From e8ce9fb91d41e11edd2c392225defd2163c9de0e Mon Sep 17 00:00:00 2001
From: Noel Jumin <jumin@insa-toulouse.fr>
Date: Tue, 11 Apr 2023 15:32:11 +0200
Subject: [PATCH] Girouette qui marche

---
 Drivers/Inc/GPIO.h                |   2 +-
 Drivers/Inc/TIMER.h               |   5 +
 Drivers/Src/ADC.c                 |   4 +-
 Drivers/Src/GPIO.c                |  47 ++++----
 Drivers/Src/TIMER.c               |  53 ++++++++-
 Projet_voile/Includes/Girouette.h |   4 +-
 Projet_voile/Includes/Pwm_voile.h |   9 ++
 Projet_voile/Sources/Girouette.c  |  33 ++++--
 Projet_voile/Sources/Principal.c  |  19 ++--
 Projet_voile/Sources/Pwm_voile.c  |  44 ++++++++
 Projet_voile/TP1.uvoptx           | 176 ++++++++++++++++++++++++------
 Projet_voile/TP1.uvprojx          |  22 ++--
 12 files changed, 330 insertions(+), 88 deletions(-)
 create mode 100644 Projet_voile/Includes/Pwm_voile.h
 create mode 100644 Projet_voile/Sources/Pwm_voile.c

diff --git a/Drivers/Inc/GPIO.h b/Drivers/Inc/GPIO.h
index 75faf06..d8e848e 100644
--- a/Drivers/Inc/GPIO.h
+++ b/Drivers/Inc/GPIO.h
@@ -25,6 +25,6 @@ int MyGPIO_Read ( GPIO_TypeDef * GPIO , char GPIO_Pin ) ; // renvoie 0 ou 1
 void MyGPIO_Set ( GPIO_TypeDef * GPIO , char GPIO_Pin ) ;
 void MyGPIO_Reset ( GPIO_TypeDef * GPIO , char GPIO_Pin ) ;
 void MyGPIO_Toggle ( GPIO_TypeDef * GPIO , char GPIO_Pin ) ;
-void MyGPIO_ActiveIT (GPIO_TypeDef * GPIO, char GPIO_Pin, char Prio, void (*IT_function)(void))
+void MyGPIO_ActiveIT (GPIO_TypeDef * GPIO, char GPIO_Pin, char Prio, void (*IT_function)(void)) ;
 
 #endif
diff --git a/Drivers/Inc/TIMER.h b/Drivers/Inc/TIMER.h
index 57bfb3c..9f009f0 100644
--- a/Drivers/Inc/TIMER.h
+++ b/Drivers/Inc/TIMER.h
@@ -1,7 +1,9 @@
 #ifndef MYTIMER_H
 #define MYTIMER_H
+#include "GPIO.h"
 #include "stm32f10x.h"
 
+
 typedef struct
 {
 	TIM_TypeDef * Timer ; // TIM1 à TIM4
@@ -38,5 +40,8 @@ void MyTimer_ActiveIT (TIM_TypeDef * Timer, char Prio, void (*IT_function)(void)
 
 void MyPWM_init ( TIM_TypeDef * Timer,char Channel);
 void MyPWM_Duty (TIM_TypeDef * Timer,char Channel, unsigned short CRR );
+void init_encoder_timer(void (*IT_function)(void));
+void Reset_degree (void);
+int Read_CNT (void);
 
