timer

#include "Lib_Pedagobot_TP4.h"
#include <stm32f4xx_hal.h>
#include <stdio.h>
#include <Board_Buttons.h>
#include <Board_LED.h>


typedef enum
{

    ATTENTE_DEPART,
    DEMARRAGE_DROIT,
    TOURNER_DROITE,
    CHOC,
    ARRET,

} type_etat;






// Prototypes
void tempo_logicielle(unsigned long long int n_iter);
void init_TIMER6(void);
void TIMER6(short int x,type_etat etat);
void init_E_S(void);
unsigned char getCollisionValues();
void test (unsigned char *pchoc);


int main()
{
	unsigned char GO,fin_tempo=0,choc=0 ;
	init_PedagoBot_TP4();
	Buttons_Initialize();
	LED_Initialize();
	load_Processor();										//Surcharge du processeur
	init_TIMER6();
	init_E_S();
	printf("Initialization done !\n");
	type_etat etat = ATTENTE_DEPART;

    while(1){






			switch (etat) //transition
    {
        case ATTENTE_DEPART :

            if (Buttons_GetState())
            {
               etat = DEMARRAGE_DROIT;

            }
            break;

        case DEMARRAGE_DROIT :
            if (fin_tempo==1)
            {
								fin_tempo=0;
                etat = TOURNER_DROITE;

            }
            if (choc==1)
            {
                etat = CHOC;

            }

            break;

        case TOURNER_DROITE :
            if (fin_tempo==1)
            {
								fin_tempo=0;
                etat = DEMARRAGE_DROIT;

            }
            if (choc==1)
            {
                etat = CHOC;

            }


            break;

        case CHOC :


            etat = ARRET;

            break;

        case ARRET :

            etat = ATTENTE_DEPART;

            break;

       }







switch (etat) //action
    {
        case ATTENTE_DEPART :



            break;

        case DEMARRAGE_DROIT :
					goStraight();
					TIMER6(6400,etat);

				  fin_tempo=1;




            break;

        case TOURNER_DROITE :

						rotateRight();
            TIMER6(1640,etat);
						fin_tempo=1;

            break;

        case CHOC :

            TIMER6(1000,etat);

            break;

        case ARRET :

                stopRobot();
            break;


    }





			/*if (Buttons_GetState())
			{
				GO=1;
			}
			if(GO==1)
			{
				goStraight();
				TIMER6(6400);
			  rotateRight();
				TIMER6(1600);
				goStraight();
				TIMER6(6400);
				rotateRight();
				TIMER6(1600);
				goStraight();
				TIMER6(6400);
				rotateRight();
				TIMER6(1600);
				goStraight();
				TIMER6(6400);
				rotateRight();
				TIMER6(1600);


			//}


				if(GO==1)
			{
				goStraight();
				tempo_logicielle(150100000);


			  rotateRight();
			  tempo_logicielle(36600000);



			  goStraight();
			  tempo_logicielle(150100000);


			  rotateRight();
			  tempo_logicielle(36600000);


			  goStraight();
				tempo_logicielle(150100000);

			  rotateRight();
				tempo_logicielle(36600000);

			  goStraight();
				tempo_logicielle(150100000);

				rotateRight();
				tempo_logicielle(36600000);

			} */

    }



}










void tempo_logicielle(unsigned long long int n_iter){
	while(n_iter>0){
		n_iter--;
	}
}

void init_TIMER6(void)
{
	RCC->APB1ENR |=(1<<4);  //Init horloge TIMER 6
	TIM6->CR1 = (1<<3);		//Mode Auto reload preload enable
	TIM6->PSC = 8999;    //Prescaleur de 900

	TIM6->EGR |= (1<<0) ;  //Enable clock timer 6
}

void TIMER6(short int x,type_etat etat)
{
	unsigned char Cpt_col,col=0,Rappel;

	if(x==6400)
	{
		TIM6->ARR = 63999;
	}
	if(x==1640)
	{
		TIM6->ARR = 15999;
	}
	if(x==1000)
	{
		TIM6->ARR = 5000;
	}



		TIM6->CR1 |= 1; //activation compteur
		while((TIM6->CR1&1)==1)
		{
			Cpt_col=getCollisionValues();
			if ((Cpt_col==0x00)||(Cpt_col==0x01)||(Cpt_col==0x10))
			{
				col=1;
				 stopRobot();
				Rappel=TIM6->CNT;
			}
		}

		TIM6->CNT=Rappel;
		if((etat==DEMARRAGE_DROIT)&&(col==1))
		{
			TIM6->CR1 |= 1; //activation compteur
			goStraight();
			while((TIM6->CR1&1)==1);

		}
		if((etat==TOURNER_DROITE)&&(col==1))
		{
			TIM6->CR1 |= 1; //activation compteur
			rotateRight();
			while((TIM6->CR1&1)==1);
		}

}

void init_E_S(void)
{

//INIT CAPTEUR COLISION 1 et 2
RCC->AHB1ENR |= (1<<0)|(1<<7); 									//CLOCK POUR A et H
GPIOA->MODER  &= 	~((1<<8)|(1<<9));													//CAPTEUR COLISION 1 en ENTREE sur GPIOA
GPIOA->PUPDR 	|= 	(1<<8);																		// pull up
GPIOA->PUPDR 	&=  ~(1<<9);
GPIOH->MODER  &=  ~((1<<0)|(1<<1));														//CAPTEUR COLISION 2 en ENTREE sur GPIOH
GPIOH->PUPDR 	|= 	(1<<2);
GPIOH->PUPDR 	&=  ~(1<<3);

}


unsigned char getCollisionValues(void){
	unsigned short idr_A , idr_H ;
	unsigned short Col_D , Col_G;
	unsigned char Sortie_col=0;


	idr_A=GPIOA->IDR;
	idr_H=GPIOH->IDR;


	Col_D =idr_A & 0x0010; // pas appuyé : IDRx=1    appuyé IDRx=0
	Col_G =idr_H & 0x0002;

	if (Col_D!=0)
	{
		Sortie_col |= (1<<0); // pas appuyé
	}
	else
	{
		Sortie_col &= ~(1<<0);	//  appuyé
	}

	if (Col_G!=0)
	{
		Sortie_col |= (1<<4);
	}
	else
	{
		Sortie_col &= ~(1<<4);
	}

	return(Sortie_col);



}