commit 224b8984b35e36a8cc2c274b130f0a4226e38669 Author: Matthias Schild Date: Tue Sep 1 00:48:00 2026 +0200 feat: initial commit diff --git a/.cargo/config.toml b/.cargo/config.toml new file mode 100644 index 0000000..9585789 --- /dev/null +++ b/.cargo/config.toml @@ -0,0 +1,11 @@ +[build] +target = "thumbv6m-none-eabi" + +[target.thumbv6m-none-eabi] +rustflags = [ + "-C", "link-arg=--nmagic", + "-C", "link-arg=-Tlink.x", + "-C", "no-vectorize-loops", +] + +runner = "elf2uf2-rs -d" diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..ea8c4bf --- /dev/null +++ b/.gitignore @@ -0,0 +1 @@ +/target diff --git a/.vscode/settings.json b/.vscode/settings.json new file mode 100644 index 0000000..958dda0 --- /dev/null +++ b/.vscode/settings.json @@ -0,0 +1,3 @@ +{ + "rust-analyzer.check.allTargets": false +} \ No newline at end of file diff --git a/Cargo.lock b/Cargo.lock new file mode 100644 index 0000000..5a7c131 --- /dev/null +++ b/Cargo.lock @@ -0,0 +1,490 @@ +# This 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+ +SECTIONS { + /* ### Boot loader */ + .boot2 ORIGIN(BOOT2) : + { + KEEP(*(.boot2)); + } > BOOT2 +} INSERT BEFORE .text; diff --git a/src/core.rs b/src/core.rs new file mode 100644 index 0000000..4ab7f83 --- /dev/null +++ b/src/core.rs @@ -0,0 +1,80 @@ +use cortex_m::delay::Delay; +use embedded_hal::digital::{OutputPin, StatefulOutputPin}; +use rp_pico::{ + hal::{self, Clock}, + pac, +}; + +use crate::pinout::{LedPin, LeftMotorDirPin, LeftMotorStepPin}; + +pub struct Core { + delay: Delay, + led_pin: LedPin, + left_motor_step_pin: LeftMotorStepPin, + left_motor_dir_pin: LeftMotorDirPin, +} + +impl Core { + pub fn init() -> Self { + 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( + rp_pico::XOSC_CRYSTAL_FREQ, + pac.XOSC, + pac.CLOCKS, + pac.PLL_SYS, + pac.PLL_USB, + &mut pac.RESETS, + &mut watchdog, + ) + .ok() + .unwrap(); + + let delay = cortex_m::delay::Delay::new(core.SYST, clocks.system_clock.freq().to_Hz()); + + let sio = hal::Sio::new(pac.SIO); + + let pins = rp_pico::Pins::new( + pac.IO_BANK0, + pac.PADS_BANK0, + sio.gpio_bank0, + &mut pac.RESETS, + ); + + let led_pin = pins.led.into_push_pull_output(); + let left_motor_step_pin = pins.gpio2.into_push_pull_output(); + let left_motor_dir_pin = pins.gpio3.into_push_pull_output(); + + Self { + delay, + led_pin, + left_motor_step_pin, + left_motor_dir_pin, + } + } + + pub fn delay_ms(&mut self, ms: u32) { + self.delay.delay_ms(ms); + } + + pub fn led_on(&mut self) { + self.led_pin.set_high().unwrap(); + } + + pub fn led_off(&mut self) { + self.led_pin.set_low().unwrap(); + } + + pub fn left_motor_forward(&mut self) { + self.left_motor_dir_pin.set_low(); + self.left_motor_step_pin.toggle(); + } + + pub fn left_motor_backwards(&mut self) { + self.left_motor_dir_pin.set_high(); + self.left_motor_step_pin.toggle(); + } +} diff --git a/src/main.rs b/src/main.rs new file mode 100644 index 0000000..c281420 --- /dev/null +++ b/src/main.rs @@ -0,0 +1,22 @@ +#![no_std] +#![no_main] + +mod core; +mod pinout; + +use panic_halt as _; +use rp_pico::entry; + +#[entry] +fn main() -> ! { + let mut core = core::Core::init(); + + loop { + core.led_on(); + core.left_motor_forward(); + core.delay_ms(500); + core.led_off(); + core.left_motor_forward(); + core.delay_ms(500); + } +} diff --git a/src/pinout.rs b/src/pinout.rs new file mode 100644 index 0000000..0efbe80 --- /dev/null +++ b/src/pinout.rs @@ -0,0 +1,8 @@ +use rp_pico::hal::gpio::{ + FunctionSio, Pin, PullDown, SioOutput, + bank0::{Gpio2, Gpio3, Gpio25}, +}; + +pub type LedPin = Pin, PullDown>; +pub type LeftMotorStepPin = Pin, PullDown>; +pub type LeftMotorDirPin = Pin, PullDown>;