 #endif
diff --git a/Drivers/Src/ADC.c b/Drivers/Src/ADC.c
index 3b9000e..b137088 100644
--- a/Drivers/Src/ADC.c
+++ b/Drivers/Src/ADC.c
@@ -117,9 +117,9 @@ void MyADC_init(MyADC_Struct_TypeDef* myADC)
 	}
 	else if(myADC->ADC==ADC2)
 	{
-		RCC->APB2ENR |= RCC_APB2ENR_ADC1EN; // validation horloge ADC1
+		RCC->APB2ENR |= RCC_APB2ENR_ADC2EN; // validation horloge ADC2
     RCC->CFGR |= RCC_CFGR_ADCPRE_DIV6; // passage de l'horloge ADC1 à 12MHz
-    ADC2->CR2|= ADC_CR2_ADON; // démarrage ADC1
+    ADC2->CR2|= ADC_CR2_ADON; // démarrage ADC2
     ADC2->SQR1&= ADC_SQR1_L; // fixe le nombre de conversion à 1
     ADC2->SQR3|= myADC->channel; // indique la voie à convertir
     ADC2->CR2 |= ADC_CR2_CAL; // début de la calibration
diff --git a/Drivers/Src/GPIO.c b/Drivers/Src/GPIO.c
index e4e3334..de31d25 100644
--- a/Drivers/Src/GPIO.c
+++ b/Drivers/Src/GPIO.c
@@ -38,7 +38,7 @@ void MyGPIO_Init ( MyGPIO_Struct_TypeDef * GPIOStructPtr )
 	}
 	else	// Si le numéro de pin est inférieur à 8 alors on écrit dans le registre CRLow
 	{
-		GPIOStructPtr->GPIO->CRL &= ~0xF<<(4*((GPIOStructPtr->GPIO_Pin)%8)); //on met a 0 les bit de config du pin
+		GPIOStructPtr->GPIO->CRL &= ~(0xF<<(4*((GPIOStructPtr->GPIO_Pin)%8))); //on met a 0 les bit de config du pin
 		GPIOStructPtr->GPIO->CRL |= GPIOStructPtr->GPIO_Conf<<(4*((GPIOStructPtr->GPIO_Pin)%8)); // On met à 1 les bons bits pour obtenir la config souhaité sur le pin
 	}
 }
@@ -74,37 +74,32 @@ void MyGPIO_Toggle ( GPIO_TypeDef * GPIO , char GPIO_Pin )
 void MyGPIO_ActiveIT (GPIO_TypeDef * GPIO, char GPIO_Pin, char Prio, void (*IT_function)(void))		//p210
 {
 	RCC->APB2ENR |= RCC_APB2ENR_AFIOEN;	// On active l'horloge pour AFIO
-	if (GPIO==GPIOA)
+	if (GPIO==GPIOC)
 	{
-		AFIO->EXTICR[0] |= (AFIO_EXTICR1_EXTI0_PA << (4*GPIO_Pin));
+		AFIO->EXTICR[GPIO_Pin] |= AFIO_EXTICR1_EXTI3_PC ;
 	}
-	else if (GPIO==GPIOB)
-	{
-		AFIO->EXTICR[0] |= (AFIO_EXTICR1_EXTI0_PB << (4*GPIO_Pin));
-	}
-	else if (GPIO==GPIOC)
-	{
-		AFIO->EXTICR[0] |= (AFIO_EXTICR1_EXTI0_PC << (4*GPIO_Pin));
-	}
-	else if (GPIO==GPIOD)
-	{
-		AFIO->EXTICR[0] |= (AFIO_EXTICR1_EXTI0_PD << (4*GPIO_Pin));
-	}
-	// manque ligne pour activer l'interruption
-	NVIC->ISER[0] |= 0x01<<EXTI0_IRQn;	// On précise quelle interruption on souhaite activé
-	NVIC->IP[EXTI0_IRQn] |= Prio << 4;	// On précise la priorité qu'on souhaite lui donner
+	EXTI->RTSR |= GPIO_Pin;
+//	EXTI->FTSR |= ~(0x01<<GPIO_Pin);
+	EXTI->EMR |= GPIO_Pin;
+	NVIC->ISER[0] |= 0x01<<EXTI3_IRQn;	// On précise quelle interruption on souhaite activer
+	NVIC->IP[EXTI3_IRQn] |= Prio << 4;	// On précise la priorité qu'on souhaite lui donner
 }
 
+void EXTI3_IRQHandler(void)
+{
+	if(gpio_ptr_func!=0)
+	{
+		(*gpio_ptr_func)();
+	}
+	EXTI->PR &= ~(AFIO_EXTICR1_EXTI3_PC << (4*4)); // car c'est le pin4
+}
+
+
 void EXTI0_IRQHandler(void)
 {
-	if (EXTI->RTSR)	//on test si RTSR est différent de 0
+	if(gpio_ptr_func!=0)
 	{
-		if(gpio_ptr_func!=0)
-		{
-			(*gpio_ptr_func)();
-		}
+		(*gpio_ptr_func)();
 	}
-	EXTI->RTSR &=0xFFFFF; 	// On reset le flag lmevé
-	
-	//reset flag
+	EXTI->PR &= ~(AFIO_EXTICR1_EXTI0_PC << (4*4)); // car c'est le pin4
 }
diff --git a/Drivers/Src/TIMER.c b/Drivers/Src/TIMER.c
index 7ec2b8d..b32e923 100644
--- a/Drivers/Src/TIMER.c
+++ b/Drivers/Src/TIMER.c
@@ -114,10 +114,59 @@ void MyTimer_ActiveIT (TIM_TypeDef * Timer, char Prio, void (*IT_function)(void)
 	
 }
 
-void init_encoder_timer(TIM_TypeDef * Timer)  //voir page 391
+void init_encoder_timer(void (*IT_function)(void))  //voir page 391
 {
-	Timer->SMCR = 0x1;
+	MyGPIO_Struct_TypeDef GPIO_PB6;
+	MyGPIO_Struct_TypeDef GPIO_PB7;
+	MyTimer_Struct_TypeDef Timer;
 	
