finish spinning

firmware/Cargo.toml

@@ -30,6 +30,7 @@ bleps = { git = "https://github.com/bjoernQ/bleps", package = "bleps", rev = "a5
     "async",
 ] }
 esp-alloc = "0.4.0"
+fugit = "0.3.7"
 
 [[bin]]
 name = "firmware"

firmware/src/main.rs

@@ -5,10 +5,13 @@ use embassy_executor::Spawner;
 use embassy_time::Timer;
 use esp_backtrace as _;
 use esp_hal::{
-    gpio::{Io, Level, Output},
-    timer::timg::TimerGroup,
+    clock::Clocks, gpio::{Io, Level, Output}, mcpwm::PeripheralClockConfig, timer::timg::TimerGroup
 };
 use esp_println::println;
+use fugit::RateExtU32;
+use esp_hal::mcpwm::McPwm;
+use esp_hal::mcpwm::timer::PwmWorkingMode;
+use esp_hal::mcpwm::operator::PwmPinConfig;
 
 #[esp_hal_embassy::main]
 async fn main(_spawner: Spawner) {
@@ -22,8 +25,26 @@ async fn main(_spawner: Spawner) {
 
     let mut led = Output::new(io.pins.gpio18, Level::Low);
     // add these
-    let motor_hi = Output::new(io.pins.gpio13, Level::High);
-    let motor_lo = Output::new(io.pins.gpio14, Level::Low);
+    let motor_hi_pin = io.pins.gpio13;
+    let motor_lo_pin = io.pins.gpio14;
+
+    let clocks = Clocks::get();
+    //println!("src clock: {}", clocks.crypto_pwm_clock);
+    let clock_cfg = PeripheralClockConfig::with_frequency(32.MHz()).unwrap();    //let mut mcpwm = McPwm::new(peripherals.MCPWM0, clock_cfg);
+    let mut mcpwm = McPwm::new(peripherals.MCPWM0, clock_cfg);
+    mcpwm.operator0.set_timer(&mcpwm.timer0);
+    let timer_clock_cfg = clock_cfg.timer_clock_with_frequency(u8::MAX as u16, PwmWorkingMode::Increase, 20.kHz()).unwrap();
+    mcpwm.timer0.start(timer_clock_cfg);
+
+    let (mut motor_hi, mut motor_lo) = mcpwm.operator0.with_pins(
+        motor_hi_pin,
+        PwmPinConfig::UP_ACTIVE_HIGH,
+        motor_lo_pin,
+        PwmPinConfig::UP_ACTIVE_HIGH,
+    );
+
+    // motor_hi.set_timestamp(180);
+    // motor_lo.set_timestamp(0);
 
     loop {
         println!("Hello, World!");