From f172e071f8befe9e145d6bb386956a78c2ebf876 Mon Sep 17 00:00:00 2001 From: Thomas Kolb Date: Sun, 1 Jan 2023 23:59:24 +0100 Subject: [PATCH] Project created: just a test program so far LEDs, PWM Switch Control, UART basically working. --- .cargo/config.toml | 30 +++ .gitignore | 1 + Cargo.lock | 477 +++++++++++++++++++++++++++++++++++++++++++++ Cargo.toml | 64 ++++++ memory.x | 15 ++ src/main.rs | 158 +++++++++++++++ 6 files changed, 745 insertions(+) create mode 100644 .cargo/config.toml create mode 100644 .gitignore create mode 100644 Cargo.lock create mode 100644 Cargo.toml create mode 100644 memory.x create mode 100644 src/main.rs diff --git a/.cargo/config.toml b/.cargo/config.toml new file mode 100644 index 0000000..436b65c --- /dev/null +++ b/.cargo/config.toml @@ -0,0 +1,30 @@ +[target.'cfg(all(target_arch = "arm", target_os = "none"))'] +# Choose a default "cargo run" tool: +# - probe-run provides flashing and defmt via a hardware debugger +# - cargo embed offers flashing, rtt, defmt and a gdb server via a hardware debugger +# it is configured via the Embed.toml in the root of this project +# - elf2uf2-rs loads firmware over USB when the rp2040 is in boot mode +#runner = "probe-run --chip RP2040" +# runner = "cargo embed" +runner = "elf2uf2-rs -d" + +rustflags = [ + "-C", "link-arg=--nmagic", + "-C", "link-arg=-Tlink.x", + +# "-C", "link-arg=-Tdefmt.x", +# "-C", "linker=flip-link", + + # Code-size optimizations. + # trap unreachable can save a lot of space, but requires nightly compiler. + # uncomment the next line if you wish to enable it + # "-Z", "trap-unreachable=no", + "-C", "inline-threshold=5", + "-C", "no-vectorize-loops", +] + +[build] +target = "thumbv6m-none-eabi" + +[env] +DEFMT_LOG = "debug" diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..ea8c4bf --- /dev/null +++ b/.gitignore @@ -0,0 +1 @@ +/target diff --git a/Cargo.lock b/Cargo.lock new file mode 100644 index 0000000..c23b89d --- /dev/null +++ b/Cargo.lock @@ -0,0 +1,477 @@ +# This file is automatically @generated by Cargo. +# It is not intended for manual editing. +version = 3 + +[[package]] +name = "arrayvec" +version = "0.7.2" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "8da52d66c7071e2e3fa2a1e5c6d088fec47b593032b254f5e980de8ea54454d6" + +[[package]] +name = "autocfg" +version = "1.1.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "d468802bab17cbc0cc575e9b053f41e72aa36bfa6b7f55e3529ffa43161b97fa" + +[[package]] +name = "bare-metal" +version = "0.2.5" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "5deb64efa5bd81e31fcd1938615a6d98c82eafcbcd787162b6f63b91d6bac5b3" +dependencies = [ + "rustc_version", +] + +[[package]] +name = "bitfield" +version = "0.13.2" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "46afbd2983a5d5a7bd740ccb198caf5b82f45c40c09c0eed36052d91cb92e719" + +[[package]] +name = "bitflags" +version = "1.3.2" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "bef38d45163c2f1dde094a7dfd33ccf595c92905c8f8f4fdc18d06fb1037718a" + +[[package]] +name = "chrono" +version = "0.4.23" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "16b0a3d9ed01224b22057780a37bb8c5dbfe1be8ba48678e7bf57ec4b385411f" +dependencies = [ + "num-integer", + "num-traits", +] + +[[package]] +name = "cortex-m" +version = "0.7.6" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "70858629a458fdfd39f9675c4dc309411f2a3f83bede76988d81bf1a0ecee9e0" +dependencies = [ + "bare-metal", + "bitfield", + "embedded-hal 0.2.7", + "volatile-register", +] + +[[package]] +name = "cortex-m-rt" +version = "0.7.2" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "d6d3328b8b5534f0c90acd66b68950f2763b37e0173cac4d8b4937c4a80761f9" +dependencies = [ + "cortex-m-rt-macros", +] + +[[package]] +name = "cortex-m-rt-macros" +version = "0.7.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "f0f6f3e36f203cfedbc78b357fb28730aa2c6dc1ab060ee5c2405e843988d3c7" +dependencies = [ + "proc-macro2", + "quote", + "syn", +] + +[[package]] +name = "crc-any" +version = "2.4.3" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "774646b687f63643eb0f4bf13dc263cb581c8c9e57973b6ddf78bda3994d88df" +dependencies = [ + "debug-helper", +] + +[[package]] +name = "critical-section" +version = "1.1.