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enable PWM and have degrees2duty

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This commit is contained in:
Joe Ardent 2026-07-04 14:52:17 -07:00
parent dbe40d8b59
commit 82f93c1dd3
1 changed files with 38 additions and 10 deletions
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48
src/main.rs
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@ -1,23 +1,42 @@
#![no_std]
#![no_main]
use cortex_m::prelude::_embedded_hal_Pwm;
use defmt::unwrap;
use embassy_executor::Spawner;
use embassy_stm32::{
Config, Peri,
adc::{Adc, SampleTime},
gpio::{AnyPin, Level, Output, Speed},
peripherals::{ADC1, PA0},
time::Hertz,
timer::{
simple_pwm::{PwmPin, SimplePwm},
Channel,
},
Config, Peri,
};
use embassy_time::Timer;
use embassy_time::{Duration, Timer};
use {defmt_rtt as _, panic_probe as _};
static SERVO_HZ: Hertz = Hertz::hz(60);
static SERVO_MIN_USECS: f32 = 550.0;
static SERVO_MAX_USECS: f32 = 1900.0;
static SERVO_MIN_DEG: f32 = -180.0;
static SERVO_MAX_DEG: f32 = 180.0;
static SERVO_SLOPE: f32 = (SERVO_MAX_USECS - SERVO_MIN_USECS) / (SERVO_MAX_DEG - SERVO_MIN_DEG);
fn degrees2duty(degrees: f32, max_dur: Duration, max_duty: u32) -> u32 {
let degrees = degrees.clamp(SERVO_MIN_DEG, SERVO_MAX_DEG);
let micros = 0.5 + SERVO_MIN_USECS + SERVO_SLOPE * (degrees - SERVO_MIN_DEG);
((micros / max_dur.as_micros() as f32) * max_duty as f32) as u32
}
#[embassy_executor::main]
async fn main(spawner: Spawner) {
let mut config = Config::default();
{
use embassy_stm32::rcc::{Pll, PllMul, PllPreDiv, PllRDiv, PllSource, Sysclk, mux};
use embassy_stm32::rcc::{mux, Pll, PllMul, PllPreDiv, PllRDiv, PllSource, Sysclk};
config.rcc.pll = Some(Pll {
source: PllSource::HSI,
prediv: PllPreDiv::DIV4,
@ -33,18 +52,27 @@ async fn main(spawner: Spawner) {
let p = embassy_stm32::init(config);
let pwm_pin = PwmPin::new(p.PC7, embassy_stm32::gpio::OutputType::PushPull);
let mut pwm = SimplePwm::new(
p.TIM3,
None,
Some(pwm_pin),
None,
None,
SERVO_HZ,
embassy_stm32::timer::low_level::CountingMode::EdgeAlignedUp,
);
pwm.enable(Channel::Ch2);
let pwm_max_dur = Duration::from_hz(SERVO_HZ.0 as u64);
let pwm_max_duty = pwm.get_max_duty();
let a = Adc::new(p.ADC1, Default::default());
// let mut temp = a.enable_temperature();
// let t = a.blocking_read(&mut temp, SampleTime::CYCLES247_5);
// defmt::info!("got temp: {}", t);
let channel = p.PA0.into();
spawner.spawn(unwrap!(read_adc1_pa0(a, channel)));
// spawner.spawn(unwrap!(blinky(p.PA5.into())));
Timer::after_secs(60).await;
treatbot_5k::exit()
}