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Yes, I did that here: https://github.com/radlinskii/rustberry-pi-pico/tree/main/src/examples/light-on-board-led-on-gpio-key-press using the same pins I'm trying to use now
As a first step I wanted to make a keyboard with just one key in its matrix, similar to qmk's onekey keyboards .
See the source code at https://github.com/rwalkr/eskarp. The layout is defined at https://github.com/rwalkr/eskarp/blob/19e4b54fd48c07b64bf8050622bdebac5622d7b1/firmware/src/main.rs#L119 - you can strip it down to what you need and adjust the column / row / layer counts at line 67. You may also need to adjust the pin numbers depending on how you've wired it up
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