add basic scheduler functions

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 +1,21 @@
+#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;
+	LL_Init1msTick(1000);
+}
+
+void Scheduler_start(void)
+{
+	
+}

Services/Scheduler.h

@@ -0,0 +1,22 @@
+#ifndef SCHEDULER_H
+#define SCHEDULER_H
+
+#include "stm32f103xb.h" 
+
+/**
+	* @brief  Configure l'horloge interne comme ordonanceur
+  * @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

Src/Sail.c

@@ -1,14 +1,20 @@
 #include "Sail.h"
 #include "ServoMotor.h"
+#include "IncrementalEncoder.h"
 
-TIM_TypeDef * SAIL_TIMER = TIM4;
+TIM_TypeDef * MOTOR_TIMER = TIM4;
-const int SAIL_CHANNEL = LL_TIM_CHANNEL_CH3;
+const int MOTOR_CHANNEL = LL_TIM_CHANNEL_CH3;
-GPIO_TypeDef * SAIL_GPIO = GPIOB;
+GPIO_TypeDef * MOTOR_GPIO = GPIOB;
-const int SAIL_PIN = LL_GPIO_PIN_8;
+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(SAIL_TIMER, SAIL_CHANNEL, SAIL_GPIO, SAIL_PIN);
+	ServoMotor_conf(MOTOR_TIMER, MOTOR_CHANNEL, MOTOR_GPIO, MOTOR_PIN);
+	IncrementalEncoder_conf(ENCODER_TIMER, ENCODER_GPIO, ENCODER_PIN);
 }
 
 void Sail_background()
@@ -24,5 +30,6 @@ void Sail_reset()
 
 void Sail_start()
 {
-	Timer_start(SAIL_TIMER);
+	Timer_start(MOTOR_TIMER);
+	Timer_start(ENCODER_TIMER);
 }

Src/main.c

@@ -21,17 +21,36 @@
 #include "stm32f1xx_ll_system.h" // utile dans la fonction SystemClock_Config
 
 #include "Sail.h"
+#include "Scheduler.h"
 
 void  SystemClock_Config(void);
 
 /* Private functions ---------------------------------------------------------*/
 
+int counter = 1;
+
+void backgroundTask()
+{
+	counter++;
+	Sail_background();
+}
+
+
+void configurePeripherals()
+{
+	Sail_conf();
+}
+
+void startPeripherals()
+{
+	Sail_start();
+}
+
 /**
   * @brief  Main program
   * @param  None
   * @retval None
   */
-
 int main(void)
 {
   /* Configure the system clock to 72 MHz */
@@ -43,9 +62,12 @@ int main(void)
 	// Lancement chronomètre
 	// Chrono_Start(); 
 	// time = Chrono_Read();
+  configurePeripherals();
+	startPeripherals();
+	
+	Scheduler_conf(backgroundTask);
+	Scheduler_start();
 	
-	Sail_conf();
-	Sail_start();
   while (1)
   {
   }