diff --git a/keil_project/MDK-ARM/Project.uvoptx b/keil_project/MDK-ARM/Project.uvoptx
index 051d5ca..c5a8424 100644
--- a/keil_project/MDK-ARM/Project.uvoptx
+++ b/keil_project/MDK-ARM/Project.uvoptx
@@ -404,6 +404,22 @@
+
+ 2
+ 0
+ 40
+ 1
+ 0
+ 0
+ 0
+ 0
+ 0
+ 0
+ 0
+ ..\Services\RFInput.c
+
+
+
@@ -520,7 +536,7 @@
2
2
1
- 1
+ 0
0
0
..\Services\Chrono.c
@@ -532,7 +548,7 @@
2
3
1
- 1
+ 0
0
0
..\Services\alimentation.c
@@ -543,12 +559,84 @@
2
4
- 5
+ 1
0
0
0
- ..\Services\alimentation.h
- alimentation.h
+ ..\Services\accelerometer.c
+ accelerometer.c
+ 0
+ 0
+
+
+ 2
+ 5
+ 1
+ 0
+ 0
+ 0
+ ..\Services\DcMotor.c
+ DcMotor.c
+ 0
+ 0
+
+
+ 2
+ 6
+ 1
+ 1
+ 0
+ 0
+ ..\Services\emetteur_rf.c
+ emetteur_rf.c
+ 0
+ 0
+
+
+ 2
+ 7
+ 1
+ 0
+ 0
+ 0
+ ..\Services\IncrEncoder.c
+ IncrEncoder.c
+ 0
+ 0
+
+
+ 2
+ 8
+ 1
+ 1
+ 0
+ 0
+ ..\Services\RFInput.c
+ RFInput.c
+ 0
+ 0
+
+
+ 2
+ 9
+ 1
+ 0
+ 0
+ 0
+ ..\Services\Sail.c
+ Sail.c
+ 0
+ 0
+
+
+ 2
+ 10
+ 1
+ 0
+ 0
+ 0
+ ..\Services\Servo.c
+ Servo.c
0
0
@@ -562,7 +650,7 @@
0
3
- 5
+ 11
1
0
0
@@ -582,7 +670,7 @@
0
4
- 6
+ 12
1
0
0
@@ -594,7 +682,7 @@
4
- 7
+ 13
1
0
0
@@ -606,7 +694,7 @@
4
- 8
+ 14
1
0
0
@@ -618,9 +706,9 @@
4
- 9
+ 15
1
- 1
+ 0
0
0
..\LLDrivers\src\stm32f1xx_ll_gpio.c
@@ -630,7 +718,7 @@
4
- 10
+ 16
1
0
0
@@ -640,6 +728,30 @@
0
0
+
+ 4
+ 17
+ 1
+ 0
+ 0
+ 0
+ ..\LLDrivers\src\stm32f1xx_ll_exti.c
+ stm32f1xx_ll_exti.c
+ 0
+ 0
+
+
+ 4
+ 18
+ 1
+ 0
+ 0
+ 0
+ ..\LLDrivers\src\stm32f1xx_ll_usart.c
+ stm32f1xx_ll_usart.c
+ 0
+ 0
+
@@ -650,7 +762,7 @@
0
5
- 11
+ 19
5
0
0
@@ -670,7 +782,7 @@
0
6
- 12
+ 20
1
0
0
@@ -690,7 +802,7 @@
0
7
- 13
+ 21
2
0
0
diff --git a/keil_project/MDK-ARM/Project.uvprojx b/keil_project/MDK-ARM/Project.uvprojx
index 0f7722b..2b5fcdb 100644
--- a/keil_project/MDK-ARM/Project.uvprojx
+++ b/keil_project/MDK-ARM/Project.uvprojx
@@ -185,6 +185,7 @@
0
0
0
+ 0
0
0
8
@@ -351,7 +352,7 @@
0
0
0
- 0
+ 4
@@ -403,9 +404,39 @@
..\Services\alimentation.c
- alimentation.h
- 5
- ..\Services\alimentation.h
+ accelerometer.c
+ 1
+ ..\Services\accelerometer.c
+
+
+ DcMotor.c
+ 1
+ ..\Services\DcMotor.c
+
+
+ emetteur_rf.c
+ 1
+ ..\Services\emetteur_rf.c
+
+
+ IncrEncoder.c
+ 1
+ ..\Services\IncrEncoder.c
+
+
+ RFInput.c
+ 1
+ ..\Services\RFInput.c
+
+
+ Sail.c
+ 1
+ ..\Services\Sail.c
+
+
+ Servo.c
+ 1
+ ..\Services\Servo.c
@@ -447,6 +478,16 @@
1
..\LLDrivers\src\stm32f1xx_ll_adc.c
+
+ stm32f1xx_ll_exti.c
+ 1
+ ..\LLDrivers\src\stm32f1xx_ll_exti.c
+
+
+ stm32f1xx_ll_usart.c
+ 1
+ ..\LLDrivers\src\stm32f1xx_ll_usart.c