+	GPIO_PB6.GPIO = GPIOB;
+	GPIO_PB6.GPIO_Conf = In_Floating;
+	GPIO_PB6.GPIO_Pin = 6;
+	
+	
+	GPIO_PB7.GPIO = GPIOB;
+	GPIO_PB7.GPIO_Conf = In_Floating;
+	GPIO_PB7.GPIO_Pin = 7;
+	
+	
+	/*GPIO_PC3.GPIO = GPIOC;
+	GPIO_PC3.GPIO_Conf = In_Floating;
+	GPIO_PC3.GPIO_Pin = 3;*/
+	
+	Timer.Timer=TIM4;
+	Timer.ARR = 719;
+	Timer.PSC = 0;	
+	
+	MyTimer_Base_Init(&Timer);
+	
+	MyGPIO_Init (&GPIO_PB6);
+	
+	MyGPIO_Init (&GPIO_PB7);
+	
+	//MyGPIO_Init (&GPIO_PC3);
+	
+	//MyGPIO_ActiveIT (GPIO_PC3.GPIO, GPIO_PC3.GPIO_Pin, 4, IT_function);
+	
+	TIM4-> SMCR &= ~0x0007;
+	TIM4-> SMCR |= TIM_SMCR_SMS_1;
+	TIM4-> CCMR1 &= ~0xF2F2;		// Mise à 0 des CC1S, CC2S, IC1F et IC2F
+	TIM4-> CCMR1 |= TIM_CCMR1_CC1S_0;
+	TIM4-> CCMR1 |= TIM_CCMR1_CC2S_0;
+	TIM4-> CCER &= TIM_CCER_CC1P;
+	TIM4-> CCER &= TIM_CCER_CC2P;
+	TIM4-> CR1 |= TIM_CR1_CEN;
+
+}
+
+void Reset_degree (void)
+{
+	TIM4->CNT = 0x0000;
+}
+
+int Read_CNT (void)
+{
+	return TIM4->CNT;
 }
 
 void TIM2_IRQHandler (void)
diff --git a/Projet_voile/Includes/Girouette.h b/Projet_voile/Includes/Girouette.h
index d3eb84e..33c07c2 100644
--- a/Projet_voile/Includes/Girouette.h
+++ b/Projet_voile/Includes/Girouette.h
@@ -2,7 +2,9 @@
 #define MYGIROUETTE_H
 #include "stm32f10x.h"
 #include "GPIO.h"
+#include "TIMER.h"
 
-
+void init_girouette (void);
+void Test_tour_girouette(void);
 
 #endif
diff --git a/Projet_voile/Includes/Pwm_voile.h b/Projet_voile/Includes/Pwm_voile.h
new file mode 100644
index 0000000..9c11f51
--- /dev/null
+++ b/Projet_voile/Includes/Pwm_voile.h
@@ -0,0 +1,9 @@
+#ifndef MYPWMVOILE_H
+#define MYPWMVOILE_H
+#include "stm32f10x.h"
+#include "GPIO.h"
+#include "TIMER.h"
+
+void init_pwm_voile(void);
+
+#endif
diff --git a/Projet_voile/Sources/Girouette.c b/Projet_voile/Sources/Girouette.c
index 634c02e..26d2027 100644
--- a/Projet_voile/Sources/Girouette.c
+++ b/Projet_voile/Sources/Girouette.c
@@ -1,13 +1,26 @@
 #include "Girouette.h"
 
-int bordage(void){
-	/*MyGPIO_Struct_TypeDef signalA = (GPIOC, 6, In_PullDown);
-	MyGPIO_Struct_TypeDef signalB = (GPIOC, 7, In_PullDown);
-	MyGPIO_Struct_TypeDef signalI = (GPIOC, 8, In_PullDown);
+MyGPIO_Struct_TypeDef GPIOC3;
+
+void Test_Encoder (void)
+{
+	Reset_degree();
+}
+
+void init_girouette (void)
+{
 	
-	MyGPIO_Init(&signalA);
-	MyGPIO_Init(&signalB);
-	MyGPIO_Init(&signalI);*/
-	
-	
-}
\ No newline at end of file
+	GPIOC3.GPIO = GPIOC;
+	GPIOC3.GPIO_Conf = In_Floating;
+	GPIOC3.GPIO_Pin = 3;
+	MyGPIO_Init (&GPIOC3);
+	init_encoder_timer(&Test_Encoder);
+}
+
+void Test_tour_girouette(void){
+	if(MyGPIO_Read(GPIOC3.GPIO, GPIOC3.GPIO_Pin))
+		{
+			Reset_degree();
+		}
+}
+
diff --git a/Projet_voile/Sources/Principal.c b/Projet_voile/Sources/Principal.c
index 2b8afb2..a9d5778 100644
--- a/Projet_voile/Sources/Principal.c
+++ b/Projet_voile/Sources/Principal.c
@@ -3,6 +3,9 @@
 #include <string.h>
 #include "GPIO.h"
 #include "UART.h"
+#include "TIMER.h"
+#include "Girouette.h"
+#include "Pwm_voile.h"
 
 char MyChar;
 
