Cargo format

Author: mocrsteel

examples/arduino-mega2560/src/bin/mega2560-servo.rs

@@ -1,9 +1,9 @@
 //! This example demonstrates how to use the MCU's internal timer/counters
 //! to move a servo motor.
-//! 
+//!
 //! NOTE: using timer/counters will not put any load to the CPU, but will limit the amount of
 //! servo's you can control with a single board.
-//! 
+//!
 //! # Servo control
 //!
 //! * 20 ms PWM period required = 50 Hz
@@ -14,8 +14,8 @@
 //! modification). With this we can check which PWM period we can achieve with an 8-bit timer/counter:
 //! * With Prescale64: 1 clock tick of 256 total ticks = 4 us * 256 = +- 1 ms.
 //! * With Prescale256: 1 clock tick = 16us * 256 = 4.1 ms.
-//! * With Prescale1024: 1 clock tick = +- 0.1 us * 256 = 16.4 ms. 
-//! 
+//! * With Prescale1024: 1 clock tick = +- 0.1 us * 256 = 16.4 ms.
+//!
 //! If we use 16-bit timer/counters, we get a better control on the exact PWM period time.
 //! The longest PWM cycle per prescaler is defined by MAX value (2^16) = 65536 (<-> 2^8 = 256).
 //! Options:
@@ -26,9 +26,9 @@
 //! This gives the following possible resolutions:
 //! * Prescale8: 0.5 ms - 2.5 ms = 2 ms control range = 4000 clock ticks => 0.045 degrees per step.
 //! * Prescale64: 0.5 - 2.5 ms = 500 clock ticks => 0.36 degrees per step.
-//! 
+//!
 //! For most cases Prescale64 will be sufficient.
-//! 
+//!
 //! Note: On the ATMega2560 TC1, TC3, TC4 and TC5 are 16-bit timer/counters.
 //!       TC0 and TC2 are 0-bit timer/counters.
 //!
@@ -40,8 +40,8 @@
 use panic_halt as _;
 
 #[arduino_hal::entry]
-fn main () -> ! {
-   let dp = arduino_hal::Peripherals::take().unwrap();
+fn main() -> ! {
+    let dp = arduino_hal::Peripherals::take().unwrap();
     let pins = arduino_hal::pins!(dp);
 
     // Take Timer/Counter3 (TC3) from Peripherals
@@ -56,31 +56,39 @@ fn main () -> ! {
     // // - bits 5:4 - COM1B1:0 = Output compare mode for OC1B (for channel B)
     // // - bits 3:2 - COM1C1:0 = Output compare mode for OC1C (for channel C)
     // Here will use pin D3, which is port PE5. PE5 uses TC3 with output compare channel A.
-    
+
     // Wave generation mode 14: WGM bits 0:3 1110 => FastPWM with ICRn to define TOP and OCRNX to define compare output.
     // WGM bits 0:1 go into TCCR3A (0b10)
     // WGM bits 2:3 go into TCCR3B (0b11)
-    
-    tc3  // In TC3
+
+    tc3 // In TC3
         .tccr3a() // Access register TCCR3A (TCCnx in the datasheet)
-        .write(|w| unsafe{   // write to the register. This is unsafe as there's no protection against concurrent writing.
-            w // Writer wrapper
-                .com3a().bits(0b10) // Write bits 0b10 to the com3a bits in register TCCR3A 
-                .wgm3().bits(0b10)} // Write WGM bits 2:3 into
+        .write(
+            |w| unsafe {
+                // write to the register. This is unsafe as there's no protection against concurrent writing.
+                w // Writer wrapper
+                    .com3a()
+                    .bits(0b10) // Write bits 0b10 to the com3a bits in register TCCR3A
+                    .wgm3()
+                    .bits(0b10)
+            }, // Write WGM bits 2:3 into
         );
     // Same operation for TCCR3B.
-    tc3.tccr3b().write(|w| unsafe{ 
-        w
-        .wgm3().bits(0b11) // Set WGM bits 2:3 
-        .cs3().prescale_64()} // Set clock select bits. Using the avr-hal pre-defined prescale bits.
+    tc3.tccr3b().write(
+        |w| unsafe {
+            w.wgm3()
+                .bits(0b11) // Set WGM bits 2:3
+                .cs3()
+                .prescale_64()
+        }, // Set clock select bits. Using the avr-hal pre-defined prescale bits.
     );
     // We don't need TCCR3C for the servo.
 
     // TOP will define the length of the total PWM cycle.
-    // Setting IRC3 to 4999 (now TOP for this TC) to achieve 50 Hz cycle. 
+    // Setting IRC3 to 4999 (now TOP for this TC) to achieve 50 Hz cycle.
     // IMPORTANT: This affects all channels (A, B and C) of Timer/Counter3!
     tc3.icr3().write(|w| w.set(4999u16));
-    
+
     // Setting duty cycle on channel C using OCR3A. When the TC3 count register hits this value,
     // Output Compare 3 will be toggled. It will invert the pin from high to low (due to how we set the COM3A bits)
     // * 0.5 ms = 125 ticks (0 - 124)
@@ -89,12 +97,12 @@ fn main () -> ! {
     // Servo SG90 0 degrees = 0.5 ms -> with Prescale8 = 124
     // Servo SG90 180 degrees = 2.5 ms -> with Prescale8 = 624
     tc3.ocr3a().write(|w| w.set(124u16)); // Now we set it to 0 degrees.
-    
+
     // Toggle pin D3 into an output pin connect it to the TC3 output.
     // Connect your servo with its PWM pin to your board's D3 pin.
     // VCC to 5V and GND to GND offcourse.
-    pins.d3.into_output(); 
-    
+    pins.d3.into_output();
+
     loop {
         for ticks in [124u16, 374u16, 624u16, 374u16] {
             tc3.ocr3a().write(|w| w.set(ticks)); // Now we set the angle using the 'duty'.