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refactor(drivers): add board.rs module, slim main.rs, fix docstrings across all 8 Rust drivers

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- Add board.rs to all 8 drivers: constants, type aliases, init functions,
  and HAL-specific helpers with full docstrings and pub(crate) visibility
- Slim main.rs to boilerplate + main() only, zero helper functions
- Fix i2c.rs: add file header, full docstrings on all functions
- Fix lcd1602.rs: add file header, full docstrings on all functions
- Fix lib.rs headers for 0x07 and 0x08
- All 8 drivers build and all 75 tests pass
This commit is contained in:
Kevin Thomas
2026-03-25 18:10:00 -04:00
parent c68e158f16
commit db25706ae7
20 changed files with 1902 additions and 1293 deletions
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94
drivers/0x01_uart_rust/src/board.rs Normal file
View File

@@ -0,0 +1,94 @@
//! @file board.rs
//! @brief Board-level initialisation helpers for the UART demo
//! @author Kevin Thomas
//! @date 2025
//!
//! MIT License
//!
//! Copyright (c) 2025 Kevin Thomas
//!
//! Permission is hereby granted, free of charge, to any person obtaining a copy
//! of this software and associated documentation files (the "Software"), to deal
//! in the Software without restriction, including without limitation the rights
//! to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
//! copies of the Software, and to permit persons to whom the Software is
//! furnished to do so, subject to the following conditions:
//!
//! The above copyright notice and this permission notice shall be included in
//! all copies or substantial portions of the Software.
//!
//! THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
//! IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
//! FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
//! AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
//! LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
//! OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
//! SOFTWARE.
#[cfg(rp2350)]
use rp235x_hal as hal;
#[cfg(rp2040)]
use rp2040_hal as hal;
/// External crystal frequency in Hz (12 MHz).
pub(crate) const XTAL_FREQ_HZ: u32 = 12_000_000u32;
/// UART baud rate in bits per second.
pub(crate) const UART_BAUD: u32 = 115_200;
/// Initialise system clocks and PLLs from the external 12 MHz crystal.
///
/// # Arguments
///
/// * `xosc` - XOSC peripheral singleton.
/// * `clocks` - CLOCKS peripheral singleton.
/// * `pll_sys` - PLL_SYS peripheral singleton.
/// * `pll_usb` - PLL_USB peripheral singleton.
/// * `resets` - Mutable reference to the RESETS peripheral.
/// * `watchdog` - Mutable reference to the watchdog timer.
///
/// # Returns
///
/// Configured clocks manager.
///
/// # Panics
///
/// Panics if clock initialisation fails.
pub(crate) fn init_clocks(
xosc: hal::pac::XOSC,
clocks: hal::pac::CLOCKS,
pll_sys: hal::pac::PLL_SYS,
pll_usb: hal::pac::PLL_USB,
resets: &mut hal::pac::RESETS,
watchdog: &mut hal::Watchdog,
) -> hal::clocks::ClocksManager {
hal::clocks::init_clocks_and_plls(
XTAL_FREQ_HZ, xosc, clocks, pll_sys, pll_usb, resets, watchdog,
)
.unwrap()
}
/// Unlock the GPIO bank and return the pin set.
///
/// # Arguments
///
/// * `io_bank0` - IO_BANK0 peripheral singleton.
/// * `pads_bank0` - PADS_BANK0 peripheral singleton.
/// * `sio` - SIO peripheral singleton.
/// * `resets` - Mutable reference to the RESETS peripheral.
///
/// # Returns
///
/// GPIO pin set for the entire bank.
pub(crate) fn init_pins(
io_bank0: hal::pac::IO_BANK0,
pads_bank0: hal::pac::PADS_BANK0,
sio: hal::pac::SIO,
resets: &mut hal::pac::RESETS,
) -> hal::gpio::Pins {
let sio = hal::Sio::new(sio);
hal::gpio::Pins::new(io_bank0, pads_bank0, sio.gpio_bank0, resets)
}
// End of file

65
drivers/0x01_uart_rust/src/main.rs
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@@ -40,6 +40,7 @@
#![no_std]
#![no_main]
mod board;
mod uart;
use defmt_rtt as _;
@@ -66,64 +67,6 @@ pub static BOOT2: [u8; 256] = rp2040_boot2::BOOT_LOADER_W25Q080;
#[cfg(rp2350)]
pub static IMAGE_DEF: hal::block::ImageDef = hal::block::ImageDef::secure_exe();
const XTAL_FREQ_HZ: u32 = 12_000_000u32;
const UART_BAUD: u32 = 115_200;
/// Initialise system clocks and PLLs from the external 12 MHz crystal.
///
/// # Arguments
///
/// * `xosc` - XOSC peripheral singleton.
/// * `clocks` - CLOCKS peripheral singleton.
/// * `pll_sys` - PLL_SYS peripheral singleton.
/// * `pll_usb` - PLL_USB peripheral singleton.
/// * `resets` - Mutable reference to the RESETS peripheral.
/// * `watchdog` - Mutable reference to the watchdog timer.
///
/// # Returns
///
/// Configured clocks manager.
///
/// # Panics
///
/// Panics if clock initialisation fails.
fn init_clocks(
xosc: hal::pac::XOSC,
clocks: hal::pac::CLOCKS,
pll_sys: hal::pac::PLL_SYS,
pll_usb: hal::pac::PLL_USB,
resets: &mut hal::pac::RESETS,
watchdog: &mut hal::Watchdog,
) -> hal::clocks::ClocksManager {
hal::clocks::init_clocks_and_plls(
XTAL_FREQ_HZ, xosc, clocks, pll_sys, pll_usb, resets, watchdog,
)
.unwrap()
}
/// Unlock the GPIO bank and return the pin set.
///
/// # Arguments
///
/// * `io_bank0` - IO_BANK0 peripheral singleton.
/// * `pads_bank0` - PADS_BANK0 peripheral singleton.
/// * `sio` - SIO peripheral singleton.
/// * `resets` - Mutable reference to the RESETS peripheral.
///
/// # Returns
///
/// GPIO pin set for the entire bank.
fn init_pins(
io_bank0: hal::pac::IO_BANK0,
pads_bank0: hal::pac::PADS_BANK0,
sio: hal::pac::SIO,
resets: &mut hal::pac::RESETS,
) -> hal::gpio::Pins {
let sio = hal::Sio::new(sio);
hal::gpio::Pins::new(io_bank0, pads_bank0, sio.gpio_bank0, resets)
}
/// Application entry point for the UART uppercase echo demo.
///
/// Initializes UART0 and enters an infinite loop that reads incoming
@@ -136,12 +79,12 @@ fn init_pins(
fn main() -> ! {
let mut pac = hal::pac::Peripherals::take().unwrap();
let mut watchdog = hal::Watchdog::new(pac.WATCHDOG);
let clocks = init_clocks(
let clocks = board::init_clocks(
pac.XOSC, pac.CLOCKS, pac.PLL_SYS, pac.PLL_USB, &mut pac.RESETS, &mut watchdog,
);
let pins = init_pins(pac.IO_BANK0, pac.PADS_BANK0, pac.SIO, &mut pac.RESETS);
let pins = board::init_pins(pac.IO_BANK0, pac.PADS_BANK0, pac.SIO, &mut pac.RESETS);
let mut drv = uart::UartDriver::init(
pac.UART0, pins.gpio0, pins.gpio1, UART_BAUD, &mut pac.RESETS, &clocks,
pac.UART0, pins.gpio0, pins.gpio1, board::UART_BAUD, &mut pac.RESETS, &clocks,
);
drv.puts(b"UART driver ready (115200 8N1)\r\n");
drv.puts(b"Type characters to echo them back in UPPERCASE:\r\n");

169
drivers/0x02_blink_rust/src/board.rs Normal file
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@@ -0,0 +1,169 @@
//! @file board.rs
//! @brief Board-level initialisation helpers for the blink demo
//! @author Kevin Thomas
//! @date 2025
//!
//! MIT License
//!
//! Copyright (c) 2025 Kevin Thomas
//!
//! Permission is hereby granted, free of charge, to any person obtaining a copy
//! of this software and associated documentation files (the "Software"), to deal
//! in the Software without restriction, including without limitation the rights
//! to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
//! copies of the Software, and to permit persons to whom the Software is
//! furnished to do so, subject to the following conditions:
//!
//! The above copyright notice and this permission notice shall be included in
//! all copies or substantial portions of the Software.
//!
//! THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
//! IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
//! FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
//! AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
//! LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
//! OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
//! SOFTWARE.
use fugit::RateExtU32;
use hal::Clock;
use hal::gpio::{FunctionNull, FunctionUart, Pin, PullDown, PullNone};
use hal::uart::{DataBits, Enabled, StopBits, UartConfig, UartPeripheral};
#[cfg(rp2350)]
use rp235x_hal as hal;
#[cfg(rp2040)]
use rp2040_hal as hal;
/// External crystal frequency in Hz (12 MHz).
pub(crate) const XTAL_FREQ_HZ: u32 = 12_000_000u32;
/// UART baud rate in bits per second.
pub(crate) const UART_BAUD: u32 = 115_200;
/// Delay between LED toggles in milliseconds.
pub(crate) const BLINK_DELAY_MS: u32 = 500;
/// Type alias for the configured TX pin (GPIO 0, UART function, no pull).
pub(crate) type TxPin = Pin<hal::gpio::bank0::Gpio0, FunctionUart, PullNone>;
/// Type alias for the configured RX pin (GPIO 1, UART function, no pull).
pub(crate) type RxPin = Pin<hal::gpio::bank0::Gpio1, FunctionUart, PullNone>;
/// Type alias for the default TX pin state from `Pins::new()`.
pub(crate) type TxPinDefault = Pin<hal::gpio::bank0::Gpio0, FunctionNull, PullDown>;
/// Type alias for the default RX pin state from `Pins::new()`.
pub(crate) type RxPinDefault = Pin<hal::gpio::bank0::Gpio1, FunctionNull, PullDown>;
/// Type alias for the fully-enabled UART0 peripheral with TX/RX pins.
pub(crate) type EnabledUart = UartPeripheral<Enabled, hal::pac::UART0, (TxPin, RxPin)>;
/// Initialise system clocks and PLLs from the external 12 MHz crystal.
///
/// # Arguments
///
/// * `xosc` - XOSC peripheral singleton.
/// * `clocks` - CLOCKS peripheral singleton.
/// * `pll_sys` - PLL_SYS peripheral singleton.
/// * `pll_usb` - PLL_USB peripheral singleton.
/// * `resets` - Mutable reference to the RESETS peripheral.
/// * `watchdog` - Mutable reference to the watchdog timer.
///
/// # Returns
///
/// Configured clocks manager.
///
/// # Panics
///
/// Panics if clock initialisation fails.
pub(crate) fn init_clocks(
xosc: hal::pac::XOSC,
clocks: hal::pac::CLOCKS,
pll_sys: hal::pac::PLL_SYS,
pll_usb: hal::pac::PLL_USB,
resets: &mut hal::pac::RESETS,
watchdog: &mut hal::Watchdog,
) -> hal::clocks::ClocksManager {
hal::clocks::init_clocks_and_plls(
XTAL_FREQ_HZ, xosc, clocks, pll_sys, pll_usb, resets, watchdog,
)
.unwrap()
}
/// Unlock the GPIO bank and return the pin set.
///
/// # Arguments
///
/// * `io_bank0` - IO_BANK0 peripheral singleton.
/// * `pads_bank0` - PADS_BANK0 peripheral singleton.
/// * `sio` - SIO peripheral singleton.
/// * `resets` - Mutable reference to the RESETS peripheral.
///
/// # Returns
///
/// GPIO pin set for the entire bank.
pub(crate) fn init_pins(
io_bank0: hal::pac::IO_BANK0,
pads_bank0: hal::pac::PADS_BANK0,
sio: hal::pac::SIO,
resets: &mut hal::pac::RESETS,
) -> hal::gpio::Pins {
let sio = hal::Sio::new(sio);
hal::gpio::Pins::new(io_bank0, pads_bank0, sio.gpio_bank0, resets)
}
/// Initialise UART0 for serial output (stdio equivalent).
///
/// # Arguments
///
/// * `uart0` - PAC UART0 peripheral singleton.
/// * `tx_pin` - GPIO pin to use as UART0 TX (GPIO 0).
/// * `rx_pin` - GPIO pin to use as UART0 RX (GPIO 1).
/// * `resets` - Mutable reference to the RESETS peripheral.
/// * `clocks` - Reference to the initialised clock configuration.
///
/// # Returns
///
/// Enabled UART0 peripheral ready for blocking writes.
///
/// # Panics
///
/// Panics if the HAL cannot achieve the requested baud rate.
pub(crate) fn init_uart(
uart0: hal::pac::UART0,
tx_pin: TxPinDefault,
rx_pin: RxPinDefault,
resets: &mut hal::pac::RESETS,
clocks: &hal::clocks::ClocksManager,
) -> EnabledUart {
let pins = (
tx_pin.reconfigure::<FunctionUart, PullNone>(),
rx_pin.reconfigure::<FunctionUart, PullNone>(),
);
let cfg = UartConfig::new(UART_BAUD.Hz(), DataBits::Eight, None, StopBits::One);
UartPeripheral::new(uart0, pins, resets)
.enable(cfg, clocks.peripheral_clock.freq())
.unwrap()
}
/// Create a blocking delay timer from the ARM SysTick peripheral.
///
/// # Arguments
///
/// * `clocks` - Reference to the initialised clock configuration.
///
/// # Returns
///
/// Blocking delay provider.
///
/// # Panics
///
/// Panics if the cortex-m core peripherals have already been taken.
pub(crate) fn init_delay(clocks: &hal::clocks::ClocksManager) -> cortex_m::delay::Delay {
let core = cortex_m::Peripherals::take().unwrap();
cortex_m::delay::Delay::new(core.SYST, clocks.system_clock.freq().to_Hz())
}
// End of file

136
drivers/0x02_blink_rust/src/main.rs
View File

@@ -37,6 +37,7 @@
#![no_std]
#![no_main]
mod board;
#[allow(dead_code)]
mod blink;
@@ -46,11 +47,7 @@ use panic_halt as _;
#[cfg(target_arch = "arm")]
use panic_probe as _;
use fugit::RateExtU32;
use hal::entry;
use hal::Clock;
use hal::gpio::{FunctionNull, FunctionUart, Pin, PullDown, PullNone};
use hal::uart::{DataBits, Enabled, StopBits, UartConfig, UartPeripheral};
#[cfg(rp2350)]
use rp235x_hal as hal;
@@ -68,127 +65,6 @@ pub static BOOT2: [u8; 256] = rp2040_boot2::BOOT_LOADER_W25Q080;
#[cfg(rp2350)]
pub static IMAGE_DEF: hal::block::ImageDef = hal::block::ImageDef::secure_exe();
const XTAL_FREQ_HZ: u32 = 12_000_000u32;
const UART_BAUD: u32 = 115_200;
const BLINK_DELAY_MS: u32 = 500;
type TxPin = Pin<hal::gpio::bank0::Gpio0, FunctionUart, PullNone>;
type RxPin = Pin<hal::gpio::bank0::Gpio1, FunctionUart, PullNone>;
type TxPinDefault = Pin<hal::gpio::bank0::Gpio0, FunctionNull, PullDown>;
type RxPinDefault = Pin<hal::gpio::bank0::Gpio1, FunctionNull, PullDown>;
type EnabledUart = UartPeripheral<Enabled, hal::pac::UART0, (TxPin, RxPin)>;
/// Initialise system clocks and PLLs from the external 12 MHz crystal.
///
/// # Arguments
///
/// * `xosc` - XOSC peripheral singleton.
/// * `clocks` - CLOCKS peripheral singleton.
/// * `pll_sys` - PLL_SYS peripheral singleton.
/// * `pll_usb` - PLL_USB peripheral singleton.
/// * `resets` - Mutable reference to the RESETS peripheral.
/// * `watchdog` - Mutable reference to the watchdog timer.
///
/// # Returns
///
/// Configured clocks manager.
///
/// # Panics
///
/// Panics if clock initialisation fails.
fn init_clocks(
xosc: hal::pac::XOSC,
clocks: hal::pac::CLOCKS,
pll_sys: hal::pac::PLL_SYS,
pll_usb: hal::pac::PLL_USB,
resets: &mut hal::pac::RESETS,
watchdog: &mut hal::Watchdog,
) -> hal::clocks::ClocksManager {
hal::clocks::init_clocks_and_plls(
XTAL_FREQ_HZ, xosc, clocks, pll_sys, pll_usb, resets, watchdog,
)
.unwrap()
}
/// Unlock the GPIO bank and return the pin set.
///
/// # Arguments
///
/// * `io_bank0` - IO_BANK0 peripheral singleton.
/// * `pads_bank0` - PADS_BANK0 peripheral singleton.
/// * `sio` - SIO peripheral singleton.
/// * `resets` - Mutable reference to the RESETS peripheral.
///
/// # Returns
///
/// GPIO pin set for the entire bank.
fn init_pins(
io_bank0: hal::pac::IO_BANK0,
pads_bank0: hal::pac::PADS_BANK0,
sio: hal::pac::SIO,
resets: &mut hal::pac::RESETS,
) -> hal::gpio::Pins {
let sio = hal::Sio::new(sio);
hal::gpio::Pins::new(io_bank0, pads_bank0, sio.gpio_bank0, resets)
}
/// Initialise UART0 for serial output (stdio equivalent).
///
/// Configures UART0 at the requested baud rate with 8N1 framing on
/// GPIO 0 (TX) and GPIO 1 (RX).
///
/// # Arguments
///
/// * `uart0` - PAC UART0 peripheral singleton.
/// * `tx_pin` - GPIO pin to use as UART0 TX (GPIO 0).
/// * `rx_pin` - GPIO pin to use as UART0 RX (GPIO 1).
/// * `resets` - Mutable reference to the RESETS peripheral.
/// * `clocks` - Reference to the initialised clock configuration.
///
/// # Returns
///
/// Enabled UART0 peripheral ready for blocking writes.
///
/// # Panics
///
/// Panics if the HAL cannot achieve the requested baud rate.
fn init_uart(
uart0: hal::pac::UART0,
tx_pin: TxPinDefault,
rx_pin: RxPinDefault,
resets: &mut hal::pac::RESETS,
clocks: &hal::clocks::ClocksManager,
) -> EnabledUart {
let pins = (
tx_pin.reconfigure::<FunctionUart, PullNone>(),
rx_pin.reconfigure::<FunctionUart, PullNone>(),
);
let cfg = UartConfig::new(UART_BAUD.Hz(), DataBits::Eight, None, StopBits::One);
UartPeripheral::new(uart0, pins, resets)
.enable(cfg, clocks.peripheral_clock.freq())
.unwrap()
}
/// Create a blocking delay timer from the ARM SysTick peripheral.
///
/// # Arguments
///
/// * `clocks` - Reference to the initialised clock configuration.
///
/// # Returns
///
/// Blocking delay provider.
///
/// # Panics
///
/// Panics if the cortex-m core peripherals have already been taken.
fn init_delay(clocks: &hal::clocks::ClocksManager) -> cortex_m::delay::Delay {
let core = cortex_m::Peripherals::take().unwrap();
cortex_m::delay::Delay::new(core.SYST, clocks.system_clock.freq().to_Hz())
}
/// Application entry point for the LED blink demo.
///
/// Initializes the onboard LED and enters an infinite loop that
@@ -200,13 +76,13 @@ fn init_delay(clocks: &hal::clocks::ClocksManager) -> cortex_m::delay::Delay {
#[entry]
fn main() -> ! {
let mut pac = hal::pac::Peripherals::take().unwrap();
let clocks = init_clocks(
let clocks = board::init_clocks(
pac.XOSC, pac.CLOCKS, pac.PLL_SYS, pac.PLL_USB, &mut pac.RESETS,
&mut hal::Watchdog::new(pac.WATCHDOG),
);
let pins = init_pins(pac.IO_BANK0, pac.PADS_BANK0, pac.SIO, &mut pac.RESETS);
let uart = init_uart(pac.UART0, pins.gpio0, pins.gpio1, &mut pac.RESETS, &clocks);
let mut delay = init_delay(&clocks);
let pins = board::init_pins(pac.IO_BANK0, pac.PADS_BANK0, pac.SIO, &mut pac.RESETS);
let uart = board::init_uart(pac.UART0, pins.gpio0, pins.gpio1, &mut pac.RESETS, &clocks);
let mut delay = board::init_delay(&clocks);
let mut led = blink::BlinkDriver::init(pins.gpio25.into_push_pull_output());
uart.write_full_blocking(b"Blink driver initialized on GPIO 25\r\n");
loop {
@@ -216,7 +92,7 @@ fn main() -> ! {
} else {
uart.write_full_blocking(b"LED: OFF\r\n");
}
delay.delay_ms(BLINK_DELAY_MS);
delay.delay_ms(board::BLINK_DELAY_MS);
}
}

