Merge remote-tracking branch 'origin/YA'

MDK-ARM/Project.uvoptx

@@ -345,7 +345,7 @@
         <SetRegEntry>
           <Number>0</Number>
           <Key>DLGDARM</Key>
-          <Name>(1010=-1,-1,-1,-1,0)(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=-1,-1,-1,-1,0)(121=-1,-1,-1,-1,0)(122=-1,-1,-1,-1,0)(123=-1,-1,-1,-1,0)(140=-1,-1,-1,-1,0)(240=-1,-1,-1,-1,0)(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=-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>
+          <Name>(1010=-1,-1,-1,-1,0)(1007=-1,-1,-1,-1,0)(1008=2156,213,2522,450,0)(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=-1,-1,-1,-1,0)(121=2124,217,2535,660,0)(122=-1,-1,-1,-1,0)(123=-1,-1,-1,-1,0)(140=-1,-1,-1,-1,0)(240=-1,-1,-1,-1,0)(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=2076,105,2660,897,0)(133=2592,151,3176,943,0)(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>
@@ -382,9 +382,25 @@
         <Bp>
           <Number>0</Number>
           <Type>0</Type>
-          <LineNumber>46</LineNumber>
+          <LineNumber>65</LineNumber>
+          <EnabledFlag>1</EnabledFlag>
+          <Address>134223216</Address>
+          <ByteObject>0</ByteObject>
+          <HtxType>0</HtxType>
+          <ManyObjects>0</ManyObjects>
+          <SizeOfObject>0</SizeOfObject>
+          <BreakByAccess>0</BreakByAccess>
+          <BreakIfRCount>1</BreakIfRCount>
+          <Filename>../Src/main.c</Filename>
+          <ExecCommand></ExecCommand>
+          <Expression>\\NUCLEO_F103RB\../Src/main.c\65</Expression>
+        </Bp>
+        <Bp>
+          <Number>1</Number>
+          <Type>0</Type>
+          <LineNumber>69</LineNumber>
           <EnabledFlag>1</EnabledFlag>
-          <Address>134219406</Address>
+          <Address>134223230</Address>
           <ByteObject>0</ByteObject>
           <HtxType>0</HtxType>
           <ManyObjects>0</ManyObjects>
@@ -393,9 +409,16 @@
           <BreakIfRCount>1</BreakIfRCount>
           <Filename>../Src/main.c</Filename>
           <ExecCommand></ExecCommand>
-          <Expression>\\NUCLEO_F103RB\../Src/main.c\46</Expression>
+          <Expression>\\NUCLEO_F103RB\../Src/main.c\69</Expression>
         </Bp>
       </Breakpoint>
+      <WatchWindow1>
+        <Ww>
+          <count>0</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>counter,0x10</ItemText>
+        </Ww>
+      </WatchWindow1>
       <Tracepoint>
         <THDelay>0</THDelay>
       </Tracepoint>
@@ -416,7 +439,7 @@
         <AscS3>0</AscS3>
         <aSer3>0</aSer3>
         <eProf>0</eProf>
-        <aLa>0</aLa>
+        <aLa>1</aLa>
         <aPa1>0</aPa1>
         <AscS4>0</AscS4>
         <aSer4>0</aSer4>
@@ -438,6 +461,13 @@
       <pszMrulep></pszMrulep>
       <pSingCmdsp></pSingCmdsp>
       <pMultCmdsp></pMultCmdsp>
+      <LogicAnalyzers>
+        <Wi>
+          <IntNumber>0</IntNumber>
+          <FirstString>((PORTB &amp; 0x00000100) &gt;&gt; 8 &amp; 0x100) &gt;&gt; 8</FirstString>
+          <SecondString>FF000000000000000000000000000000E0FFEF400100000000000000000000000000000028504F5254422026203078303030303031303029203E3E2038000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000100000001000000000000000000F03F1400000000000000000000000000000000000000AE110008</SecondString>
+        </Wi>
+      </LogicAnalyzers>
       <DebugDescription>
         <Enable>1</Enable>
         <EnableFlashSeq>0</EnableFlashSeq>
@@ -618,6 +648,18 @@
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
+    <File>
+      <GroupNumber>2</GroupNumber>
+      <FileNumber>14</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\Services\Scheduler.c</PathWithFileName>
+      <FilenameWithoutPath>Scheduler.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
   </Group>
 
