From aa67c399e617b77ede0e09ce47bdbc9af9185019 Mon Sep 17 00:00:00 2001
From: Eugene Batalov <eabatalov89@gmail.com>
Date: Thu, 7 Jul 2016 23:26:29 +0300
Subject: [PATCH] car_fmw: add support for car rotation to engine interface

---
 car_fmw/src/car_engine.h | 46 +++++++++++++++++++++++++++++++---------
 1 file changed, 36 insertions(+), 10 deletions(-)

diff --git a/car_fmw/src/car_engine.h b/car_fmw/src/car_engine.h
index 97a67a39741..5d92d582be6 100644
--- a/car_fmw/src/car_engine.h
+++ b/car_fmw/src/car_engine.h
@@ -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