172
drivers/0x03_button_rust/src/board.rs Normal file
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@@ -0,0 +1,172 @@
//! @file board.rs
//! @brief Board-level initialisation helpers for the button demo
//! @author Kevin Thomas
//! @date 2025
//!
//! MIT License
//!
//! Copyright (c) 2025 Kevin Thomas
//!
//! Permission is hereby granted, free of charge, to any person obtaining a copy
//! of this software and associated documentation files (the "Software"), to deal
//! in the Software without restriction, including without limitation the rights
//! to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
//! copies of the Software, and to permit persons to whom the Software is
//! furnished to do so, subject to the following conditions:
//!
//! The above copyright notice and this permission notice shall be included in
//! all copies or substantial portions of the Software.
//!
//! THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
//! IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
//! FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
//! AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
//! LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
//! OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
//! SOFTWARE.
use fugit::RateExtU32;
use hal::Clock;
use hal::gpio::{FunctionNull, FunctionUart, Pin, PullDown, PullNone};
use hal::uart::{DataBits, Enabled, StopBits, UartConfig, UartPeripheral};
#[cfg(rp2350)]
use rp235x_hal as hal;
#[cfg(rp2040)]
use rp2040_hal as hal;
/// External crystal frequency in Hz (12 MHz).
pub(crate) const XTAL_FREQ_HZ: u32 = 12_000_000u32;
/// UART baud rate in bits per second.
pub(crate) const UART_BAUD: u32 = 115_200;
/// Debounce settling time in milliseconds.
pub(crate) const DEBOUNCE_MS: u32 = 20;
/// Main-loop polling interval in milliseconds.
pub(crate) const POLL_MS: u32 = 10;
/// Type alias for the configured TX pin (GPIO 0, UART function, no pull).
pub(crate) type TxPin = Pin<hal::gpio::bank0::Gpio0, FunctionUart, PullNone>;
/// Type alias for the configured RX pin (GPIO 1, UART function, no pull).
pub(crate) type RxPin = Pin<hal::gpio::bank0::Gpio1, FunctionUart, PullNone>;
/// Type alias for the default TX pin state from `Pins::new()`.
pub(crate) type TxPinDefault = Pin<hal::gpio::bank0::Gpio0, FunctionNull, PullDown>;
/// Type alias for the default RX pin state from `Pins::new()`.
pub(crate) type RxPinDefault = Pin<hal::gpio::bank0::Gpio1, FunctionNull, PullDown>;
/// Type alias for the fully-enabled UART0 peripheral with TX/RX pins.
pub(crate) type EnabledUart = UartPeripheral<Enabled, hal::pac::UART0, (TxPin, RxPin)>;
/// Initialise system clocks and PLLs from the external 12 MHz crystal.
///
/// # Arguments
///
/// * `xosc` - XOSC peripheral singleton.
/// * `clocks` - CLOCKS peripheral singleton.
/// * `pll_sys` - PLL_SYS peripheral singleton.
/// * `pll_usb` - PLL_USB peripheral singleton.
/// * `resets` - Mutable reference to the RESETS peripheral.
/// * `watchdog` - Mutable reference to the watchdog timer.
///
/// # Returns
///
/// Configured clocks manager.
///
/// # Panics
///
/// Panics if clock initialisation fails.
pub(crate) fn init_clocks(
xosc: hal::pac::XOSC,
clocks: hal::pac::CLOCKS,
pll_sys: hal::pac::PLL_SYS,
pll_usb: hal::pac::PLL_USB,
resets: &mut hal::pac::RESETS,
watchdog: &mut hal::Watchdog,
) -> hal::clocks::ClocksManager {
hal::clocks::init_clocks_and_plls(
XTAL_FREQ_HZ, xosc, clocks, pll_sys, pll_usb, resets, watchdog,
)
.unwrap()
}
/// Unlock the GPIO bank and return the pin set.
///
/// # Arguments
///
/// * `io_bank0` - IO_BANK0 peripheral singleton.
/// * `pads_bank0` - PADS_BANK0 peripheral singleton.
/// * `sio` - SIO peripheral singleton.
/// * `resets` - Mutable reference to the RESETS peripheral.
///
/// # Returns
///
/// GPIO pin set for the entire bank.
pub(crate) fn init_pins(
io_bank0: hal::pac::IO_BANK0,
pads_bank0: hal::pac::PADS_BANK0,
sio: hal::pac::SIO,
resets: &mut hal::pac::RESETS,
) -> hal::gpio::Pins {
let sio = hal::Sio::new(sio);
hal::gpio::Pins::new(io_bank0, pads_bank0, sio.gpio_bank0, resets)
}
/// Initialise UART0 for serial output (stdio equivalent).
///
/// # Arguments
///
/// * `uart0` - PAC UART0 peripheral singleton.
/// * `tx_pin` - GPIO pin to use as UART0 TX (GPIO 0).
/// * `rx_pin` - GPIO pin to use as UART0 RX (GPIO 1).
/// * `resets` - Mutable reference to the RESETS peripheral.
/// * `clocks` - Reference to the initialised clock configuration.
///
/// # Returns
///
/// Enabled UART0 peripheral ready for blocking writes.
///
/// # Panics
///
/// Panics if the HAL cannot achieve the requested baud rate.
pub(crate) fn init_uart(
uart0: hal::pac::UART0,
tx_pin: TxPinDefault,
rx_pin: RxPinDefault,
resets: &mut hal::pac::RESETS,
clocks: &hal::clocks::ClocksManager,
) -> EnabledUart {
let pins = (
tx_pin.reconfigure::<FunctionUart, PullNone>(),
rx_pin.reconfigure::<FunctionUart, PullNone>(),
);
let cfg = UartConfig::new(UART_BAUD.Hz(), DataBits::Eight, None, StopBits::One);
UartPeripheral::new(uart0, pins, resets)
.enable(cfg, clocks.peripheral_clock.freq())
.unwrap()
}
/// Create a blocking delay timer from the ARM SysTick peripheral.
///
/// # Arguments
///
/// * `clocks` - Reference to the initialised clock configuration.
///
/// # Returns
///
/// Blocking delay provider.
///
/// # Panics
///
/// Panics if the cortex-m core peripherals have already been taken.
pub(crate) fn init_delay(clocks: &hal::clocks::ClocksManager) -> cortex_m::delay::Delay {
let core = cortex_m::Peripherals::take().unwrap();
cortex_m::delay::Delay::new(core.SYST, clocks.system_clock.freq().to_Hz())
}
// End of file

139
drivers/0x03_button_rust/src/main.rs
View File

@@ -39,6 +39,7 @@
#![no_std]
#![no_main]
mod board;
#[allow(dead_code)]
mod button;
@@ -49,11 +50,7 @@ use panic_halt as _;
use panic_probe as _;
use core::cell::RefCell;
use fugit::RateExtU32;
use hal::entry;
use hal::Clock;
use hal::gpio::{FunctionNull, FunctionUart, Pin, PullDown, PullNone};
use hal::uart::{DataBits, Enabled, StopBits, UartConfig, UartPeripheral};
#[cfg(rp2350)]
use rp235x_hal as hal;
@@ -71,128 +68,6 @@ pub static BOOT2: [u8; 256] = rp2040_boot2::BOOT_LOADER_W25Q080;
#[cfg(rp2350)]
pub static IMAGE_DEF: hal::block::ImageDef = hal::block::ImageDef::secure_exe();
const XTAL_FREQ_HZ: u32 = 12_000_000u32;
const UART_BAUD: u32 = 115_200;
const DEBOUNCE_MS: u32 = 20;
const POLL_MS: u32 = 10;
type TxPin = Pin<hal::gpio::bank0::Gpio0, FunctionUart, PullNone>;
type RxPin = Pin<hal::gpio::bank0::Gpio1, FunctionUart, PullNone>;
type TxPinDefault = Pin<hal::gpio::bank0::Gpio0, FunctionNull, PullDown>;
type RxPinDefault = Pin<hal::gpio::bank0::Gpio1, FunctionNull, PullDown>;
type EnabledUart = UartPeripheral<Enabled, hal::pac::UART0, (TxPin, RxPin)>;
/// Initialise system clocks and PLLs from the external 12 MHz crystal.
///
/// # Arguments
///
/// * `xosc` - XOSC peripheral singleton.
/// * `clocks` - CLOCKS peripheral singleton.
/// * `pll_sys` - PLL_SYS peripheral singleton.
/// * `pll_usb` - PLL_USB peripheral singleton.
/// * `resets` - Mutable reference to the RESETS peripheral.
/// * `watchdog` - Mutable reference to the watchdog timer.
///
/// # Returns
///
/// Configured clocks manager.
///
/// # Panics
///
/// Panics if clock initialisation fails.
fn init_clocks(
xosc: hal::pac::XOSC,
clocks: hal::pac::CLOCKS,
pll_sys: hal::pac::PLL_SYS,
pll_usb: hal::pac::PLL_USB,
resets: &mut hal::pac::RESETS,
watchdog: &mut hal::Watchdog,
) -> hal::clocks::ClocksManager {
hal::clocks::init_clocks_and_plls(
XTAL_FREQ_HZ, xosc, clocks, pll_sys, pll_usb, resets, watchdog,
)
.unwrap()
}
/// Unlock the GPIO bank and return the pin set.
///
/// # Arguments
///
/// * `io_bank0` - IO_BANK0 peripheral singleton.
/// * `pads_bank0` - PADS_BANK0 peripheral singleton.
/// * `sio` - SIO peripheral singleton.
/// * `resets` - Mutable reference to the RESETS peripheral.
///
/// # Returns
///
/// GPIO pin set for the entire bank.
fn init_pins(
io_bank0: hal::pac::IO_BANK0,
pads_bank0: hal::pac::PADS_BANK0,
sio: hal::pac::SIO,
resets: &mut hal::pac::RESETS,
) -> hal::gpio::Pins {
let sio = hal::Sio::new(sio);
hal::gpio::Pins::new(io_bank0, pads_bank0, sio.gpio_bank0, resets)
}
/// Initialise UART0 for serial output (stdio equivalent).
///
/// Configures UART0 at the requested baud rate with 8N1 framing on
/// GPIO 0 (TX) and GPIO 1 (RX).
///
/// # Arguments
///
/// * `uart0` - PAC UART0 peripheral singleton.
/// * `tx_pin` - GPIO pin to use as UART0 TX (GPIO 0).
/// * `rx_pin` - GPIO pin to use as UART0 RX (GPIO 1).
/// * `resets` - Mutable reference to the RESETS peripheral.
/// * `clocks` - Reference to the initialised clock configuration.
///
/// # Returns
///
/// Enabled UART0 peripheral ready for blocking writes.
///
/// # Panics
///
/// Panics if the HAL cannot achieve the requested baud rate.
fn init_uart(
uart0: hal::pac::UART0,
tx_pin: TxPinDefault,
rx_pin: RxPinDefault,
resets: &mut hal::pac::RESETS,
clocks: &hal::clocks::ClocksManager,
) -> EnabledUart {
let pins = (
tx_pin.reconfigure::<FunctionUart, PullNone>(),
rx_pin.reconfigure::<FunctionUart, PullNone>(),
);
let cfg = UartConfig::new(UART_BAUD.Hz(), DataBits::Eight, None, StopBits::One);
UartPeripheral::new(uart0, pins, resets)
.enable(cfg, clocks.peripheral_clock.freq())
.unwrap()
}
/// Create a blocking delay timer from the ARM SysTick peripheral.
///
/// # Arguments
///
/// * `clocks` - Reference to the initialised clock configuration.
///
/// # Returns
///
/// Blocking delay provider.
///
/// # Panics
///
/// Panics if the cortex-m core peripherals have already been taken.
fn init_delay(clocks: &hal::clocks::ClocksManager) -> cortex_m::delay::Delay {
let core = cortex_m::Peripherals::take().unwrap();
cortex_m::delay::Delay::new(core.SYST, clocks.system_clock.freq().to_Hz())
}
/// Application entry point for the button debounce demo.
///
/// Initializes button and LED, then continuously polls button state
@@ -204,16 +79,16 @@ fn init_delay(clocks: &hal::clocks::ClocksManager) -> cortex_m::delay::Delay {
#[entry]
fn main() -> ! {
let mut pac = hal::pac::Peripherals::take().unwrap();
let clocks = init_clocks(
let clocks = board::init_clocks(
pac.XOSC, pac.CLOCKS, pac.PLL_SYS, pac.PLL_USB, &mut pac.RESETS,
&mut hal::Watchdog::new(pac.WATCHDOG),
);
let pins = init_pins(pac.IO_BANK0, pac.PADS_BANK0, pac.SIO, &mut pac.RESETS);
let uart = init_uart(pac.UART0, pins.gpio0, pins.gpio1, &mut pac.RESETS, &clocks);
let delay = RefCell::new(init_delay(&clocks));
let pins = board::init_pins(pac.IO_BANK0, pac.PADS_BANK0, pac.SIO, &mut pac.RESETS);
let uart = board::init_uart(pac.UART0, pins.gpio0, pins.gpio1, &mut pac.RESETS, &clocks);
let delay = RefCell::new(board::init_delay(&clocks));
let btn_pin = pins.gpio15.into_pull_up_input();
let led_pin = pins.gpio25.into_push_pull_output();
let mut btn = button::ButtonDriver::init(btn_pin, DEBOUNCE_MS, |ms| {
let mut btn = button::ButtonDriver::init(btn_pin, board::DEBOUNCE_MS, |ms| {
delay.borrow_mut().delay_ms(ms);
});
let mut led = button::ButtonLed::init(led_pin);
@@ -230,7 +105,7 @@ fn main() -> ! {
}
last_state = pressed;
}
delay.borrow_mut().delay_ms(POLL_MS);
delay.borrow_mut().delay_ms(board::POLL_MS);
}
}

