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//! This example shows how to use the PIO module in the RP2040 to implement a stepper motor driver
//! for a 5-wire stepper such as the 28BYJ-48. You can halt an ongoing rotation by dropping the future.
#![no_std]
#![no_main]
use defmt::info;
use embassy_executor::Spawner;
use embassy_rp::bind_interrupts;
use embassy_rp::peripherals::PIO0;
use embassy_rp::pio::{InterruptHandler, Pio};
use embassy_rp::pio_programs::stepper::{PioStepper, PioStepperProgram};
use embassy_time::{Duration, Timer, with_timeout};
use {defmt_rtt as _, panic_probe as _};
bind_interrupts!(struct Irqs {
PIO0_IRQ_0 => InterruptHandler<PIO0>;
});
#[embassy_executor::main]
async fn main(_spawner: Spawner) {
let p = embassy_rp::init(Default::default());
let Pio {
mut common, irq0, sm0, ..
} = Pio::new(p.PIO0, Irqs);
let prg = PioStepperProgram::new(&mut common);
let mut stepper = PioStepper::new(&mut common, sm0, irq0, p.PIN_4, p.PIN_5, p.PIN_6, p.PIN_7, &prg);
stepper.set_frequency(120);
loop {
info!("CW full steps");
stepper.step(1000).await;
info!("CCW full steps, drop after 1 sec");
if with_timeout(Duration::from_secs(1), stepper.step(-i32::MAX))
.await
.is_err()
{
info!("Time's up!");
Timer::after(Duration::from_secs(1)).await;
}
info!("CW half steps");
stepper.step_half(1000).await;
info!("CCW half steps");
stepper.step_half(-1000).await;
}
}
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