/**
 ******************************************************************************
 * @file           : main.c
 * @author         : Auto-generated by STM32CubeIDE
 * @brief          : Main program body
 ******************************************************************************
 * @attention
 *
 * Copyright (c) 2026 STMicroelectronics.
 * All rights reserved.
 *
 * This software is licensed under terms that can be found in the LICENSE file
 * in the root directory of this software component.
 * If no LICENSE file comes with this software, it is provided AS-IS.
 *
 ******************************************************************************
 */


#include <stdint.h>
#include "stm32f103xb.h"

void delay_ms(uint32_t ms){
	volatile uint32_t i;
	while(ms--)
	{
		for(i = 0; i < 8000; i++);
	}

}

// Control de motor

void motor_stop(void)
{
	GPIOB->ODR &= ~(1 << 0);
	GPIOB->ODR &= ~(1 << 1);
}

void motor_forward(void)
{
	GPIOB->ODR |=  (1 << 0);
	GPIOB->ODR &= ~(1 << 1);
}

void motor_reverse(void)
{
    GPIOB->ODR &= ~(1 << 0);
    GPIOB->ODR |=  (1 << 1);
}

int main(void)
{
	// Enable GPIOA y GPIOB
	RCC->APB2ENR |= (1 << 2); // IOPA
	RCC->APB2ENR |= (1 << 3); // IOPB

	/* ---------- CONFIGURACIÓN GPIO ---------- */

	// PA0 como entrada con pull-down
	GPIOA->CRL &= ~(0xF << 0); // Limpia PA0
	GPIOA->CRL |= (0x8 << 0);  // Input pull-up/pull-down
	GPIOA->ODR |= (1 << 0);   // Pull-down activo

	// PB0 y PB1 como salidas push-pull 2MHz
	GPIOB->CRL &= ~(0xFF << 0); // Limpia PB0 y PB1
	GPIOB->CRL |= (0x22 << 0);  // Output PP 2 MHz

	motor_stop();

	uint8_t last_btnA = 1;
	uint8_t last_btnB = 1;

	while(1)
	{
		uint8_t btnA = (GPIOA->IDR & (1 << 0) ? 1 : 0);
		uint8_t btnB = (GPIOA->IDR & (1 << 1) ? 1 : 0);

		/* Botón A -> Giro forward */
		if(!btnA && last_btnA)
		{
			motor_stop();
			delay_ms(2000);
			motor_forward();
		}

		/* Botón B -> Giro reverse */
		if(!btnB && last_btnB)
		{
			motor_stop();
			delay_ms(2000);
			motor_reverse();
		}

		last_btnA = btnA;
		last_btnB = btnB;

		delay_ms(20); // Anti-rebote
	}

}