Merge pull request #4 from Baker-link-Lab/copilot/enhance-example-code-rp2040

Add comprehensive RP2040 embedded Rust examples: rp2040-hal peripherals + Embassy async

Author: Baker-Tanaka

Cargo.toml

@@ -5,16 +5,33 @@ edition = "2021"
 
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
+[features]
+default = []
+embassy = [
+    "dep:embassy-executor",
+    "dep:embassy-time",
+    "dep:embassy-rp",
+    "dep:embassy-sync",
+]
+
 [dependencies]
 cortex-m = "0.7"
 cortex-m-rt = "0.7"
 embedded-hal = { version = "1.0.0" }
+embedded_hal_0_2 = { package = "embedded-hal", version = "0.2.5", features = ["unproven"] }
 defmt = "0.3"
 defmt-rtt = "0.4"
 panic-probe = { version = "0.3", features = ["print-defmt"] }
 rp2040-hal = { version = "0.10", features = ["rt", "critical-section-impl"] }
 rp2040-boot2 = "0.3"
 critical-section = "1.0.0"
+fugit = "0.3"
+
+# Embassy dependencies (optional, enabled via "embassy" feature)
+embassy-executor = { version = "0.10", features = ["platform-cortex-m", "executor-thread", "defmt"], optional = true }
+embassy-time = { version = "0.5", features = ["defmt"], optional = true }
+embassy-rp = { version = "0.10", features = ["defmt", "rp2040", "time-driver", "critical-section-impl", "boot2-generic-03h"], optional = true }
+embassy-sync = { version = "0.8", features = ["defmt"], optional = true }
 
 [dev-dependencies]
 defmt-test = "0.3"
@@ -23,6 +40,19 @@ defmt-test = "0.3"
 name = "example_test"
 harness = false
 
+# Embassy examples (require "embassy" feature)
+[[example]]
+name = "embassy_blinky"
+required-features = ["embassy"]
+
+[[example]]
+name = "embassy_button"
+required-features = ["embassy"]
+
+[[example]]
+name = "embassy_multitask"
+required-features = ["embassy"]
+
 # cargo build/run
 [profile.dev]
 codegen-units = 1

examples/adc_read.rs

@@ -0,0 +1,84 @@
+// adc_read.rs - ADCによるアナログ値の読み取り
+//
+// ADC（アナログ-デジタル変換器）を使ってアナログセンサーの値を読み取ります。
+// GPIO26（ADC0）に接続されたセンサーの値と、内蔵温度センサーの値を読み取ります。
+//
+// 実行方法: cargo run --example adc_read
+
+#![no_std]
+#![no_main]
+
+use defmt::*;
+use defmt_rtt as _;
+use panic_probe as _;
+use rp2040_hal as hal;
+
+use hal::pac;
+
+use embedded_hal::delay::DelayNs;
+
+// rp2040-hal のADCは embedded-hal 0.2 の OneShot トレイトを使用
+use embedded_hal_0_2::adc::OneShot;
+
+#[link_section = ".boot2"]
+#[used]
+pub static BOOT2: [u8; 256] = rp2040_boot2::BOOT_LOADER_GENERIC_03H;
+
+const XTAL_FREQ_HZ: u32 = 12_000_000u32;
+
+#[rp2040_hal::entry]
+fn main() -> ! {
+    info!("ADC read start!");
+
+    let mut pac = pac::Peripherals::take().unwrap();
+    let mut watchdog = hal::Watchdog::new(pac.WATCHDOG);
+
+    let clocks = hal::clocks::init_clocks_and_plls(
+        XTAL_FREQ_HZ,
+        pac.XOSC,
+        pac.CLOCKS,
+        pac.PLL_SYS,
+        pac.PLL_USB,
+        &mut pac.RESETS,
+        &mut watchdog,
+    )
+    .ok()
+    .unwrap();
+
+    let mut timer = rp2040_hal::Timer::new(pac.TIMER, &mut pac.RESETS, &clocks);
+
+    let sio = hal::Sio::new(pac.SIO);
+    let pins = hal::gpio::Pins::new(
+        pac.IO_BANK0,
+        pac.PADS_BANK0,
+        sio.gpio_bank0,
+        &mut pac.RESETS,
+    );
+
+    // ADCの初期化
+    let mut adc = hal::Adc::new(pac.ADC, &mut pac.RESETS);
+
+    // GPIO26をADC入力（ADC0チャンネル）として設定
+    let mut adc_pin_0 = hal::adc::AdcPin::new(pins.gpio26.into_floating_input()).unwrap();
+
+    // 内蔵温度センサーを有効化
+    let mut temperature_sensor = adc.take_temp_sensor().unwrap();
+
+    loop {
+        // ADC0チャンネルの値を読み取り（12ビット: 0-4095）
+        let adc_value: u16 = adc.read(&mut adc_pin_0).unwrap();
+        // 電圧に変換（基準電圧3.3V、12ビット分解能）
+        let voltage_mv = (adc_value as u32) * 3300 / 4096;
+        info!("ADC0: raw={}, voltage={} mV", adc_value, voltage_mv);
+
+        // 内蔵温度センサーの値を読み取り
+        let temp_value: u16 = adc.read(&mut temperature_sensor).unwrap();
+        // 温度に変換（データシートの式に基づく: T = 27 - (V - 0.706) / 0.001721）
+        // 整数演算で近似: temp_mC = 27000 - (voltage_uV - 706000) * 1000 / 1721
+        let temp_voltage_uv = (temp_value as i32) * 3_300_000 / 4096;
+        let temp_mc = 27_000 - (temp_voltage_uv - 706_000) * 1000 / 1721;
+        info!("Temperature: {}.{} deg C (raw={})", temp_mc / 1000, (temp_mc % 1000) / 100, temp_value);
+
+        timer.delay_ms(1000);
+    }
+}

