From 38b0853c3292a8c8662b50d538abd9bab2bd9945 Mon Sep 17 00:00:00 2001
From: Jonathan Roth <j@o462.fr>
Date: Tue, 10 Mar 2026 16:46:17 +0100
Subject: [PATCH] dev

---
 includes/eeprom.h |  2 ++
 includes/spool.h  | 11 ++++++++---
 src/main.c        | 20 ++++++++++++++------
 src/rtu.c         |  2 +-
 4 files changed, 25 insertions(+), 10 deletions(-)

diff --git a/includes/eeprom.h b/includes/eeprom.h
index e9cb364..e2fc838 100644
--- a/includes/eeprom.h
+++ b/includes/eeprom.h
@@ -10,6 +10,8 @@
 
 #define EE_ARM_OFFSET_H         0x10        // ARM offset high byte
 #define EE_ARM_OFFSET_L         0x11        // ARM offset low byte
+#define EE_SPOOL_RATIO_H        0x12
+#define EE_SPOOL_RATIO_L        0x13
 
 // ─────────────────────────────────────────────
 //  API publique
diff --git a/includes/spool.h b/includes/spool.h
index 5508ba0..c1c9ea5 100644
--- a/includes/spool.h
+++ b/includes/spool.h
@@ -5,12 +5,14 @@
 #include <stdint.h>
 #include <macros.h>
 
+
 // ─────────────────────────────────────────────
 //  Registres Modbus
 // ─────────────────────────────────────────────
 
 #define REG_CTRL                0x0800      // registre de contrôle commun
 #define SPOOL_REG_FREQ          0x0801      // fréquence Step (Hz)
+#define SPOOL_REG_RATIO         0x0806      // ratio démultiplication (millièmes, ex: 1000=1:1)
 
 // bits REG_CTRL
 #define CTRL_SPOOL_ENABLE       ((uint16_t)(1U << 15))  // bit15 : SPOOL enable
@@ -39,8 +41,11 @@
 // ─────────────────────────────────────────────
 
 void SPOOL_Init(void);
-void SPOOL_TimerISR(void);          // ISR Timer5 basse priorité
-void SPOOL_SetCtrl(uint16_t ctrl);  // écriture registre 0x0800
-void SPOOL_SetFreq(uint16_t hz);    // écriture registre 0x0801
+void SPOOL_TimerISR(void);              // ISR Timer5 haute priorité
+void SPOOL_SetCtrl(uint16_t ctrl);      // écriture registre 0x0800
+void SPOOL_SetFreq(uint16_t hz);        // écriture registre 0x0801
+void SPOOL_SetRatio(uint16_t milli);    // écriture registre 0x0806 + sauvegarde EEPROM
+
+extern volatile uint16_t arm_target_position;  // position cible ARM (micropas)
 
 #endif // SPOOL_H
\ No newline at end of file
diff --git a/src/main.c b/src/main.c
index 0000a49..d465a91 100644
--- a/src/main.c
+++ b/src/main.c
@@ -10,7 +10,16 @@
 void main(void) {
 	setup();
 
-	while(1) {
+	uint16_t arm_current_position = 0;
+
+	while (1) {
+		if (arm_current_position < arm_target_position) {
+			arm_current_position++;
+			ARM_HSTEP();
+		} else if (arm_current_position > arm_target_position) {
+			arm_current_position--;
+			ARM_HSTEP();
+		}
 		RTU_Task();
 	}
 }
@@ -18,13 +27,12 @@ void main(void) {
 void __interrupt(low_priority) LOWprio_interrupt(void) {
     if (PIR1bits.TMR2IF)
         RTU_TimerISR();
-    if (PIR3bits.TMR5IF)
-        SPOOL_TimerISR();
-}
-
-void __interrupt(high_priority) HIGHprio_interrupt(void) {
     if (PIR1bits.RCIF)
         RTU_RxISR();
 }
 
+void __interrupt(high_priority) HIGHprio_interrupt(void) {
+    if (PIR3bits.TMR5IF)
+        SPOOL_TimerISR();
+}
 
diff --git a/src/rtu.c b/src/rtu.c
index c24166a..d1f3b73 100644
--- a/src/rtu.c
+++ b/src/rtu.c
@@ -141,7 +141,7 @@ void RTU_Init(void)
     PIE1bits.TMR2IE  = 1;
 
     // UART RX interrupt
-    IPR1bits.RCIP    = 1;           // haute priorité
+    IPR1bits.RCIP = 0;    // RX basse priorité
     PIE1bits.RCIE    = 1;
 }