   <Group>
@@ -628,7 +670,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>14</FileNumber>
+      <FileNumber>15</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -640,7 +682,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>15</FileNumber>
+      <FileNumber>16</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -652,7 +694,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>16</FileNumber>
+      <FileNumber>17</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -664,7 +706,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>17</FileNumber>
+      <FileNumber>18</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -684,7 +726,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>4</GroupNumber>
-      <FileNumber>18</FileNumber>
+      <FileNumber>19</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -696,7 +738,7 @@
     </File>
     <File>
       <GroupNumber>4</GroupNumber>
-      <FileNumber>19</FileNumber>
+      <FileNumber>20</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -708,7 +750,7 @@
     </File>
     <File>
       <GroupNumber>4</GroupNumber>
-      <FileNumber>20</FileNumber>
+      <FileNumber>21</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -718,17 +760,29 @@
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
+    <File>
+      <GroupNumber>4</GroupNumber>
+      <FileNumber>22</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\LLDrivers\src\stm32f1xx_ll_gpio.c</PathWithFileName>
+      <FilenameWithoutPath>stm32f1xx_ll_gpio.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
   </Group>
 
   <Group>
     <GroupName>Doc</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>21</FileNumber>
+      <FileNumber>23</FileNumber>
       <FileType>5</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -742,13 +796,13 @@
 
   <Group>
     <GroupName>Drivers/CMSIS</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>22</FileNumber>
+      <FileNumber>24</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -768,7 +822,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>7</GroupNumber>
-      <FileNumber>23</FileNumber>
+      <FileNumber>25</FileNumber>
       <FileType>2</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>

MDK-ARM/Project.uvprojx

@@ -453,6 +453,11 @@
               <FileType>1</FileType>
               <FilePath>..\Services\Voltage.c</FilePath>
             </File>
+            <File>
+              <FileName>Scheduler.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Services\Scheduler.c</FilePath>
+            </File>
           </Files>
         </Group>
         <Group>
@@ -498,6 +503,11 @@
               <FileType>1</FileType>
               <FilePath>..\LLDrivers\src\stm32f1xx_ll_tim.c</FilePath>
             </File>
+            <File>
+              <FileName>stm32f1xx_ll_gpio.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\LLDrivers\src\stm32f1xx_ll_gpio.c</FilePath>
+            </File>
           </Files>
         </Group>
         <Group>
@@ -982,6 +992,11 @@
               <FileType>1</FileType>
               <FilePath>..\Services\Voltage.c</FilePath>
             </File>
+            <File>
+              <FileName>Scheduler.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\Services\Scheduler.c</FilePath>
+            </File>
           </Files>
         </Group>
         <Group>
@@ -1027,6 +1042,11 @@
               <FileType>1</FileType>
               <FilePath>..\LLDrivers\src\stm32f1xx_ll_tim.c</FilePath>
             </File>
+            <File>
+              <FileName>stm32f1xx_ll_gpio.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\LLDrivers\src\stm32f1xx_ll_gpio.c</FilePath>
+            </File>
           </Files>
         </Group>
         <Group>

MyDrivers/ADC.c

@@ -1 +1,52 @@
 #include "ADC.h"
+#include "stm32f1xx_ll_bus.h" 	// Pour horloge
+
+void ADC_conf(ADC_TypeDef *adc, uint32_t voie) 
+{
+	if (adc == ADC1) {
+		LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_ADC1);
+	} else if (adc == ADC2) {
+		LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_ADC2);
+	}
+	
+	// Division de la frequence
+	RCC->CFGR |= RCC_CFGR_ADCPRE_DIV6;
+	
+	// Fixe le nombre de conversion à 1
+	adc->SQR1&= ADC_SQR1_L; 
+	
+	// Indique la voie a convertir
+	adc->SQR3|= voie; 
+	
+	 // Calibration
+	adc->CR2 |= ADC_CR2_CAL_Msk;
+	while ((adc->CR2 & ADC_CR2_CAL_Msk));	
+}
+
+
+void ADC_start(ADC_TypeDef *adc)
+{
+	adc->CR2 |= ADC_CR2_ADON;
+}
+
+
+uint16_t ADC_readRaw(ADC_TypeDef *adc)
+{
+		// Lancement de la conversion
+	  adc->CR2 |= ADC_CR2_ADON; 
+    while(!(ADC1->SR & ADC_SR_EOC)) {}
+			
+    return ADC1->DR & ADC_DR_DATA_Msk;
+}
+
+
+double ADC_convertToVolt(uint16_t value)
+{
+	return ((double) value) / 4095.0 * 3.3;
+}
+
+
+double ADC_readVolt(ADC_TypeDef *adc)
+{
+	return ADC_convertToVolt(ADC_readRaw(adc));
+}

