Simple 2 D.O.F Camera Monitor

Very simple 2 D.O.F camera monitor robot with two servo motors. This is my first project to use Rust + embassy-rs for microcontroller.

Project Structure

Please change to branch servo_pwm to see the servo motor with PWM driver. The GPIO is the same for both PIO and PWM Driver version.

.
├── Cargo.lock
├── Cargo.toml
├── build.rs
├── memory.x
└── `src`
    ├── main.rs
    ├── `resources`
    │   ├── gpio_list.rs
    │   └── mod.rs
    └── `tasks`
        ├── button.rs
        ├── mod.rs
        ├── servo_pio.rs
        └── uart_task.rs

4 directories, 11 files

Hardware Components

This is the main component of this project:

Component	Description
Raspberry Pi Pico RP2040	I use this because embassy-rs have many examples for Pico and also Pico W
JIYUE Baby Monitor	Existing baby monitor camera. This is for quick development, maybe I will develop embedded camera later
MG996R + Bracket	Servo Motor for yaw and pitch camera movement. Controlled by varying the PWM duty cycles via PIO. I have developed my own library for this project on rp2040-servo-pio
HC-05 Bluetooth	Bluetooth module to drive the servo motor. The remote control is using my existing remote control by using STM32F1 Bluepill and FreeRTOS on remote-control-stm32
IC2262/2272 RC Module	RC transmitter and receiver module with 433 MHz variant. The output of this module is 5V, so we need the logic shifter to connect to Pico
CD4050BE or BSS138	Logic level converter to drive the PWM from 3.3V to 5V and convert RC Module output from 5V to 3.3V

Resources Map

Detailed resources list can be found in the resources/gpio_list.rs

GPIO Map

GPIO	Description
GP5	UART1 RX Pin connected to TX pin of HC-05 Bluetooth Module
GP10	PWM Output to Drive Body Servo Motor
GP12	PWM Output to Drive Head Servo Motor
GP18	Left Signal Input from RC Module (Yaw move CCW)
GP19	Right Signal Input from RC Module (Yaw move CW)
GP20	Up Signal Input from RC Module (Pitch move CCW)
GP21	Down Signal Input from RC Module (Pitch move CW)

Pheriperal Map

Pheriperal	Description
PIO0	Driving Head Servo Motor
PIO1	Driving Head Servo Motor
UART1	Handle the HC-05 UART Communication
DMA_CH1	Handle the HC-05 UART Communication

Circuit Diagram

Task Schematic