mirror of
https://github.com/mytechnotalent/Embedded-Hacking.git
synced 2026-07-09 22:08:42 +02:00
refactor(drivers): add board.rs module, slim main.rs, fix docstrings across all 8 Rust drivers
- 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
@@ -0,0 +1,258 @@
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//! @file board.rs
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//! @brief Board-level initialisation helpers for the servo demo
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//! @author Kevin Thomas
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//! @date 2025
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//!
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//! MIT License
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//!
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//! Copyright (c) 2025 Kevin Thomas
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//!
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//! Permission is hereby granted, free of charge, to any person obtaining a copy
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//! of this software and associated documentation files (the "Software"), to deal
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//! in the Software without restriction, including without limitation the rights
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//! to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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//! copies of the Software, and to permit persons to whom the Software is
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//! furnished to do so, subject to the following conditions:
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//!
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//! The above copyright notice and this permission notice shall be included in
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//! all copies or substantial portions of the Software.
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//!
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//! THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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//! IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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//! FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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//! AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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//! LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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//! OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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//! SOFTWARE.
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use embedded_hal::pwm::SetDutyCycle;
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use fugit::RateExtU32;
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use hal::Clock;
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use hal::gpio::{FunctionNull, FunctionUart, Pin, PullDown, PullNone};
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use hal::uart::{DataBits, Enabled, StopBits, UartConfig, UartPeripheral};
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#[cfg(rp2350)]
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use rp235x_hal as hal;
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#[cfg(rp2040)]
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use rp2040_hal as hal;
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/// External crystal frequency in Hz (12 MHz).
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pub(crate) const XTAL_FREQ_HZ: u32 = 12_000_000u32;
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/// UART baud rate in bits per second.
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pub(crate) const UART_BAUD: u32 = 115_200;
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/// Angle increment per sweep step in degrees.
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pub(crate) const STEP_DEGREES: i32 = 10;
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/// Delay between sweep steps in milliseconds.
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pub(crate) const STEP_DELAY_MS: u32 = 150;
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/// Type alias for the configured TX pin (GPIO 0, UART function, no pull).
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pub(crate) type TxPin = Pin<hal::gpio::bank0::Gpio0, FunctionUart, PullNone>;
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/// Type alias for the configured RX pin (GPIO 1, UART function, no pull).
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pub(crate) type RxPin = Pin<hal::gpio::bank0::Gpio1, FunctionUart, PullNone>;
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/// Type alias for the default TX pin state from `Pins::new()`.
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pub(crate) type TxPinDefault = Pin<hal::gpio::bank0::Gpio0, FunctionNull, PullDown>;
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/// Type alias for the default RX pin state from `Pins::new()`.
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pub(crate) type RxPinDefault = Pin<hal::gpio::bank0::Gpio1, FunctionNull, PullDown>;
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/// Type alias for the fully-enabled UART0 peripheral with TX/RX pins.
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pub(crate) type EnabledUart = UartPeripheral<Enabled, hal::pac::UART0, (TxPin, RxPin)>;
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/// Initialise system clocks and PLLs from the external 12 MHz crystal.
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///
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/// # Arguments
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///
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/// * `xosc` - XOSC peripheral singleton.
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/// * `clocks` - CLOCKS peripheral singleton.
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/// * `pll_sys` - PLL_SYS peripheral singleton.
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/// * `pll_usb` - PLL_USB peripheral singleton.
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/// * `resets` - Mutable reference to the RESETS peripheral.
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/// * `watchdog` - Mutable reference to the watchdog timer.
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///
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/// # Returns
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///
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/// Configured clocks manager.
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///
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/// # Panics
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///
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/// Panics if clock initialisation fails.
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pub(crate) fn init_clocks(
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xosc: hal::pac::XOSC,
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clocks: hal::pac::CLOCKS,
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pll_sys: hal::pac::PLL_SYS,
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pll_usb: hal::pac::PLL_USB,
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resets: &mut hal::pac::RESETS,
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watchdog: &mut hal::Watchdog,
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) -> hal::clocks::ClocksManager {
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hal::clocks::init_clocks_and_plls(
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XTAL_FREQ_HZ, xosc, clocks, pll_sys, pll_usb, resets, watchdog,
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)
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.unwrap()
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}
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/// Unlock the GPIO bank and return the pin set.