MyDrivers/ADC.h

@@ -1,4 +1,15 @@
 #ifndef ADC_H
 #define ADC_H
 
+#include "stm32f1xx_ll_adc.h"
+
+void ADC_conf(ADC_TypeDef *adc, uint32_t voie);
+void ADC_start(ADC_TypeDef *adc);
+
+uint16_t ADC_readRaw(ADC_TypeDef *adc);
+double ADC_readVolt(ADC_TypeDef *adc);
+
+double ADC_convertToVolt(uint16_t value);
+
+
 #endif

MyDrivers/Timer.c

@@ -173,7 +173,7 @@ void Timer_conf(TIM_TypeDef * timer, int arr, int psc)
 
 int getArrFromFreq(float freq)
 {
-	return (72000000 / freq) - 1;
+	return (72000 / freq) - 1;
 }
 
 void Timer_pwmo_conf(TIM_TypeDef * timer, int channel, float freq, float dutyCycle)

MyDrivers/USART.c

@@ -1 +1,58 @@
 #include "USART.h" 
+#include "GPIO.h"
+#include "stm32f1xx_ll_bus.h" 	// Pour horloge
+
+
+void Usart_conf(USART_TypeDef *USARTx) {
+	int txPin;
+	GPIO_TypeDef *usartGpio;
+	
+	if (USARTx == USART1) {
+		LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_USART1);
+		LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_GPIOA);
+		txPin = LL_GPIO_PIN_9;
+		usartGpio = GPIOA;
+	} else if (USARTx == USART2) {
+		LL_APB1_GRP1_EnableClock(LL_APB1_GRP1_PERIPH_USART2);
+		LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_GPIOA);
+		txPin = LL_GPIO_PIN_2;
+		usartGpio = GPIOA;
+	} else if (USARTx == USART3) {
+		LL_APB1_GRP1_EnableClock(LL_APB1_GRP1_PERIPH_USART3);
+		LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_GPIOB);
+		txPin = LL_GPIO_PIN_10;	
+		usartGpio = GPIOB;
+	}	
+	
+	LL_USART_InitTypeDef usartInit;
+	LL_USART_StructInit(&usartInit);
+	usartInit.DataWidth = LL_USART_DATAWIDTH_8B;
+	usartInit.BaudRate = 9600;
+	usartInit.TransferDirection = LL_USART_DIRECTION_TX_RX;
+	LL_USART_Init(USARTx, &usartInit);
+	
+	GPIO_conf(usartGpio, txPin, LL_GPIO_MODE_ALTERNATE, LL_GPIO_OUTPUT_PUSHPULL, LL_GPIO_PULL_UP);
+}
+
+
+
+void Usart_enable(USART_TypeDef *USARTx) {
+		LL_USART_Enable(USARTx);
+}
+
+
+void sendChar(USART_TypeDef *USARTx, char c) {
+	LL_USART_TransmitData8(USARTx, c);
+	while (!LL_USART_IsActiveFlag_TXE(USARTx)) {}
+}
+
+
+void Usart_send(USART_TypeDef *USARTx, char *msg, int length) {
+	for (int i = 0; i < length; i++) {
+		sendChar(USARTx, msg[i]);
+	}
+}
+
+
+
+

MyDrivers/USART.h

@@ -1,5 +1,10 @@
 #ifndef USART_H
 #define USART_H
 
+#include "stm32f1xx_ll_usart.h"
+
+void Usart_conf(USART_TypeDef *USARTx);
+void Usart_enable(USART_TypeDef *USARTx);
+void Usart_send(USART_TypeDef *USARTx, char *msg, int length);
 
