From 91382131b551e625a4574709f20af5ce792c148f Mon Sep 17 00:00:00 2001
From: Allan Cueff <allan.cueff@protonmail.com>
Date: Mon, 17 Mar 2025 20:34:10 +0100
Subject: [PATCH] fonctions setup et loop fonctionnelles

---
 Core/Inc/functions.h   |  7 ++---
 Core/Inc/modelec.h     | 20 ---------------
 Core/Src/functions.cpp | 15 -----------
 Core/Src/main.c        |  7 +++--
 Core/Src/modelec.cpp   | 58 +++++++++++++++++++++++++-----------------
 5 files changed, 44 insertions(+), 63 deletions(-)
 delete mode 100644 Core/Inc/modelec.h

diff --git a/Core/Inc/functions.h b/Core/Inc/functions.h
index 8fd6185..847805d 100644
--- a/Core/Inc/functions.h
+++ b/Core/Inc/functions.h
@@ -4,13 +4,14 @@
  *  Created on: Feb 17, 2025
  *      Author: CHAUVEAU Maxime
  */
-#include "main.h"
-#include "motors.h"
 
 #ifndef FUNCTIONS_H_
 #define FUNCTIONS_H_
 
-void Cpploop(Motor *motor);
+#include "main.h"
+#include "motors.h"
+
+bool isDelayPassed(uint32_t delay);
 void handleEncoderProgression(uint16_t totalDistance, uint16_t newDistance, bool direction);
 
 
diff --git a/Core/Inc/modelec.h b/Core/Inc/modelec.h
deleted file mode 100644
index a8446dc..0000000
--- a/Core/Inc/modelec.h
+++ /dev/null
@@ -1,20 +0,0 @@
-/*
- * modelec.h
- *
- *  Created on: Mar 14, 2025
- *      Author: allan
- */
-
-#ifndef INC_MODELEC_H_
-#define INC_MODELEC_H_
-
-#include "stm32l0xx_hal.h"
-
-// Fonction de setup appelee au debut du main.c
-void ModelecOdometrySetup();
-
-// Fonction de loop appelee en boucle dans le main.c
-void ModelecOdometryLoop();
-
-
-#endif /* INC_MODELEC_H_ */
diff --git a/Core/Src/functions.cpp b/Core/Src/functions.cpp
index c9005ae..a51421d 100644
--- a/Core/Src/functions.cpp
+++ b/Core/Src/functions.cpp
@@ -22,21 +22,6 @@ bool isDelayPassed(uint32_t delay) {
     return false;
 }
 
-
-void Cpploop(Motor *motor){
-
-	GPIOC->ODR ^= (1<<10);
-
-	//On actualise toute les 10ms et on effectue tous les controles périodiques
-	if(isDelayPassed(10)) {
-		if(encoder1.getTotalDistance() > 10) {
-			motor->stop();
-		}
-		//On met à jour le statut des moteurs
-		motor->update();
-	}
-}
-
 void handleEncoderProgression(uint16_t totalDistance, uint16_t newDistance, bool direction){
 	char msg[128];
 	if(direction == 0){
diff --git a/Core/Src/main.c b/Core/Src/main.c
index 5f3f755..492b381 100644
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -21,7 +21,6 @@
 
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
-#include "modelec.h"
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -31,6 +30,9 @@
 
 /* Private define ------------------------------------------------------------*/
 /* USER CODE BEGIN PD */
+void ModelecOdometrySetup();
+
+void ModelecOdometryLoop();
 
 /* USER CODE END PD */
 
@@ -106,7 +108,8 @@ int main(void)
   while (1)
   {
 	ModelecOdometryLoop();
-    /* USER CODE END WHILE */
+
+	/* USER CODE END WHILE */
 
     /* USER CODE BEGIN 3 */
   }
diff --git a/Core/Src/modelec.cpp b/Core/Src/modelec.cpp
index b0ee50a..e0f73b0 100644
--- a/Core/Src/modelec.cpp
+++ b/Core/Src/modelec.cpp
@@ -6,40 +6,52 @@
  */
 
 
-#include "modelec.h"
 #include "encoder.h"
 #include "motors.h"
 #include "functions.h"
+#include "main.h"
+#include "stm32l0xx_hal.h"
 #include <cstdio>
 #include <cstring>
 
+extern "C" {
+	// Variables globales
+	Motor motor(TIM3);
+	Encoder encoder1(60000, 600, &GPIOC->IDR, &GPIOC->IDR, (1<<0), (1<<1), &handleEncoderProgression);
+	Encoder encoder2(60000, 600, &GPIOC->IDR, &GPIOC->IDR, (1<<2), (1<<3), &handleEncoderProgression);
 
-// Variables globales
-Motor motor(TIM3);
-Encoder encoder1(60000, 600, &GPIOC->IDR, &GPIOC->IDR, (1<<0), (1<<1), &handleEncoderProgression);
-Encoder encoder2(60000, 600, &GPIOC->IDR, &GPIOC->IDR, (1<<2), (1<<3), &handleEncoderProgression);
+	extern TIM_HandleTypeDef htim3;
+	extern UART_HandleTypeDef huart2;
 
-extern TIM_HandleTypeDef htim3;
-extern UART_HandleTypeDef huart2;
+	// Fonction de setup appelee au debut du main.c
+	void ModelecOdometrySetup(){
+		HAL_UART_Transmit(&huart2, (uint8_t *)"SETUP COMPLETE\n", 15, HAL_MAX_DELAY);
+	}
 
-// Fonction de setup appelee au debut du main.c
-void ModelecOdometrySetup(){
-	HAL_UART_Transmit(&huart2, (uint8_t *)"SETUP COMPLETE\n", 15, HAL_MAX_DELAY);
-}
+	// Fonction de loop appelee en boucle dans le main.c
+	void ModelecOdometryLoop(){
+		GPIOC->ODR ^= (1<<10);
 
-// Fonction de loop appelee en boucle dans le main.c
-void ModelecOdometryLoop(){
+		//On actualise toute les 10ms et on effectue tous les controles périodiques
+		if(isDelayPassed(10)) {
+			if(encoder1.getTotalDistance() > 10) {
+				motor.stop();
+			}
+			//On met à jour le statut des moteurs
+			motor.update();
+		}
+	}
 
-	Cpploop(&motor);
-}
-
-void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
-{
-  if(GPIO_Pin == GPIO_PIN_0 || GPIO_Pin == GPIO_PIN_1) {
-	  encoder1.trigger(); // trigger de l'encodeur 1
-  } else if (GPIO_Pin == GPIO_PIN_2 || GPIO_Pin == GPIO_PIN_3) {
-	  encoder2.trigger(); // trigger de l'encodeur 2
-  }
+	void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
+	{
+	  if(GPIO_Pin == GPIO_PIN_0 || GPIO_Pin == GPIO_PIN_1) {
+		  encoder1.trigger(); // trigger de l'encodeur 1
+	  } else if (GPIO_Pin == GPIO_PIN_2 || GPIO_Pin == GPIO_PIN_3) {
+		  encoder2.trigger(); // trigger de l'encodeur 2
+	  }
+	}
 }
 
 
+
+