256
drivers/0x04_pwm_rust/src/board.rs Normal file
View File

@@ -0,0 +1,256 @@
//! @file board.rs
//! @brief Board-level initialisation helpers for the PWM demo
//! @author Kevin Thomas
//! @date 2025
//!
//! MIT License
//!
//! Copyright (c) 2025 Kevin Thomas
//!
//! Permission is hereby granted, free of charge, to any person obtaining a copy
//! of this software and associated documentation files (the "Software"), to deal
//! in the Software without restriction, including without limitation the rights
//! to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
//! copies of the Software, and to permit persons to whom the Software is
//! furnished to do so, subject to the following conditions:
//!
//! The above copyright notice and this permission notice shall be included in
//! all copies or substantial portions of the Software.
//!
//! THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
//! IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
//! FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
//! AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
//! LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
//! OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
//! SOFTWARE.
use embedded_hal::pwm::SetDutyCycle;
use fugit::RateExtU32;
use hal::Clock;
use hal::gpio::{FunctionNull, FunctionUart, Pin, PullDown, PullNone};
use hal::uart::{DataBits, Enabled, StopBits, UartConfig, UartPeripheral};
#[cfg(rp2350)]
use rp235x_hal as hal;
#[cfg(rp2040)]
use rp2040_hal as hal;
/// External crystal frequency in Hz (12 MHz).
pub(crate) const XTAL_FREQ_HZ: u32 = 12_000_000u32;
/// UART baud rate in bits per second.
pub(crate) const UART_BAUD: u32 = 115_200;
/// Desired PWM output frequency in Hz.
pub(crate) const PWM_FREQ_HZ: u32 = 1000;
/// PWM counter wrap value (period - 1).
pub(crate) const PWM_WRAP: u32 = 10000 - 1;
/// Type alias for the configured TX pin (GPIO 0, UART function, no pull).
pub(crate) type TxPin = Pin<hal::gpio::bank0::Gpio0, FunctionUart, PullNone>;
/// Type alias for the configured RX pin (GPIO 1, UART function, no pull).
pub(crate) type RxPin = Pin<hal::gpio::bank0::Gpio1, FunctionUart, PullNone>;
/// Type alias for the default TX pin state from `Pins::new()`.
pub(crate) type TxPinDefault = Pin<hal::gpio::bank0::Gpio0, FunctionNull, PullDown>;
/// Type alias for the default RX pin state from `Pins::new()`.
pub(crate) type RxPinDefault = Pin<hal::gpio::bank0::Gpio1, FunctionNull, PullDown>;
/// Type alias for the fully-enabled UART0 peripheral with TX/RX pins.
pub(crate) type EnabledUart = UartPeripheral<Enabled, hal::pac::UART0, (TxPin, RxPin)>;
/// Initialise system clocks and PLLs from the external 12 MHz crystal.
///
/// # Arguments
///
/// * `xosc` - XOSC peripheral singleton.
/// * `clocks` - CLOCKS peripheral singleton.
/// * `pll_sys` - PLL_SYS peripheral singleton.
/// * `pll_usb` - PLL_USB peripheral singleton.
/// * `resets` - Mutable reference to the RESETS peripheral.
/// * `watchdog` - Mutable reference to the watchdog timer.
///
/// # Returns
///
/// Configured clocks manager.
///
/// # Panics
///
/// Panics if clock initialisation fails.
pub(crate) fn init_clocks(
xosc: hal::pac::XOSC,
clocks: hal::pac::CLOCKS,
pll_sys: hal::pac::PLL_SYS,
pll_usb: hal::pac::PLL_USB,
resets: &mut hal::pac::RESETS,
watchdog: &mut hal::Watchdog,
) -> hal::clocks::ClocksManager {
hal::clocks::init_clocks_and_plls(
XTAL_FREQ_HZ, xosc, clocks, pll_sys, pll_usb, resets, watchdog,
)
.unwrap()
}
/// Unlock the GPIO bank and return the pin set.
///
/// # Arguments
///
/// * `io_bank0` - IO_BANK0 peripheral singleton.
/// * `pads_bank0` - PADS_BANK0 peripheral singleton.
/// * `sio` - SIO peripheral singleton.
/// * `resets` - Mutable reference to the RESETS peripheral.
///
/// # Returns
///
/// GPIO pin set for the entire bank.
pub(crate) fn init_pins(
io_bank0: hal::pac::IO_BANK0,
pads_bank0: hal::pac::PADS_BANK0,
sio: hal::pac::SIO,
resets: &mut hal::pac::RESETS,
) -> hal::gpio::Pins {
let sio = hal::Sio::new(sio);
hal::gpio::Pins::new(io_bank0, pads_bank0, sio.gpio_bank0, resets)
}
/// Initialise UART0 for serial output (stdio equivalent).
///
/// # Arguments
///
/// * `uart0` - PAC UART0 peripheral singleton.
/// * `tx_pin` - GPIO pin to use as UART0 TX (GPIO 0).
/// * `rx_pin` - GPIO pin to use as UART0 RX (GPIO 1).
/// * `resets` - Mutable reference to the RESETS peripheral.
/// * `clocks` - Reference to the initialised clock configuration.
///
/// # Returns
///
/// Enabled UART0 peripheral ready for blocking writes.
///
/// # Panics
///
/// Panics if the HAL cannot achieve the requested baud rate.
pub(crate) fn init_uart(
uart0: hal::pac::UART0,
tx_pin: TxPinDefault,
rx_pin: RxPinDefault,
resets: &mut hal::pac::RESETS,
clocks: &hal::clocks::ClocksManager,
) -> EnabledUart {
let pins = (
tx_pin.reconfigure::<FunctionUart, PullNone>(),
rx_pin.reconfigure::<FunctionUart, PullNone>(),
);
let cfg = UartConfig::new(UART_BAUD.Hz(), DataBits::Eight, None, StopBits::One);
UartPeripheral::new(uart0, pins, resets)
.enable(cfg, clocks.peripheral_clock.freq())
.unwrap()
}
/// Create a blocking delay timer from the ARM SysTick peripheral.
///
/// # Arguments
///
/// * `clocks` - Reference to the initialised clock configuration.
///
/// # Returns
///
/// Blocking delay provider.
///
/// # Panics
///
/// Panics if the cortex-m core peripherals have already been taken.
pub(crate) fn init_delay(clocks: &hal::clocks::ClocksManager) -> cortex_m::delay::Delay {
let core = cortex_m::Peripherals::take().unwrap();
cortex_m::delay::Delay::new(core.SYST, clocks.system_clock.freq().to_Hz())
}
/// Format a duty percentage into a fixed byte buffer as "Duty: NNN%\r\n".
///
/// # Arguments
///
/// * `buf` - Mutable byte slice (must be at least 16 bytes).
/// * `duty` - Duty cycle percentage to format.
///
/// # Returns
///
/// Number of bytes written into the buffer.
pub(crate) fn format_duty(buf: &mut [u8], duty: u8) -> usize {
let prefix = b"Duty: ";
buf[..6].copy_from_slice(prefix);
let mut pos = 6;
if duty >= 100 {
buf[pos] = b'1'; pos += 1;
buf[pos] = b'0'; pos += 1;
buf[pos] = b'0'; pos += 1;
} else if duty >= 10 {
buf[pos] = b' '; pos += 1;
buf[pos] = b'0' + duty / 10; pos += 1;
buf[pos] = b'0' + duty % 10; pos += 1;
} else {
buf[pos] = b' '; pos += 1;
buf[pos] = b' '; pos += 1;
buf[pos] = b'0' + duty; pos += 1;
}
buf[pos] = b'%'; pos += 1;
buf[pos] = b'\r'; pos += 1;
buf[pos] = b'\n'; pos += 1;
pos
}
/// Sweep the PWM duty cycle from 0% to 100% in steps of 5.
///
/// # Arguments
///
/// * `uart` - UART peripheral for serial output.
/// * `channel` - PWM channel to set duty on.
/// * `delay` - Delay provider for 50 ms pauses.
/// * `buf` - Scratch buffer for formatting output.
pub(crate) fn sweep_up(
uart: &EnabledUart,
channel: &mut impl SetDutyCycle,
delay: &mut cortex_m::delay::Delay,
buf: &mut [u8; 16],
) {
let mut duty: u8 = 0;
while duty <= 100 {
let level = crate::pwm::duty_to_level(duty, PWM_WRAP) as u16;
channel.set_duty_cycle(level).ok();
let n = format_duty(buf, duty);
uart.write_full_blocking(&buf[..n]);
delay.delay_ms(50u32);
duty += 5;
}
}
/// Sweep the PWM duty cycle from 100% to 0% in steps of 5.
///
/// # Arguments
///
/// * `uart` - UART peripheral for serial output.
/// * `channel` - PWM channel to set duty on.
/// * `delay` - Delay provider for 50 ms pauses.
/// * `buf` - Scratch buffer for formatting output.
pub(crate) fn sweep_down(
uart: &EnabledUart,
channel: &mut impl SetDutyCycle,
delay: &mut cortex_m::delay::Delay,
buf: &mut [u8; 16],
) {
let mut duty: i8 = 100;
while duty >= 0 {
let level = crate::pwm::duty_to_level(duty as u8, PWM_WRAP) as u16;
channel.set_duty_cycle(level).ok();
let n = format_duty(buf, duty as u8);
uart.write_full_blocking(&buf[..n]);
delay.delay_ms(50u32);
duty -= 5;
}
}
// End of file

234
drivers/0x04_pwm_rust/src/main.rs
View File

@@ -40,6 +40,7 @@
#![no_std]
#![no_main]
mod board;
#[allow(dead_code)]
mod pwm;
@@ -49,12 +50,8 @@ use panic_halt as _;
#[cfg(target_arch = "arm")]
use panic_probe as _;
use embedded_hal::pwm::SetDutyCycle;
use fugit::RateExtU32;
use hal::entry;
use hal::Clock;
use hal::gpio::{FunctionNull, FunctionUart, Pin, PullDown, PullNone};
use hal::uart::{DataBits, Enabled, StopBits, UartConfig, UartPeripheral};
use hal::entry;
#[cfg(rp2350)]
use rp235x_hal as hal;
@@ -72,157 +69,6 @@ pub static BOOT2: [u8; 256] = rp2040_boot2::BOOT_LOADER_W25Q080;
#[cfg(rp2350)]
pub static IMAGE_DEF: hal::block::ImageDef = hal::block::ImageDef::secure_exe();
const XTAL_FREQ_HZ: u32 = 12_000_000u32;
const UART_BAUD: u32 = 115_200;
const PWM_FREQ_HZ: u32 = 1000;
const PWM_WRAP: u32 = 10000 - 1;
type TxPin = Pin<hal::gpio::bank0::Gpio0, FunctionUart, PullNone>;
type RxPin = Pin<hal::gpio::bank0::Gpio1, FunctionUart, PullNone>;
type TxPinDefault = Pin<hal::gpio::bank0::Gpio0, FunctionNull, PullDown>;
type RxPinDefault = Pin<hal::gpio::bank0::Gpio1, FunctionNull, PullDown>;
type EnabledUart = UartPeripheral<Enabled, hal::pac::UART0, (TxPin, RxPin)>;
/// Initialise system clocks and PLLs from the external 12 MHz crystal.
///
/// # Arguments
///
/// * `xosc` - XOSC peripheral singleton.
/// * `clocks` - CLOCKS peripheral singleton.
/// * `pll_sys` - PLL_SYS peripheral singleton.
/// * `pll_usb` - PLL_USB peripheral singleton.
/// * `resets` - Mutable reference to the RESETS peripheral.
/// * `watchdog` - Mutable reference to the watchdog timer.
///
/// # Returns
///
/// Configured clocks manager.
///
/// # Panics
///
/// Panics if clock initialisation fails.
fn init_clocks(
xosc: hal::pac::XOSC,
clocks: hal::pac::CLOCKS,
pll_sys: hal::pac::PLL_SYS,
pll_usb: hal::pac::PLL_USB,
resets: &mut hal::pac::RESETS,
watchdog: &mut hal::Watchdog,
) -> hal::clocks::ClocksManager {
hal::clocks::init_clocks_and_plls(
XTAL_FREQ_HZ, xosc, clocks, pll_sys, pll_usb, resets, watchdog,
)
.unwrap()
}
/// Unlock the GPIO bank and return the pin set.
///
/// # Arguments
///
/// * `io_bank0` - IO_BANK0 peripheral singleton.
/// * `pads_bank0` - PADS_BANK0 peripheral singleton.
/// * `sio` - SIO peripheral singleton.
/// * `resets` - Mutable reference to the RESETS peripheral.
///
/// # Returns
///
/// GPIO pin set for the entire bank.
fn init_pins(
io_bank0: hal::pac::IO_BANK0,
pads_bank0: hal::pac::PADS_BANK0,
sio: hal::pac::SIO,
resets: &mut hal::pac::RESETS,
) -> hal::gpio::Pins {
let sio = hal::Sio::new(sio);
hal::gpio::Pins::new(io_bank0, pads_bank0, sio.gpio_bank0, resets)
}
/// Initialise UART0 for serial output (stdio equivalent).
///
/// # Arguments
///
/// * `uart0` - PAC UART0 peripheral singleton.
/// * `tx_pin` - GPIO pin to use as UART0 TX (GPIO 0).
/// * `rx_pin` - GPIO pin to use as UART0 RX (GPIO 1).
/// * `resets` - Mutable reference to the RESETS peripheral.
/// * `clocks` - Reference to the initialised clock configuration.
///
/// # Returns
///
/// Enabled UART0 peripheral ready for blocking writes.
///
/// # Panics
///
/// Panics if the HAL cannot achieve the requested baud rate.
fn init_uart(
uart0: hal::pac::UART0,
tx_pin: TxPinDefault,
rx_pin: RxPinDefault,
resets: &mut hal::pac::RESETS,
clocks: &hal::clocks::ClocksManager,
) -> EnabledUart {
let pins = (
tx_pin.reconfigure::<FunctionUart, PullNone>(),
rx_pin.reconfigure::<FunctionUart, PullNone>(),
);
let cfg = UartConfig::new(UART_BAUD.Hz(), DataBits::Eight, None, StopBits::One);
UartPeripheral::new(uart0, pins, resets)
.enable(cfg, clocks.peripheral_clock.freq())
.unwrap()
}
/// Create a blocking delay timer from the ARM SysTick peripheral.
///
/// # Arguments
///
/// * `clocks` - Reference to the initialised clock configuration.
///
/// # Returns
///
/// Blocking delay provider.
///
/// # Panics
///
/// Panics if the cortex-m core peripherals have already been taken.
fn init_delay(clocks: &hal::clocks::ClocksManager) -> cortex_m::delay::Delay {
let core = cortex_m::Peripherals::take().unwrap();
cortex_m::delay::Delay::new(core.SYST, clocks.system_clock.freq().to_Hz())
}
/// Format a duty percentage into a fixed byte buffer as "Duty: NNN%\r\n".
///
/// # Arguments
///
/// * `buf` - Mutable byte slice (must be at least 16 bytes).
/// * `duty` - Duty cycle percentage to format.
///
/// # Returns
///
/// Number of bytes written into the buffer.
fn format_duty(buf: &mut [u8], duty: u8) -> usize {
let prefix = b"Duty: ";
buf[..6].copy_from_slice(prefix);
let mut pos = 6;
if duty >= 100 {
buf[pos] = b'1'; pos += 1;
buf[pos] = b'0'; pos += 1;
buf[pos] = b'0'; pos += 1;
} else if duty >= 10 {
buf[pos] = b' '; pos += 1;
buf[pos] = b'0' + duty / 10; pos += 1;
buf[pos] = b'0' + duty % 10; pos += 1;
} else {
buf[pos] = b' '; pos += 1;
buf[pos] = b' '; pos += 1;
buf[pos] = b'0' + duty; pos += 1;
}
buf[pos] = b'%'; pos += 1;
buf[pos] = b'\r'; pos += 1;
buf[pos] = b'\n'; pos += 1;
pos
}
/// Application entry point for the PWM LED breathing demo.
///
/// Initializes PWM at 1 kHz on the onboard LED and enters an infinite
@@ -235,78 +81,28 @@ fn format_duty(buf: &mut [u8], duty: u8) -> usize {
#[entry]
fn main() -> ! {
let mut pac = hal::pac::Peripherals::take().unwrap();
let clocks = init_clocks(
let clocks = board::init_clocks(
pac.XOSC, pac.CLOCKS, pac.PLL_SYS, pac.PLL_USB, &mut pac.RESETS,
&mut hal::Watchdog::new(pac.WATCHDOG),
);
let pins = init_pins(pac.IO_BANK0, pac.PADS_BANK0, pac.SIO, &mut pac.RESETS);
let uart = init_uart(pac.UART0, pins.gpio0, pins.gpio1, &mut pac.RESETS, &clocks);
let mut delay = init_delay(&clocks);
let pins = board::init_pins(pac.IO_BANK0, pac.PADS_BANK0, pac.SIO, &mut pac.RESETS);
let uart = board::init_uart(pac.UART0, pins.gpio0, pins.gpio1, &mut pac.RESETS, &clocks);
let mut delay = board::init_delay(&clocks);
uart.write_full_blocking(b"PWM initialized: GPIO25 @ 1000 Hz\r\n");
let pwm_slices = hal::pwm::Slices::new(pac.PWM, &mut pac.RESETS);
let mut pwm = pwm_slices.pwm4;
let mut pwm_slice = pwm_slices.pwm4;
let sys_hz = clocks.system_clock.freq().to_Hz();
let div = pwm::calc_clk_div(sys_hz, PWM_FREQ_HZ, PWM_WRAP);
let div = pwm::calc_clk_div(sys_hz, board::PWM_FREQ_HZ, board::PWM_WRAP);
let div_int = div as u8;
pwm.set_div_int(div_int);
pwm.set_div_frac((((div - div_int as f32) * 16.0) as u8).min(15));
pwm.set_top(PWM_WRAP as u16);
pwm.enable();
pwm.channel_b.output_to(pins.gpio25);
pwm_slice.set_div_int(div_int);
pwm_slice.set_div_frac((((div - div_int as f32) * 16.0) as u8).min(15));
pwm_slice.set_top(board::PWM_WRAP as u16);
pwm_slice.enable();
pwm_slice.channel_b.output_to(pins.gpio25);
let mut buf = [0u8; 16];
loop {
sweep_up(&uart, &mut pwm.channel_b, &mut delay, &mut buf);
sweep_down(&uart, &mut pwm.channel_b, &mut delay, &mut buf);
}
}
/// Sweep the PWM duty cycle from 0% to 100% in steps of 5.
///
/// # Arguments
///
/// * `uart` - UART peripheral for serial output.
/// * `channel` - PWM channel to set duty on.
/// * `delay` - Delay provider for 50 ms pauses.
/// * `buf` - Scratch buffer for formatting output.
fn sweep_up(
uart: &EnabledUart,
channel: &mut impl SetDutyCycle,
delay: &mut cortex_m::delay::Delay,
buf: &mut [u8; 16],
) {
let mut duty: u8 = 0;
while duty <= 100 {
let level = pwm::duty_to_level(duty, PWM_WRAP) as u16;
channel.set_duty_cycle(level).ok();
let n = format_duty(buf, duty);
uart.write_full_blocking(&buf[..n]);
delay.delay_ms(50u32);
duty += 5;
}
}
/// Sweep the PWM duty cycle from 100% to 0% in steps of 5.
///
/// # Arguments
///
/// * `uart` - UART peripheral for serial output.
/// * `channel` - PWM channel to set duty on.
/// * `delay` - Delay provider for 50 ms pauses.
/// * `buf` - Scratch buffer for formatting output.
fn sweep_down(
uart: &EnabledUart,
channel: &mut impl SetDutyCycle,
delay: &mut cortex_m::delay::Delay,
buf: &mut [u8; 16],
) {
let mut duty: i8 = 100;
while duty >= 0 {
let level = pwm::duty_to_level(duty as u8, PWM_WRAP) as u16;
channel.set_duty_cycle(level).ok();
let n = format_duty(buf, duty as u8);
uart.write_full_blocking(&buf[..n]);
delay.delay_ms(50u32);
duty -= 5;
board::sweep_up(&uart, &mut pwm_slice.channel_b, &mut delay, &mut buf);
board::sweep_down(&uart, &mut pwm_slice.channel_b, &mut delay, &mut buf);
}
}

