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

// 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 Update_bodage (TIM_TypeDef *Timer, char channel, float roulis, int* angle){
	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);
		}
		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);
			}
		}
}