41 lines
No EOL
1 KiB
C
41 lines
No EOL
1 KiB
C
#include "stm32f10x.h"
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#include <GPIO.h>
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#include <bordage.h>
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#include <MyTimer.h>
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// int* anglequonveut=0; A DECLARER DANS LE MAIN
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void Init_bordage(TIM_TypeDef *Timer, char channel, unsigned short ValARR, unsigned short ValPSC){
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MyTimer_Init(Timer,ValARR,ValPSC);
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Mytimer_PWM(Timer, channel);
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MyTimer_Base_Start(Timer);
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MyGPIO_Init(GPIOA, 0, AltOut_Ppull);
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}
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void Update_bodage (TIM_TypeDef *Timer, char channel, float roulis, int* angle){
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float val;
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int val2;
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val = TIM4->CNT;
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val2 = TIM4->CNT;
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if (roulis < -40.0 || roulis > 40.0) {
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Mytimer_PWM_cycle(Timer, channel, 5);
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}
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else {
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if (val <4.0*45.0 || val > 4.0*(360.0-45.0)) {
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Mytimer_PWM_cycle(Timer, channel, 9);
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}
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else
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if (val <= 720.0) {
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*angle = 2*(val2)/12 -30;
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val/= -108.0;
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val+= 35.0/3.0;
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Mytimer_PWM_cycle(Timer, channel, (int) val);
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}
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else{
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*angle = -2*(val2)/12 + 210;
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val/= 108.0;
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val+= -5.0/3.0;
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Mytimer_PWM_cycle(Timer, channel, (int) val);
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}
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}
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} |