@@ -16,19 +19,21 @@ void UART_RX_IT (void)
 
 int main ( void )
 {
-	MyGPIO_Struct_TypeDef myGPIO;
-	myGPIO.GPIO = GPIOA;
-	myGPIO.GPIO_Conf = Out_Ppull;
-	myGPIO.GPIO_Pin = 5;
+	MyGPIO_Struct_TypeDef GPIOA5;
+	GPIOA5.GPIO = GPIOA;
+	GPIOA5.GPIO_Conf = Out_Ppull;
+	GPIOA5.GPIO_Pin = 5;
+	MyGPIO_Init (&GPIOA5);
 	
-	MyGPIO_Init (&myGPIO);
+	init_girouette();
+	init_pwm_voile();
 	
 	MyUART_init();
 	MyUART_ActiveIT(1, &UART_RX_IT); //mode permet d'activer soit l'interruption sur TX
-	
 	while(1)
 	{
-		
+		Test_tour_girouette();
+		//Orientation_voiles();
 	}
 }
 
diff --git a/Projet_voile/Sources/Pwm_voile.c b/Projet_voile/Sources/Pwm_voile.c
new file mode 100644
index 0000000..f64d48e
--- /dev/null
+++ b/Projet_voile/Sources/Pwm_voile.c
@@ -0,0 +1,44 @@
+# include "Pwm_voile.h"
+
+MyTimer_Struct_TypeDef Timer2, Timer3;
+MyGPIO_Struct_TypeDef PB0;
+
+void write_pwm(void)
+{
+	int val_pwm;
+	float	cnt;
+	cnt=Read_CNT();
+	if(cnt>=360)
+	{
+		cnt=cnt-360;
+		val_pwm=(Timer3.ARR/20)+((Timer3.ARR/20)*(cnt/360.0));
+	}
+	else
+	{
+		val_pwm=2*(Timer3.ARR/20)-((Timer3.ARR/20)*(cnt/360.0));
+	}
+	//Timer3.ARR/20  --> 1ms, pour controler le moteur c'est entre 1ms et 2ms
+	//calcul angle en pwm
+	MyPWM_Duty(Timer3.Timer,3,val_pwm);
+}
+
+void init_pwm_voile(void)
+{
+	Timer2.Timer=TIM2;
+	Timer2.ARR=1800;
+	Timer2.PSC=1000;
+	MyTimer_Base_Init(&Timer2);
+	MyTimer_ActiveIT(Timer2.Timer,2,&write_pwm);
+	MyTimer_Base_Start(Timer2.Timer);
+	PB0.GPIO=GPIOB;
+	PB0.GPIO_Conf=AltOut_Ppull;
+	PB0.GPIO_Pin=0;
+	MyGPIO_Init(&PB0);
+	Timer3.Timer=TIM3;
+	Timer3.ARR=14400;
+	Timer3.PSC=100;
+	MyTimer_Base_Init(&Timer3);
+	MyPWM_init(Timer3.Timer,3);
+	MyTimer_Base_Start(Timer3.Timer);
+	
+}
diff --git a/Projet_voile/TP1.uvoptx b/Projet_voile/TP1.uvoptx
index 79e4a30..1d9f429 100644
--- a/Projet_voile/TP1.uvoptx
+++ b/Projet_voile/TP1.uvoptx
@@ -75,12 +75,12 @@
       <OPTFL>
         <tvExp>1</tvExp>
         <tvExpOptDlg>0</tvExpOptDlg>
-        <IsCurrentTarget>1</IsCurrentTarget>
+        <IsCurrentTarget>0</IsCurrentTarget>
       </OPTFL>
-      <CpuCode>0</CpuCode>
+      <CpuCode>18</CpuCode>
       <DebugOpt>
-        <uSim>0</uSim>
-        <uTrg>1</uTrg>
+        <uSim>1</uSim>
+        <uTrg>0</uTrg>
         <sLdApp>1</sLdApp>
         <sGomain>1</sGomain>
         <sRbreak>1</sRbreak>
@@ -117,25 +117,73 @@
         <pMon>BIN\UL2CM3.DLL</pMon>
       </DebugOpt>
       <TargetDriverDllRegistry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>ARMRTXEVENTFLAGS</Key>
+          <Name>-L70 -Z18 -C0 -M0 -T1</Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>DLGDARM</Key>
+          <Name>(1010=710,304,1086,861,1)(1007=-1,-1,-1,-1,0)(1008=-1,-1,-1,-1,0)(1009=-1,-1,-1,-1,0)(100=-1,-1,-1,-1,0)(110=-1,-1,-1,-1,0)(111=-1,-1,-1,-1,0)(1011=-1,-1,-1,-1,0)(180=-1,-1,-1,-1,0)(120=1161,471,1582,898,1)(121=-1,-1,-1,-1,0)(122=1317,323,1738,750,0)(123=-1,-1,-1,-1,0)(140=1117,100,1805,440,1)(240=263,238,662,583,1)(190=-1,-1,-1,-1,0)(200=-1,-1,-1,-1,0)(170=-1,-1,-1,-1,0)(130=-1,-1,-1,-1,0)(131=-1,-1,-1,-1,0)(132=-1,-1,-1,-1,0)(133=-1,-1,-1,-1,0)(160=-1,-1,-1,-1,0)(161=-1,-1,-1,-1,0)(162=-1,-1,-1,-1,0)(210=-1,-1,-1,-1,0)(211=-1,-1,-1,-1,0)(220=-1,-1,-1,-1,0)(221=-1,-1,-1,-1,0)(230=-1,-1,-1,-1,0)(234=-1,-1,-1,-1,0)(231=-1,-1,-1,-1,0)(232=-1,-1,-1,-1,0)(233=-1,-1,-1,-1,0)(150=-1,-1,-1,-1,0)(151=-1,-1,-1,-1,0)</Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>ARMDBGFLAGS</Key>
+          <Name>-T0</Name>
+        </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
           <Key>UL2CM3</Key>
