116 lines
2.9 KiB
Rust
116 lines
2.9 KiB
Rust
#![no_std]
|
|
#![no_main]
|
|
#![feature(abi_avr_interrupt)]
|
|
|
|
use core::mem::MaybeUninit;
|
|
|
|
use arduino_hal::clock::MHz16;
|
|
use arduino_hal::hal::port::*;
|
|
use arduino_hal::hal::usart::UsartReader;
|
|
use arduino_hal::pac::USART0;
|
|
use arduino_hal::port::mode::*;
|
|
use arduino_hal::prelude::*;
|
|
use panic_halt as _;
|
|
|
|
fn shift_out(data_pin: &mut Pin<Output, PB0>, clock_pin: &mut Pin<Output, PD4>, data: &u8) {
|
|
for i in 0..8 {
|
|
let n = data & (1 << i);
|
|
|
|
if n == 0 {
|
|
data_pin.set_low();
|
|
} else {
|
|
data_pin.set_high();
|
|
}
|
|
|
|
clock_pin.set_high();
|
|
clock_pin.set_low();
|
|
}
|
|
}
|
|
|
|
fn update_shift_register(
|
|
data_pin: &mut Pin<Output, PB0>,
|
|
latch_pin: &mut Pin<Output, PB4>,
|
|
clock_pin: &mut Pin<Output, PD4>,
|
|
data: &u8,
|
|
) {
|
|
latch_pin.set_low();
|
|
|
|
shift_out(data_pin, clock_pin, data);
|
|
|
|
latch_pin.set_high();
|
|
}
|
|
|
|
static mut UART_RX: MaybeUninit<UsartReader<USART0, Pin<Input, PD0>, Pin<Output, PD1>, MHz16>> = MaybeUninit::uninit();
|
|
|
|
#[avr_device::interrupt(atmega328p)]
|
|
fn USART_RX() {
|
|
let rx = unsafe{ &mut *UART_RX.as_mut_ptr() };
|
|
|
|
rx.read();
|
|
}
|
|
|
|
|
|
#[arduino_hal::entry]
|
|
fn main() -> ! {
|
|
let dp = arduino_hal::Peripherals::take().unwrap();
|
|
let pins = arduino_hal::pins!(dp);
|
|
|
|
// shift register
|
|
let mut data_pin = pins.d8.into_output();
|
|
let mut clock_pin = pins.d4.into_output();
|
|
let mut enable_pin = pins.d7.into_output();
|
|
let mut latch_pin = pins.d12.into_output();
|
|
|
|
enable_pin.set_low(); // enable outputs
|
|
|
|
pins.d3.into_output(); // right
|
|
pins.d11.into_output(); // left
|
|
|
|
// TCCR2A |= _BV(COM2A1) | _BV(WGM20) | _BV(WGM21); // fast PWM, turn on oc2a
|
|
// TCCR2B = freq & 0x7;
|
|
// OCR2A = 0;
|
|
let tc2 = dp.TC2;
|
|
tc2.tccr2a.write(|w| { w
|
|
.wgm2().pwm_fast()
|
|
.com2a().match_clear()
|
|
.com2b().match_clear()
|
|
});
|
|
tc2.tccr2b.write(|w| w.cs2().prescale_8().wgm22().clear_bit());
|
|
tc2.ocr2a.write(|w| w.bits(0));
|
|
tc2.ocr2b.write(|w| w.bits(0));
|
|
|
|
let mut led = pins.d13.into_output();
|
|
|
|
let mut serial = arduino_hal::default_serial!(dp, pins, 115200);
|
|
|
|
avr_device::interrupt::disable();
|
|
serial.listen(arduino_hal::hal::usart::Event::RxComplete);
|
|
|
|
let (rx,tx) = serial.split();
|
|
|
|
unsafe {
|
|
UART_RX = MaybeUninit::new(rx);
|
|
avr_device::interrupt::enable();
|
|
};
|
|
|
|
loop {
|
|
let mut shift_register = 0;
|
|
const LEFT_FWD: u8 = 1 << 5; // 1a
|
|
const LEFT_REV: u8 = 1 << 4; // 1b
|
|
const RIGHT_FWD: u8 = 1 << 3; // 2b
|
|
const RIGHT_REV: u8 = 1 << 6; // 2a
|
|
|
|
led.toggle();
|
|
|
|
// fwd left
|
|
shift_register |= LEFT_FWD | RIGHT_FWD;
|
|
|
|
// 16/255
|
|
tc2.ocr2a.write(|w| w.bits(000)); // left
|
|
tc2.ocr2b.write(|w| w.bits(000)); // right
|
|
|
|
update_shift_register(&mut data_pin, &mut latch_pin, &mut clock_pin, &shift_register);
|
|
|
|
arduino_hal::delay_ms(1000);
|
|
}
|
|
}
|