258
drivers/0x05_servo_rust/src/board.rs Normal file
View File

@@ -0,0 +1,258 @@
//! @file board.rs
//! @brief Board-level initialisation helpers for the servo demo
//! @author Kevin Thomas
//! @date 2025
//!
//! MIT License
//!
//! Copyright (c) 2025 Kevin Thomas
//!
//! Permission is hereby granted, free of charge, to any person obtaining a copy
//! of this software and associated documentation files (the "Software"), to deal
//! in the Software without restriction, including without limitation the rights
//! to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
//! copies of the Software, and to permit persons to whom the Software is
//! furnished to do so, subject to the following conditions:
//!
//! The above copyright notice and this permission notice shall be included in
//! all copies or substantial portions of the Software.
//!
//! THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
//! IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
//! FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
//! AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
//! LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
//! OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
//! SOFTWARE.
use embedded_hal::pwm::SetDutyCycle;
use fugit::RateExtU32;
use hal::Clock;
use hal::gpio::{FunctionNull, FunctionUart, Pin, PullDown, PullNone};
use hal::uart::{DataBits, Enabled, StopBits, UartConfig, UartPeripheral};
#[cfg(rp2350)]
use rp235x_hal as hal;
#[cfg(rp2040)]
use rp2040_hal as hal;
/// External crystal frequency in Hz (12 MHz).
pub(crate) const XTAL_FREQ_HZ: u32 = 12_000_000u32;
/// UART baud rate in bits per second.
pub(crate) const UART_BAUD: u32 = 115_200;
/// Angle increment per sweep step in degrees.
pub(crate) const STEP_DEGREES: i32 = 10;
/// Delay between sweep steps in milliseconds.
pub(crate) const STEP_DELAY_MS: u32 = 150;
/// Type alias for the configured TX pin (GPIO 0, UART function, no pull).
pub(crate) type TxPin = Pin<hal::gpio::bank0::Gpio0, FunctionUart, PullNone>;
/// Type alias for the configured RX pin (GPIO 1, UART function, no pull).
pub(crate) type RxPin = Pin<hal::gpio::bank0::Gpio1, FunctionUart, PullNone>;
/// Type alias for the default TX pin state from `Pins::new()`.
pub(crate) type TxPinDefault = Pin<hal::gpio::bank0::Gpio0, FunctionNull, PullDown>;
/// Type alias for the default RX pin state from `Pins::new()`.
pub(crate) type RxPinDefault = Pin<hal::gpio::bank0::Gpio1, FunctionNull, PullDown>;
/// Type alias for the fully-enabled UART0 peripheral with TX/RX pins.
pub(crate) type EnabledUart = UartPeripheral<Enabled, hal::pac::UART0, (TxPin, RxPin)>;
/// Initialise system clocks and PLLs from the external 12 MHz crystal.
///
/// # Arguments
///
/// * `xosc` - XOSC peripheral singleton.
/// * `clocks` - CLOCKS peripheral singleton.
/// * `pll_sys` - PLL_SYS peripheral singleton.
/// * `pll_usb` - PLL_USB peripheral singleton.
/// * `resets` - Mutable reference to the RESETS peripheral.
/// * `watchdog` - Mutable reference to the watchdog timer.
///
/// # Returns
///
/// Configured clocks manager.
///
/// # Panics
///
/// Panics if clock initialisation fails.
pub(crate) fn init_clocks(
xosc: hal::pac::XOSC,
clocks: hal::pac::CLOCKS,
pll_sys: hal::pac::PLL_SYS,
pll_usb: hal::pac::PLL_USB,
resets: &mut hal::pac::RESETS,
watchdog: &mut hal::Watchdog,
) -> hal::clocks::ClocksManager {
hal::clocks::init_clocks_and_plls(
XTAL_FREQ_HZ, xosc, clocks, pll_sys, pll_usb, resets, watchdog,
)
.unwrap()
}
/// Unlock the GPIO bank and return the pin set.
///
/// # Arguments
///
/// * `io_bank0` - IO_BANK0 peripheral singleton.
/// * `pads_bank0` - PADS_BANK0 peripheral singleton.
/// * `sio` - SIO peripheral singleton.
/// * `resets` - Mutable reference to the RESETS peripheral.
///
/// # Returns
///
/// GPIO pin set for the entire bank.
pub(crate) fn init_pins(
io_bank0: hal::pac::IO_BANK0,
pads_bank0: hal::pac::PADS_BANK0,
sio: hal::pac::SIO,
resets: &mut hal::pac::RESETS,
) -> hal::gpio::Pins {
let sio = hal::Sio::new(sio);
hal::gpio::Pins::new(io_bank0, pads_bank0, sio.gpio_bank0, resets)
}
/// Initialise UART0 for serial output (stdio equivalent).
///
/// # Arguments
///
/// * `uart0` - PAC UART0 peripheral singleton.
/// * `tx_pin` - GPIO pin to use as UART0 TX (GPIO 0).
/// * `rx_pin` - GPIO pin to use as UART0 RX (GPIO 1).
/// * `resets` - Mutable reference to the RESETS peripheral.
/// * `clocks` - Reference to the initialised clock configuration.
///
/// # Returns
///
/// Enabled UART0 peripheral ready for blocking writes.
///
/// # Panics
///
/// Panics if the HAL cannot achieve the requested baud rate.
pub(crate) fn init_uart(
uart0: hal::pac::UART0,
tx_pin: TxPinDefault,
rx_pin: RxPinDefault,
resets: &mut hal::pac::RESETS,
clocks: &hal::clocks::ClocksManager,
) -> EnabledUart {
let pins = (
tx_pin.reconfigure::<FunctionUart, PullNone>(),
rx_pin.reconfigure::<FunctionUart, PullNone>(),
);
let cfg = UartConfig::new(UART_BAUD.Hz(), DataBits::Eight, None, StopBits::One);
UartPeripheral::new(uart0, pins, resets)
.enable(cfg, clocks.peripheral_clock.freq())
.unwrap()
}
/// Create a blocking delay timer from the ARM SysTick peripheral.
///
/// # Arguments
///
/// * `clocks` - Reference to the initialised clock configuration.
///
/// # Returns
///
/// Blocking delay provider.
///
/// # Panics
///
/// Panics if the cortex-m core peripherals have already been taken.
pub(crate) fn init_delay(clocks: &hal::clocks::ClocksManager) -> cortex_m::delay::Delay {
let core = cortex_m::Peripherals::take().unwrap();
cortex_m::delay::Delay::new(core.SYST, clocks.system_clock.freq().to_Hz())
}
/// Format an angle into "Angle: NNN deg\r\n".
///
/// # Arguments
///
/// * `buf` - Mutable byte slice (must be at least 20 bytes).
/// * `angle` - Angle in degrees (0..180).
///
/// # Returns
///
/// Number of bytes written into the buffer.
pub(crate) fn format_angle(buf: &mut [u8], angle: i32) -> usize {
let prefix = b"Angle: ";
buf[..7].copy_from_slice(prefix);
let mut pos = 7;
let a = if angle < 0 { 0 } else { angle as u32 };
if a >= 100 {
buf[pos] = b'0' + (a / 100) as u8; pos += 1;
buf[pos] = b'0' + ((a / 10) % 10) as u8; pos += 1;
buf[pos] = b'0' + (a % 10) as u8; pos += 1;
} else if a >= 10 {
buf[pos] = b' '; pos += 1;
buf[pos] = b'0' + (a / 10) as u8; pos += 1;
buf[pos] = b'0' + (a % 10) as u8; pos += 1;
} else {
buf[pos] = b' '; pos += 1;
buf[pos] = b' '; pos += 1;
buf[pos] = b'0' + a as u8; pos += 1;
}
let suffix = b" deg\r\n";
buf[pos..pos + 6].copy_from_slice(suffix);
pos + 6
}
/// Sweep the servo angle upward from 0 to 180 in STEP_DEGREES increments.
///
/// # Arguments
///
/// * `uart` - UART peripheral for serial output.
/// * `channel` - PWM channel implementing SetDutyCycle.
/// * `delay` - Delay provider for pause between steps.
/// * `buf` - Scratch buffer for formatting output.
pub(crate) fn sweep_angle_up(
uart: &EnabledUart,
channel: &mut impl SetDutyCycle,
delay: &mut cortex_m::delay::Delay,
buf: &mut [u8; 20],
) {
let mut angle: i32 = 0;
while angle <= 180 {
let pulse = crate::servo::angle_to_pulse_us(angle as f32, crate::servo::SERVO_DEFAULT_MIN_US, crate::servo::SERVO_DEFAULT_MAX_US);
let level = crate::servo::pulse_us_to_level(pulse as u32, crate::servo::SERVO_WRAP, crate::servo::SERVO_HZ) as u16;
channel.set_duty_cycle(level).ok();
let n = format_angle(buf, angle);
uart.write_full_blocking(&buf[..n]);
delay.delay_ms(STEP_DELAY_MS);
angle += STEP_DEGREES;
}
}
/// Sweep the servo angle downward from 180 to 0 in STEP_DEGREES decrements.
///
/// # Arguments
///
/// * `uart` - UART peripheral for serial output.
/// * `channel` - PWM channel implementing SetDutyCycle.
/// * `delay` - Delay provider for pause between steps.
/// * `buf` - Scratch buffer for formatting output.
pub(crate) fn sweep_angle_down(
uart: &EnabledUart,
channel: &mut impl SetDutyCycle,
delay: &mut cortex_m::delay::Delay,
buf: &mut [u8; 20],
) {
let mut angle: i32 = 180;
while angle >= 0 {
let pulse = crate::servo::angle_to_pulse_us(angle as f32, crate::servo::SERVO_DEFAULT_MIN_US, crate::servo::SERVO_DEFAULT_MAX_US);
let level = crate::servo::pulse_us_to_level(pulse as u32, crate::servo::SERVO_WRAP, crate::servo::SERVO_HZ) as u16;
channel.set_duty_cycle(level).ok();
let n = format_angle(buf, angle);
uart.write_full_blocking(&buf[..n]);
delay.delay_ms(STEP_DELAY_MS);
angle -= STEP_DEGREES;
}
}
// End of file

222
drivers/0x05_servo_rust/src/main.rs
View File

@@ -39,6 +39,7 @@
#![no_std]
#![no_main]
mod board;
#[allow(dead_code)]
mod servo;
@@ -48,12 +49,8 @@ use panic_halt as _;
#[cfg(target_arch = "arm")]
use panic_probe as _;
use embedded_hal::pwm::SetDutyCycle;
use fugit::RateExtU32;
use hal::entry;
use hal::Clock;
use hal::gpio::{FunctionNull, FunctionUart, Pin, PullDown, PullNone};
use hal::uart::{DataBits, Enabled, StopBits, UartConfig, UartPeripheral};
use hal::entry;
#[cfg(rp2350)]
use rp235x_hal as hal;
@@ -71,209 +68,6 @@ pub static BOOT2: [u8; 256] = rp2040_boot2::BOOT_LOADER_W25Q080;
#[cfg(rp2350)]
pub static IMAGE_DEF: hal::block::ImageDef = hal::block::ImageDef::secure_exe();
const XTAL_FREQ_HZ: u32 = 12_000_000u32;
const UART_BAUD: u32 = 115_200;
const STEP_DEGREES: i32 = 10;
const STEP_DELAY_MS: u32 = 150;
type TxPin = Pin<hal::gpio::bank0::Gpio0, FunctionUart, PullNone>;
type RxPin = Pin<hal::gpio::bank0::Gpio1, FunctionUart, PullNone>;
type TxPinDefault = Pin<hal::gpio::bank0::Gpio0, FunctionNull, PullDown>;
type RxPinDefault = Pin<hal::gpio::bank0::Gpio1, FunctionNull, PullDown>;
type EnabledUart = UartPeripheral<Enabled, hal::pac::UART0, (TxPin, RxPin)>;
/// Initialise system clocks and PLLs from the external 12 MHz crystal.
///
/// # Arguments
///
/// * `xosc` - XOSC peripheral singleton.
/// * `clocks` - CLOCKS peripheral singleton.
/// * `pll_sys` - PLL_SYS peripheral singleton.
/// * `pll_usb` - PLL_USB peripheral singleton.
/// * `resets` - Mutable reference to the RESETS peripheral.
/// * `watchdog` - Mutable reference to the watchdog timer.
///
/// # Returns
///
/// Configured clocks manager.
///
/// # Panics
///
/// Panics if clock initialisation fails.
fn init_clocks(
xosc: hal::pac::XOSC,
clocks: hal::pac::CLOCKS,
pll_sys: hal::pac::PLL_SYS,
pll_usb: hal::pac::PLL_USB,
resets: &mut hal::pac::RESETS,
watchdog: &mut hal::Watchdog,
) -> hal::clocks::ClocksManager {
hal::clocks::init_clocks_and_plls(
XTAL_FREQ_HZ, xosc, clocks, pll_sys, pll_usb, resets, watchdog,
)
.unwrap()
}
/// Unlock the GPIO bank and return the pin set.
///
/// # Arguments
///
/// * `io_bank0` - IO_BANK0 peripheral singleton.
/// * `pads_bank0` - PADS_BANK0 peripheral singleton.
/// * `sio` - SIO peripheral singleton.
/// * `resets` - Mutable reference to the RESETS peripheral.
///
/// # Returns
///
/// GPIO pin set for the entire bank.
fn init_pins(
io_bank0: hal::pac::IO_BANK0,
pads_bank0: hal::pac::PADS_BANK0,
sio: hal::pac::SIO,
resets: &mut hal::pac::RESETS,
) -> hal::gpio::Pins {
let sio = hal::Sio::new(sio);
hal::gpio::Pins::new(io_bank0, pads_bank0, sio.gpio_bank0, resets)
}
/// Initialise UART0 for serial output (stdio equivalent).
///
/// # Arguments
///
/// * `uart0` - PAC UART0 peripheral singleton.
/// * `tx_pin` - GPIO pin to use as UART0 TX (GPIO 0).
/// * `rx_pin` - GPIO pin to use as UART0 RX (GPIO 1).
/// * `resets` - Mutable reference to the RESETS peripheral.
/// * `clocks` - Reference to the initialised clock configuration.
///
/// # Returns
///
/// Enabled UART0 peripheral ready for blocking writes.
///
/// # Panics
///
/// Panics if the HAL cannot achieve the requested baud rate.
fn init_uart(
uart0: hal::pac::UART0,
tx_pin: TxPinDefault,
rx_pin: RxPinDefault,
resets: &mut hal::pac::RESETS,
clocks: &hal::clocks::ClocksManager,
) -> EnabledUart {
let pins = (
tx_pin.reconfigure::<FunctionUart, PullNone>(),
rx_pin.reconfigure::<FunctionUart, PullNone>(),
);
let cfg = UartConfig::new(UART_BAUD.Hz(), DataBits::Eight, None, StopBits::One);
UartPeripheral::new(uart0, pins, resets)
.enable(cfg, clocks.peripheral_clock.freq())
.unwrap()
}
/// Create a blocking delay timer from the ARM SysTick peripheral.
///
/// # Arguments
///
/// * `clocks` - Reference to the initialised clock configuration.
///
/// # Returns
///
/// Blocking delay provider.
///
/// # Panics
///
/// Panics if the cortex-m core peripherals have already been taken.
fn init_delay(clocks: &hal::clocks::ClocksManager) -> cortex_m::delay::Delay {
let core = cortex_m::Peripherals::take().unwrap();
cortex_m::delay::Delay::new(core.SYST, clocks.system_clock.freq().to_Hz())
}
/// Format an angle into "Angle: NNN deg\r\n".
///
/// # Arguments
///
/// * `buf` - Mutable byte slice (must be at least 20 bytes).
/// * `angle` - Angle in degrees (0..180).
///
/// # Returns
///
/// Number of bytes written into the buffer.
fn format_angle(buf: &mut [u8], angle: i32) -> usize {
let prefix = b"Angle: ";
buf[..7].copy_from_slice(prefix);
let mut pos = 7;
let a = if angle < 0 { 0 } else { angle as u32 };
if a >= 100 {
buf[pos] = b'0' + (a / 100) as u8; pos += 1;
buf[pos] = b'0' + ((a / 10) % 10) as u8; pos += 1;
buf[pos] = b'0' + (a % 10) as u8; pos += 1;
} else if a >= 10 {
buf[pos] = b' '; pos += 1;
buf[pos] = b'0' + (a / 10) as u8; pos += 1;
buf[pos] = b'0' + (a % 10) as u8; pos += 1;
} else {
buf[pos] = b' '; pos += 1;
buf[pos] = b' '; pos += 1;
buf[pos] = b'0' + a as u8; pos += 1;
}
let suffix = b" deg\r\n";
buf[pos..pos + 6].copy_from_slice(suffix);
pos + 6
}
/// Sweep the servo angle upward from 0 to 180 in STEP_DEGREES increments.
///
/// # Arguments
///
/// * `uart` - UART peripheral for serial output.
/// * `channel` - PWM channel implementing SetDutyCycle.
/// * `delay` - Delay provider for pause between steps.
/// * `buf` - Scratch buffer for formatting output.
fn sweep_angle_up(
uart: &EnabledUart,
channel: &mut impl SetDutyCycle,
delay: &mut cortex_m::delay::Delay,
buf: &mut [u8; 20],
) {
let mut angle: i32 = 0;
while angle <= 180 {
let pulse = servo::angle_to_pulse_us(angle as f32, servo::SERVO_DEFAULT_MIN_US, servo::SERVO_DEFAULT_MAX_US);
let level = servo::pulse_us_to_level(pulse as u32, servo::SERVO_WRAP, servo::SERVO_HZ) as u16;
channel.set_duty_cycle(level).ok();
let n = format_angle(buf, angle);
uart.write_full_blocking(&buf[..n]);
delay.delay_ms(STEP_DELAY_MS);
angle += STEP_DEGREES;
}
}
/// Sweep the servo angle downward from 180 to 0 in STEP_DEGREES decrements.
///
/// # Arguments
///
/// * `uart` - UART peripheral for serial output.
/// * `channel` - PWM channel implementing SetDutyCycle.
/// * `delay` - Delay provider for pause between steps.
/// * `buf` - Scratch buffer for formatting output.
fn sweep_angle_down(
uart: &EnabledUart,
channel: &mut impl SetDutyCycle,
delay: &mut cortex_m::delay::Delay,
buf: &mut [u8; 20],
) {
let mut angle: i32 = 180;
while angle >= 0 {
let pulse = servo::angle_to_pulse_us(angle as f32, servo::SERVO_DEFAULT_MIN_US, servo::SERVO_DEFAULT_MAX_US);
let level = servo::pulse_us_to_level(pulse as u32, servo::SERVO_WRAP, servo::SERVO_HZ) as u16;
channel.set_duty_cycle(level).ok();
let n = format_angle(buf, angle);
uart.write_full_blocking(&buf[..n]);
delay.delay_ms(STEP_DELAY_MS);
angle -= STEP_DEGREES;
}
}
/// Application entry point for the servo sweep demo.
///
/// Initializes the servo on GPIO 6 and continuously sweeps 0-180-0
@@ -285,13 +79,13 @@ fn sweep_angle_down(
#[entry]
fn main() -> ! {
let mut pac = hal::pac::Peripherals::take().unwrap();
let clocks = init_clocks(
let clocks = board::init_clocks(
pac.XOSC, pac.CLOCKS, pac.PLL_SYS, pac.PLL_USB, &mut pac.RESETS,
&mut hal::Watchdog::new(pac.WATCHDOG),
);
let pins = init_pins(pac.IO_BANK0, pac.PADS_BANK0, pac.SIO, &mut pac.RESETS);
let uart = init_uart(pac.UART0, pins.gpio0, pins.gpio1, &mut pac.RESETS, &clocks);
let mut delay = init_delay(&clocks);
let pins = board::init_pins(pac.IO_BANK0, pac.PADS_BANK0, pac.SIO, &mut pac.RESETS);
let uart = board::init_uart(pac.UART0, pins.gpio0, pins.gpio1, &mut pac.RESETS, &clocks);
let mut delay = board::init_delay(&clocks);
let pwm_slices = hal::pwm::Slices::new(pac.PWM, &mut pac.RESETS);
let mut pwm = pwm_slices.pwm3;
let sys_hz = clocks.system_clock.freq().to_Hz();
@@ -306,8 +100,8 @@ fn main() -> ! {
uart.write_full_blocking(b"Sweeping 0 -> 180 -> 0 degrees in 10-degree steps\r\n");
let mut buf = [0u8; 20];
loop {
sweep_angle_up(&uart, &mut pwm.channel_a, &mut delay, &mut buf);
sweep_angle_down(&uart, &mut pwm.channel_a, &mut delay, &mut buf);
board::sweep_angle_up(&uart, &mut pwm.channel_a, &mut delay, &mut buf);
board::sweep_angle_down(&uart, &mut pwm.channel_a, &mut delay, &mut buf);
}
}

