mirror of
https://github.com/rtic-rs/rtic.git
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Add Monotonic for i.MX RT chip family
This commit is contained in:
Finomnis
Emil Fresk
parent
a7f81262f6
commit
2fd3b3c404
13 changed files with 1251 additions and 1 deletions
6
examples/teensy4_blinky/.cargo/config.toml
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6
examples/teensy4_blinky/.cargo/config.toml
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@ -0,0 +1,6 @@
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[target.thumbv7em-none-eabihf]
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runner = "python3 run.py"
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rustflags = ["-C", "link-arg=-Tt4link.x"]
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[build]
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target = "thumbv7em-none-eabihf" # Teensy 4
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603
examples/teensy4_blinky/Cargo.lock
generated
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603
examples/teensy4_blinky/Cargo.lock
generated
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@ -0,0 +1,603 @@
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# This file is automatically @generated by Cargo.
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# It is not intended for manual editing.
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version = 3
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||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
"rtic-core",
|
||||
"rtic-macros",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "rtic-common"
|
||||
version = "1.0.1"
|
||||
dependencies = [
|
||||
"critical-section",
|
||||
"portable-atomic",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "rtic-core"
|
||||
version = "1.0.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "d9369355b04d06a3780ec0f51ea2d225624db777acbc60abd8ca4832da5c1a42"
|
||||
|
||||
[[package]]
|
||||
name = "rtic-macros"
|
||||
version = "2.0.1"
|
||||
dependencies = [
|
||||
"indexmap",
|
||||
"proc-macro-error",
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn 1.0.109",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "rtic-monotonics"
|
||||
version = "1.2.1"
|
||||
dependencies = [
|
||||
"atomic-polyfill",
|
||||
"cfg-if",
|
||||
"cortex-m",
|
||||
"embedded-hal 1.0.0-rc.1",
|
||||
"fugit",
|
||||
"imxrt-ral",
|
||||
"log",
|
||||
"rtic-time",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "rtic-time"
|
||||
version = "1.0.0"
|
||||
dependencies = [
|
||||
"critical-section",
|
||||
"futures-util",
|
||||
"rtic-common",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "rustc_version"
|
||||
version = "0.2.3"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "138e3e0acb6c9fb258b19b67cb8abd63c00679d2851805ea151465464fe9030a"
|
||||
dependencies = [
|
||||
"semver",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "semver"
|
||||
version = "0.9.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "1d7eb9ef2c18661902cc47e535f9bc51b78acd254da71d375c2f6720d9a40403"
|
||||
dependencies = [
|
||||
"semver-parser",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "semver-parser"
|
||||
version = "0.7.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "388a1df253eca08550bef6c72392cfe7c30914bf41df5269b68cbd6ff8f570a3"
|
||||
|
||||
[[package]]
|
||||
name = "syn"
|
||||
version = "1.0.109"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "72b64191b275b66ffe2469e8af2c1cfe3bafa67b529ead792a6d0160888b4237"
|
||||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"unicode-ident",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "syn"
|
||||
version = "2.0.38"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "e96b79aaa137db8f61e26363a0c9b47d8b4ec75da28b7d1d614c2303e232408b"
|
||||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"unicode-ident",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "teensy4-bsp"
|
||||
version = "0.4.4"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "a920208238f8ee2d2a4e29fdaf923a4025750a76baab845be96ec1d4ef184be8"
