From 1f098f70b8f284ca96b1737a203b66f574ee3487 Mon Sep 17 00:00:00 2001
From: Andy Killorin <37423245+Speedy6451@users.noreply.github.com>
Date: Wed, 1 May 2024 16:04:11 -0500
Subject: [PATCH] extract timer configuration

---
 src/main.rs  | 14 ++++----------
 src/servo.rs |  9 +++++++++
 2 files changed, 13 insertions(+), 10 deletions(-)

diff --git a/src/main.rs b/src/main.rs
index b84da1f..73f0b1f 100644
--- a/src/main.rs
+++ b/src/main.rs
@@ -3,7 +3,7 @@
 
 use panic_halt as _;
 mod servo;
-use servo::Servo;
+use servo::{configure_timer_one, Servo};
 
 #[arduino_hal::entry]
 fn main() -> ! {
@@ -11,15 +11,9 @@ fn main() -> ! {
     let pins = arduino_hal::pins!(dp);
 
     // configure timer for servos
-    pins.d9.into_output();
-    pins.d10.into_output();
-    let tc1 = dp.TC1; // 250kHz
-    tc1.icr1.write(|w| w.bits(4999)); // 250kHz/5000 = 50Hz
-    tc1.tccr1a.write(|w| w.wgm1().bits(0b10).com1a().match_clear());
-    tc1.tccr1b.write(|w| w.wgm1().bits(0b11).cs1().prescale_64());
-
-    let carriage = &tc1.ocr1a; // pin 9
-    let claw = &tc1.ocr1b; // pin 10
+    pins.d9.into_output(); // carriage
+    pins.d10.into_output(); // claw
+    let (carriage, claw) = configure_timer_one(&dp.TC1);
 
     loop {
         carriage.set_speed(1.0);
diff --git a/src/servo.rs b/src/servo.rs
index 5e4c342..07b5737 100644
--- a/src/servo.rs
+++ b/src/servo.rs
@@ -1,5 +1,6 @@
 use arduino_hal::pac::tc1::OCR1B;
 use arduino_hal::pac::tc1::OCR1A;
+use arduino_hal::pac::TC1;
 
 const MIN: u16 = 100; // *4us =  .4ms
 const MAX: u16 = 700; // *4us = 2.8ms
@@ -34,6 +35,14 @@ impl Servo for OCR1B { // pin 10
     }
 }
 
+pub fn configure_timer_one(timer: &TC1) -> (&OCR1A, &OCR1B) {
+    timer.icr1.write(|w| w.bits(4999)); // 250kHz/5000 = 50Hz
+    timer.tccr1a.write(|w| w.wgm1().bits(0b10).com1a().match_clear());
+    timer.tccr1b.write(|w| w.wgm1().bits(0b11).cs1().prescale_64());
+
+    (&timer.ocr1a, &timer.ocr1b)
+}
+
 #[cfg(test)]
 mod tests {
     // unit tests don't run on avr-hal-template projects, could be due to target rules, could be