examples/blinky.rs

@@ -0,0 +1,67 @@
+// blinky.rs - 最もシンプルなLED点滅の例
+//
+// 組み込みRustの基本を学ぶための最小限の例です。
+// GPIO22に接続されたLEDを1秒間隔で点滅させます。
+//
+// 実行方法: cargo run --example blinky
+
+#![no_std]
+#![no_main]
+
+use defmt::*;
+use defmt_rtt as _;
+use panic_probe as _;
+use rp2040_hal as hal;
+
+use hal::pac;
+
+use embedded_hal::delay::DelayNs;
+use embedded_hal::digital::OutputPin;
+
+#[link_section = ".boot2"]
+#[used]
+pub static BOOT2: [u8; 256] = rp2040_boot2::BOOT_LOADER_GENERIC_03H;
+
+const XTAL_FREQ_HZ: u32 = 12_000_000u32;
+
+#[rp2040_hal::entry]
+fn main() -> ! {
+    info!("Blinky start!");
+
+    let mut pac = pac::Peripherals::take().unwrap();
+    let mut watchdog = hal::Watchdog::new(pac.WATCHDOG);
+
+    let clocks = hal::clocks::init_clocks_and_plls(
+        XTAL_FREQ_HZ,
+        pac.XOSC,
+        pac.CLOCKS,
+        pac.PLL_SYS,
+        pac.PLL_USB,
+        &mut pac.RESETS,
+        &mut watchdog,
+    )
+    .ok()
+    .unwrap();
+
+    let mut timer = rp2040_hal::Timer::new(pac.TIMER, &mut pac.RESETS, &clocks);
+
+    let sio = hal::Sio::new(pac.SIO);
+    let pins = hal::gpio::Pins::new(
+        pac.IO_BANK0,
+        pac.PADS_BANK0,
+        sio.gpio_bank0,
+        &mut pac.RESETS,
+    );
+
+    let mut led = pins.gpio22.into_push_pull_output();
+
+    loop {
+        info!("LED ON");
+        led.set_high().unwrap();
+        timer.delay_ms(1000);
+
+        info!("LED OFF");
+        led.set_low().unwrap();
+        timer.delay_ms(1000);
+    }
+}

examples/embassy_blinky.rs

@@ -0,0 +1,36 @@
+// embassy_blinky.rs - Embassyを使った非同期LED点滅
+//
+// Embassy非同期フレームワークを使ったLED点滅の基本例です。
+// async/awaitにより、ブロッキングなしでタイマーを待機できます。
+//
+// 実行方法: cargo run --example embassy_blinky --features embassy
+
+#![no_std]
+#![no_main]
+
+use defmt::*;
+use defmt_rtt as _;
+use embassy_executor::Spawner;
+use embassy_rp::gpio::{Level, Output};
+use embassy_time::Timer;
+use panic_probe as _;
+
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+    info!("Embassy blinky start!");
+
+    let p = embassy_rp::init(Default::default());
+
+    // GPIO22をプッシュプル出力に設定
+    let mut led = Output::new(p.PIN_22, Level::Low);
+
+    loop {
+        info!("LED ON");
+        led.set_high();
+        Timer::after_millis(1000).await;
+
+        info!("LED OFF");
+        led.set_low();
+        Timer::after_millis(1000).await;
+    }
+}