|
||||
dependencies = [
|
||||
"cortex-m",
|
||||
"imxrt-hal",
|
||||
"imxrt-log",
|
||||
"imxrt-ral",
|
||||
"imxrt-rt",
|
||||
"teensy4-fcb",
|
||||
"teensy4-pins",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "teensy4-fcb"
|
||||
version = "0.4.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "8007b6d680b853afd7aa5a4b2be509efac0b5063698a87f274206955afbf1d0f"
|
||||
dependencies = [
|
||||
"imxrt-boot-gen",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "teensy4-panic"
|
||||
version = "0.2.3"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "7c733a579f17557d093df6714a57d61841e9cbaa222384ca7ee1fbb334888c20"
|
||||
|
||||
[[package]]
|
||||
name = "teensy4-pins"
|
||||
version = "0.3.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "5a50cc992551983c0034014d58873af2153921cd22601c2194ae93f763f5ba06"
|
||||
dependencies = [
|
||||
"imxrt-iomuxc",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "thiserror"
|
||||
version = "1.0.50"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "f9a7210f5c9a7156bb50aa36aed4c95afb51df0df00713949448cf9e97d382d2"
|
||||
dependencies = [
|
||||
"thiserror-impl",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "thiserror-impl"
|
||||
version = "1.0.50"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "266b2e40bc00e5a6c09c3584011e08b06f123c00362c92b975ba9843aaaa14b8"
|
||||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn 2.0.38",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "unicode-ident"
|
||||
version = "1.0.12"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "3354b9ac3fae1ff6755cb6db53683adb661634f67557942dea4facebec0fee4b"
|
||||
|
||||
[[package]]
|
||||
name = "usb-device"
|
||||
version = "0.2.9"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "1f6cc3adc849b5292b4075fc0d5fdcf2f24866e88e336dd27a8943090a520508"
|
||||
|
||||
[[package]]
|
||||
name = "usbd-serial"
|
||||
version = "0.1.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "db75519b86287f12dcf0d171c7cf4ecc839149fe9f3b720ac4cfce52959e1dfe"
|
||||
dependencies = [
|
||||
"embedded-hal 0.2.7",
|
||||
"nb 0.1.3",
|
||||
"usb-device",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "vcell"
|
||||
version = "0.1.3"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "77439c1b53d2303b20d9459b1ade71a83c716e3f9c34f3228c00e6f185d6c002"
|
||||
|
||||
[[package]]
|
||||
name = "version_check"
|
||||
version = "0.9.4"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "49874b5167b65d7193b8aba1567f5c7d93d001cafc34600cee003eda787e483f"
|
||||
|
||||
[[package]]
|
||||
name = "void"
|
||||
version = "1.0.2"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "6a02e4885ed3bc0f2de90ea6dd45ebcbb66dacffe03547fadbb0eeae2770887d"
|
||||
|
||||
[[package]]
|
||||
name = "volatile-register"
|
||||
version = "0.2.2"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "de437e2a6208b014ab52972a27e59b33fa2920d3e00fe05026167a1c509d19cc"
|
||||
dependencies = [
|
||||
"vcell",
|
||||
]
|
||||
52
examples/teensy4_blinky/Cargo.toml
Normal file
52
examples/teensy4_blinky/Cargo.toml
Normal file
|
|
@ -0,0 +1,52 @@
|
|||
[package]
|
||||
authors = ["Finomnis <finomnis@gmail.com>"]
|
||||
edition = "2021"
|
||||
readme = "README.md"
|
||||
name = "imxrt-blinky"
|
||||
version = "0.1.0"
|
||||
|
||||
[workspace]
|
||||
|
||||
[dependencies.rtic]
|
||||
path = "../../rtic"
|
||||
version = "2.0.1"
|
||||
features = ["thumbv7-backend"]
|
||||
|
||||
[dependencies.rtic-monotonics]
|
||||
path = "../../rtic-monotonics"
|
||||
version = "1.2.1"
|
||||
features = ["imxrt_gpt1"]
|
||||
|
||||
[dependencies]
|
||||
embedded-hal = "0.2.7"
|
||||
teensy4-panic = { version = "0.2.3", default-features = false }
|
||||
|
||||
[dependencies.teensy4-bsp]
|
||||
features = ["rt"]
|
||||
version = "0.4.4"
|
||||
|
||||
[dev-dependencies]
|
||||
nb = "1.1.0" # Async
|
||||
imxrt-log = { version = "0.1.1", default-features = false, features = [
|
||||
"log",
|
||||
"lpuart",
|
||||
] }
|
||||
log = "0.4.20"
