azalea/kotlin-fork
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

car_fmw: add support for car rotation to engine interface

Browse Source
This commit is contained in:
Eugene Batalov
2016-07-07 23:26:29 +03:00
parent 498b4423af
commit aa67c399e6
1 changed files with 36 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files
car_fmw/src/car_engine.h
+36 -10
View File
@@ -3,21 +3,25 @@
#include "stm32f4_discovery.h"
#include "stm32f4xx_conf.h"
//#define CAR_ENGINE_ENABLE
#define CAR_ENGINE_ENABLE
#define CAR_ENGINE_GPIO_PORT_CLOCK RCC_AHB1Periph_GPIOB
#define CAR_ENGINE_GPIO_PORT GPIOB
#define CAR_ENGINE_ENABLE_PIN GPIO_Pin_4
#define CAR_ENGINE_DIRECTION_FORWARD_PIN GPIO_Pin_5
#define CAR_ENGINE_DIRECTION_BACKWARD_PIN GPIO_Pin_6
#define CAR_ENGINE_ENABLE_PIN GPIO_Pin_3
#define CAR_ENGINE_LWHEEL_FWD_PIN GPIO_Pin_4
#define CAR_ENGINE_LWHEEL_BKWD_PIN GPIO_Pin_5
#define CAR_ENGINE_RWHEEL_FWD_PIN GPIO_Pin_6
#define CAR_ENGINE_RWHEEL_BKWD_PIN GPIO_Pin_7
inline void engine_init(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
RCC_AHB1PeriphClockCmd(CAR_ENGINE_GPIO_PORT_CLOCK, ENABLE);
GPIO_InitStructure.GPIO_Pin = CAR_ENGINE_ENABLE_PIN
| CAR_ENGINE_DIRECTION_FORWARD_PIN
| CAR_ENGINE_DIRECTION_BACKWARD_PIN;
| CAR_ENGINE_LWHEEL_FWD_PIN
| CAR_ENGINE_LWHEEL_BKWD_PIN
| CAR_ENGINE_RWHEEL_FWD_PIN
| CAR_ENGINE_RWHEEL_BKWD_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
@@ -28,9 +32,11 @@ inline void engine_init(void)
inline void engine_stop(void)
{
GPIO_ResetBits(CAR_ENGINE_GPIO_PORT, 0
| CAR_ENGINE_DIRECTION_BACKWARD_PIN
| CAR_ENGINE_LWHEEL_BKWD_PIN
| CAR_ENGINE_ENABLE_PIN
| CAR_ENGINE_DIRECTION_FORWARD_PIN);
| CAR_ENGINE_LWHEEL_FWD_PIN
| CAR_ENGINE_RWHEEL_FWD_PIN
| CAR_ENGINE_RWHEEL_BKWD_PIN);
}
#ifdef CAR_ENGINE_ENABLE
@@ -38,16 +44,36 @@ inline void engine_forward(void)
{
engine_stop();
GPIO_SetBits(CAR_ENGINE_GPIO_PORT, CAR_ENGINE_ENABLE_PIN);
GPIO_SetBits(CAR_ENGINE_GPIO_PORT, CAR_ENGINE_DIRECTION_FORWARD_PIN);
GPIO_SetBits(CAR_ENGINE_GPIO_PORT, CAR_ENGINE_LWHEEL_FWD_PIN);
GPIO_SetBits(CAR_ENGINE_GPIO_PORT, CAR_ENGINE_RWHEEL_FWD_PIN);
}
inline void engine_backward(void)
{
engine_stop();
GPIO_SetBits(CAR_ENGINE_GPIO_PORT, CAR_ENGINE_ENABLE_PIN);
GPIO_SetBits(CAR_ENGINE_GPIO_PORT, CAR_ENGINE_DIRECTION_BACKWARD_PIN);
GPIO_SetBits(CAR_ENGINE_GPIO_PORT, CAR_ENGINE_LWHEEL_BKWD_PIN);
GPIO_SetBits(CAR_ENGINE_GPIO_PORT, CAR_ENGINE_RWHEEL_BKWD_PIN);
}
inline void engine_turn_left(void)
{
engine_stop();
GPIO_SetBits(CAR_ENGINE_GPIO_PORT, CAR_ENGINE_ENABLE_PIN);
GPIO_SetBits(CAR_ENGINE_GPIO_PORT, CAR_ENGINE_LWHEEL_BKWD_PIN);
GPIO_SetBits(CAR_ENGINE_GPIO_PORT, CAR_ENGINE_RWHEEL_FWD_PIN);
}
inline void engine_turn_right(void)
{
engine_stop();
GPIO_SetBits(CAR_ENGINE_GPIO_PORT, CAR_ENGINE_ENABLE_PIN);
GPIO_SetBits(CAR_ENGINE_GPIO_PORT, CAR_ENGINE_LWHEEL_FWD_PIN);
GPIO_SetBits(CAR_ENGINE_GPIO_PORT, CAR_ENGINE_RWHEEL_BKWD_PIN);
}
#else
#define engine_forward(...);
#define engine_backward(...);
#define engine_turn_right(...);
#define engine_turn_left(...);
#endif // CAR_ENGINE_ENABLE