From 2b69d0d33d72e2ae9d433fc1345bb9148ee4c9c0 Mon Sep 17 00:00:00 2001
From: leo <leo.legay85@gmail.com>
Date: Wed, 3 Dec 2025 10:39:04 +0100
Subject: [PATCH] VF Okay

---
 Services/bordage.c | 5 +++--
 Services/bordage.h | 2 +-
 2 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/Services/bordage.c b/Services/bordage.c
index 1a46c41..d22baa8 100644
--- a/Services/bordage.c
+++ b/Services/bordage.c
@@ -12,10 +12,11 @@ void Init_bordage(){
 		MyGPIO_Init(GPIOA, 8, AltOut_Ppull);
 }
 
-void Update_bordage (TIM_TypeDef *Timer, char channel, float roulis){
+void Update_bordage (TIM_TypeDef *Timer, char channel, char roulis){
 	float val;
 	val = TIM4->CNT;
-	if (roulis < -40.0 || roulis > 40.0) {
+	char roulisabs = (1<<7) - (roulis & 0x7F);
+	if ((roulis >= 40.0 && !(roulis & (1<<7))) || ((roulis & (1<<7)) && (roulisabs >= 40))) {
 		Mytimer_PWM_cycle(Timer, channel, 5);
 	}
 	else {			
diff --git a/Services/bordage.h b/Services/bordage.h
index d362d59..f2518b9 100644
--- a/Services/bordage.h
+++ b/Services/bordage.h
@@ -4,7 +4,7 @@
 
 void Init_bordage();
 
-void Update_bordage (TIM_TypeDef *Timer, char channel, float roulis);
+void Update_bordage (TIM_TypeDef *Timer, char channel, char roulis);
 
 int Calcul_Angle();