car_fmw: implement 5 demo car programs

Demo programs:
1. Go forward
2. Go backward
3. Rotate right
4. Rotate left
5. Complicated route
All programs are running in a cycle

+ Refactor delay.h code to have common code style with main.c

car_fmw/src/delay.h

@@ -1,16 +0,0 @@
-#pragma once
-
-#include "stm32f4_discovery.h"
-#include "stm32f4xx_conf.h"
-
-/**
-  * @brief  Delay Function.
-  * @param  nCount:specifies the Delay time length.
-  * @retval None
-  */
-inline void Delay(__IO uint32_t nCount)
-{
-  while(nCount--)
-  {
-  }
-}

car_fmw/src/main.c

@@ -1,10 +1,67 @@
 #include "car_leds.h"
 #include "car_engine.h"
-#include "delay.h"
+#include "wait.h"
+
+const uint32_t PROGRAM_DURATION = 0x3FFFFF; 
+static void program_forward(void)
+{
+    engine_forward();
+    wait(PROGRAM_DURATION);
+}
+
+static void program_backward(void)
+{
+    engine_backward();
+    wait(PROGRAM_DURATION);
+}
+
+static void program_rotation_left(void)
+{
+    engine_turn_left();
+    wait(PROGRAM_DURATION);
+}
+
+static void program_rotation_right(void)
+{
+    engine_turn_right();
+    wait(PROGRAM_DURATION);
+}
+
+static void program_arbitraty_route(void)
+{
+    const int ROUTE_PIECE_DURATION = 6 * PROGRAM_DURATION;
+    engine_forward();
+    wait(ROUTE_PIECE_DURATION);
+
+    engine_backward();
+    wait(ROUTE_PIECE_DURATION);
+
+    engine_forward();
+    wait(ROUTE_PIECE_DURATION / 2);
+
+    engine_turn_right();
+    wait(ROUTE_PIECE_DURATION);
+
+    engine_forward();
+    wait(ROUTE_PIECE_DURATION / 2);
+
+    engine_backward();
+    wait(ROUTE_PIECE_DURATION / 2);
+
+    engine_turn_left();
+    wait(ROUTE_PIECE_DURATION);
+
+    engine_backward();
+    wait(ROUTE_PIECE_DURATION / 2);
+
+    engine_stop();
+    wait(ROUTE_PIECE_DURATION / 2);
+}
+
 
 int main(void)
 {
-    /*!< At this stage the microcontroller clock setting is already configured, 
+    /*!< At this stage the microcontroller clock setting is already configured,
        this is done through SystemInit() function which is called from startup
        file (startup_stm32f4xx.s) before to branch to application main.
        To reconfigure the default setting of SystemInit() function, refer to
@@ -14,29 +71,7 @@ int main(void)
     leds_init();
     engine_init();
 
-    const int DELAY = 0x3FFFFF;
+    while(1) {
-    while (1)
+        program_forward();
-    {
-        led_set(LED_GREEN, true);
-        Delay(DELAY);
-
-        engine_forward();
-        led_set(LED_ORANGE, true);
-        Delay(DELAY);
-
-        engine_stop();
-        led_set(LED_RED, true);
-        Delay(DELAY);
-
-        engine_backward();
-        led_set(LED_BLUE, true);
-        Delay(DELAY);
-
-        engine_stop();
-        led_set(LED_GREEN, false);
-        led_set(LED_ORANGE, false);
-        led_set(LED_RED, false);
-        led_set(LED_BLUE, false);
-        Delay(DELAY);
     }
 }

car_fmw/src/wait.h

@@ -0,0 +1,6 @@
+#pragma once
+
+inline void wait(uint32_t loops)
+{
+    while(--loops);
+}