215
drivers/0x06_adc_rust/src/board.rs Normal file
View File

@@ -0,0 +1,215 @@
//! @file board.rs
//! @brief Board-level initialisation helpers for the ADC demo
//! @author Kevin Thomas
//! @date 2025
//!
//! MIT License
//!
//! Copyright (c) 2025 Kevin Thomas
//!
//! Permission is hereby granted, free of charge, to any person obtaining a copy
//! of this software and associated documentation files (the "Software"), to deal
//! in the Software without restriction, including without limitation the rights
//! to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
//! copies of the Software, and to permit persons to whom the Software is
//! furnished to do so, subject to the following conditions:
//!
//! The above copyright notice and this permission notice shall be included in
//! all copies or substantial portions of the Software.
//!
//! THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
//! IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
//! FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
//! AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
//! LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
//! OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
//! SOFTWARE.
use fugit::RateExtU32;
use hal::Clock;
use hal::gpio::{FunctionNull, FunctionUart, Pin, PullDown, PullNone};
use hal::uart::{DataBits, Enabled, StopBits, UartConfig, UartPeripheral};
#[cfg(rp2350)]
use rp235x_hal as hal;
#[cfg(rp2040)]
use rp2040_hal as hal;
/// External crystal frequency in Hz (12 MHz).
pub(crate) const XTAL_FREQ_HZ: u32 = 12_000_000u32;
/// UART baud rate in bits per second.
pub(crate) const UART_BAUD: u32 = 115_200;
/// Main-loop polling interval in milliseconds.
pub(crate) const POLL_MS: u32 = 500;
/// Type alias for the configured TX pin (GPIO 0, UART function, no pull).
pub(crate) type TxPin = Pin<hal::gpio::bank0::Gpio0, FunctionUart, PullNone>;
/// Type alias for the configured RX pin (GPIO 1, UART function, no pull).
pub(crate) type RxPin = Pin<hal::gpio::bank0::Gpio1, FunctionUart, PullNone>;
/// Type alias for the default TX pin state from `Pins::new()`.
pub(crate) type TxPinDefault = Pin<hal::gpio::bank0::Gpio0, FunctionNull, PullDown>;
/// Type alias for the default RX pin state from `Pins::new()`.
pub(crate) type RxPinDefault = Pin<hal::gpio::bank0::Gpio1, FunctionNull, PullDown>;
/// Type alias for the fully-enabled UART0 peripheral with TX/RX pins.
pub(crate) type EnabledUart = UartPeripheral<Enabled, hal::pac::UART0, (TxPin, RxPin)>;
/// Initialise system clocks and PLLs from the external 12 MHz crystal.
///
/// # Arguments
///
/// * `xosc` - XOSC peripheral singleton.
/// * `clocks` - CLOCKS peripheral singleton.
/// * `pll_sys` - PLL_SYS peripheral singleton.
/// * `pll_usb` - PLL_USB peripheral singleton.
/// * `resets` - Mutable reference to the RESETS peripheral.
/// * `watchdog` - Mutable reference to the watchdog timer.
///
/// # Returns
///
/// Configured clocks manager.
///
/// # Panics
///
/// Panics if clock initialisation fails.
pub(crate) fn init_clocks(
xosc: hal::pac::XOSC,
clocks: hal::pac::CLOCKS,
pll_sys: hal::pac::PLL_SYS,
pll_usb: hal::pac::PLL_USB,
resets: &mut hal::pac::RESETS,
watchdog: &mut hal::Watchdog,
) -> hal::clocks::ClocksManager {
hal::clocks::init_clocks_and_plls(
XTAL_FREQ_HZ, xosc, clocks, pll_sys, pll_usb, resets, watchdog,
)
.unwrap()
}
/// Unlock the GPIO bank and return the pin set.
///
/// # Arguments
///
/// * `io_bank0` - IO_BANK0 peripheral singleton.
/// * `pads_bank0` - PADS_BANK0 peripheral singleton.
/// * `sio` - SIO peripheral singleton.
/// * `resets` - Mutable reference to the RESETS peripheral.
///
/// # Returns
///
/// GPIO pin set for the entire bank.
pub(crate) fn init_pins(
io_bank0: hal::pac::IO_BANK0,
pads_bank0: hal::pac::PADS_BANK0,
sio: hal::pac::SIO,
resets: &mut hal::pac::RESETS,
) -> hal::gpio::Pins {
let sio = hal::Sio::new(sio);
hal::gpio::Pins::new(io_bank0, pads_bank0, sio.gpio_bank0, resets)
}
/// Initialise UART0 for serial output (stdio equivalent).
///
/// # Arguments
///
/// * `uart0` - PAC UART0 peripheral singleton.
/// * `tx_pin` - GPIO pin to use as UART0 TX (GPIO 0).
/// * `rx_pin` - GPIO pin to use as UART0 RX (GPIO 1).
/// * `resets` - Mutable reference to the RESETS peripheral.
/// * `clocks` - Reference to the initialised clock configuration.
///
/// # Returns
///
/// Enabled UART0 peripheral ready for blocking writes.
///
/// # Panics
///
/// Panics if the HAL cannot achieve the requested baud rate.
pub(crate) fn init_uart(
uart0: hal::pac::UART0,
tx_pin: TxPinDefault,
rx_pin: RxPinDefault,
resets: &mut hal::pac::RESETS,
clocks: &hal::clocks::ClocksManager,
) -> EnabledUart {
let pins = (
tx_pin.reconfigure::<FunctionUart, PullNone>(),
rx_pin.reconfigure::<FunctionUart, PullNone>(),
);
let cfg = UartConfig::new(UART_BAUD.Hz(), DataBits::Eight, None, StopBits::One);
UartPeripheral::new(uart0, pins, resets)
.enable(cfg, clocks.peripheral_clock.freq())
.unwrap()
}
/// Create a blocking delay timer from the ARM SysTick peripheral.
///
/// # Arguments
///
/// * `clocks` - Reference to the initialised clock configuration.
///
/// # Returns
///
/// Blocking delay provider.
///
/// # Panics
///
/// Panics if the cortex-m core peripherals have already been taken.
pub(crate) fn init_delay(clocks: &hal::clocks::ClocksManager) -> cortex_m::delay::Delay {
let core = cortex_m::Peripherals::take().unwrap();
cortex_m::delay::Delay::new(core.SYST, clocks.system_clock.freq().to_Hz())
}
/// Format a millivolt value into "ADC0: NNNN mV | Chip temp: NN.N C\r\n".
///
/// # Arguments
///
/// * `buf` - Mutable byte slice (must be at least 48 bytes).
/// * `mv` - Voltage in millivolts.
/// * `temp_int` - Integer part of temperature.
/// * `temp_frac` - Single decimal digit of temperature fraction.
///
/// # Returns
///
/// Number of bytes written into the buffer.
pub(crate) fn format_adc_line(buf: &mut [u8], mv: u32, temp_int: i32, temp_frac: u8) -> usize {
let prefix = b"ADC0: ";
buf[..6].copy_from_slice(prefix);
let mut pos = 6;
let thousands = ((mv / 1000) % 10) as u8;
let hundreds = ((mv / 100) % 10) as u8;
let tens = ((mv / 10) % 10) as u8;
let ones = (mv % 10) as u8;
buf[pos] = b'0' + thousands; pos += 1;
buf[pos] = b'0' + hundreds; pos += 1;
buf[pos] = b'0' + tens; pos += 1;
buf[pos] = b'0' + ones; pos += 1;
let mid = b" mV | Chip temp: ";
buf[pos..pos + 19].copy_from_slice(mid);
pos += 19;
let abs_temp = if temp_int < 0 { -temp_int } else { temp_int } as u32;
if temp_int < 0 {
buf[pos] = b'-'; pos += 1;
}
if abs_temp >= 100 {
buf[pos] = b'0' + ((abs_temp / 100) % 10) as u8; pos += 1;
}
if abs_temp >= 10 {
buf[pos] = b'0' + ((abs_temp / 10) % 10) as u8; pos += 1;
}
buf[pos] = b'0' + (abs_temp % 10) as u8; pos += 1;
buf[pos] = b'.'; pos += 1;
buf[pos] = b'0' + temp_frac; pos += 1;
let suffix = b" C\r\n";
buf[pos..pos + 4].copy_from_slice(suffix);
pos += 4;
pos
}
// End of file