|
||||
|
||||
# this lets you use `cargo fix`!
|
||||
[[bin]]
|
||||
name = "imxrt-blinky"
|
||||
test = false
|
||||
bench = false
|
||||
|
||||
[profile.dev]
|
||||
opt-level = 1
|
||||
codegen-units = 16
|
||||
debug = true
|
||||
lto = false
|
||||
|
||||
[profile.release]
|
||||
opt-level = "s" # optimize for size
|
||||
codegen-units = 1 # better optimizations
|
||||
debug = true # symbols are nice and they don't increase the size on Flash
|
||||
lto = true # better optimizations
|
||||
25
examples/teensy4_blinky/README.md
Normal file
25
examples/teensy4_blinky/README.md
Normal file
|
|
@ -0,0 +1,25 @@
|
|||
# Teensy4 RTIC Blink example
|
||||
|
||||
Working example of simple LED blinking application for Teensy4. Example uses monotonics API and peripherials access.
|
||||
|
||||
## How-to
|
||||
|
||||
### Prerequisites
|
||||
|
||||
The following hardware is required for the examples:
|
||||
- A [Teensy 4.0](https://www.pjrc.com/store/teensy40.html)/[Teensy 4.1](https://www.pjrc.com/store/teensy41.html)/[Teensy MicroMod](https://www.sparkfun.com/products/16402) development board
|
||||
|
||||
The following software tools have to be installed:
|
||||
- Python3 (as `python3`, or modify `run.py` to use the `python` binary)
|
||||
- [`cargo-binutils`](https://crates.io/crates/cargo-binutils)
|
||||
- [`teensy_loader_cli`](https://www.pjrc.com/teensy/loader_cli.html)
|
||||
|
||||
|
||||
### Run
|
||||
|
||||
- Connect the Teensy to PC via USB cable.
|
||||
- Press the `Reset`/`Boot` button on the Teensy.
|
||||
- Run:
|
||||
```bash
|
||||
cargo run --release
|
||||
```
|
||||
42
examples/teensy4_blinky/examples/common/mod.rs
Normal file
42
examples/teensy4_blinky/examples/common/mod.rs
Normal file
|
|
@ -0,0 +1,42 @@
|
|||
macro_rules! uart_panic_handler {
|
||||
($uart: ident, $tx_pin: ident, $rx_pin: ident, $baud: expr) => {
|
||||
#[panic_handler]
|
||||
fn panic(info: &::core::panic::PanicInfo) -> ! {
|
||||
use ::core::fmt::Write as _;
|
||||
use ::embedded_hal::serial::Write as _;
|
||||
|
||||
let ::teensy4_bsp::board::Resources {
|
||||
$uart: uart, pins, ..
|
||||
} = ::teensy4_bsp::board::t40(unsafe { ::teensy4_bsp::ral::Instances::instances() });
|
||||
|
||||
let uart = ::teensy4_bsp::board::lpuart(uart, pins.$tx_pin, pins.$rx_pin, $baud);
|
||||
|
||||
struct UartWriter<P, const N: u8> {
|
||||
uart: ::teensy4_bsp::hal::lpuart::Lpuart<P, N>,
|
||||
}
|
||||
impl<P, const N: u8> ::core::fmt::Write for UartWriter<P, N> {
|
||||
fn write_str(&mut self, s: &str) -> ::core::fmt::Result {
|
||||
for &b in s.as_bytes() {
|
||||
if b == b'\n' {
|
||||
let _ = ::nb::block!(self.uart.write(b'\r'));
|
||||
}
|
||||
let _ = ::nb::block!(self.uart.write(b));
|
||||
}
|
||||
Ok(())
|
||||
}
|
||||
}
|
||||
|
||||
let mut uart = UartWriter { uart };
|
||||
|
||||
::core::writeln!(uart).ok();
|
||||
::core::writeln!(uart, "{}", info).ok();
|
||||
::core::writeln!(uart).ok();
|
||||
|
||||
let _ = ::nb::block!(uart.uart.flush());
|
||||
|
||||
::teensy4_panic::sos()
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
pub(crate) use uart_panic_handler;