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///
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/// # Arguments
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///
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/// * `io_bank0` - IO_BANK0 peripheral singleton.
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/// * `pads_bank0` - PADS_BANK0 peripheral singleton.
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/// * `sio` - SIO peripheral singleton.
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/// * `resets` - Mutable reference to the RESETS peripheral.
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///
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/// # Returns
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///
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/// GPIO pin set for the entire bank.
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pub(crate) fn init_pins(
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io_bank0: hal::pac::IO_BANK0,
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pads_bank0: hal::pac::PADS_BANK0,
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sio: hal::pac::SIO,
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resets: &mut hal::pac::RESETS,
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) -> hal::gpio::Pins {
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let sio = hal::Sio::new(sio);
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hal::gpio::Pins::new(io_bank0, pads_bank0, sio.gpio_bank0, resets)
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}
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/// Initialise UART0 for serial output (stdio equivalent).
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///
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/// # Arguments
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///
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/// * `uart0` - PAC UART0 peripheral singleton.
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/// * `tx_pin` - GPIO pin to use as UART0 TX (GPIO 0).
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/// * `rx_pin` - GPIO pin to use as UART0 RX (GPIO 1).
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/// * `resets` - Mutable reference to the RESETS peripheral.
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/// * `clocks` - Reference to the initialised clock configuration.
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///
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/// # Returns
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///
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/// Enabled UART0 peripheral ready for blocking writes.
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///
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/// # Panics
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///
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/// Panics if the HAL cannot achieve the requested baud rate.
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pub(crate) fn init_uart(
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uart0: hal::pac::UART0,
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tx_pin: TxPinDefault,
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rx_pin: RxPinDefault,
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resets: &mut hal::pac::RESETS,
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clocks: &hal::clocks::ClocksManager,
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) -> EnabledUart {
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let pins = (
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tx_pin.reconfigure::<FunctionUart, PullNone>(),
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rx_pin.reconfigure::<FunctionUart, PullNone>(),
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);
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let cfg = UartConfig::new(UART_BAUD.Hz(), DataBits::Eight, None, StopBits::One);
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UartPeripheral::new(uart0, pins, resets)
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.enable(cfg, clocks.peripheral_clock.freq())
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.unwrap()
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}
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/// Create a blocking delay timer from the ARM SysTick peripheral.
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///
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/// # Arguments
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///
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/// * `clocks` - Reference to the initialised clock configuration.
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///
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/// # Returns
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///
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/// Blocking delay provider.
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///
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/// # Panics
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///
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/// Panics if the cortex-m core peripherals have already been taken.
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pub(crate) fn init_delay(clocks: &hal::clocks::ClocksManager) -> cortex_m::delay::Delay {
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let core = cortex_m::Peripherals::take().unwrap();
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cortex_m::delay::Delay::new(core.SYST, clocks.system_clock.freq().to_Hz())
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}
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/// Format an angle into "Angle: NNN deg\r\n".
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///
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/// # Arguments
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///
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/// * `buf` - Mutable byte slice (must be at least 20 bytes).
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/// * `angle` - Angle in degrees (0..180).
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///
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/// # Returns
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///
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/// Number of bytes written into the buffer.
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pub(crate) fn format_angle(buf: &mut [u8], angle: i32) -> usize {
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let prefix = b"Angle: ";
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buf[..7].copy_from_slice(prefix);
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let mut pos = 7;
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let a = if angle < 0 { 0 } else { angle as u32 };
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if a >= 100 {
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buf[pos] = b'0' + (a / 100) as u8; pos += 1;
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buf[pos] = b'0' + ((a / 10) % 10) as u8; pos += 1;
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buf[pos] = b'0' + (a % 10) as u8; pos += 1;
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} else if a >= 10 {
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buf[pos] = b' '; pos += 1;
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buf[pos] = b'0' + (a / 10) as u8; pos += 1;
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buf[pos] = b'0' + (a % 10) as u8; pos += 1;
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} else {
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buf[pos] = b' '; pos += 1;
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buf[pos] = b' '; pos += 1;
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buf[pos] = b'0' + a as u8; pos += 1;
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}
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let suffix = b" deg\r\n";
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buf[pos..pos + 6].copy_from_slice(suffix);
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pos + 6
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}
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/// Sweep the servo angle upward from 0 to 180 in STEP_DEGREES increments.