180
drivers/0x06_adc_rust/src/main.rs
View File

@@ -39,6 +39,7 @@
#![no_std]
#![no_main]
mod board;
#[allow(dead_code)]
mod adc;
@@ -49,11 +50,7 @@ use panic_halt as _;
use panic_probe as _;
use cortex_m::prelude::_embedded_hal_adc_OneShot;
use fugit::RateExtU32;
use hal::entry;
use hal::Clock;
use hal::gpio::{FunctionNull, FunctionUart, Pin, PullDown, PullNone};
use hal::uart::{DataBits, Enabled, StopBits, UartConfig, UartPeripheral};
#[cfg(rp2350)]
use rp235x_hal as hal;
@@ -71,169 +68,6 @@ pub static BOOT2: [u8; 256] = rp2040_boot2::BOOT_LOADER_W25Q080;
#[cfg(rp2350)]
pub static IMAGE_DEF: hal::block::ImageDef = hal::block::ImageDef::secure_exe();
const XTAL_FREQ_HZ: u32 = 12_000_000u32;
const UART_BAUD: u32 = 115_200;
const POLL_MS: u32 = 500;
type TxPin = Pin<hal::gpio::bank0::Gpio0, FunctionUart, PullNone>;
type RxPin = Pin<hal::gpio::bank0::Gpio1, FunctionUart, PullNone>;
type TxPinDefault = Pin<hal::gpio::bank0::Gpio0, FunctionNull, PullDown>;
type RxPinDefault = Pin<hal::gpio::bank0::Gpio1, FunctionNull, PullDown>;
type EnabledUart = UartPeripheral<Enabled, hal::pac::UART0, (TxPin, RxPin)>;
/// Initialise system clocks and PLLs from the external 12 MHz crystal.
///
/// # Arguments
///
/// * `xosc` - XOSC peripheral singleton.
/// * `clocks` - CLOCKS peripheral singleton.
/// * `pll_sys` - PLL_SYS peripheral singleton.
/// * `pll_usb` - PLL_USB peripheral singleton.
/// * `resets` - Mutable reference to the RESETS peripheral.
/// * `watchdog` - Mutable reference to the watchdog timer.
///
/// # Returns
///
/// Configured clocks manager.
///
/// # Panics
///
/// Panics if clock initialisation fails.
fn init_clocks(
xosc: hal::pac::XOSC,
clocks: hal::pac::CLOCKS,
pll_sys: hal::pac::PLL_SYS,
pll_usb: hal::pac::PLL_USB,
resets: &mut hal::pac::RESETS,
watchdog: &mut hal::Watchdog,
) -> hal::clocks::ClocksManager {
hal::clocks::init_clocks_and_plls(
XTAL_FREQ_HZ, xosc, clocks, pll_sys, pll_usb, resets, watchdog,
)
.unwrap()
}
/// Unlock the GPIO bank and return the pin set.
///
/// # Arguments
///
/// * `io_bank0` - IO_BANK0 peripheral singleton.
/// * `pads_bank0` - PADS_BANK0 peripheral singleton.
/// * `sio` - SIO peripheral singleton.
/// * `resets` - Mutable reference to the RESETS peripheral.
///
/// # Returns
///
/// GPIO pin set for the entire bank.
fn init_pins(
io_bank0: hal::pac::IO_BANK0,
pads_bank0: hal::pac::PADS_BANK0,
sio: hal::pac::SIO,
resets: &mut hal::pac::RESETS,
) -> hal::gpio::Pins {
let sio = hal::Sio::new(sio);
hal::gpio::Pins::new(io_bank0, pads_bank0, sio.gpio_bank0, resets)
}
/// Initialise UART0 for serial output (stdio equivalent).
///
/// # Arguments
///
/// * `uart0` - PAC UART0 peripheral singleton.
/// * `tx_pin` - GPIO pin to use as UART0 TX (GPIO 0).
/// * `rx_pin` - GPIO pin to use as UART0 RX (GPIO 1).
/// * `resets` - Mutable reference to the RESETS peripheral.
/// * `clocks` - Reference to the initialised clock configuration.
///
/// # Returns
///
/// Enabled UART0 peripheral ready for blocking writes.
///
/// # Panics
///
/// Panics if the HAL cannot achieve the requested baud rate.
fn init_uart(
uart0: hal::pac::UART0,
tx_pin: TxPinDefault,
rx_pin: RxPinDefault,
resets: &mut hal::pac::RESETS,
clocks: &hal::clocks::ClocksManager,
) -> EnabledUart {
let pins = (
tx_pin.reconfigure::<FunctionUart, PullNone>(),
rx_pin.reconfigure::<FunctionUart, PullNone>(),
);
let cfg = UartConfig::new(UART_BAUD.Hz(), DataBits::Eight, None, StopBits::One);
UartPeripheral::new(uart0, pins, resets)
.enable(cfg, clocks.peripheral_clock.freq())
.unwrap()
}
/// Create a blocking delay timer from the ARM SysTick peripheral.
///
/// # Arguments
///
/// * `clocks` - Reference to the initialised clock configuration.
///
/// # Returns
///
/// Blocking delay provider.
///
/// # Panics
///
/// Panics if the cortex-m core peripherals have already been taken.
fn init_delay(clocks: &hal::clocks::ClocksManager) -> cortex_m::delay::Delay {
let core = cortex_m::Peripherals::take().unwrap();
cortex_m::delay::Delay::new(core.SYST, clocks.system_clock.freq().to_Hz())
}
/// Format a millivolt value into "ADC0: NNNN mV | Chip temp: ".
///
/// # Arguments
///
/// * `buf` - Mutable byte slice (must be at least 48 bytes).
/// * `mv` - Voltage in millivolts.
/// * `temp_int` - Integer part of temperature.
/// * `temp_frac` - Single decimal digit of temperature fraction.
///
/// # Returns
///
/// Number of bytes written into the buffer.
fn format_adc_line(buf: &mut [u8], mv: u32, temp_int: i32, temp_frac: u8) -> usize {
let prefix = b"ADC0: ";
buf[..6].copy_from_slice(prefix);
let mut pos = 6;
let thousands = ((mv / 1000) % 10) as u8;
let hundreds = ((mv / 100) % 10) as u8;
let tens = ((mv / 10) % 10) as u8;
let ones = (mv % 10) as u8;
buf[pos] = b'0' + thousands; pos += 1;
buf[pos] = b'0' + hundreds; pos += 1;
buf[pos] = b'0' + tens; pos += 1;
buf[pos] = b'0' + ones; pos += 1;
let mid = b" mV | Chip temp: ";
buf[pos..pos + 19].copy_from_slice(mid);
pos += 19;
let abs_temp = if temp_int < 0 { -temp_int } else { temp_int } as u32;
if temp_int < 0 {
buf[pos] = b'-'; pos += 1;
}
if abs_temp >= 100 {
buf[pos] = b'0' + ((abs_temp / 100) % 10) as u8; pos += 1;
}
if abs_temp >= 10 {
buf[pos] = b'0' + ((abs_temp / 10) % 10) as u8; pos += 1;
}
buf[pos] = b'0' + (abs_temp % 10) as u8; pos += 1;
buf[pos] = b'.'; pos += 1;
buf[pos] = b'0' + temp_frac; pos += 1;
let suffix = b" C\r\n";
buf[pos..pos + 4].copy_from_slice(suffix);
pos += 4;
pos
}
/// Application entry point for the ADC voltage and temperature demo.
///
/// Initializes the ADC on GPIO26 channel 0 and prints readings
@@ -245,13 +79,13 @@ fn format_adc_line(buf: &mut [u8], mv: u32, temp_int: i32, temp_frac: u8) -> usi
#[entry]
fn main() -> ! {
let mut pac = hal::pac::Peripherals::take().unwrap();
let clocks = init_clocks(
let clocks = board::init_clocks(
pac.XOSC, pac.CLOCKS, pac.PLL_SYS, pac.PLL_USB, &mut pac.RESETS,
&mut hal::Watchdog::new(pac.WATCHDOG),
);
let pins = init_pins(pac.IO_BANK0, pac.PADS_BANK0, pac.SIO, &mut pac.RESETS);
let uart = init_uart(pac.UART0, pins.gpio0, pins.gpio1, &mut pac.RESETS, &clocks);
let mut delay = init_delay(&clocks);
let pins = board::init_pins(pac.IO_BANK0, pac.PADS_BANK0, pac.SIO, &mut pac.RESETS);
let uart = board::init_uart(pac.UART0, pins.gpio0, pins.gpio1, &mut pac.RESETS, &clocks);
let mut delay = board::init_delay(&clocks);
let mut adc_hw = hal::Adc::new(pac.ADC, &mut pac.RESETS);
let mut adc_pin = hal::adc::AdcPin::new(pins.gpio26).unwrap();
let mut temp_sensor = adc_hw.take_temp_sensor().unwrap();
@@ -264,9 +98,9 @@ fn main() -> ! {
let temp = adc::raw_to_celsius(raw_t);
let temp_int = temp as i32;
let temp_frac = (((temp - temp_int as f32) * 10.0) as u8).min(9);
let n = format_adc_line(&mut buf, mv, temp_int, temp_frac);
let n = board::format_adc_line(&mut buf, mv, temp_int, temp_frac);
uart.write_full_blocking(&buf[..n]);
delay.delay_ms(POLL_MS);
delay.delay_ms(board::POLL_MS);
}
}

188
drivers/0x07_i2c_rust/src/board.rs Normal file
View File

@@ -0,0 +1,188 @@
//! @file board.rs
//! @brief Board-level initialisation helpers for the I2C scanner demo
//! @author Kevin Thomas
//! @date 2025
//!
//! MIT License
//!
//! Copyright (c) 2025 Kevin Thomas
//!
//! Permission is hereby granted, free of charge, to any person obtaining a copy
//! of this software and associated documentation files (the "Software"), to deal
//! in the Software without restriction, including without limitation the rights
//! to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
//! copies of the Software, and to permit persons to whom the Software is
//! furnished to do so, subject to the following conditions:
//!
//! The above copyright notice and this permission notice shall be included in
//! all copies or substantial portions of the Software.
//!
//! THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
//! IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
//! FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
//! AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
//! LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
//! OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
//! SOFTWARE.
use embedded_hal::i2c::I2c;
use fugit::RateExtU32;
use hal::Clock;
use hal::gpio::{FunctionNull, FunctionUart, Pin, PullDown, PullNone};
use hal::uart::{DataBits, Enabled, StopBits, UartConfig, UartPeripheral};
#[cfg(rp2350)]
use rp235x_hal as hal;
#[cfg(rp2040)]
use rp2040_hal as hal;
/// External crystal frequency in Hz (12 MHz).
pub(crate) const XTAL_FREQ_HZ: u32 = 12_000_000u32;
/// UART baud rate in bits per second.
pub(crate) const UART_BAUD: u32 = 115_200;
/// I2C bus speed in Hz (100 kHz standard mode).
pub(crate) const I2C_BAUD: u32 = 100_000;
/// Delay between scan cycles in milliseconds.
pub(crate) const SCAN_DELAY_MS: u32 = 5_000;
/// Type alias for the configured TX pin (GPIO 0, UART function, no pull).
pub(crate) type TxPin = Pin<hal::gpio::bank0::Gpio0, FunctionUart, PullNone>;
/// Type alias for the configured RX pin (GPIO 1, UART function, no pull).
pub(crate) type RxPin = Pin<hal::gpio::bank0::Gpio1, FunctionUart, PullNone>;
/// Type alias for the default TX pin state from `Pins::new()`.
pub(crate) type TxPinDefault = Pin<hal::gpio::bank0::Gpio0, FunctionNull, PullDown>;
/// Type alias for the default RX pin state from `Pins::new()`.
pub(crate) type RxPinDefault = Pin<hal::gpio::bank0::Gpio1, FunctionNull, PullDown>;
/// Type alias for the fully-enabled UART0 peripheral with TX/RX pins.
pub(crate) type EnabledUart = UartPeripheral<Enabled, hal::pac::UART0, (TxPin, RxPin)>;
/// Initialise system clocks and PLLs from the external 12 MHz crystal.
///
/// # Arguments
///
/// * `xosc` - XOSC peripheral singleton.
/// * `clocks` - CLOCKS peripheral singleton.
/// * `pll_sys` - PLL_SYS peripheral singleton.
/// * `pll_usb` - PLL_USB peripheral singleton.
/// * `resets` - Mutable reference to the RESETS peripheral.
/// * `watchdog` - Mutable reference to the watchdog timer.
///
/// # Returns
///
/// Configured clocks manager.
///
/// # Panics
///
/// Panics if clock initialisation fails.
pub(crate) fn init_clocks(
xosc: hal::pac::XOSC,
clocks: hal::pac::CLOCKS,
pll_sys: hal::pac::PLL_SYS,
pll_usb: hal::pac::PLL_USB,
resets: &mut hal::pac::RESETS,
watchdog: &mut hal::Watchdog,
) -> hal::clocks::ClocksManager {
hal::clocks::init_clocks_and_plls(
XTAL_FREQ_HZ, xosc, clocks, pll_sys, pll_usb, resets, watchdog,
)
.unwrap()
}
/// Unlock the GPIO bank and return the pin set.
///
/// # Arguments
///
/// * `io_bank0` - IO_BANK0 peripheral singleton.
/// * `pads_bank0` - PADS_BANK0 peripheral singleton.
/// * `sio` - SIO peripheral singleton.
/// * `resets` - Mutable reference to the RESETS peripheral.
///
/// # Returns
///
/// GPIO pin set for the entire bank.
pub(crate) fn init_pins(
io_bank0: hal::pac::IO_BANK0,
pads_bank0: hal::pac::PADS_BANK0,
sio: hal::pac::SIO,
resets: &mut hal::pac::RESETS,
) -> hal::gpio::Pins {
let sio = hal::Sio::new(sio);
hal::gpio::Pins::new(io_bank0, pads_bank0, sio.gpio_bank0, resets)
}
/// Initialise UART0 for serial output (stdio equivalent).
///
/// # Arguments
///
/// * `uart0` - PAC UART0 peripheral singleton.
/// * `tx_pin` - GPIO pin to use as UART0 TX (GPIO 0).
/// * `rx_pin` - GPIO pin to use as UART0 RX (GPIO 1).
/// * `resets` - Mutable reference to the RESETS peripheral.
/// * `clocks` - Reference to the initialised clock configuration.
///
/// # Returns
///
/// Enabled UART0 peripheral ready for blocking writes.
///
/// # Panics
///
/// Panics if the HAL cannot achieve the requested baud rate.
pub(crate) fn init_uart(
uart0: hal::pac::UART0,
tx_pin: TxPinDefault,
rx_pin: RxPinDefault,
resets: &mut hal::pac::RESETS,
clocks: &hal::clocks::ClocksManager,
) -> EnabledUart {
let pins = (
tx_pin.reconfigure::<FunctionUart, PullNone>(),
rx_pin.reconfigure::<FunctionUart, PullNone>(),
);
let cfg = UartConfig::new(UART_BAUD.Hz(), DataBits::Eight, None, StopBits::One);
UartPeripheral::new(uart0, pins, resets)
.enable(cfg, clocks.peripheral_clock.freq())
.unwrap()
}
/// Create a blocking delay timer from the ARM SysTick peripheral.
///
/// # Arguments
///
/// * `clocks` - Reference to the initialised clock configuration.
///
/// # Returns
///
/// Blocking delay provider.
///
/// # Panics
///
/// Panics if the cortex-m core peripherals have already been taken.
pub(crate) fn init_delay(clocks: &hal::clocks::ClocksManager) -> cortex_m::delay::Delay {
let core = cortex_m::Peripherals::take().unwrap();
cortex_m::delay::Delay::new(core.SYST, clocks.system_clock.freq().to_Hz())
}
/// Probe a 7-bit I2C address by attempting a 1-byte read.
///
/// # Arguments
///
/// * `i2c` - Mutable reference to the I2C bus.
/// * `addr` - 7-bit I2C address to probe.
///
/// # Returns
///
/// `true` if a device acknowledged, `false` otherwise.
pub(crate) fn probe_addr(i2c: &mut impl I2c, addr: u8) -> bool {
let mut dummy = [0u8; 1];
i2c.read(addr, &mut dummy).is_ok()
}
// End of file

62
drivers/0x07_i2c_rust/src/i2c.rs
View File

@@ -1,3 +1,30 @@
//! @file i2c.rs
//! @brief Implementation of the I2C bus scanner driver
//! @author Kevin Thomas
//! @date 2025
//!
//! MIT License
//!
//! Copyright (c) 2025 Kevin Thomas
//!
//! Permission is hereby granted, free of charge, to any person obtaining a copy
//! of this software and associated documentation files (the "Software"), to deal
//! in the Software without restriction, including without limitation the rights
//! to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
//! copies of the Software, and to permit persons to whom the Software is
//! furnished to do so, subject to the following conditions:
//!
//! The above copyright notice and this permission notice shall be included in
//! all copies or substantial portions of the Software.
//!
//! THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
//! IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
//! FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
//! AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
//! LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
//! OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
//! SOFTWARE.
/// Lowest valid (non-reserved) 7-bit I2C address.
pub const SCAN_ADDR_MIN: u8 = 0x08;
@@ -5,15 +32,40 @@ pub const SCAN_ADDR_MIN: u8 = 0x08;
pub const SCAN_ADDR_MAX: u8 = 0x77;
/// Return `true` when `addr` falls in a reserved 7-bit I2C range.
///
/// # Arguments
///
/// * `addr` - 7-bit I2C address to check.
///
/// # Returns
///
/// `true` if the address is in the reserved low or high range.
pub fn is_reserved(addr: u8) -> bool {
addr < SCAN_ADDR_MIN || addr > SCAN_ADDR_MAX
}
/// Convert a 4-bit value to its uppercase ASCII hex digit.
///
/// # Arguments
///
/// * `val` - Value in the range 0..=15.
///
/// # Returns
///
/// ASCII byte `b'0'`..`b'9'` or `b'A'`..`b'F'`.
fn hex_digit(val: u8) -> u8 {
if val < 10 { b'0' + val } else { b'A' + val - 10 }
}
/// Write the scan-table header into `buf` and return the byte count.
///
/// # Arguments
///
/// * `buf` - Mutable byte slice (must be at least 56 bytes).
///
/// # Returns
///
/// Number of bytes written into the buffer.
pub fn format_scan_header(buf: &mut [u8]) -> usize {
let h = b"\r\nI2C bus scan:\r\n 0 1 2 3 4 5 6 7 8 9 A B C D E F\r\n";
buf[..h.len()].copy_from_slice(h);
@@ -24,6 +76,16 @@ pub fn format_scan_header(buf: &mut [u8]) -> usize {
///
/// Prepends the row label when `addr` is at a 16-byte boundary and
/// appends `\r\n` when `addr` is the last column of a row.
///
/// # Arguments
///
/// * `buf` - Mutable byte slice for formatted output.
/// * `addr` - 7-bit I2C address being reported.
/// * `found` - `true` if a device acknowledged at this address.
///
/// # Returns
///
/// Number of bytes written into the buffer.
pub fn format_scan_entry(buf: &mut [u8], addr: u8, found: bool) -> usize {
let mut pos = 0;
if addr % 16 == 0 {

5
drivers/0x07_i2c_rust/src/lib.rs
View File

@@ -1,3 +1,8 @@
//! @file lib.rs
//! @brief Library root for the I2C driver crate
//! @author Kevin Thomas
//! @date 2025
#![no_std]
pub mod i2c;