 #endif

Services/IncrementalEncoder.c

@@ -1,11 +1,12 @@
 #include "IncrementalEncoder.h"
 
 #include "Timer.h"
+#include "GPIO.h"
 
-void IncrementalEncoder_conf(TIM_TypeDef * timer)
+void IncrementalEncoder_conf(TIM_TypeDef * timer, GPIO_TypeDef * gpio, int pin)
 {
 	Timer_encoder_conf(timer);
-	// TODO GPIO config
+	GPIO_conf(gpio, pin, LL_GPIO_MODE_INPUT, LL_GPIO_OUTPUT_PUSHPULL, LL_GPIO_PULL_UP);
 }
 
 void IncrementalEncoder_start(TIM_TypeDef * timer)

Services/IncrementalEncoder.h

@@ -9,7 +9,7 @@
 	* @param  TIM_TypeDef Timer : indique le timer à utiliser : TIM1, TIM2, TIM3 ou TIM4
   * @retval None
   */
-void IncrementalEncoder_conf(TIM_TypeDef * timer);
+void IncrementalEncoder_conf(TIM_TypeDef * timer, GPIO_TypeDef * gpio, int pin);
 
 /**
 	* @brief  Démarre le codeur incrémental associé au timer donné

Services/Scheduler.c

@@ -0,0 +1,23 @@
+#include "Scheduler.h"
+#include "Timer.h"
+#include "stm32f1xx_ll_utils.h"
+
+void (*it_callback_SysTick)(void); 
+
+void SysTick_Handler(void)
+{
+	(*it_callback_SysTick)();
+}	
+
+void Scheduler_conf(void (*it_callback) (void))
+{
+	it_callback_SysTick = it_callback;
+	SysTick->CTRL &= ~(SysTick_CTRL_CLKSOURCE_Msk);
+	SysTick->CTRL |= SysTick_CTRL_TICKINT_Msk;
+	SysTick->LOAD = 9000;
+}
+
+void Scheduler_start(void)
+{
+	SysTick->CTRL |= SysTick_CTRL_ENABLE_Msk;
+}

Services/Scheduler.h

@@ -0,0 +1,22 @@
+#ifndef SCHEDULER_H
+#define SCHEDULER_H
+
+#include "stm32f103xb.h" 
+
+/**
+	* @brief  Configure l'horloge interne comme ordonanceur toutes les 1ms
+  * @note   
+	* @param  (void)* it_callback : Tache de fond à executer
+  * @retval None
+  */
+void Scheduler_conf(void (*it_callback) (void));
+
+/**
+	* @brief  Démarre ordonanceur
+  * @note   
+	* @param  None
+  * @retval None
+  */
+void Scheduler_start(void);
+
+#endif

Services/ServoMotor.c

@@ -1,11 +1,11 @@
 #include "ServoMotor.h"
-#include "Timer.h"
 
 #define SERVO_MOTO_FREQ 50
 
-void ServoMotor_conf(TIM_TypeDef * timer, int channel)
+void ServoMotor_conf(TIM_TypeDef * timer, int channel, GPIO_TypeDef * gpio, int pin)
 {
-	Timer_pwmo_conf(timer, channel, SERVO_MOTO_FREQ, 0);
+	Timer_pwmo_conf(timer, channel, SERVO_MOTO_FREQ, 0.5);
+	GPIO_conf(gpio, pin, LL_GPIO_MODE_ALTERNATE, LL_GPIO_OUTPUT_PUSHPULL, LL_GPIO_PULL_UP);
 }
 
 void ServoMotor_start(TIM_TypeDef * timer)

Services/ServoMotor.h

@@ -2,15 +2,19 @@
 #define SERVO_MOTOR_H
 
 #include "stm32f103xb.h"
+#include "Timer.h"
+#include "GPIO.h"
 
 /**
 	* @brief  Configure le servo moteur associé au timer donné
   * @note   
 	* @param  TIM_TypeDef Timer : indique le timer à utiliser : TIM1, TIM2, TIM3 ou TIM4
 	*					int channel 			: Le channel utilisé par le servo moteur
+	*					GPIO_TypeDef gpio : Le GPIO à utiliser pour la sortie de la PWM
+	*					int pin     			: Le PIN associé au GPIO
   * @retval None
   */
-void ServoMotor_conf(TIM_TypeDef * timer, int channel);
+void ServoMotor_conf(TIM_TypeDef * timer, int channel, GPIO_TypeDef * gpio, int pin);
 
