From 6e98fa42c57480e8b35949ee3717c0dca8bba4d5 Mon Sep 17 00:00:00 2001
From: William Woodward <woodward@insa-toulouse.fr>
Date: Wed, 3 Dec 2025 09:59:14 +0100
Subject: [PATCH] FIN

---
 Services/bordage.c | 33 ++++++++++++++++++++++-----------
 Services/bordage.h |  6 ++++--
 2 files changed, 26 insertions(+), 13 deletions(-)

diff --git a/Services/bordage.c b/Services/bordage.c
index 21915b3..1a46c41 100644
--- a/Services/bordage.c
+++ b/Services/bordage.c
@@ -5,37 +5,48 @@
 
 // int* anglequonveut=0; A DECLARER DANS LE MAIN
 
-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 Init_bordage(){
+		MyTimer_Init(TIM1,3200,450);
+		Mytimer_PWM(TIM1, 1);
+		MyTimer_Base_Start(TIM1);
+		MyGPIO_Init(GPIOA, 8, AltOut_Ppull);
 }
 
-void Update_bodage (TIM_TypeDef *Timer, char channel, float roulis, int* angle){
+void Update_bordage (TIM_TypeDef *Timer, char channel, float roulis){
 	float val;
-	int val2;
 	val = TIM4->CNT;
-	val2 = TIM4->CNT;
 	if (roulis < -40.0 || roulis > 40.0) {
 		Mytimer_PWM_cycle(Timer, channel, 5);
 	}
 	else {			
 		if (val <4.0*45.0 || val > 4.0*(360.0-45.0)) {
-			Mytimer_PWM_cycle(Timer, channel, 9);
+			Mytimer_PWM_cycle(Timer, channel, 10);
 		}
 		else
 			if (val <= 720.0) {
-				*angle = 2*(val2)/12 -30;
 				val/= -108.0;
 				val+= 35.0/3.0;
 				Mytimer_PWM_cycle(Timer, channel, (int) val);
 			}
 			else{
-				*angle = -2*(val2)/12 + 210;
 				val/= 108.0;
 				val+= -5.0/3.0;
 				Mytimer_PWM_cycle(Timer, channel, (int) val);
 			}
 		}
+}
+
+int Calcul_Angle(){
+	int val = TIM4->CNT;
+	if (val <4.0*45.0 || val > 4.0*(360.0-45.0)) {
+		return 0;
+	}
+	else{
+		if (val <= 720.0) {
+				return 2*(val)/12 -30;
+			}
+			else{
+				return -2*(val)/12 + 210;
+			}
+	}
 }
\ No newline at end of file
diff --git a/Services/bordage.h b/Services/bordage.h
index 1d98bf5..d362d59 100644
--- a/Services/bordage.h
+++ b/Services/bordage.h
@@ -2,8 +2,10 @@
 #define BORDAGE_H
 #include "stm32f10x.h"
 
-void Init_bordage(TIM_TypeDef *Timer, char channel, unsigned short ValARR, unsigned short ValPSC);
+void Init_bordage();
 
-void Update_bodage (TIM_TypeDef *Timer, char channel, float roulis, int* angle);
+void Update_bordage (TIM_TypeDef *Timer, char channel, float roulis);
+
+int Calcul_Angle();
 
 #endif
\ No newline at end of file