154
drivers/0x07_i2c_rust/src/main.rs
View File

@@ -41,6 +41,7 @@
#![no_std]
#![no_main]
mod board;
#[allow(dead_code)]
mod i2c;
@@ -50,12 +51,10 @@ use panic_halt as _;
#[cfg(target_arch = "arm")]
use panic_probe as _;
use embedded_hal::i2c::I2c;
use fugit::RateExtU32;
use hal::entry;
use hal::Clock;
use hal::gpio::{FunctionI2C, FunctionNull, FunctionUart, Pin, PullDown, PullNone, PullUp};
use hal::uart::{DataBits, Enabled, StopBits, UartConfig, UartPeripheral};
use hal::entry;
use hal::gpio::{FunctionI2C, PullUp};
#[cfg(rp2350)]
use rp235x_hal as hal;
@@ -73,139 +72,6 @@ pub static BOOT2: [u8; 256] = rp2040_boot2::BOOT_LOADER_W25Q080;
#[cfg(rp2350)]
pub static IMAGE_DEF: hal::block::ImageDef = hal::block::ImageDef::secure_exe();
const XTAL_FREQ_HZ: u32 = 12_000_000u32;
const UART_BAUD: u32 = 115_200;
const I2C_BAUD: u32 = 100_000;
const SCAN_DELAY_MS: u32 = 5_000;
type TxPin = Pin<hal::gpio::bank0::Gpio0, FunctionUart, PullNone>;
type RxPin = Pin<hal::gpio::bank0::Gpio1, FunctionUart, PullNone>;
type TxPinDefault = Pin<hal::gpio::bank0::Gpio0, FunctionNull, PullDown>;
type RxPinDefault = Pin<hal::gpio::bank0::Gpio1, FunctionNull, PullDown>;
type EnabledUart = UartPeripheral<Enabled, hal::pac::UART0, (TxPin, RxPin)>;
/// Initialise system clocks and PLLs from the external 12 MHz crystal.
///
/// # Arguments
///
/// * `xosc` - XOSC peripheral singleton.
/// * `clocks` - CLOCKS peripheral singleton.
/// * `pll_sys` - PLL_SYS peripheral singleton.
/// * `pll_usb` - PLL_USB peripheral singleton.
/// * `resets` - Mutable reference to the RESETS peripheral.
/// * `watchdog` - Mutable reference to the watchdog timer.
///
/// # Returns
///
/// Configured clocks manager.
///
/// # Panics
///
/// Panics if clock initialisation fails.
fn init_clocks(
xosc: hal::pac::XOSC,
clocks: hal::pac::CLOCKS,
pll_sys: hal::pac::PLL_SYS,
pll_usb: hal::pac::PLL_USB,
resets: &mut hal::pac::RESETS,
watchdog: &mut hal::Watchdog,
) -> hal::clocks::ClocksManager {
hal::clocks::init_clocks_and_plls(
XTAL_FREQ_HZ, xosc, clocks, pll_sys, pll_usb, resets, watchdog,
)
.unwrap()
}
/// Unlock the GPIO bank and return the pin set.
///
/// # Arguments
///
/// * `io_bank0` - IO_BANK0 peripheral singleton.
/// * `pads_bank0` - PADS_BANK0 peripheral singleton.
/// * `sio` - SIO peripheral singleton.
/// * `resets` - Mutable reference to the RESETS peripheral.
///
/// # Returns
///
/// GPIO pin set for the entire bank.
fn init_pins(
io_bank0: hal::pac::IO_BANK0,
pads_bank0: hal::pac::PADS_BANK0,
sio: hal::pac::SIO,
resets: &mut hal::pac::RESETS,
) -> hal::gpio::Pins {
let sio = hal::Sio::new(sio);
hal::gpio::Pins::new(io_bank0, pads_bank0, sio.gpio_bank0, resets)
}
/// Initialise UART0 for serial output (stdio equivalent).
///
/// # Arguments
///
/// * `uart0` - PAC UART0 peripheral singleton.
/// * `tx_pin` - GPIO pin to use as UART0 TX (GPIO 0).
/// * `rx_pin` - GPIO pin to use as UART0 RX (GPIO 1).
/// * `resets` - Mutable reference to the RESETS peripheral.
/// * `clocks` - Reference to the initialised clock configuration.
///
/// # Returns
///
/// Enabled UART0 peripheral ready for blocking writes.
///
/// # Panics
///
/// Panics if the HAL cannot achieve the requested baud rate.
fn init_uart(
uart0: hal::pac::UART0,
tx_pin: TxPinDefault,
rx_pin: RxPinDefault,
resets: &mut hal::pac::RESETS,
clocks: &hal::clocks::ClocksManager,
) -> EnabledUart {
let pins = (
tx_pin.reconfigure::<FunctionUart, PullNone>(),
rx_pin.reconfigure::<FunctionUart, PullNone>(),
);
let cfg = UartConfig::new(UART_BAUD.Hz(), DataBits::Eight, None, StopBits::One);
UartPeripheral::new(uart0, pins, resets)
.enable(cfg, clocks.peripheral_clock.freq())
.unwrap()
}
/// Create a blocking delay timer from the ARM SysTick peripheral.
///
/// # Arguments
///
/// * `clocks` - Reference to the initialised clock configuration.
///
/// # Returns
///
/// Blocking delay provider.
///
/// # Panics
///
/// Panics if the cortex-m core peripherals have already been taken.
fn init_delay(clocks: &hal::clocks::ClocksManager) -> cortex_m::delay::Delay {
let core = cortex_m::Peripherals::take().unwrap();
cortex_m::delay::Delay::new(core.SYST, clocks.system_clock.freq().to_Hz())
}
/// Probe a 7-bit I2C address by attempting a 1-byte read.
///
/// # Arguments
///
/// * `i2c` - Mutable reference to the I2C bus.
/// * `addr` - 7-bit I2C address to probe.
///
/// # Returns
///
/// `true` if a device acknowledged, `false` otherwise.
fn probe_addr(i2c: &mut impl I2c, addr: u8) -> bool {
let mut dummy = [0u8; 1];
i2c.read(addr, &mut dummy).is_ok()
}
/// Application entry point for the I2C bus scanner demo.
///
/// Initializes I2C1 at 100 kHz on SDA=GPIO2 / SCL=GPIO3 and prints
@@ -218,17 +84,17 @@ fn probe_addr(i2c: &mut impl I2c, addr: u8) -> bool {
#[entry]
fn main() -> ! {
let mut pac = hal::pac::Peripherals::take().unwrap();
let clocks = init_clocks(
let clocks = board::init_clocks(
pac.XOSC, pac.CLOCKS, pac.PLL_SYS, pac.PLL_USB, &mut pac.RESETS,
&mut hal::Watchdog::new(pac.WATCHDOG),
);
let pins = init_pins(pac.IO_BANK0, pac.PADS_BANK0, pac.SIO, &mut pac.RESETS);
let uart = init_uart(pac.UART0, pins.gpio0, pins.gpio1, &mut pac.RESETS, &clocks);
let mut delay = init_delay(&clocks);
let pins = board::init_pins(pac.IO_BANK0, pac.PADS_BANK0, pac.SIO, &mut pac.RESETS);
let uart = board::init_uart(pac.UART0, pins.gpio0, pins.gpio1, &mut pac.RESETS, &clocks);
let mut delay = board::init_delay(&clocks);
let sda_pin = pins.gpio2.reconfigure::<FunctionI2C, PullUp>();
let scl_pin = pins.gpio3.reconfigure::<FunctionI2C, PullUp>();
let mut i2c = hal::I2C::i2c1(
pac.I2C1, sda_pin, scl_pin, I2C_BAUD.Hz(),
pac.I2C1, sda_pin, scl_pin, board::I2C_BAUD.Hz(),
&mut pac.RESETS, clocks.system_clock.freq(),
);
uart.write_full_blocking(b"I2C driver initialized: I2C1 @ 100000 Hz SDA=GPIO2 SCL=GPIO3\r\n");
@@ -237,11 +103,11 @@ fn main() -> ! {
let n = i2c::format_scan_header(&mut buf);
uart.write_full_blocking(&buf[..n]);
for addr in 0u8..128 {
let found = !i2c::is_reserved(addr) && probe_addr(&mut i2c, addr);
let found = !i2c::is_reserved(addr) && board::probe_addr(&mut i2c, addr);
let n = i2c::format_scan_entry(&mut buf, addr, found);
uart.write_full_blocking(&buf[..n]);
}
delay.delay_ms(SCAN_DELAY_MS);
delay.delay_ms(board::SCAN_DELAY_MS);
}
}

339
drivers/0x08_lcd1602_rust/src/board.rs Normal file
View File

@@ -0,0 +1,339 @@
//! @file board.rs
//! @brief Board-level initialisation and LCD hardware helpers
//! @author Kevin Thomas
//! @date 2025
//!
//! MIT License
//!
//! Copyright (c) 2025 Kevin Thomas
//!
//! Permission is hereby granted, free of charge, to any person obtaining a copy
//! of this software and associated documentation files (the "Software"), to deal
//! in the Software without restriction, including without limitation the rights
//! to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
//! copies of the Software, and to permit persons to whom the Software is
//! furnished to do so, subject to the following conditions:
//!
//! The above copyright notice and this permission notice shall be included in
//! all copies or substantial portions of the Software.
//!
//! THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
//! IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
//! FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
//! AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
//! LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
//! OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
//! SOFTWARE.
use embedded_hal::i2c::I2c;
use fugit::RateExtU32;
use hal::Clock;
use hal::gpio::{FunctionNull, FunctionUart, Pin, PullDown, PullNone};
use hal::uart::{DataBits, Enabled, StopBits, UartConfig, UartPeripheral};
#[cfg(rp2350)]
use rp235x_hal as hal;
#[cfg(rp2040)]
use rp2040_hal as hal;
/// External crystal frequency in Hz (12 MHz).
pub(crate) const XTAL_FREQ_HZ: u32 = 12_000_000u32;
/// UART baud rate in bits per second.
pub(crate) const UART_BAUD: u32 = 115_200;
/// I2C bus speed in Hz (100 kHz standard mode).
pub(crate) const I2C_BAUD: u32 = 100_000;
/// 7-bit I2C address of the PCF8574 LCD backpack.
pub(crate) const LCD_I2C_ADDR: u8 = 0x27;
/// Number of bit positions to shift a 4-bit nibble.
pub(crate) const NIBBLE_SHIFT: u8 = 4;
/// PCF8574 backlight enable mask.
pub(crate) const BACKLIGHT_MASK: u8 = 0x08;
/// Delay between counter updates in milliseconds.
pub(crate) const COUNTER_DELAY_MS: u32 = 1_000;
/// Type alias for the configured TX pin (GPIO 0, UART function, no pull).
pub(crate) type TxPin = Pin<hal::gpio::bank0::Gpio0, FunctionUart, PullNone>;
/// Type alias for the configured RX pin (GPIO 1, UART function, no pull).
pub(crate) type RxPin = Pin<hal::gpio::bank0::Gpio1, FunctionUart, PullNone>;
/// Type alias for the default TX pin state from `Pins::new()`.
pub(crate) type TxPinDefault = Pin<hal::gpio::bank0::Gpio0, FunctionNull, PullDown>;
/// Type alias for the default RX pin state from `Pins::new()`.
pub(crate) type RxPinDefault = Pin<hal::gpio::bank0::Gpio1, FunctionNull, PullDown>;
/// Type alias for the fully-enabled UART0 peripheral with TX/RX pins.
pub(crate) type EnabledUart = UartPeripheral<Enabled, hal::pac::UART0, (TxPin, RxPin)>;
/// Initialise system clocks and PLLs from the external 12 MHz crystal.
///
/// # Arguments
///
/// * `xosc` - XOSC peripheral singleton.
/// * `clocks` - CLOCKS peripheral singleton.
/// * `pll_sys` - PLL_SYS peripheral singleton.
/// * `pll_usb` - PLL_USB peripheral singleton.
/// * `resets` - Mutable reference to the RESETS peripheral.
/// * `watchdog` - Mutable reference to the watchdog timer.
///
/// # Returns
///
/// Configured clocks manager.
///
/// # Panics
///
/// Panics if clock initialisation fails.
pub(crate) fn init_clocks(
xosc: hal::pac::XOSC,
clocks: hal::pac::CLOCKS,
pll_sys: hal::pac::PLL_SYS,
pll_usb: hal::pac::PLL_USB,
resets: &mut hal::pac::RESETS,
watchdog: &mut hal::Watchdog,
) -> hal::clocks::ClocksManager {
hal::clocks::init_clocks_and_plls(
XTAL_FREQ_HZ, xosc, clocks, pll_sys, pll_usb, resets, watchdog,
)
.unwrap()
}
/// Unlock the GPIO bank and return the pin set.
///
/// # Arguments
///
/// * `io_bank0` - IO_BANK0 peripheral singleton.
/// * `pads_bank0` - PADS_BANK0 peripheral singleton.
/// * `sio` - SIO peripheral singleton.
/// * `resets` - Mutable reference to the RESETS peripheral.
///
/// # Returns
///
/// GPIO pin set for the entire bank.
pub(crate) fn init_pins(
io_bank0: hal::pac::IO_BANK0,
pads_bank0: hal::pac::PADS_BANK0,
sio: hal::pac::SIO,
resets: &mut hal::pac::RESETS,
) -> hal::gpio::Pins {
let sio = hal::Sio::new(sio);
hal::gpio::Pins::new(io_bank0, pads_bank0, sio.gpio_bank0, resets)
}
/// Initialise UART0 for serial output (stdio equivalent).
///
/// # Arguments
///
/// * `uart0` - PAC UART0 peripheral singleton.
/// * `tx_pin` - GPIO pin to use as UART0 TX (GPIO 0).
/// * `rx_pin` - GPIO pin to use as UART0 RX (GPIO 1).
/// * `resets` - Mutable reference to the RESETS peripheral.
/// * `clocks` - Reference to the initialised clock configuration.
///
/// # Returns
///
/// Enabled UART0 peripheral ready for blocking writes.
///
/// # Panics
///
/// Panics if the HAL cannot achieve the requested baud rate.
pub(crate) fn init_uart(
uart0: hal::pac::UART0,
tx_pin: TxPinDefault,
rx_pin: RxPinDefault,
resets: &mut hal::pac::RESETS,
clocks: &hal::clocks::ClocksManager,
) -> EnabledUart {
let pins = (
tx_pin.reconfigure::<FunctionUart, PullNone>(),
rx_pin.reconfigure::<FunctionUart, PullNone>(),
);
let cfg = UartConfig::new(UART_BAUD.Hz(), DataBits::Eight, None, StopBits::One);
UartPeripheral::new(uart0, pins, resets)
.enable(cfg, clocks.peripheral_clock.freq())
.unwrap()
}
/// Create a blocking delay timer from the ARM SysTick peripheral.
///
/// # Arguments
///
/// * `clocks` - Reference to the initialised clock configuration.
///
/// # Returns
///
/// Blocking delay provider.
///
/// # Panics
///
/// Panics if the cortex-m core peripherals have already been taken.
pub(crate) fn init_delay(clocks: &hal::clocks::ClocksManager) -> cortex_m::delay::Delay {
let core = cortex_m::Peripherals::take().unwrap();
cortex_m::delay::Delay::new(core.SYST, clocks.system_clock.freq().to_Hz())
}
/// Write one raw byte to the PCF8574 expander over I2C.
///
/// # Arguments
///
/// * `i2c` - Mutable reference to the I2C bus.
/// * `addr` - 7-bit I2C address of the PCF8574.
/// * `data` - Byte to write.
fn pcf_write_byte(i2c: &mut impl I2c, addr: u8, data: u8) {
let _ = i2c.write(addr, &[data]);
}
/// Toggle EN to latch a nibble into the LCD controller.
///
/// # Arguments
///
/// * `i2c` - Mutable reference to the I2C bus.
/// * `addr` - 7-bit I2C address of the PCF8574.
/// * `data` - Nibble byte without EN asserted.
/// * `delay` - Delay provider for timing.
fn pcf_pulse_enable(i2c: &mut impl I2c, addr: u8, data: u8, delay: &mut cortex_m::delay::Delay) {
pcf_write_byte(i2c, addr, crate::lcd1602::nibble_with_en(data));
delay.delay_us(1);
pcf_write_byte(i2c, addr, crate::lcd1602::nibble_without_en(data));
delay.delay_us(50);
}
/// Write one 4-bit nibble to the LCD.
///
/// # Arguments
///
/// * `i2c` - Mutable reference to the I2C bus.
/// * `addr` - 7-bit I2C address of the PCF8574.
/// * `nibble` - 4-bit value to send.
/// * `mode` - Register select: 0 for command, 1 for data.
/// * `delay` - Delay provider for timing.
fn lcd_write4(i2c: &mut impl I2c, addr: u8, nibble: u8, mode: u8, delay: &mut cortex_m::delay::Delay) {
let data = crate::lcd1602::build_nibble(nibble, NIBBLE_SHIFT, mode, BACKLIGHT_MASK);
pcf_pulse_enable(i2c, addr, data, delay);
}
/// Send one full 8-bit command/data value as two nibbles.
///
/// # Arguments
///
/// * `i2c` - Mutable reference to the I2C bus.
/// * `addr` - 7-bit I2C address of the PCF8574.
/// * `value` - 8-bit value to send.
/// * `mode` - Register select: 0 for command, 1 for data.
/// * `delay` - Delay provider for timing.
fn lcd_send(i2c: &mut impl I2c, addr: u8, value: u8, mode: u8, delay: &mut cortex_m::delay::Delay) {
lcd_write4(i2c, addr, (value >> 4) & 0x0F, mode, delay);
lcd_write4(i2c, addr, value & 0x0F, mode, delay);
}
/// Execute the HD44780 4-bit mode power-on reset sequence.
///
/// # Arguments
///
/// * `i2c` - Mutable reference to the I2C bus.
/// * `addr` - 7-bit I2C address of the PCF8574.
/// * `delay` - Delay provider for timing.
fn lcd_hd44780_reset(i2c: &mut impl I2c, addr: u8, delay: &mut cortex_m::delay::Delay) {
lcd_write4(i2c, addr, 0x03, 0, delay);
delay.delay_ms(5);
lcd_write4(i2c, addr, 0x03, 0, delay);
delay.delay_us(150);
lcd_write4(i2c, addr, 0x03, 0, delay);
delay.delay_us(150);
lcd_write4(i2c, addr, 0x02, 0, delay);
delay.delay_us(150);
}
/// Send post-reset configuration commands to the HD44780.
///
/// # Arguments
///
/// * `i2c` - Mutable reference to the I2C bus.
/// * `addr` - 7-bit I2C address of the PCF8574.
/// * `delay` - Delay provider for timing.
fn lcd_hd44780_configure(i2c: &mut impl I2c, addr: u8, delay: &mut cortex_m::delay::Delay) {
lcd_send(i2c, addr, 0x28, 0, delay);
lcd_send(i2c, addr, 0x0C, 0, delay);
lcd_send(i2c, addr, 0x01, 0, delay);
delay.delay_ms(2);
lcd_send(i2c, addr, 0x06, 0, delay);
}
/// Set the LCD cursor position.
///
/// # Arguments
///
/// * `i2c` - Mutable reference to the I2C bus.
/// * `addr` - 7-bit I2C address of the PCF8574.
/// * `line` - Display row (0 or 1).
/// * `position` - Column offset.
/// * `delay` - Delay provider for timing.
fn lcd_set_cursor(i2c: &mut impl I2c, addr: u8, line: u8, position: u8, delay: &mut cortex_m::delay::Delay) {
lcd_send(i2c, addr, crate::lcd1602::cursor_address(line, position), 0, delay);
}
/// Write a byte slice as character data to the LCD.
///
/// # Arguments
///
/// * `i2c` - Mutable reference to the I2C bus.
/// * `addr` - 7-bit I2C address of the PCF8574.
/// * `s` - Byte slice of ASCII characters to display.
/// * `delay` - Delay provider for timing.
fn lcd_puts(i2c: &mut impl I2c, addr: u8, s: &[u8], delay: &mut cortex_m::delay::Delay) {
for &ch in s {
lcd_send(i2c, addr, ch, 1, delay);
}
}
/// Initialize the LCD, display the title, and log over UART.
///
/// # Arguments
///
/// * `i2c` - Mutable reference to the I2C bus.
/// * `uart` - UART peripheral for serial log output.
/// * `delay` - Delay provider for timing.
pub(crate) fn setup_display(
i2c: &mut impl I2c,
uart: &EnabledUart,
delay: &mut cortex_m::delay::Delay,
) {
lcd_hd44780_reset(i2c, LCD_I2C_ADDR, delay);
lcd_hd44780_configure(i2c, LCD_I2C_ADDR, delay);
lcd_set_cursor(i2c, LCD_I2C_ADDR, 0, 0, delay);
lcd_puts(i2c, LCD_I2C_ADDR, b"Reverse Eng.", delay);
uart.write_full_blocking(b"LCD 1602 driver initialized at I2C addr 0x27\r\n");
}
/// Format and display the next counter value on LCD line 1.
///
/// # Arguments
///
/// * `i2c` - Mutable reference to the I2C bus.
/// * `uart` - UART peripheral for serial log output.
/// * `delay` - Delay provider for timing.
/// * `count` - Mutable reference to the counter state.
pub(crate) fn update_counter(
i2c: &mut impl I2c,
uart: &EnabledUart,
delay: &mut cortex_m::delay::Delay,
count: &mut u32,
) {
let mut buf = [0u8; 16];
let n = crate::lcd1602::format_counter(&mut buf, *count);
*count += 1;
lcd_set_cursor(i2c, LCD_I2C_ADDR, 1, 0, delay);
lcd_puts(i2c, LCD_I2C_ADDR, &buf[..n], delay);
uart.write_full_blocking(&buf[..n]);
uart.write_full_blocking(b"\r\n");
delay.delay_ms(COUNTER_DELAY_MS);
}
// End of file