           <Name>UL2CM3(-S0 -C0 -P0 -FD20000000 -FC1000 -FN1 -FF0STM32F10x_128 -FS08000000 -FL020000 -FP0($$Device:STM32F103RB$Flash\STM32F10x_128.FLM))</Name>
         </SetRegEntry>
       </TargetDriverDllRegistry>
-      <Breakpoint/>
+      <Breakpoint>
+        <Bp>
+          <Number>0</Number>
+          <Type>0</Type>
+          <LineNumber>90</LineNumber>
+          <EnabledFlag>1</EnabledFlag>
+          <Address>134218190</Address>
+          <ByteObject>0</ByteObject>
+          <HtxType>0</HtxType>
+          <ManyObjects>0</ManyObjects>
+          <SizeOfObject>0</SizeOfObject>
+          <BreakByAccess>0</BreakByAccess>
+          <BreakIfRCount>1</BreakIfRCount>
+          <Filename>..\DRIVERS\Src\GPIO.c</Filename>
+          <ExecCommand></ExecCommand>
+          <Expression>\\TP1\../DRIVERS/Src/GPIO.c\90</Expression>
+        </Bp>
+        <Bp>
+          <Number>1</Number>
+          <Type>0</Type>
+          <LineNumber>100</LineNumber>
+          <EnabledFlag>1</EnabledFlag>
+          <Address>134218154</Address>
+          <ByteObject>0</ByteObject>
+          <HtxType>0</HtxType>
+          <ManyObjects>0</ManyObjects>
+          <SizeOfObject>0</SizeOfObject>
+          <BreakByAccess>0</BreakByAccess>
+          <BreakIfRCount>1</BreakIfRCount>
+          <Filename>..\DRIVERS\Src\GPIO.c</Filename>
+          <ExecCommand></ExecCommand>
+          <Expression>\\TP1\../DRIVERS/Src/GPIO.c\100</Expression>
+        </Bp>
+      </Breakpoint>
       <Tracepoint>
         <THDelay>0</THDelay>
       </Tracepoint>
       <DebugFlag>
         <trace>0</trace>
-        <periodic>0</periodic>
-        <aLwin>0</aLwin>
+        <periodic>1</periodic>
+        <aLwin>1</aLwin>
         <aCover>0</aCover>
-        <aSer1>0</aSer1>
+        <aSer1>1</aSer1>
         <aSer2>0</aSer2>
         <aPa>0</aPa>
-        <viewmode>0</viewmode>
+        <viewmode>1</viewmode>
         <vrSel>0</vrSel>
         <aSym>0</aSym>
         <aTbox>0</aTbox>
@@ -144,7 +192,7 @@
         <AscS3>0</AscS3>
         <aSer3>0</aSer3>
         <eProf>0</eProf>
-        <aLa>0</aLa>
+        <aLa>1</aLa>
         <aPa1>0</aPa1>
         <AscS4>0</AscS4>
         <aSer4>0</aSer4>
@@ -181,12 +229,12 @@
     <ToolsetNumber>0x4</ToolsetNumber>
     <ToolsetName>ARM-ADS</ToolsetName>
     <TargetOption>
-      <CLKADS>12000000</CLKADS>
+      <CLKADS>8000000</CLKADS>
       <OPTTT>
-        <gFlags>0</gFlags>
+        <gFlags>1</gFlags>
         <BeepAtEnd>1</BeepAtEnd>
-        <RunSim>1</RunSim>
-        <RunTarget>0</RunTarget>
+        <RunSim>0</RunSim>
+        <RunTarget>1</RunTarget>
         <RunAbUc>0</RunAbUc>
       </OPTTT>
       <OPTHX>
@@ -228,14 +276,14 @@
         <LExpSel>0</LExpSel>
       </OPTXL>
       <OPTFL>
-        <tvExp>0</tvExp>
+        <tvExp>1</tvExp>
         <tvExpOptDlg>0</tvExpOptDlg>
-        <IsCurrentTarget>0</IsCurrentTarget>
+        <IsCurrentTarget>1</IsCurrentTarget>
       </OPTFL>
-      <CpuCode>0</CpuCode>
+      <CpuCode>18</CpuCode>
       <DebugOpt>
-        <uSim>1</uSim>
-        <uTrg>0</uTrg>
+        <uSim>0</uSim>
+        <uTrg>1</uTrg>
         <sLdApp>1</sLdApp>
         <sGomain>1</sGomain>
         <sRbreak>1</sRbreak>
@@ -244,7 +292,7 @@
         <sRfunc>1</sRfunc>
         <sRbox>1</sRbox>
         <tLdApp>1</tLdApp>
-        <tGomain>0</tGomain>
+        <tGomain>1</tGomain>
         <tRbreak>1</tRbreak>
         <tRwatch>1</tRwatch>
         <tRmem>1</tRmem>
@@ -258,7 +306,7 @@
         <bEvRecOn>1</bEvRecOn>
         <bSchkAxf>0</bSchkAxf>
         <bTchkAxf>0</bTchkAxf>
