev/null
+++ b/Services/Girouette.c
@@ -0,0 +1,51 @@
+#include <stm32f10x.h>
+#include <Girouette.h>
+#include <MyTimer.h>
+#include <GPIO.h>
+
+void (*Ptr_fct_girouette) (void);
+
+void Timer_Counter (TIM_TypeDef *Timer) {
+	Timer->CCMR1 |= TIM_CCMR1_CC1S_0;
+	Timer->CCMR1 |= TIM_CCMR1_CC2S_0;
+	
+	Timer->CCER &= ~(TIM_CCER_CC1P);
+	Timer->CCER &= ~(TIM_CCER_CC1NP);
+	Timer->CCMR1 &= ~(TIM_CCMR1_IC1F);
+	
+	Timer->CCER &= ~(TIM_CCER_CC2P);
+	Timer->CCER &= ~(TIM_CCER_CC2NP);
+	Timer->CCMR1 &= ~(TIM_CCMR1_IC2F);
+	Timer->SMCR |= 0x0003;
+	Timer->CR1 |= TIM_CR1_CEN;
+}
+
+void Init_girouette (){
+	MyTimer_Init(TIM4, 1440, 1);
+	MyTimer_Base_Start(TIM4);
+	MyGPIO_Init(GPIOB, 6, In_Floating);
+	MyGPIO_Init(GPIOB, 7, In_Floating);
+	MyGPIO_Init(GPIOA, 12, In_Floating);
+	Init_Interrupt(3, LafonctGirouette);
+	Timer_Counter(TIM4);
+}
+
+//Fonctio girouette appeler pour l'interruption
+void LafonctGirouette(){
+	TIM4->CNT = 0;
+}
+
+void Init_Interrupt(char Prio, void (*IT_function) (void)){
+	RCC->APB2ENR |= RCC_APB2ENR_AFIOEN;
+	AFIO->EXTICR[3] &= ~(0xF);
+	EXTI->IMR |= 1<<12;
+	EXTI->RTSR |= 1<<12;
+	NVIC->ISER[1] |= NVIC_ISER_SETENA_8; // exti 12 on s'est trompé mais normalement c'est bo mtn
+	Ptr_fct_girouette = IT_function;
+	NVIC->IPR[40] = Prio<<4;
+}
+
+void EXTI15_10_IRQHandler (){
+	EXTI->PR |= 1 << 12;
+	Ptr_fct_girouette();
+}
diff --git a/Services/Girouette.h b/Services/Girouette.h
new file mode 100644
index 0000000..2d3d297
--- /dev/null
+++ b/Services/Girouette.h
@@ -0,0 +1,15 @@
+#ifndef GIROUETTE_H
+#define GIROUETTE_H
+#include "stm32f10x.h"
+
+
+void Init_Interrupt(char Prio, void (*IT_function) (void));
+	
+void EXTI0_IRQHandler();
+		
+void LafonctGirouette ();
+
+void Init_girouette ();
+
+void LafonctGirouette();
+#endif
\ No newline at end of file
diff --git a/Services/bordage.c b/Services/bordage.c
new file mode 100644
index 0000000..ba7dfe8
--- /dev/null
+++ b/Services/bordage.c
@@ -0,0 +1,30 @@
+#include "stm32f10x.h"
+#include <GPIO.h>
+#include <bordage.h>
+#include <MyTimer.h>
+
+void Init_bordage(TIM_TypeDef *Timer, char channel, unsigned short ValARR, unsigned short ValPSC){
+		MyTimer_Init(Timer,ValARR,ValPSC);
+		Mytimer_PWM(Timer, channel);
+		MyTimer_Base_Start(Timer);
+		MyGPIO_Init(GPIOA, 0, AltOut_Ppull);
+}
+
+void Update_bodage (TIM_TypeDef *Timer, char channel){
+	float val;
+	val = TIM4->CNT;
+	if (val <4.0*45.0 || val > 4.0*(360.0-45.0)) {
+		Mytimer_PWM_cycle(Timer, channel, 9);
+	}
+	else
+		if (val <= 720.0) {
+			val/= -108.0;
+			val+= 35.0/3.0;
+			Mytimer_PWM_cycle(Timer, channel, (int) val);
+		}
+		else{
+			val/= 108.0;
+			val+= -5.0/3.0;
+			Mytimer_PWM_cycle(Timer, channel, (int) val);
+		}
+}
\ No newline at end of file
diff --git a/Services/bordage.h b/Services/bordage.h
new file mode 100644
index 0000000..8231c50
--- /dev/null
+++ b/Services/bordage.h
@@ -0,0 +1,9 @@
+#ifndef BORDAGE_H
+#define BORDAGE_H
+#include "stm32f10x.h"
+
+void Init_bordage(TIM_TypeDef *Timer, char channel, unsigned short ValARR, unsigned short ValPSC);
+
+void Update_bodage (TIM_TypeDef *Timer, char channel);
+
+#endif
\ No newline at end of file