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "6548a0ad5d2549e111e1f6a11a6c2e2d00ce6a3dafe22948d67c2b443f775e52" + +[[package]] +name = "debug-helper" +version = "0.3.13" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "f578e8e2c440e7297e008bb5486a3a8a194775224bbc23729b0dbdfaeebf162e" + +[[package]] +name = "defmt" +version = "0.3.2" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "d3a0ae7494d9bff013d7b89471f4c424356a71e9752e0c78abe7e6c608a16bb3" +dependencies = [ + "bitflags", + "defmt-macros", +] + +[[package]] +name = "defmt-macros" +version = "0.3.3" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "8500cbe4cca056412efce4215a63d0bc20492942aeee695f23b624a53e0a6854" +dependencies = [ + "defmt-parser", + "proc-macro-error", + "proc-macro2", + "quote", + "syn", +] + +[[package]] +name = "defmt-parser" +version = "0.3.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "0db23d29972d99baa3de2ee2ae3f104c10564a6d05a346eb3f4c4f2c0525a06e" + +[[package]] +name = "either" +version = "1.8.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "90e5c1c8368803113bf0c9584fc495a58b86dc8a29edbf8fe877d21d9507e797" + +[[package]] +name = "embedded-dma" +version = "0.2.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "994f7e5b5cb23521c22304927195f236813053eb9c065dd2226a32ba64695446" +dependencies = [ + "stable_deref_trait", +] + +[[package]] +name = "embedded-hal" +version = "0.2.7" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "35949884794ad573cf46071e41c9b60efb0cb311e3ca01f7af807af1debc66ff" +dependencies = [ + "nb 0.1.3", + "void", +] + +[[package]] +name = "embedded-hal" +version = "1.0.0-alpha.9" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "129b101ddfee640565f7c07b301a31d95aa21e5acef21a491c307139f5fa4c91" + +[[package]] +name = "fugit" +version = "0.3.6" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "7ab17bb279def6720d058cb6c052249938e7f99260ab534879281a95367a87e5" +dependencies = [ + "gcd", +] + +[[package]] +name = "gcd" +version = "2.2.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "a4b1b088ad0a967aa29540456b82fc8903f854775d33f71e9709c4efb3dfbfd2" + +[[package]] +name = "handkurbel" +version = "0.1.0" +dependencies = [ + "chrono", + "cortex-m", + "cortex-m-rt", + "critical-section", + "defmt", + "embedded-dma", + "embedded-hal 0.2.7", + "embedded-hal 1.0.0-alpha.9", + "fugit", + "itertools", + "nb 1.0.0", + "panic-halt", + "paste", + "pio", + "rand_core", + "rp2040-boot2", + "rp2040-hal", + "rp2040-hal-macros", + "rp2040-pac", + "rtic-monotonic", + "usb-device", + "vcell", + "void", +] + +[[package]] +name = "itertools" +version = "0.10.5" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "b0fd2260e829bddf4cb6ea802289de2f86d6a7a690192fbe91b3f46e0f2c8473" +dependencies = [ + "either", +] + +[[package]] +name = "nb" +version = "0.1.3" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "801d31da0513b6ec5214e9bf433a77966320625a37860f910be265be6e18d06f" +dependencies = [ + "nb 1.0.0", +] + +[[package]] +name = "nb" +version = "1.0.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "546c37ac5d9e56f55e73b677106873d9d9f5190605e41a856503623648488cae" + +[[package]] +name = "num-integer" +version = "0.1.45" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "225d3389fb3509a24c93f5c29eb6bde2586b98d9f016636dff58d7c6f7569cd9" +dependencies = [ + "autocfg", + "num-traits", +] + +[[package]] +name = "num-traits" +version = "0.2.15" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "578ede34cf02f8924ab9447f50c28075b4d3e5b269972345e7e0372b38c6cdcd" +dependencies = [ + "autocfg", +] + +[[package]] +name = "num_enum" +version = "0.5.7" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "cf5395665662ef45796a4ff5486c5d41d29e0c09640af4c5f17fd94ee2c119c9" +dependencies = [ + "num_enum_derive", +] + +[[package]] +name = "num_enum_derive" +version = "0.5.7" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "3b0498641e53dd6ac1a4f22547548caa6864cc4933784319cd1775271c5a46ce" +dependencies = [ + "proc-macro2", + "quote", + "syn", +] + +[[package]] +name = "panic-halt" +version = "0.2.