88 lines
2.2 KiB
Rust
88 lines
2.2 KiB
Rust
#![no_std]
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#![no_main]
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use arduino_hal::hal::port::*;
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use arduino_hal::port::mode::*;
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use embedded_hal::digital::OutputPin;
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use panic_halt as _;
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fn shift_out(data_pin: &mut Pin<Output, PB0>, clock_pin: &mut Pin<Output, PD4>, data: &u8) {
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for i in 0..8 {
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let n = data & (1 << i);
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if n == 0 {
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data_pin.set_low();
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} else {
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data_pin.set_high();
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}
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clock_pin.set_high();
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clock_pin.set_low();
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}
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}
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fn update_shift_register(
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data_pin: &mut Pin<Output, PB0>,
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latch_pin: &mut Pin<Output, PB4>,
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clock_pin: &mut Pin<Output, PD4>,
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data: &u8,
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) {
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latch_pin.set_low();
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shift_out(data_pin, clock_pin, data);
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latch_pin.set_high();
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}
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#[arduino_hal::entry]
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fn main() -> ! {
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let dp = arduino_hal::Peripherals::take().unwrap();
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let pins = arduino_hal::pins!(dp);
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// shift register
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let mut data_pin = pins.d8.into_output();
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let mut clock_pin = pins.d4.into_output();
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let mut enable_pin = pins.d7.into_output();
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let mut latch_pin = pins.d12.into_output();
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enable_pin.set_low(); // enable outputs
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pins.d3.into_output(); // right
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pins.d11.into_output(); // left
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// TCCR2A |= _BV(COM2A1) | _BV(WGM20) | _BV(WGM21); // fast PWM, turn on oc2a
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// TCCR2B = freq & 0x7;
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// OCR2A = 0;
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let tc2 = dp.TC2;
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tc2.tccr2a.write(|w| { w
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.wgm2().pwm_fast()
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.com2a().match_clear()
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.com2b().match_clear()
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});
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tc2.tccr2b.write(|w| w.cs2().prescale_8().wgm22().clear_bit());
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tc2.ocr2a.write(|w| w.bits(0));
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tc2.ocr2b.write(|w| w.bits(0));
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let mut led = pins.d13.into_output();
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loop {
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let mut shift_register = 0;
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const LEFT_FWD: u8 = 1 << 5; // 1a
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const LEFT_REV: u8 = 1 << 4; // 1b
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const RIGHT_FWD: u8 = 1 << 3; // 2b
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const RIGHT_REV: u8 = 1 << 6; // 2a
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led.toggle();
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// fwd left
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shift_register |= LEFT_FWD | RIGHT_FWD;
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// 16/255
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tc2.ocr2a.write(|w| w.bits(000)); // left
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tc2.ocr2b.write(|w| w.bits(000)); // right
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update_shift_register(&mut data_pin, &mut latch_pin, &mut clock_pin, &shift_register);
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arduino_hal::delay_ms(1000);
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}
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}
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