#include // #include // #include #include #include "sensors.h" // #include // #include // #include // #include /* External variables */ // extern APS_DataReq_t test; // extern HAL_UsartDescriptor_t appUsartDescriptor; // extern uint8_t usartTxBuffer[APP_USART_TX_BUFFER_SIZE]; // extern unsigned int top_tour; // extern unsigned int last_tour_time; // extern int activation_asserv; // extern int nb_top; // extern long last_seen_laser; int consigne_motor_ms = 100; int security_ils = 1; int old_top_tour = 0; long angle = 0; unsigned int status_temps_tour = 0; unsigned int top_laser; unsigned int counter_top_tour; /********************************************************/ void init_sensors(void) { // HAL_RegisterIrq(IRQ_7,IRQ_RISING_EDGE,irq_laser); } void init_ILS(void) { PORTE = (1< 0xd5) { OCR3A = 0xd5; } else { OCR3A = correction; } } void init_ic(void) { TCCR3A|=(1<