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///
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/// # Arguments
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///
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/// * `uart` - UART peripheral for serial output.
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/// * `channel` - PWM channel implementing SetDutyCycle.
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/// * `delay` - Delay provider for pause between steps.
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/// * `buf` - Scratch buffer for formatting output.
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pub(crate) fn sweep_angle_up(
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uart: &EnabledUart,
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channel: &mut impl SetDutyCycle,
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delay: &mut cortex_m::delay::Delay,
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buf: &mut [u8; 20],
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) {
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let mut angle: i32 = 0;
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while angle <= 180 {
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let pulse = crate::servo::angle_to_pulse_us(angle as f32, crate::servo::SERVO_DEFAULT_MIN_US, crate::servo::SERVO_DEFAULT_MAX_US);
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let level = crate::servo::pulse_us_to_level(pulse as u32, crate::servo::SERVO_WRAP, crate::servo::SERVO_HZ) as u16;
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channel.set_duty_cycle(level).ok();
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let n = format_angle(buf, angle);
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uart.write_full_blocking(&buf[..n]);
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delay.delay_ms(STEP_DELAY_MS);
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angle += STEP_DEGREES;
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}
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}
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/// Sweep the servo angle downward from 180 to 0 in STEP_DEGREES decrements.
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///
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/// # Arguments
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///
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/// * `uart` - UART peripheral for serial output.
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/// * `channel` - PWM channel implementing SetDutyCycle.
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/// * `delay` - Delay provider for pause between steps.
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/// * `buf` - Scratch buffer for formatting output.
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pub(crate) fn sweep_angle_down(
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uart: &EnabledUart,
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channel: &mut impl SetDutyCycle,
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delay: &mut cortex_m::delay::Delay,
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buf: &mut [u8; 20],
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) {
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let mut angle: i32 = 180;
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while angle >= 0 {
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let pulse = crate::servo::angle_to_pulse_us(angle as f32, crate::servo::SERVO_DEFAULT_MIN_US, crate::servo::SERVO_DEFAULT_MAX_US);
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let level = crate::servo::pulse_us_to_level(pulse as u32, crate::servo::SERVO_WRAP, crate::servo::SERVO_HZ) as u16;
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channel.set_duty_cycle(level).ok();
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let n = format_angle(buf, angle);
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uart.write_full_blocking(&buf[..n]);
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delay.delay_ms(STEP_DELAY_MS);
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angle -= STEP_DEGREES;
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}
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}
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// End of file
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@@ -39,6 +39,7 @@
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#![no_std]
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#![no_main]
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mod board;
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#[allow(dead_code)]
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mod servo;
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@@ -48,12 +49,8 @@ use panic_halt as _;
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#[cfg(target_arch = "arm")]
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use panic_probe as _;
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use embedded_hal::pwm::SetDutyCycle;
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use fugit::RateExtU32;
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use hal::entry;
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use hal::Clock;
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use hal::gpio::{FunctionNull, FunctionUart, Pin, PullDown, PullNone};
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use hal::uart::{DataBits, Enabled, StopBits, UartConfig, UartPeripheral};
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use hal::entry;
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#[cfg(rp2350)]
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use rp235x_hal as hal;
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@@ -71,209 +68,6 @@ pub static BOOT2: [u8; 256] = rp2040_boot2::BOOT_LOADER_W25Q080;
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#[cfg(rp2350)]
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pub static IMAGE_DEF: hal::block::ImageDef = hal::block::ImageDef::secure_exe();
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const XTAL_FREQ_HZ: u32 = 12_000_000u32;
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const UART_BAUD: u32 = 115_200;
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const STEP_DEGREES: i32 = 10;
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const STEP_DELAY_MS: u32 = 150;
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type TxPin = Pin<hal::gpio::bank0::Gpio0, FunctionUart, PullNone>;
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type RxPin = Pin<hal::gpio::bank0::Gpio1, FunctionUart, PullNone>;
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type TxPinDefault = Pin<hal::gpio::bank0::Gpio0, FunctionNull, PullDown>;
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type RxPinDefault = Pin<hal::gpio::bank0::Gpio1, FunctionNull, PullDown>;
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type EnabledUart = UartPeripheral<Enabled, hal::pac::UART0, (TxPin, RxPin)>;
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/// Initialise system clocks and PLLs from the external 12 MHz crystal.
