/
servo_pwm_hz.rs
77 lines (62 loc) · 1.78 KB
/
servo_pwm_hz.rs
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
#![no_std]
#![no_main]
use panic_halt as _;
use rp2040_hal as hal;
use hal::pac;
use embedded_hal::PwmPin;
use rp2040_hal::clocks::Clock;
#[link_section = ".boot2"]
#[used]
pub static BOOT2: [u8; 256] = rp2040_boot2::BOOT_LOADER_GENERIC_03H;
const XTAL_FREQ_HZ: u32 = 12_000_000u32;
#[rp2040_hal::entry]
fn main() -> ! {
let mut pac = pac::Peripherals::take().unwrap();
let core = pac::CorePeripherals::take().unwrap();
let mut watchdog = hal::Watchdog::new(pac.WATCHDOG);
let clocks = hal::clocks::init_clocks_and_plls(
XTAL_FREQ_HZ,
pac.XOSC,
pac.CLOCKS,
pac.PLL_SYS,
pac.PLL_USB,
&mut pac.RESETS,
&mut watchdog,
)
.ok()
.unwrap();
let mut delay = cortex_m::delay::Delay::new(core.SYST, clocks.system_clock.freq().to_Hz());
let sio = hal::Sio::new(pac.SIO);
let pins = hal::gpio::Pins::new(
pac.IO_BANK0,
pac.PADS_BANK0,
sio.gpio_bank0,
&mut pac.RESETS,
);
// Init PWMs
let mut pwm_slices = hal::pwm::Slices::new(pac.PWM, &mut pac.RESETS);
// Configure PWM1
let pwm = &mut pwm_slices.pwm1;
pwm.enable();
// Set the PWM frequency to 50Hz
pwm.set_top(24999);
pwm.set_div_int(100);
pwm.set_div_frac(0);
// Output channel B on PWM1 to the servo pin
let channel = &mut pwm.channel_b;
channel.output_to(pins.gpio3);
// Infinite loop, rotating the servo left or right
// SG90-HV datasheet
// Right Max: 25000 * 5.0% = 1250
// Stop : 25000 * 7.5% = 1875
// Left Max: 25000 * 10.0% = 2500
loop {
channel.set_duty(1250);
delay.delay_ms(5000);
channel.set_duty(1875);
delay.delay_ms(5000);
channel.set_duty(2500);
delay.delay_ms(5000);
}
}
// End of file