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "de96540e0ebde571dc55c73d60ef407c653844e6f9a1e2fdbd40c07b9252d812" + +[[package]] +name = "paste" +version = "1.0.11" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "d01a5bd0424d00070b0098dd17ebca6f961a959dead1dbcbbbc1d1cd8d3deeba" + +[[package]] +name = "pio" +version = "0.2.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "76e09694b50f89f302ed531c1f2a7569f0be5867aee4ab4f8f729bbeec0078e3" +dependencies = [ + "arrayvec", + "num_enum", + "paste", +] + +[[package]] +name = "proc-macro-error" +version = "1.0.4" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "da25490ff9892aab3fcf7c36f08cfb902dd3e71ca0f9f9517bea02a73a5ce38c" +dependencies = [ + "proc-macro-error-attr", + "proc-macro2", + "quote", + "syn", + "version_check", +] + +[[package]] +name = "proc-macro-error-attr" +version = "1.0.4" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "a1be40180e52ecc98ad80b184934baf3d0d29f979574e439af5a55274b35f869" +dependencies = [ + "proc-macro2", + "quote", + "version_check", +] + +[[package]] +name = "proc-macro2" +version = "1.0.49" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "57a8eca9f9c4ffde41714334dee777596264c7825420f521abc92b5b5deb63a5" +dependencies = [ + "unicode-ident", +] + +[[package]] +name = "quote" +version = "1.0.23" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "8856d8364d252a14d474036ea1358d63c9e6965c8e5c1885c18f73d70bff9c7b" +dependencies = [ + "proc-macro2", +] + +[[package]] +name = "rand_core" +version = "0.6.4" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "ec0be4795e2f6a28069bec0b5ff3e2ac9bafc99e6a9a7dc3547996c5c816922c" + +[[package]] +name = "rp2040-boot2" +version = "0.2.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "3c773ec49b836077aa144b58dc7654a243e1eecdb6cf0d25361ae7c7600fabd8" +dependencies = [ + "crc-any", +] + +[[package]] +name = "rp2040-hal" +version = "0.7.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "1ecf1b975581f0cac465247c464e7d2b8d93c7a5fceb4eb13b7b8517f4f85f6d" +dependencies = [ + "cortex-m", + "critical-section", + "embedded-hal 0.2.7", + "fugit", + "itertools", + "nb 1.0.0", + "paste", + "pio", + "rand_core", + "rp2040-hal-macros", + "rp2040-pac", + "usb-device", + "vcell", + "void", +] + +[[package]] +name = "rp2040-hal-macros" +version = "0.1.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "86479063e497efe1ae81995ef9071f54fd1c7427e04d6c5b84cde545ff672a5e" +dependencies = [ + "cortex-m-rt", + "proc-macro2", + "quote", + "syn", +] + +[[package]] +name = "rp2040-pac" +version = "0.4.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "9192cafbb40d717c9e0ddf767aaf9c69fee1b4e48d22ed853b57b11f6d9f3d7e" +dependencies = [ + "cortex-m", + "cortex-m-rt", + "vcell", +] + +[[package]] +name = "rtic-monotonic" +version = "1.0.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "fb8b0b822d1a366470b9cea83a1d4e788392db763539dc4ba022bcc787fece82" + +[[package]] +name = "rustc_version" +version = "0.2.3" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "138e3e0acb6c9fb258b19b67cb8abd63c00679d2851805ea151465464fe9030a" +dependencies = [ + "semver", +] + +[[package]] +name = "semver" +version = "0.9.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "1d7eb9ef2c18661902cc47e535f9bc51b78acd254da71d375c2f6720d9a40403" +dependencies = [ + "semver-parser", +] + +[[package]] +name = "semver-parser" +version = "0.7.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "388a1df253eca08550bef6c72392cfe7c30914bf41df5269b68cbd6ff8f570a3" + +[[package]] +name = "stable_deref_trait" +version = "1.2.