From 8b95eeb0a500352ecf235513f9f28c07bcd827c2 Mon Sep 17 00:00:00 2001
From: Oskar <orvik@insa-toulouse.fr>
Date: Mon, 24 Nov 2025 00:13:49 +0100
Subject: [PATCH] Ajouter servo et IT

---
 Pilotes/Include/IT.h    | 11 +++++++
 Pilotes/Include/Servo.h |  7 ++++
 Pilotes/Source/IT.c     | 73 +++++++++++++++++++++++++++++++++++++++++
 Pilotes/Source/Servo.c  | 26 +++++++++++++++
 4 files changed, 117 insertions(+)
 create mode 100644 Pilotes/Include/IT.h
 create mode 100644 Pilotes/Include/Servo.h
 create mode 100644 Pilotes/Source/IT.c
 create mode 100644 Pilotes/Source/Servo.c

diff --git a/Pilotes/Include/IT.h b/Pilotes/Include/IT.h
new file mode 100644
index 0000000..8d9a076
--- /dev/null
+++ b/Pilotes/Include/IT.h
@@ -0,0 +1,11 @@
+#ifndef IT_H_
+#define IT_H_
+#include <stm32f10x.h>
+static void (*p_IT_functions[4])(void);
+void MyTimer_ActiveIT(TIM_TypeDef *Timer, char Prio,void(*IT_function)(void));
+void TIM1_CC_IRQHandler(void);
+void TIM1_UP_IRQHandler(void);
+void TIM2_IRQHandler(void);
+void TIM3_IRQHandler(void);
+void TIM4_IRQHandler(void);
+#endif // IT_H_
diff --git a/Pilotes/Include/Servo.h b/Pilotes/Include/Servo.h
new file mode 100644
index 0000000..81ace88
--- /dev/null
+++ b/Pilotes/Include/Servo.h
@@ -0,0 +1,7 @@
+#ifndef SERVO_H_
+#define SERVO_H_
+#include <stm32f10x.h>
+void Servo_Moteur(int angle, TIM_TypeDef * Timer, int Channel);
+extern void initServo(TIM_TypeDef * Timer, int Channel);
+
+#endif // SERVO_H_
diff --git a/Pilotes/Source/IT.c b/Pilotes/Source/IT.c
new file mode 100644
index 0000000..6a26429
--- /dev/null
+++ b/Pilotes/Source/IT.c
@@ -0,0 +1,73 @@
+#include "IT.h"
+
+static void (*p_IT_functions[4])(void); // Pour créer l'array des fonctions
+
+void MyTimer_ActiveIT(TIM_TypeDef *Timer, char Prio,void(*IT_function)(void)) {
+		//Enable interruption requisition 
+    Timer->DIER |= TIM_DIER_UIE; // Update interrupt enable
+
+    //Id the interruption timer routine
+    IRQn_Type IRQn; 
+
+    int timer_index = -1; // Indice pour notre array des pointeurs
+    if (Timer == TIM2) {
+        IRQn = TIM2_IRQn;
+        timer_index = 0;
+    } else if (Timer == TIM3) {
+        IRQn = TIM3_IRQn;
+        timer_index = 1;
+    } else if (Timer == TIM4) {
+        IRQn = TIM4_IRQn;
+        timer_index = 2;
+    }
+    // Keep the pointer of the valid timer function
+    if (timer_index != -1) {
+        p_IT_functions[timer_index] = IT_function; // index the function
+    } else {
+        return; // Timer invalid
+    }
+		// set interruption priority
+    NVIC_SetPriority(IRQn, Prio);
+    // Enable routine
+    NVIC_EnableIRQ(IRQn);
+}
+
+
+void TIM2_IRQHandler(void) {
+    // Clean flag
+    TIM2->SR &= ~TIM_SR_UIF; // Drapeau d'interuption 
+		//Call function
+	  if (p_IT_functions[0] != 0) {
+        p_IT_functions[0](); // Execute fonction
+    }
+};
+void TIM3_IRQHandler(void) {
+  // Clean flag
+  TIM3->SR &= ~TIM_SR_UIF;
+  //Call function
+  if (p_IT_functions[1] != 0) {
+    p_IT_functions[1](); // Execute function
+  }
+};
+void TIM4_IRQHandler(void) {
+    // Clean flag
+    TIM4->SR &= ~TIM_SR_UIF; 
+		//Call function
+	  if (p_IT_functions[2] != 0) {
+        p_IT_functions[2](); // Execute function
+    }
+};
+// IT PWM
+void TIM1_CC_IRQHandler(void) {
+    // Clean flag
+    TIM1 -> DIER &= ~TIM_DIER_CC1IE; 
+    //Set bit
+		GPIOA -> ODR |= (0x1 << 8);
+};
+
+void TIM1_UP_IRQHandler(void) {
+    // Clean flag
+    TIM1-> DIER &= ~TIM_DIER_TIE;
+    //Reset bit
+      GPIOA -> ODR &=  ~(0x1 << 8);
+};
diff --git a/Pilotes/Source/Servo.c b/Pilotes/Source/Servo.c
new file mode 100644
index 0000000..d8d4b6c
--- /dev/null
+++ b/Pilotes/Source/Servo.c
@@ -0,0 +1,26 @@
+#include "Servo.h"
+#include "DriverGPIO.h"
+#include "PWM.h"
+#include "Timer.h"
+
+void Servo_Moteur(int angle, TIM_TypeDef * Timer, int Channel){ // Controle du moteur
+	int dutyCycle = (5* angle + 5*90)/90;
+	PWM_Set_DutyCycle(Timer, Channel, dutyCycle);
+}
+
+void initServo(TIM_TypeDef * Timer, int Channel){ // Config du moteur servo
+  if (Timer == TIM4) {
+    EnableTimer(TIM4);
+    MyTimer_Base_Init(TIM4, 20000 - 1, 71);	//Claire m'a 
+    if (Channel == 3){
+      MyGPIO_Init(GPIOB, 8, AltOut_Ppull);
+    }
+    else{
+      //printf("Cet pilôte n'existe pas");
+    }
+  }
+  else{
+    //printf("Cet pilôte n'existe pas");
+  }
+}
+