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///
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/// # Arguments
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///
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/// * `xosc` - XOSC peripheral singleton.
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/// * `clocks` - CLOCKS peripheral singleton.
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/// * `pll_sys` - PLL_SYS peripheral singleton.
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/// * `pll_usb` - PLL_USB peripheral singleton.
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/// * `resets` - Mutable reference to the RESETS peripheral.
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/// * `watchdog` - Mutable reference to the watchdog timer.
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///
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/// # Returns
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///
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/// Configured clocks manager.
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///
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/// # Panics
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///
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/// Panics if clock initialisation fails.
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fn init_clocks(
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xosc: hal::pac::XOSC,
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clocks: hal::pac::CLOCKS,
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pll_sys: hal::pac::PLL_SYS,
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pll_usb: hal::pac::PLL_USB,
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resets: &mut hal::pac::RESETS,
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watchdog: &mut hal::Watchdog,
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) -> hal::clocks::ClocksManager {
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hal::clocks::init_clocks_and_plls(
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XTAL_FREQ_HZ, xosc, clocks, pll_sys, pll_usb, resets, watchdog,
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)
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.unwrap()
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}
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/// Unlock the GPIO bank and return the pin set.
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///
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/// # Arguments
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///
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/// * `io_bank0` - IO_BANK0 peripheral singleton.
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/// * `pads_bank0` - PADS_BANK0 peripheral singleton.
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/// * `sio` - SIO peripheral singleton.
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/// * `resets` - Mutable reference to the RESETS peripheral.
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///
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/// # Returns
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///
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/// GPIO pin set for the entire bank.
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fn init_pins(
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io_bank0: hal::pac::IO_BANK0,
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pads_bank0: hal::pac::PADS_BANK0,
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sio: hal::pac::SIO,
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resets: &mut hal::pac::RESETS,
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) -> hal::gpio::Pins {
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let sio = hal::Sio::new(sio);
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hal::gpio::Pins::new(io_bank0, pads_bank0, sio.gpio_bank0, resets)
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}
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/// Initialise UART0 for serial output (stdio equivalent).
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///
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/// # Arguments
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///
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/// * `uart0` - PAC UART0 peripheral singleton.
|
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/// * `tx_pin` - GPIO pin to use as UART0 TX (GPIO 0).
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/// * `rx_pin` - GPIO pin to use as UART0 RX (GPIO 1).
|
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/// * `resets` - Mutable reference to the RESETS peripheral.
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/// * `clocks` - Reference to the initialised clock configuration.
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///
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/// # Returns
|
||||
///
|
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/// Enabled UART0 peripheral ready for blocking writes.
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///
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/// # Panics
|
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///
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/// Panics if the HAL cannot achieve the requested baud rate.
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fn init_uart(
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uart0: hal::pac::UART0,
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tx_pin: TxPinDefault,
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rx_pin: RxPinDefault,
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resets: &mut hal::pac::RESETS,
|
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clocks: &hal::clocks::ClocksManager,
|
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) -> EnabledUart {
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let pins = (
|
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tx_pin.reconfigure::<FunctionUart, PullNone>(),
|
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rx_pin.reconfigure::<FunctionUart, PullNone>(),
|
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);
|
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let cfg = UartConfig::new(UART_BAUD.Hz(), DataBits::Eight, None, StopBits::One);
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UartPeripheral::new(uart0, pins, resets)
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.enable(cfg, clocks.peripheral_clock.freq())
|
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.unwrap()
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}
|
||||
|
||||
/// 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);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
Reference in New Issue
Block a user