 /**
 	* @brief  Démarre les servo moteurs associés au timer donné

Src/Sail.c

@@ -1 +1,35 @@
 #include "Sail.h"
+#include "ServoMotor.h"
+#include "IncrementalEncoder.h"
+
+TIM_TypeDef * MOTOR_TIMER = TIM4;
+const int MOTOR_CHANNEL = LL_TIM_CHANNEL_CH3;
+GPIO_TypeDef * MOTOR_GPIO = GPIOB;
+const int MOTOR_PIN = LL_GPIO_PIN_8;
+
+TIM_TypeDef * ENCODER_TIMER = TIM3;
+GPIO_TypeDef * ENCODER_GPIO = GPIOA;
+const int ENCODER_PIN = LL_GPIO_PIN_5;
+
+void Sail_conf()
+{
+	ServoMotor_conf(MOTOR_TIMER, MOTOR_CHANNEL, MOTOR_GPIO, MOTOR_PIN);
+	IncrementalEncoder_conf(ENCODER_TIMER, ENCODER_GPIO, ENCODER_PIN);
+}
+
+void Sail_background()
+{
+	
+}
+
+void Sail_reset()
+{
+	
+}
+
+
+void Sail_start()
+{
+	Timer_start(MOTOR_TIMER);
+	Timer_start(ENCODER_TIMER);
+}

Src/Sail.h

@@ -7,7 +7,7 @@
 	* @param  None
   * @retval None
   */
-void Sail_conf();
+void Sail_conf(void);
 
 /**
 	* @brief  Execute la tache de fond des voiles en fonction des valeurs récupérées par les drivers
@@ -15,7 +15,7 @@ void Sail_conf();
 	* @param  None
   * @retval None
   */
-void Sail_background();
+void Sail_background(void);
 
 /**
 	* @brief  Mets la voile à 90 degres
@@ -23,7 +23,7 @@ void Sail_background();
 	* @param  None
   * @retval None
   */
-void Sail_reset();
+void Sail_reset(void);
 
 /**
 	* @brief  Réinitialise la voile à sa position initiale
@@ -31,6 +31,6 @@ void Sail_reset();
 	* @param  None
   * @retval None
   */
-void Sail_start();
+void Sail_start(void);
 
 #endif

Src/main.c

@@ -20,20 +20,45 @@
 #include "stm32f1xx_ll_utils.h"   // utile dans la fonction SystemClock_Config
 #include "stm32f1xx_ll_system.h" // utile dans la fonction SystemClock_Config
 
-#include "Chrono.h"
+#include "Sail.h"
+#include "Scheduler.h"
+#include "ADC.h"
+#include "GPIO.h"
 
 void  SystemClock_Config(void);
 
 /* Private functions ---------------------------------------------------------*/
 
+int counter = 1;
+int adcRaw = 0;
+double adcVolt = 0.0;
+
+void backgroundTask()
+{
+	counter++;
+	Sail_background();
+	adcRaw = ADC_readRaw(ADC1);
+	adcVolt = ADC_convertToVolt(adcRaw);
+}
+
+
+void configurePeripherals()
+{
+	Sail_conf();
+	ADC_conf(ADC1, 12);
+}
+
+void startPeripherals()
+{
+	Sail_start();
+	ADC_start(ADC1);
+}
+
 /**
   * @brief  Main program
   * @param  None
   * @retval None
   */
-	
-Time * time;
-
 int main(void)
 {
   /* Configure the system clock to 72 MHz */
@@ -41,14 +66,16 @@ int main(void)
 
   /* Add your application code here */
   // Configuration chronomètre
-	Chrono_Conf(TIM3);
-	
+	// Chrono_Conf(TIM3);
 	// Lancement chronomètre
-	Chrono_Start(); 
+	// Chrono_Start(); 
+	// time = Chrono_Read();
+  configurePeripherals();
+	startPeripherals();
 	
-	time = Chrono_Read();
-  
-  /* Infinite loop */
+	Scheduler_conf(backgroundTask);
+	Scheduler_start();
+
   while (1)
   {
   }