#include "stm32f10x.h"
#include <GPIO.h>
#include <bordage.h>
#include <MyTimer.h>

// int* anglequonveut=0; A DECLARER DANS LE MAIN

void Init_bordage(){
		MyTimer_Init(TIM1,3200,450);
		Mytimer_PWM(TIM1, 1);
		MyTimer_Base_Start(TIM1);
		MyGPIO_Init(GPIOA, 8, AltOut_Ppull);
}

void Update_bordage (TIM_TypeDef *Timer, char channel, char roulis){
	float val;
	val = TIM4->CNT;
	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 {			
		if (val <4.0*45.0 || val > 4.0*(360.0-45.0)) {
			Mytimer_PWM_cycle(Timer, channel, 10);
		}
		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);
			}
		}
}

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;
			}
	}
}