/*
 * config.h
 *
 *  Created on: 28 mai 2026
 *      Author: innotex
 */

#ifndef CONFIG_H_
#define CONFIG_H_
#include "stm32f446xx.h"

#define INIT_MODDER_MOTOR_PBA 0x00100000
#define INIT_MODDER_MOTOR_PBA_MSK 0x00300000

#define INIT_MODDER_MOTOR_PBB 0x00100500
#define INIT_MODDER_MOTOR_PBB_MSK 0x00300F00

#define INIT_OSPEEDR_MOTOR_PBA INIT_MODDER_MOTOR_PBA
#define INIT_OSPEEDR_MOTOR_PBA_MSK INIT_MODDER_MOTOR_PBA_MSK

#define INIT_OSPEEDR_MOTOR_PBB INIT_MODDER_MOTOR_PBB
#define INIT_OSPEEDR_MOTOR_PBB_MSK INIT_MODDER_MOTOR_PBB_MSK

#define INIT_PUPDR_MOTOR_PBA_MSK INIT_MODDER_MOTOR_PBA_MSK
#define INIT_PUPDR_MOTOR_PBB_MSK INIT_MODDER_MOTOR_PBB_MSK

extern volatile uint32_t it_count;
extern uint32_t index_time;
extern uint32_t nbr_un;
extern uint32_t nbr_un_final;
extern volatile uint8_t finReception;

void motor_init(void);
void init_Timer_RoueDroit(char sens, uint8_t vitesse);
void init_Timer_RoueGauche(char sens, uint8_t vitesse);

void InitGPIOUS(void);
void InitTimerUS(void);
void TIM2_IRQHandler(void);
void UltraSoundMgt(void);
void set_RoueGauche_Sens(int sens, uint8_t vitesse);
uint32_t ComputeDistance(uint32_t nbrUnFinal);




typedef enum {
    STOP = 0,
    AVANCE = 1,
    RECUL = 2
} Direction;


#endif /* CONFIG_H_ */