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https://github.com/italicsjenga/rp-hal-boards.git
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42e929d7e1
* Use rp2040-hal in all example (possibly through their bsp) Some of the examples were using the cortex_m_rt::entry method which misses the device specific spinlock re-initialisation. This commits makes the usage more consistent by using rp2040_hal exported macro as the only `entry` method used across examples.
117 lines
3.3 KiB
Rust
117 lines
3.3 KiB
Rust
//! # Pico PWM Micro Servo Example
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//!
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//! Moves the micro servo on a Pico board using the PWM peripheral.
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//!
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//! This will move in different positions the motor attached to GP1.
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//!
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//! See the `Cargo.toml` file for Copyright and license details.
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#![no_std]
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#![no_main]
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use cortex_m::prelude::*;
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// GPIO traits
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use embedded_hal::PwmPin;
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// Traits for converting integers to amounts of time
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use embedded_time::duration::Extensions;
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// Ensure we halt the program on panic (if we don't mention this crate it won't
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// be linked)
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use panic_halt as _;
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// A shorter alias for the Peripheral Access Crate, which provides low-level
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// register access
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use rp_pico::hal::pac;
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// A shorter alias for the Hardware Abstraction Layer, which provides
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// higher-level drivers.
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use rp_pico::hal;
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/// Entry point to our bare-metal application.
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///
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/// The `#[rp2040_hal::entry]` macro ensures the Cortex-M start-up code calls this function
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/// as soon as all global variables and the spinlock are initialised.
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///
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/// The function configures the RP2040 peripherals, then fades the LED in an
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/// infinite loop.
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#[rp2040_hal::entry]
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fn main() -> ! {
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// Grab our singleton objects
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let mut pac = pac::Peripherals::take().unwrap();
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// Set up the watchdog driver - needed by the clock setup code
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let mut watchdog = hal::Watchdog::new(pac.WATCHDOG);
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// Configure the clocks
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//
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// The default is to generate a 125 MHz system clock
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let _clocks = hal::clocks::init_clocks_and_plls(
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rp_pico::XOSC_CRYSTAL_FREQ,
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pac.XOSC,
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pac.CLOCKS,
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pac.PLL_SYS,
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pac.PLL_USB,
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&mut pac.RESETS,
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&mut watchdog,
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)
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.ok()
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.unwrap();
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// Configure the Timer peripheral in count-down mode
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let timer = hal::Timer::new(pac.TIMER, &mut pac.RESETS);
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let mut count_down = timer.count_down();
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// The single-cycle I/O block controls our GPIO pins
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let sio = hal::Sio::new(pac.SIO);
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// Set the pins up according to their function on this particular board
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let pins = rp_pico::Pins::new(
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pac.IO_BANK0,
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pac.PADS_BANK0,
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sio.gpio_bank0,
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&mut pac.RESETS,
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);
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// Init PWMs
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let mut pwm_slices = hal::pwm::Slices::new(pac.PWM, &mut pac.RESETS);
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// Configure PWM0
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let pwm = &mut pwm_slices.pwm0;
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pwm.set_ph_correct();
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pwm.set_div_int(20u8); // 50 hz
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pwm.enable();
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// Output channel B on PWM0 to the GPIO1 pin
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let channel = &mut pwm.channel_b;
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channel.output_to(pins.gpio1);
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// Infinite loop, moving micro servo from one position to another.
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// You may need to adjust the pulse width since several servos from
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// different manufacturers respond differently.
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loop {
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// move to 0°
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channel.set_duty(2500);
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count_down.start(400.milliseconds());
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let _ = nb::block!(count_down.wait());
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// 0° to 90°
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channel.set_duty(3930);
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count_down.start(400.milliseconds());
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let _ = nb::block!(count_down.wait());
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// 90° to 180°
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channel.set_duty(7860);
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count_down.start(400.milliseconds());
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let _ = nb::block!(count_down.wait());
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// 180° to 90°
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channel.set_duty(3930);
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count_down.start(400.milliseconds());
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let _ = nb::block!(count_down.wait());
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}
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}
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// End of file
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