72
drivers/0x08_lcd1602_rust/src/lcd1602.rs
View File

@@ -1,3 +1,30 @@
//! @file lcd1602.rs
//! @brief Implementation of the HD44780 16x2 LCD (PCF8574 backpack) driver
//! @author Kevin Thomas
//! @date 2025
//!
//! MIT License
//!
//! Copyright (c) 2025 Kevin Thomas
//!
//! Permission is hereby granted, free of charge, to any person obtaining a copy
//! of this software and associated documentation files (the "Software"), to deal
//! in the Software without restriction, including without limitation the rights
//! to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
//! copies of the Software, and to permit persons to whom the Software is
//! furnished to do so, subject to the following conditions:
//!
//! The above copyright notice and this permission notice shall be included in
//! all copies or substantial portions of the Software.
//!
//! THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
//! IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
//! FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
//! AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
//! LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
//! OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
//! SOFTWARE.
/// PCF8574 -> LCD control pin: Register Select.
pub const PIN_RS: u8 = 0x01;
@@ -8,6 +35,17 @@ pub const PIN_RW: u8 = 0x02;
pub const PIN_EN: u8 = 0x04;
/// Build a PCF8574 output byte for a 4-bit LCD nibble.
///
/// # Arguments
///
/// * `nibble` - 4-bit data value (0x00..0x0F).
/// * `nibble_shift` - Number of bits to shift the nibble left.
/// * `mode` - Register select mode (0 = command, non-zero = data).
/// * `backlight_mask` - Bitmask to enable the backlight LED.
///
/// # Returns
///
/// Assembled PCF8574 output byte.
pub fn build_nibble(nibble: u8, nibble_shift: u8, mode: u8, backlight_mask: u8) -> u8 {
let mut data = (nibble & 0x0F) << nibble_shift;
if mode != 0 { data |= PIN_RS; }
@@ -16,11 +54,27 @@ pub fn build_nibble(nibble: u8, nibble_shift: u8, mode: u8, backlight_mask: u8)
}
/// Build the PCF8574 byte with EN asserted.
///
/// # Arguments
///
/// * `nibble_byte` - PCF8574 output byte before EN assertion.
///
/// # Returns
///
/// Byte with the EN bit set.
pub fn nibble_with_en(nibble_byte: u8) -> u8 {
nibble_byte | PIN_EN
}
/// Build the PCF8574 byte with EN de-asserted.
///
/// # Arguments
///
/// * `nibble_byte` - PCF8574 output byte before EN de-assertion.
///
/// # Returns
///
/// Byte with the EN bit cleared.
pub fn nibble_without_en(nibble_byte: u8) -> u8 {
nibble_byte & !PIN_EN
}
@@ -29,12 +83,30 @@ pub fn nibble_without_en(nibble_byte: u8) -> u8 {
const ROW_OFFSETS: [u8; 2] = [0x00, 0x40];
/// Compute the DDRAM address byte for `lcd_set_cursor`.
///
/// # Arguments
///
/// * `line` - Display row (0 or 1; values > 1 are clamped to 1).
/// * `position` - Column offset within the row.
///
/// # Returns
///
/// HD44780 set-DDRAM-address command byte (0x80 | offset).
pub fn cursor_address(line: u8, position: u8) -> u8 {
let row = if line > 1 { 1 } else { line as usize };
0x80 | (position + ROW_OFFSETS[row])
}
/// Format a counter value as `"Count: NNNNNN"` (right-justified, 6 digits).
///
/// # Arguments
///
/// * `buf` - Mutable byte slice (must be at least 13 bytes).
/// * `count` - Counter value to format (0..999999).
///
/// # Returns
///
/// Number of bytes written into the buffer.
pub fn format_counter(buf: &mut [u8], count: u32) -> usize {
let prefix = b"Count: ";
buf[..7].copy_from_slice(prefix);

5
drivers/0x08_lcd1602_rust/src/lib.rs
View File

@@ -1,3 +1,8 @@
//! @file lib.rs
//! @brief Library root for the LCD 1602 driver crate
//! @author Kevin Thomas
//! @date 2025
#![no_std]
pub mod lcd1602;

230
drivers/0x08_lcd1602_rust/src/main.rs
View File

@@ -41,6 +41,7 @@
#![no_std]
#![no_main]
mod board;
#[allow(dead_code)]
mod lcd1602;
@@ -50,12 +51,10 @@ use panic_halt as _;
#[cfg(target_arch = "arm")]
use panic_probe as _;
use embedded_hal::i2c::I2c;
use fugit::RateExtU32;
use hal::entry;
use hal::Clock;
use hal::gpio::{FunctionI2C, FunctionNull, FunctionUart, Pin, PullDown, PullNone, PullUp};
use hal::uart::{DataBits, Enabled, StopBits, UartConfig, UartPeripheral};
use hal::entry;
use hal::gpio::{FunctionI2C, PullUp};
#[cfg(rp2350)]
use rp235x_hal as hal;
@@ -73,215 +72,6 @@ pub static BOOT2: [u8; 256] = rp2040_boot2::BOOT_LOADER_W25Q080;
#[cfg(rp2350)]
pub static IMAGE_DEF: hal::block::ImageDef = hal::block::ImageDef::secure_exe();
const XTAL_FREQ_HZ: u32 = 12_000_000u32;
const UART_BAUD: u32 = 115_200;
const I2C_BAUD: u32 = 100_000;
const LCD_I2C_ADDR: u8 = 0x27;
const NIBBLE_SHIFT: u8 = 4;
const BACKLIGHT_MASK: u8 = 0x08;
const COUNTER_DELAY_MS: u32 = 1_000;
type TxPin = Pin<hal::gpio::bank0::Gpio0, FunctionUart, PullNone>;
type RxPin = Pin<hal::gpio::bank0::Gpio1, FunctionUart, PullNone>;
type TxPinDefault = Pin<hal::gpio::bank0::Gpio0, FunctionNull, PullDown>;
type RxPinDefault = Pin<hal::gpio::bank0::Gpio1, FunctionNull, PullDown>;
type EnabledUart = UartPeripheral<Enabled, hal::pac::UART0, (TxPin, RxPin)>;
/// Initialise system clocks and PLLs from the external 12 MHz crystal.
///
/// # Arguments
///
/// * `xosc` - XOSC peripheral singleton.
/// * `clocks` - CLOCKS peripheral singleton.
/// * `pll_sys` - PLL_SYS peripheral singleton.
/// * `pll_usb` - PLL_USB peripheral singleton.
/// * `resets` - Mutable reference to the RESETS peripheral.
/// * `watchdog` - Mutable reference to the watchdog timer.
///
/// # Returns
///
/// Configured clocks manager.
///
/// # Panics
///
/// Panics if clock initialisation fails.
fn init_clocks(
xosc: hal::pac::XOSC,
clocks: hal::pac::CLOCKS,
pll_sys: hal::pac::PLL_SYS,
pll_usb: hal::pac::PLL_USB,
resets: &mut hal::pac::RESETS,
watchdog: &mut hal::Watchdog,
) -> hal::clocks::ClocksManager {
hal::clocks::init_clocks_and_plls(
XTAL_FREQ_HZ, xosc, clocks, pll_sys, pll_usb, resets, watchdog,
)
.unwrap()
}
/// Unlock the GPIO bank and return the pin set.
///
/// # Arguments
///
/// * `io_bank0` - IO_BANK0 peripheral singleton.
/// * `pads_bank0` - PADS_BANK0 peripheral singleton.
/// * `sio` - SIO peripheral singleton.
/// * `resets` - Mutable reference to the RESETS peripheral.
///
/// # Returns
///
/// GPIO pin set for the entire bank.
fn init_pins(
io_bank0: hal::pac::IO_BANK0,
pads_bank0: hal::pac::PADS_BANK0,
sio: hal::pac::SIO,
resets: &mut hal::pac::RESETS,
) -> hal::gpio::Pins {
let sio = hal::Sio::new(sio);
hal::gpio::Pins::new(io_bank0, pads_bank0, sio.gpio_bank0, resets)
}
/// Initialise UART0 for serial output (stdio equivalent).
///
/// # Arguments
///
/// * `uart0` - PAC UART0 peripheral singleton.
/// * `tx_pin` - GPIO pin to use as UART0 TX (GPIO 0).
/// * `rx_pin` - GPIO pin to use as UART0 RX (GPIO 1).
/// * `resets` - Mutable reference to the RESETS peripheral.
/// * `clocks` - Reference to the initialised clock configuration.
///
/// # Returns
///
/// Enabled UART0 peripheral ready for blocking writes.
///
/// # Panics
///
/// Panics if the HAL cannot achieve the requested baud rate.
fn init_uart(
uart0: hal::pac::UART0,
tx_pin: TxPinDefault,
rx_pin: RxPinDefault,
resets: &mut hal::pac::RESETS,
clocks: &hal::clocks::ClocksManager,
) -> EnabledUart {
let pins = (
tx_pin.reconfigure::<FunctionUart, PullNone>(),
rx_pin.reconfigure::<FunctionUart, PullNone>(),
);
let cfg = UartConfig::new(UART_BAUD.Hz(), DataBits::Eight, None, StopBits::One);
UartPeripheral::new(uart0, pins, resets)
.enable(cfg, clocks.peripheral_clock.freq())
.unwrap()
}
/// Create a blocking delay timer from the ARM SysTick peripheral.
///
/// # Arguments
///
/// * `clocks` - Reference to the initialised clock configuration.
///
/// # Returns
///
/// Blocking delay provider.
///
/// # Panics
///
/// Panics if the cortex-m core peripherals have already been taken.
fn init_delay(clocks: &hal::clocks::ClocksManager) -> cortex_m::delay::Delay {
let core = cortex_m::Peripherals::take().unwrap();
cortex_m::delay::Delay::new(core.SYST, clocks.system_clock.freq().to_Hz())
}
/// Write one raw byte to the PCF8574 expander over I2C.
fn pcf_write_byte(i2c: &mut impl I2c, addr: u8, data: u8) {
let _ = i2c.write(addr, &[data]);
}
/// Toggle EN to latch a nibble into the LCD controller.
fn pcf_pulse_enable(i2c: &mut impl I2c, addr: u8, data: u8, delay: &mut cortex_m::delay::Delay) {
pcf_write_byte(i2c, addr, lcd1602::nibble_with_en(data));
delay.delay_us(1);
pcf_write_byte(i2c, addr, lcd1602::nibble_without_en(data));
delay.delay_us(50);
}
/// Write one 4-bit nibble to the LCD.
fn lcd_write4(i2c: &mut impl I2c, addr: u8, nibble: u8, mode: u8, delay: &mut cortex_m::delay::Delay) {
let data = lcd1602::build_nibble(nibble, NIBBLE_SHIFT, mode, BACKLIGHT_MASK);
pcf_pulse_enable(i2c, addr, data, delay);
}
/// Send one full 8-bit command/data value as two nibbles.
fn lcd_send(i2c: &mut impl I2c, addr: u8, value: u8, mode: u8, delay: &mut cortex_m::delay::Delay) {
lcd_write4(i2c, addr, (value >> 4) & 0x0F, mode, delay);
lcd_write4(i2c, addr, value & 0x0F, mode, delay);
}
/// Execute the HD44780 4-bit mode power-on reset sequence.
fn lcd_hd44780_reset(i2c: &mut impl I2c, addr: u8, delay: &mut cortex_m::delay::Delay) {
lcd_write4(i2c, addr, 0x03, 0, delay);
delay.delay_ms(5);
lcd_write4(i2c, addr, 0x03, 0, delay);
delay.delay_us(150);
lcd_write4(i2c, addr, 0x03, 0, delay);
delay.delay_us(150);
lcd_write4(i2c, addr, 0x02, 0, delay);
delay.delay_us(150);
}
/// Send post-reset configuration commands to the HD44780.
fn lcd_hd44780_configure(i2c: &mut impl I2c, addr: u8, delay: &mut cortex_m::delay::Delay) {
lcd_send(i2c, addr, 0x28, 0, delay);
lcd_send(i2c, addr, 0x0C, 0, delay);
lcd_send(i2c, addr, 0x01, 0, delay);
delay.delay_ms(2);
lcd_send(i2c, addr, 0x06, 0, delay);
}
/// Set the LCD cursor position.
fn lcd_set_cursor(i2c: &mut impl I2c, addr: u8, line: u8, position: u8, delay: &mut cortex_m::delay::Delay) {
lcd_send(i2c, addr, lcd1602::cursor_address(line, position), 0, delay);
}
/// Write a byte slice as character data to the LCD.
fn lcd_puts(i2c: &mut impl I2c, addr: u8, s: &[u8], delay: &mut cortex_m::delay::Delay) {
for &ch in s {
lcd_send(i2c, addr, ch, 1, delay);
}
}
/// Initialize the LCD, display the title, and log over UART.
fn setup_display(
i2c: &mut impl I2c,
uart: &EnabledUart,
delay: &mut cortex_m::delay::Delay,
) {
lcd_hd44780_reset(i2c, LCD_I2C_ADDR, delay);
lcd_hd44780_configure(i2c, LCD_I2C_ADDR, delay);
lcd_set_cursor(i2c, LCD_I2C_ADDR, 0, 0, delay);
lcd_puts(i2c, LCD_I2C_ADDR, b"Reverse Eng.", delay);
uart.write_full_blocking(b"LCD 1602 driver initialized at I2C addr 0x27\r\n");
}
/// Format and display the next counter value on LCD line 1.
fn update_counter(
i2c: &mut impl I2c,
uart: &EnabledUart,
delay: &mut cortex_m::delay::Delay,
count: &mut u32,
) {
let mut buf = [0u8; 16];
let n = lcd1602::format_counter(&mut buf, *count);
*count += 1;
lcd_set_cursor(i2c, LCD_I2C_ADDR, 1, 0, delay);
lcd_puts(i2c, LCD_I2C_ADDR, &buf[..n], delay);
uart.write_full_blocking(&buf[..n]);
uart.write_full_blocking(b"\r\n");
delay.delay_ms(COUNTER_DELAY_MS);
}
/// Application entry point for the LCD 1602 counter demo.
///
/// Initializes the LCD over I2C with a static title on line 0 and
@@ -293,23 +83,23 @@ fn update_counter(
#[entry]
fn main() -> ! {
let mut pac = hal::pac::Peripherals::take().unwrap();
let clocks = init_clocks(
let clocks = board::init_clocks(
pac.XOSC, pac.CLOCKS, pac.PLL_SYS, pac.PLL_USB, &mut pac.RESETS,
&mut hal::Watchdog::new(pac.WATCHDOG),
);
let pins = init_pins(pac.IO_BANK0, pac.PADS_BANK0, pac.SIO, &mut pac.RESETS);
let uart = init_uart(pac.UART0, pins.gpio0, pins.gpio1, &mut pac.RESETS, &clocks);
let mut delay = init_delay(&clocks);
let pins = board::init_pins(pac.IO_BANK0, pac.PADS_BANK0, pac.SIO, &mut pac.RESETS);
let uart = board::init_uart(pac.UART0, pins.gpio0, pins.gpio1, &mut pac.RESETS, &clocks);
let mut delay = board::init_delay(&clocks);
let sda_pin = pins.gpio2.reconfigure::<FunctionI2C, PullUp>();
let scl_pin = pins.gpio3.reconfigure::<FunctionI2C, PullUp>();
let mut i2c = hal::I2C::i2c1(
pac.I2C1, sda_pin, scl_pin, I2C_BAUD.Hz(),
pac.I2C1, sda_pin, scl_pin, board::I2C_BAUD.Hz(),
&mut pac.RESETS, clocks.system_clock.freq(),
);
setup_display(&mut i2c, &uart, &mut delay);
board::setup_display(&mut i2c, &uart, &mut delay);
let mut count: u32 = 0;
loop {
update_counter(&mut i2c, &uart, &mut delay, &mut count);
board::update_counter(&mut i2c, &uart, &mut delay, &mut count);
}
}