-        <nTsel>-1</nTsel>
+        <nTsel>6</nTsel>
         <sDll></sDll>
         <sDllPa></sDllPa>
         <sDlgDll></sDlgDll>
@@ -269,21 +317,60 @@
         <tDlgDll></tDlgDll>
         <tDlgPa></tDlgPa>
         <tIfile></tIfile>
-        <pMon></pMon>
+        <pMon>STLink\ST-LINKIII-KEIL_SWO.dll</pMon>
       </DebugOpt>
+      <TargetDriverDllRegistry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>ARMRTXEVENTFLAGS</Key>
+          <Name>-L70 -Z18 -C0 -M0 -T1</Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>DLGTARM</Key>
+          <Name>(1010=457,337,833,894,0)(1007=-1,-1,-1,-1,0)(1008=-1,-1,-1,-1,0)(1009=-1,-1,-1,-1,0)(100=-1,-1,-1,-1,0)(110=-1,-1,-1,-1,0)(111=-1,-1,-1,-1,0)(1011=-1,-1,-1,-1,0)(180=-1,-1,-1,-1,0)(120=1002,18,1423,423,0)(121=235,274,656,679,1)(122=353,663,774,1068,0)(123=-1,-1,-1,-1,0)(140=1031,78,1719,418,0)(240=1050,425,1449,770,0)(190=-1,-1,-1,-1,0)(200=-1,-1,-1,-1,0)(170=-1,-1,-1,-1,0)(130=-1,-1,-1,-1,0)(131=-1,-1,-1,-1,0)(132=377,147,971,841,1)(133=139,242,733,936,0)(160=-1,-1,-1,-1,0)(161=-1,-1,-1,-1,0)(162=-1,-1,-1,-1,0)(210=-1,-1,-1,-1,0)(211=-1,-1,-1,-1,0)(220=-1,-1,-1,-1,0)(221=-1,-1,-1,-1,0)(230=-1,-1,-1,-1,0)(231=-1,-1,-1,-1,0)(232=-1,-1,-1,-1,0)(233=-1,-1,-1,-1,0)(150=-1,-1,-1,-1,0)(151=-1,-1,-1,-1,0)</Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>ARMDBGFLAGS</Key>
+          <Name></Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>ST-LINKIII-KEIL_SWO</Key>
+          <Name>-U-O206 -O206 -SF10000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP (ARM Core") -D00(1BA01477) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC1000 -FN1 -FF0STM32F10x_128.FLM -FS08000000 -FL020000 -FP0($$Device:STM32F103RB$Flash\STM32F10x_128.FLM)</Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>DLGUARM</Key>
+          <Name>(105=-1,-1,-1,-1,0)</Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>UL2CM3</Key>
+          <Name>UL2CM3(-S0 -C0 -P0 -FD20000000 -FC1000 -FN1 -FF0STM32F10x_128 -FS08000000 -FL020000 -FP0($$Device:STM32F103RB$Flash\STM32F10x_128.FLM))</Name>
+        </SetRegEntry>
+      </TargetDriverDllRegistry>
       <Breakpoint/>
+      <WatchWindow1>
+        <Ww>
+          <count>0</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>cnt,0x0A</ItemText>
+        </Ww>
+      </WatchWindow1>
       <Tracepoint>
         <THDelay>0</THDelay>
       </Tracepoint>
       <DebugFlag>
         <trace>0</trace>
-        <periodic>0</periodic>
-        <aLwin>0</aLwin>
+        <periodic>1</periodic>
+        <aLwin>1</aLwin>
         <aCover>0</aCover>
-        <aSer1>0</aSer1>
+        <aSer1>1</aSer1>
         <aSer2>0</aSer2>
         <aPa>0</aPa>
-        <viewmode>0</viewmode>
+        <viewmode>1</viewmode>
         <vrSel>0</vrSel>
         <aSym>0</aSym>
         <aTbox>0</aTbox>
@@ -292,7 +379,7 @@
         <AscS3>0</AscS3>
         <aSer3>0</aSer3>
         <eProf>0</eProf>
-        <aLa>0</aLa>
+        <aLa>1</aLa>
         <aPa1>0</aPa1>
         <AscS4>0</AscS4>
         <aSer4>0</aSer4>
@@ -314,6 +401,19 @@
       <pszMrulep></pszMrulep>
       <pSingCmdsp></pSingCmdsp>
       <pMultCmdsp></pMultCmdsp>
+      <SystemViewers>
+        <Entry>
+          <Name>System Viewer\TIM4</Name>
+          <WinId>35905</WinId>
+        </Entry>
+      </SystemViewers>
+      <DebugDescription>
+        <Enable>1</Enable>
+        <EnableFlashSeq>0</EnableFlashSeq>
+        <EnableLog>0</EnableLog>
+        <Protocol>2</Protocol>
+        <DbgClock>10000000</DbgClock>
+      </DebugDescription>
     </TargetOption>
   </Target>
 