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "a8f112729512f8e442d81f95a8a7ddf2b7c6b8a1a6f509a95864142b30cab2d3" + +[[package]] +name = "syn" +version = "1.0.107" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "1f4064b5b16e03ae50984a5a8ed5d4f8803e6bc1fd170a3cda91a1be4b18e3f5" +dependencies = [ + "proc-macro2", + "quote", + "unicode-ident", +] + +[[package]] +name = "unicode-ident" +version = "1.0.6" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "84a22b9f218b40614adcb3f4ff08b703773ad44fa9423e4e0d346d5db86e4ebc" + +[[package]] +name = "usb-device" +version = "0.2.9" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "1f6cc3adc849b5292b4075fc0d5fdcf2f24866e88e336dd27a8943090a520508" + +[[package]] +name = "vcell" +version = "0.1.3" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "77439c1b53d2303b20d9459b1ade71a83c716e3f9c34f3228c00e6f185d6c002" + +[[package]] +name = "version_check" +version = "0.9.4" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "49874b5167b65d7193b8aba1567f5c7d93d001cafc34600cee003eda787e483f" + +[[package]] +name = "void" +version = "1.0.2" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "6a02e4885ed3bc0f2de90ea6dd45ebcbb66dacffe03547fadbb0eeae2770887d" + +[[package]] +name = "volatile-register" +version = "0.2.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "9ee8f19f9d74293faf70901bc20ad067dc1ad390d2cbf1e3f75f721ffee908b6" +dependencies = [ + "vcell", +] diff --git a/Cargo.toml b/Cargo.toml new file mode 100644 index 0000000..18f60ad --- /dev/null +++ b/Cargo.toml @@ -0,0 +1,64 @@ +[package] +name = "handkurbel" +version = "0.1.0" +edition = "2021" + +# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html + + +[package.metadata.docs.rs] +features = ["rt", "rom-v2-intrinsics", "defmt", "rtic-monotonic"] +targets = ["thumbv6m-none-eabi"] + +[dependencies] +cortex-m = "0.7.2" +embedded-hal = { version = "0.2.5", features = ["unproven"] } +eh1_0_alpha = { package = "embedded-hal", version = "=1.0.0-alpha.9", optional = true } +embedded-dma = "0.2.0" +fugit = "0.3.6" +itertools = { version = "0.10.1", default-features = false } +nb = "1.0" +rp2040-pac = "0.4.0" +paste = "1.0" +pio = "0.2.0" +rp2040-hal = "0.7.0" +rp2040-hal-macros = "0.1.0" +usb-device = "0.2.9" +vcell = "0.1" +void = { version = "1.0.2", default-features = false } +rand_core = "0.6.3" +critical-section = { version = "1.0.0" } + +chrono = { version = "0.4", default-features = false, optional = true } + +defmt = { version = ">=0.2.0, <0.4", optional = true } + +rtic-monotonic = { version = "1.0.0", optional = true } + +#[dev-dependencies] +cortex-m-rt = "0.7" +panic-halt = "0.2.0" +rp2040-boot2 = "0.2.1" + +[features] +# Minimal startup / runtime for Cortex-M microcontrollers +rt = ["rp2040-pac/rt"] + +# Memoize(cache) ROM function pointers on first use to improve performance +rom-func-cache = [] + +# Disable automatic mapping of language features (like floating point math) to ROM functions +disable-intrinsics = [] + +# This enables ROM functions for f64 math that were not present in the earliest RP2040s +rom-v2-intrinsics = [] + +# This enables a fix for USB errata 5: USB device fails to exit RESET state on busy USB bus. +# Only required for RP2040 B0 and RP2040 B1, but it also works for RP2040 B2 and above +rp2040-e5 = [] + +# critical section that is safe for multicore use +critical-section-impl = ["critical-section/restore-state-u8"] + +[build] +target = "thumbv6m-none-eabi" diff --git a/memory.x b/memory.x new file mode 100644 index 0000000..070eac7 --- /dev/null +++ b/memory.x @@ -0,0 +1,15 @@ +MEMORY { + BOOT2 : ORIGIN = 0x10000000, LENGTH = 0x100 + FLASH : ORIGIN = 0x10000100, LENGTH = 2048K - 0x100 + RAM : ORIGIN = 0x20000000, LENGTH = 256K +} + +EXTERN(BOOT2_FIRMWARE) + +SECTIONS { + /* ### Boot loader */ + .boot2 ORIGIN(BOOT2) : + { + KEEP(*(.boot2)); + } > BOOT2 +} INSERT BEFORE .text; \ No newline at end of file diff --git a/src/main.rs b/src/main.rs new file mode 100644 index 0000000..5093489 --- /dev/null +++ b/src/main.rs @@ -0,0 +1,158 @@ +//! # PWM Blink Example +//! +//! If you have an LED connected to pin 25, it will fade the LED using the PWM +//! peripheral. +//! +//! It may need to be adapted to your particular board layout and/or pin assignment. +//! +//! See the `Cargo.toml` file for Copyright and license details. + +#![no_std] +#![no_main] + +// Ensure we halt