|
||||
113
examples/teensy4_blinky/examples/with_logs.rs
Normal file
113
examples/teensy4_blinky/examples/with_logs.rs
Normal file
|
|
@ -0,0 +1,113 @@
|
|||
#![deny(warnings)]
|
||||
#![no_main]
|
||||
#![no_std]
|
||||
#![feature(type_alias_impl_trait)]
|
||||
|
||||
mod common;
|
||||
common::uart_panic_handler!(lpuart6, p1, p0, 115200);
|
||||
|
||||
use teensy4_bsp as bsp;
|
||||
|
||||
use bsp::board;
|
||||
use bsp::hal;
|
||||
use bsp::logging;
|
||||
|
||||
use embedded_hal::serial::Write;
|
||||
|
||||
use rtic_monotonics::imxrt::Gpt1 as Mono;
|
||||
use rtic_monotonics::imxrt::*;
|
||||
use rtic_monotonics::Monotonic;
|
||||
|
||||
#[rtic::app(device = teensy4_bsp, dispatchers = [LPSPI1])]
|
||||
mod app {
|
||||
use super::*;
|
||||
|
||||
const LOG_POLL_INTERVAL: u32 = board::PERCLK_FREQUENCY / 100;
|
||||
const LOG_DMA_CHANNEL: usize = 0;
|
||||
|
||||
#[shared]
|
||||
struct Shared {}
|
||||
|
||||
#[local]
|
||||
struct Local {
|
||||
led: board::Led,
|
||||
poll_log: hal::pit::Pit<3>,
|
||||
log_poller: logging::Poller,
|
||||
}
|
||||
|
||||
#[init]
|
||||
fn init(cx: init::Context) -> (Shared, Local) {
|
||||
let board::Resources {
|
||||
mut dma,
|
||||
pit: (_, _, _, mut poll_log),
|
||||
pins,
|
||||
lpuart6,
|
||||
mut gpio2,
|
||||
mut gpt1,
|
||||
..
|
||||
} = board::t40(cx.device);
|
||||
|
||||
// Logging
|
||||
let log_dma = dma[LOG_DMA_CHANNEL].take().unwrap();
|
||||
let mut log_uart = board::lpuart(lpuart6, pins.p1, pins.p0, 115200);
|
||||
for &ch in "\r\n===== Teensy4 Rtic Blinky =====\r\n\r\n".as_bytes() {
|
||||
nb::block!(log_uart.write(ch)).unwrap();
|
||||
}
|
||||
nb::block!(log_uart.flush()).unwrap();
|
||||
let log_poller =
|
||||
logging::log::lpuart(log_uart, log_dma, logging::Interrupts::Enabled).unwrap();
|
||||
poll_log.set_interrupt_enable(true);
|
||||
poll_log.set_load_timer_value(LOG_POLL_INTERVAL);
|
||||
poll_log.enable();
|
||||
|
||||
// Initialize the systick interrupt & obtain the token to prove that we did
|
||||
gpt1.set_clock_source(hal::gpt::ClockSource::PeripheralClock);
|
||||
let gpt1_mono_token = rtic_monotonics::create_imxrt_gpt1_token!();
|
||||
Mono::start(board::PERCLK_FREQUENCY, gpt1.release(), gpt1_mono_token);
|
||||
|
||||
// Setup LED
|
||||
let led = board::led(&mut gpio2, pins.p13);
|
||||
led.set();
|
||||
|
||||
// Schedule the blinking task
|
||||
blink::spawn().ok();
|
||||
|
||||
(
|
||||
Shared {},
|
||||
Local {
|
||||
log_poller,
|
||||
poll_log,
|
||||
led,
|
||||
},
|
||||
)
|
||||
}
|
||||
|
||||
#[task(local = [led])]
|
||||
async fn blink(cx: blink::Context) {
|
||||
let blink::LocalResources { led, .. } = cx.local;
|
||||
|
||||
let mut next_update = Mono::now();
|
||||
|
||||
loop {
|
||||
led.toggle();
|
||||
log::info!("Time: {}", Mono::now());
|
||||
next_update += 1000.millis();
|
||||
Mono::delay_until(next_update).await;
|
||||
}
|
||||
}
|
||||
|
||||
#[task(binds = PIT, priority = 1, local = [poll_log, log_poller])]
|
||||
fn logger(cx: logger::Context) {
|
||||
let logger::LocalResources {
|
||||
poll_log,
|
||||
log_poller,
|
||||
..