@@ -339,7 +439,7 @@
       <GroupNumber>1</GroupNumber>
       <FileNumber>2</FileNumber>
       <FileType>1</FileType>
-      <tvExp>0</tvExp>
+      <tvExp>1</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
       <PathWithFileName>.\Sources\Girouette.c</PathWithFileName>
@@ -351,7 +451,7 @@
       <GroupNumber>1</GroupNumber>
       <FileNumber>3</FileNumber>
       <FileType>1</FileType>
-      <tvExp>0</tvExp>
+      <tvExp>1</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
       <PathWithFileName>..\DRIVERS\Src\GPIO.c</PathWithFileName>
@@ -363,7 +463,7 @@
       <GroupNumber>1</GroupNumber>
       <FileNumber>4</FileNumber>
       <FileType>1</FileType>
-      <tvExp>0</tvExp>
+      <tvExp>1</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
       <PathWithFileName>..\Drivers\Src\TIMER.c</PathWithFileName>
@@ -387,7 +487,7 @@
       <GroupNumber>1</GroupNumber>
       <FileNumber>6</FileNumber>
       <FileType>1</FileType>
-      <tvExp>1</tvExp>
+      <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
       <PathWithFileName>..\Drivers\Src\UART.c</PathWithFileName>
@@ -395,6 +495,18 @@
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
+    <File>
+      <GroupNumber>1</GroupNumber>
+      <FileNumber>7</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>1</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>.\Sources\Pwm_voile.c</PathWithFileName>
+      <FilenameWithoutPath>Pwm_voile.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
   </Group>
 