+
@@ -488,7 +529,7 @@
Simulateur
0x4
ARM-ADS
- 5060750::V5.06 update 6 (build 750)::ARMCC
+ 5060750::V5.06 update 6 (build 750)::.\ARMCC
0
@@ -663,6 +704,7 @@
0
0
0
+ 0
0
0
8
@@ -829,7 +871,7 @@
0
0
0
- 0
+ 4
@@ -881,9 +923,39 @@
..\Services\alimentation.c
- alimentation.h
- 5
- ..\Services\alimentation.h
+ accelerometer.c
+ 1
+ ..\Services\accelerometer.c
+
+
+ DcMotor.c
+ 1
+ ..\Services\DcMotor.c
+
+
+ emetteur_rf.c
+ 1
+ ..\Services\emetteur_rf.c
+
+
+ IncrEncoder.c
+ 1
+ ..\Services\IncrEncoder.c
+
+
+ RFInput.c
+ 1
+ ..\Services\RFInput.c
+
+
+ Sail.c
+ 1
+ ..\Services\Sail.c
+
+
+ Servo.c
+ 1
+ ..\Services\Servo.c
@@ -925,6 +997,16 @@
1
..\LLDrivers\src\stm32f1xx_ll_adc.c
+
+ stm32f1xx_ll_exti.c
+ 1
+ ..\LLDrivers\src\stm32f1xx_ll_exti.c
+
+
+ stm32f1xx_ll_usart.c
+ 1
+ ..\LLDrivers\src\stm32f1xx_ll_usart.c
+
@@ -978,4 +1060,19 @@
+
+
+
+ <Project Info>
+
+
+
+
+
+ 0
+ 1
+
+
+
+
diff --git a/keil_project/Services/RFInput.h b/keil_project/Services/RFInput.h
index 5be206f..dfd6df6 100644
--- a/keil_project/Services/RFInput.h
+++ b/keil_project/Services/RFInput.h
@@ -1,5 +1,12 @@
+// initializes the PWM input of the remote on PB6
void RF_INPUT_Init(void);
-int RF_INPUT_GetValue1(void);
-int RF_INPUT_GetValue2(void);
+// returns the period of the PWM signal of the remote in us
+int RF_INPUT_GetPeriodUs(void);
+
+// returns the duty time of the PWM signal of the remote in us
+int RF_INPUT_GetDutyTimeUs(void);
+
+// returns the duty time of the PWM signal of the remote as a value between -100 and 100
+int RF_INPUT_GetDutyTimeRelative(void);
diff --git a/keil_project/Services/emetteur_rf.h b/keil_project/Services/emetteur_rf.h
index 8592eae..787b8fb 100644
--- a/keil_project/Services/emetteur_rf.h
+++ b/keil_project/Services/emetteur_rf.h
@@ -6,9 +6,9 @@
#include "stm32f1xx_ll_usart.h"
#include "stm32f1xx_ll_gpio.h"
-void emetteur_rf_init();
+void emetteur_rf_init(void);
void emetteur_send_bytes(USART_TypeDef * uart_port,char* buf, int len);
-#endif
\ No newline at end of file
+#endif
diff --git a/keil_project/Src/main.c b/keil_project/Src/main.c
index c2331fd..84b9601 100644
--- a/keil_project/Src/main.c
+++ b/keil_project/Src/main.c
@@ -58,8 +58,8 @@ int main(void)
LL_mDelay(10);
counter = (counter + 1) % 100;
DC_MOTOR_SetSpeed(counter);
- val = RF_INPUT_GetValue1();
- val2 = RF_INPUT_GetValue2();
+ val = RF_INPUT_GetPeriodUs();
+ val2 = RF_INPUT_GetDutyTimeUs();
SAIL_SetAngle(counter);
level = get_battery_level();
level_enough = is_level_enough();