Merge branch 'master' of /srv/git/hook_robotique/../repositories/gitRobotique

stm32/src/clock.cpp

@@ -4,9 +4,10 @@
 #include "asservissement/asservissement.h"
 #include "hardware/tourelle.h"
 #include "hardware/leds.h"
-#include "hardware/remote.h"
 
-#ifndef ROBOTHW
+#ifdef ROBOTHW
+    #include "hardware/remote.h"
+#else
     #include <QTimer>
 #endif
 
@@ -22,12 +23,14 @@ void Clock::everyTick()
 
 void Clock::every5ms()
 {
-    #ifndef STM32F40_41xxx
-        Remote::getSingleton()->update();
-        Odometrie::odometrie->update();
-        Asservissement::asservissement->update();
-        Tourelle::getSingleton()->update();
-        //StrategieV2::update();
+    #ifdef ROBOTHW
+        #ifndef STM32F40_41xxx
+            Remote::getSingleton()->update();
+            Odometrie::odometrie->update();
+            Asservissement::asservissement->update();
+            Tourelle::getSingleton()->update();
+            //StrategieV2::update();
+        #endif
     #endif
 }
 
@@ -59,18 +62,18 @@ Clock::Clock()
     m_matchStartTime    = 0;
     m_matchStarted      = false;
 
-    #ifdef ROBOTHW
+    #ifdef ROBOTHW
         *((uint32_t *)(STK_CTRL_ADDR)) = 0x03; // CLKSOURCE:0 ; TICKINT: 1 ; ENABLE:1
-
-        *((uint32_t *)(STK_LOAD_ADDR)) = (0.001*HW_CLOCK_SPEED*Clock::MS_PER_TICK)/8; // (doit etre inférieur à 0x00FFFFFF=16 777 215)
-        /* (voir p190 de la doc) */
-
-        NVIC_InitTypeDef SysTick_IRQ;
-
-        SysTick_IRQ.NVIC_IRQChannel = SysTick_IRQn;
-        SysTick_IRQ.NVIC_IRQChannelCmd = ENABLE;
-        SysTick_IRQ.NVIC_IRQChannelPreemptionPriority = 0;
-        SysTick_IRQ.NVIC_IRQChannelSubPriority = 1;
+
+        *((uint32_t *)(STK_LOAD_ADDR)) = (0.001*HW_CLOCK_SPEED*Clock::MS_PER_TICK)/8; // (doit etre inférieur à 0x00FFFFFF=16 777 215)
+        /* (voir p190 de la doc) */
+
+        NVIC_InitTypeDef SysTick_IRQ;
+
+        SysTick_IRQ.NVIC_IRQChannel = SysTick_IRQn;
+        SysTick_IRQ.NVIC_IRQChannelCmd = ENABLE;
+        SysTick_IRQ.NVIC_IRQChannelPreemptionPriority = 0;
+        SysTick_IRQ.NVIC_IRQChannelSubPriority = 1;
         NVIC_Init(&SysTick_IRQ);
     #else
         /* Some trick with QTimer here */