the program on panic (if we don't mention this crate it won't +// be linked) +use panic_halt as _; + +// Alias for our HAL crate +use rp2040_hal as hal; + +// Some traits we need +use embedded_hal::PwmPin; +use fugit::RateExtU32; +use rp2040_hal::clocks::Clock; + +// A shorter alias for the Peripheral Access Crate, which provides low-level +// register access +use hal::pac; + +// UART related types +use hal::uart::{DataBits, StopBits, UartConfig}; + +/// The linker will place this boot block at the start of our program image. We +/// need this to help the ROM bootloader get our code up and running. +/// Note: This boot block is not necessary when using a rp-hal based BSP +/// as the BSPs already perform this step. +#[link_section = ".boot2"] +#[used] +pub static BOOT2: [u8; 256] = rp2040_boot2::BOOT_LOADER_GENERIC_03H; + +/// The minimum PWM value (i.e. LED brightness) we want +const LOW: u16 = 0; + +/// The maximum PWM value (i.e. LED brightness) we want +const HIGH: u16 = 25000; + +/// External high-speed crystal on the Raspberry Pi Pico board is 12 MHz. Adjust +/// if your board has a different frequency +const XTAL_FREQ_HZ: u32 = 12_000_000u32; + +/// Entry point to our bare-metal application. +/// +/// The `#[rp2040_hal::entry]` macro ensures the Cortex-M start-up code calls this function +/// as soon as all global variables and the spinlock are initialised. +/// +/// The function configures the RP2040 peripherals, then fades the LED in an +/// infinite loop. +#[rp2040_hal::entry] +fn main() -> ! { + // Grab our singleton objects + let mut pac = pac::Peripherals::take().unwrap(); + let core = pac::CorePeripherals::take().unwrap(); + + // Set up the watchdog driver - needed by the clock setup code + let mut watchdog = hal::Watchdog::new(pac.WATCHDOG); + + // Configure the clocks + // + // The default is to generate a 125 MHz system clock + 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(); + + // The single-cycle I/O block controls our GPIO pins + let sio = hal::Sio::new(pac.SIO); + + // Set the pins up according to their function on this particular board + let pins = hal::gpio::Pins::new( + pac.IO_BANK0, + pac.PADS_BANK0, + sio.gpio_bank0, + &mut pac.RESETS, + ); + + // The delay object lets us wait for specified amounts of time (in + // milliseconds) + let mut delay = cortex_m::delay::Delay::new(core.SYST, clocks.system_clock.freq().to_Hz()); + + // UART + let uart_pins = ( + // UART TX (characters sent from RP2040) on pin 1 (GPIO0) + pins.gpio0.into_mode::(), + // UART RX (characters received by RP2040) on pin 2 (GPIO1) + pins.gpio1.into_mode::(), + ); + let uart = hal::uart::UartPeripheral::new(pac.UART0, uart_pins, &mut pac.RESETS) + .enable( + UartConfig::new(9600.Hz(), DataBits::Eight, None, StopBits::One), + clocks.peripheral_clock.freq(), + ) + .unwrap(); + + // Init PWMs + let mut pwm_slices = hal::pwm::Slices::new(pac.PWM, &mut pac.RESETS); + + // Configure PWM4 + let pwm5 = &mut pwm_slices.pwm5; + pwm5.set_ph_correct(); + pwm5.set_div_int(4); + pwm5.set_div_frac((88 << 4) / 100); + pwm5.set_top(512); + pwm5.enable(); + + let pwm6 = &mut pwm_slices.pwm6; + pwm6.set_ph_correct(); + pwm6.enable(); + let pwm7 = &mut pwm_slices.pwm7; + pwm7.set_ph_correct(); + pwm7.enable(); + + // Output channel B on PWM4 to GPIO 25 + let channel1 = &mut pwm6.channel_b; + channel1.output_to(pins.gpio13); + let channel2 = &mut pwm7.channel_a; + channel2.output_to(pins.gpio14); + let channel3 = &mut pwm7.channel_b; + channel3.output_to(pins.gpio15); + + let pwr_switch_ch = &mut pwm5.channel_a; + pwr_switch_ch.output_to(pins.gpio10); + pwr_switch_ch.set_duty(450); + + let mut ch_val: [u16; 3] = [LOW, LOW + (HIGH - LOW) / 3, LOW + 2 * (HIGH - LOW) / 3]; + + uart.write_full_blocking(b"Initialization complete!\r\n"); + + // Infinite loop, fading LED up and down + loop { + for i in 0..ch_val.len() { + ch_val[i] += 1; + if ch_val[i] > HIGH { + ch_val[i] -= HIGH - LOW; + } + } + + channel1.set_duty(ch_val[0]); + channel2.set_duty(ch_val[1]); + channel3.set_duty(ch_val[2]); + delay.delay_us(50); + } +}