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47 lines
1.3 KiB
47 lines
1.3 KiB
//Pfm.h avec table vit
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//#include "Pfm.h" SetupPfm(); dans le pp
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volatile char vitL, vitR; // -15..+15 saturé dans inter
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volatile char pfmL, pfmR; // -80 .. +80
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//#define MaxVit 15
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#define MaxPfm 80
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char taVitR []= {-80,-70,-60,-51,-43,-35,-28,-22,-18,-14,-11,-8,-5,-2,0,\
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0,0,2,5,8,11,14,18,22,28,35,43,51,60,70,80};
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char taVitL []= {-80,-70,-60,-51,-43,-35,-28,-22,-18,-14,-11,-8,-5,-2,0,\
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0,0,2,5,8,11,14,18,22,28,35,43,51,60,70,80};
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volatile byte pfmCntL;
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volatile byte pfmCntR;
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void DoPfm () {
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char tempL,tempR;
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if (pfmR > MaxPfm) pfmR=MaxPfm; // saturer
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if (pfmR < -MaxPfm) pfmR= -MaxPfm;
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if (pfmR >=0) {
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if ((pfmCntR += pfmR) > MaxPfm) {
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pfmCntR -= MaxPfm; AvD; }
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else { FreeD; }
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}
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if (pfmR <0) {
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tempR= -pfmR; // ou pfR= ABS(pfR)
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if ((pfmCntR += tempR) > MaxPfm) {
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pfmCntR -= MaxPfm; RecD; }
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else { FreeD; }
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}
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if (pfmL > MaxPfm) pfmL=MaxPfm; // saturer
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if (pfmL < -MaxPfm) pfmL= -MaxPfm;
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if (pfmL >=0) {
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if ((pfmCntL += pfmL) > MaxPfm) {
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pfmCntL -= MaxPfm; AvG; }
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else { FreeG; }
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}
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if (pfmL <0) {
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tempL= -pfmL; // ou pfL= ABS(pfL)
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if ((pfmCntL += tempL) > MaxPfm) {
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pfmCntL -= MaxPfm; RecG; }
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else { FreeG; }
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}
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}
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