   <Group>
@@ -407,7 +519,7 @@
 
   <Group>
     <GroupName>::Device</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>1</RteFlg>
diff --git a/Projet_voile/TP1.uvprojx b/Projet_voile/TP1.uvprojx
index 2d4f63a..8a285b8 100644
--- a/Projet_voile/TP1.uvprojx
+++ b/Projet_voile/TP1.uvprojx
@@ -10,13 +10,13 @@
       <TargetName>Simulé</TargetName>
       <ToolsetNumber>0x4</ToolsetNumber>
       <ToolsetName>ARM-ADS</ToolsetName>
-      <pCCUsed>6190000::V6.19::ARMCLANG</pCCUsed>
+      <pCCUsed>6160000::V6.16::ARMCLANG</pCCUsed>
       <uAC6>1</uAC6>
       <TargetOption>
         <TargetCommonOption>
           <Device>STM32F103RB</Device>
           <Vendor>STMicroelectronics</Vendor>
-          <PackID>Keil.STM32F1xx_DFP.2.4.0</PackID>
+          <PackID>Keil.STM32F1xx_DFP.2.3.0</PackID>
           <PackURL>http://www.keil.com/pack/</PackURL>
           <Cpu>IRAM(0x20000000,0x00005000) IROM(0x08000000,0x00020000) CPUTYPE("Cortex-M3") CLOCK(12000000) ELITTLE</Cpu>
           <FlashUtilSpec></FlashUtilSpec>
@@ -186,7 +186,6 @@
             <RvdsVP>0</RvdsVP>
             <RvdsMve>0</RvdsMve>
             <RvdsCdeCp>0</RvdsCdeCp>
-            <nBranchProt>0</nBranchProt>
             <hadIRAM2>0</hadIRAM2>
             <hadIROM2>0</hadIROM2>
             <StupSel>8</StupSel>
@@ -414,6 +413,11 @@
               <FileType>1</FileType>
               <FilePath>..\Drivers\Src\UART.c</FilePath>
             </File>
+            <File>
+              <FileName>Pwm_voile.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>.\Sources\Pwm_voile.c</FilePath>
+            </File>
           </Files>
         </Group>
         <Group>
@@ -604,7 +608,6 @@
             <RvdsVP>0</RvdsVP>
             <RvdsMve>0</RvdsMve>
             <RvdsCdeCp>0</RvdsCdeCp>
-            <nBranchProt>0</nBranchProt>
             <hadIRAM2>0</hadIRAM2>
             <hadIROM2>0</hadIROM2>
             <StupSel>8</StupSel>
@@ -832,6 +835,11 @@
               <FileType>1</FileType>
               <FilePath>..\Drivers\Src\UART.c</FilePath>
             </File>
+            <File>
+              <FileName>Pwm_voile.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>.\Sources\Pwm_voile.c</FilePath>
+            </File>
           </Files>
         </Group>
         <Group>
@@ -866,7 +874,7 @@
       <file attr="config" category="header" name="RTE_Driver\Config\RTE_Device.h" version="1.1.2">
         <instance index="0">RTE\Device\STM32F103RB\RTE_Device.h</instance>
         <component Cclass="Device" Cgroup="Startup" Cvendor="Keil" Cversion="1.0.0" condition="STM32F1xx CMSIS"/>
-        <package name="STM32F1xx_DFP" schemaVersion="1.7.2" url="http://www.keil.com/pack/" vendor="Keil" version="2.4.0"/>
+        <package name="STM32F1xx_DFP" schemaVersion="1.4.0" url="http://www.keil.com/pack/" vendor="Keil" version="2.3.0"/>
         <targetInfos>
           <targetInfo name="Réel"/>
           <targetInfo name="Simulé"/>
@@ -875,7 +883,7 @@
       <file attr="config" category="source" condition="STM32F1xx MD ARMCC" name="Device\Source\ARM\startup_stm32f10x_md.s" version="1.0.0">
         <instance index="0">RTE\Device\STM32F103RB\startup_stm32f10x_md.s</instance>
         <component Cclass="Device" Cgroup="Startup" Cvendor="Keil" Cversion="1.0.0" condition="STM32F1xx CMSIS"/>
-        <package name="STM32F1xx_DFP" schemaVersion="1.7.2" url="http://www.keil.com/pack/" vendor="Keil" version="2.4.0"/>
+        <package name="STM32F1xx_DFP" schemaVersion="1.4.0" url="http://www.keil.com/pack/" vendor="Keil" version="2.3.0"/>
         <targetInfos>
           <targetInfo name="Réel"/>
           <targetInfo name="Simulé"/>
@@ -884,7 +892,7 @@
       <file attr="config" category="source" name="Device\Source\system_stm32f10x.c" version="1.0.0">
         <instance index="0">RTE\Device\STM32F103RB\system_stm32f10x.c</instance>
         <component Cclass="Device" Cgroup="Startup" Cvendor="Keil" Cversion="1.0.0" condition="STM32F1xx CMSIS"/>
-        <package name="STM32F1xx_DFP" schemaVersion="1.7.2" url="http://www.keil.com/pack/" vendor="Keil" version="2.4.0"/>
+        <package name="STM32F1xx_DFP" schemaVersion="1.4.0" url="http://www.keil.com/pack/" vendor="Keil" version="2.3.0"/>
         <targetInfos>
           <targetInfo name="Réel"/>
           <targetInfo name="Simulé"/>