examples/embassy_button.rs

@@ -0,0 +1,57 @@
+// embassy_button.rs - Embassyを使った非同期ボタン入力
+//
+// Embassyの非同期GPIO割り込みを使ってボタン入力を処理する例です。
+// ポーリングの代わりにasync/awaitでエッジ検出を待機するため、
+// CPU使用率を最小限に抑えられます。
+//
+// ピン配置:
+//   - GPIO22: Green LED
+//   - GPIO20: Red LED
+//   - GPIO23: Button（プルアップ、押すとLOW）
+//
+// 実行方法: cargo run --example embassy_button --features embassy
+
+#![no_std]
+#![no_main]
+
+use defmt::*;
+use defmt_rtt as _;
+use embassy_executor::Spawner;
+use embassy_rp::gpio::{Input, Level, Output, Pull};
+use embassy_time::Timer;
+use panic_probe as _;
+
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+    info!("Embassy button example start!");
+
+    let p = embassy_rp::init(Default::default());
+
+    let mut green_led = Output::new(p.PIN_22, Level::Low);
+    let mut red_led = Output::new(p.PIN_20, Level::High);
+    let mut button = Input::new(p.PIN_23, Pull::Up);
+
+    info!("Waiting for button press...");
+
+    loop {
+        // ボタンが押される（立ち下がりエッジ）まで非同期で待機
+        button.wait_for_falling_edge().await;
+        info!("Button pressed!");
+
+        // 赤LED OFF → 緑LED ON
+        red_led.set_low();
+        green_led.set_high();
+        Timer::after_millis(2000).await;
+
+        // 緑LED OFF
+        green_led.set_low();
+
+        // 赤LED ON に戻す
+        red_led.set_high();
+
+        // デバウンス用の短い待機
+        Timer::after_millis(200).await;
+
+        info!("Ready for next press");
+    }
+}

examples/embassy_multitask.rs

@@ -0,0 +1,77 @@
+// embassy_multitask.rs - Embassyを使った複数タスクの並行実行
+//
+// Embassyの非同期タスク機能を使って、複数のタスクを並行実行する例です。
+// 各タスクは独立して動作し、async/awaitにより協調的にスケジューリングされます。
+//
+// タスク構成:
+//   - green_led_task: GPIO22の緑LEDを1秒間隔で点滅
+//   - red_led_task:   GPIO20の赤LEDを2秒間隔で点滅
+//   - logger_task:    5秒ごとにステータスをログ出力
+//
+// 実行方法: cargo run --example embassy_multitask --features embassy
+
+#![no_std]
+#![no_main]
+
+use defmt::*;
+use defmt_rtt as _;
+use embassy_executor::Spawner;
+use embassy_rp::gpio::{Level, Output};
+use embassy_time::Timer;
+use panic_probe as _;
+
+#[embassy_executor::task]
+async fn green_led_task(mut led: Output<'static>) {
+    info!("Green LED task started (1s interval)");
+    loop {
+        led.set_high();
+        Timer::after_millis(1000).await;
+        led.set_low();
+        Timer::after_millis(1000).await;
+    }
+}
+
+#[embassy_executor::task]
+async fn red_led_task(mut led: Output<'static>) {
+    info!("Red LED task started (2s interval)");
+    loop {
+        led.set_high();
+        Timer::after_millis(2000).await;
+        led.set_low();
+        Timer::after_millis(2000).await;
+    }
+}
+
+#[embassy_executor::task]
+async fn logger_task() {
+    info!("Logger task started (5s interval)");
+    let mut count: u32 = 0;
+    loop {
+        Timer::after_secs(5).await;
+        count += 1;
+        info!("System running... uptime: {}s", count * 5);
+    }
+}
+
+#[embassy_executor::main]
+async fn main(spawner: Spawner) {
+    info!("Embassy multitask example start!");
+
+    let p = embassy_rp::init(Default::default());
+
+    // GPIO出力の初期化
+    let green_led = Output::new(p.PIN_22, Level::Low);
+    let red_led = Output::new(p.PIN_20, Level::Low);
+
+    // 各タスクを生成（spawn）
+    spawner.spawn(green_led_task(green_led).unwrap());
+    spawner.spawn(red_led_task(red_led).unwrap());
+    spawner.spawn(logger_task().unwrap());
+
+    info!("All tasks spawned! Main task going idle.");
+
+    // メインタスクは何もしない（他のタスクが動作）
+    loop {
+        Timer::after_secs(3600).await;
+    }
+}