#ifndef __MOTOR_H
#define __MOTOR_H

#include "stm32f1xx_hal.h"

typedef enum {
    MOTOR_STOP,
    MOTOR_FORWARD,
    MOTOR_BACKWARD
} MotorDirection;

typedef struct {
    TIM_HandleTypeDef *htim_pwm;
    uint32_t channel_pwm;
    GPIO_TypeDef *port_in1;
    uint16_t pin_in1;
    GPIO_TypeDef *port_in2;
    uint16_t pin_in2;
    MotorDirection dir;
    int16_t pwm_value;          /* 0 ~ PWM_PERIOD */
} Motor;

void Motor_Init(Motor *motor, TIM_HandleTypeDef *htim, uint32_t channel,
                GPIO_TypeDef *port1, uint16_t pin1,
                GPIO_TypeDef *port2, uint16_t pin2);

void Motor_SetSpeed(Motor *motor, int16_t speed);

/* speed: -1000 ~ +1000, positive = forward, negative = backward */
void Motor_SetSpeedScaled(Motor *motor, int16_t speed);

void Motor_Stop(Motor *motor);

#endif /* __MOTOR_H */