|
||||
} = cx.local;
|
||||
|
||||
if poll_log.is_elapsed() {
|
||||
poll_log.clear_elapsed();
|
||||
|
||||
log_poller.poll();
|
||||
}
|
||||
}
|
||||
}
|
||||
29
examples/teensy4_blinky/run.py
Normal file
29
examples/teensy4_blinky/run.py
Normal file
|
|
@ -0,0 +1,29 @@
|
|||
#!/usr/bin/env python
|
||||
|
||||
from pathlib import Path
|
||||
from tempfile import TemporaryDirectory
|
||||
|
||||
import subprocess
|
||||
import sys
|
||||
|
||||
|
||||
def main():
|
||||
if len(sys.argv) < 2:
|
||||
print("Please provide the binary as first argument!")
|
||||
exit(1)
|
||||
|
||||
binary = sys.argv[1]
|
||||
print(f"Flashing {binary} ...")
|
||||
|
||||
with TemporaryDirectory() as tmpdir:
|
||||
tmpdir = Path(tmpdir)
|
||||
hexfile = tmpdir / "firmware.hex"
|
||||
|
||||
subprocess.run(["rust-objcopy", "-O", "ihex", binary, hexfile], check=True)
|
||||
subprocess.run(["teensy_loader_cli", "--mcu=imxrt1062", "-wv", hexfile], check=True)
|
||||
|
||||
print("Teensy successfully flashed.")
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
62
examples/teensy4_blinky/src/main.rs
Normal file
62
examples/teensy4_blinky/src/main.rs
Normal file
|
|
@ -0,0 +1,62 @@
|
|||
#![deny(unsafe_code)]
|
||||
#![deny(warnings)]
|
||||
#![no_main]
|
||||
#![no_std]
|
||||
#![feature(type_alias_impl_trait)]
|
||||
|
||||
#[panic_handler]
|
||||
fn panic(_: &::core::panic::PanicInfo) -> ! {
|
||||
::teensy4_panic::sos()
|
||||
}
|
||||
|
||||
use teensy4_bsp::{board, hal};
|
||||
|
||||
use rtic_monotonics::imxrt::Gpt1 as Mono;
|
||||
use rtic_monotonics::imxrt::*;
|
||||
|
||||
#[rtic::app(device = teensy4_bsp, dispatchers = [LPSPI1])]
|
||||
mod app {
|
||||
use super::*;
|
||||
|
||||
#[shared]
|
||||
struct Shared {}
|
||||
|
||||
#[local]
|
||||
struct Local {
|
||||
led: board::Led,
|
||||
}
|
||||
|
||||
#[init]
|
||||
fn init(cx: init::Context) -> (Shared, Local) {
|
||||
let board::Resources {
|
||||
pins,
|
||||
mut gpio2,
|
||||
mut gpt1,
|
||||
..
|
||||
} = board::t40(cx.device);
|
||||
|
||||
// Initialize the systick interrupt & obtain the token to prove that we did
|
||||
gpt1.set_clock_source(hal::gpt::ClockSource::PeripheralClock);
|
||||
let gpt1_mono_token = rtic_monotonics::create_imxrt_gpt1_token!();
|
||||
Mono::start(board::PERCLK_FREQUENCY, gpt1.release(), gpt1_mono_token);
|
||||
|
||||
// Setup LED
|
||||
let led = board::led(&mut gpio2, pins.p13);
|
||||
led.set();
|
||||
|
||||
// Schedule the blinking task
|
||||
blink::spawn().ok();
|
||||
|
||||
(Shared {}, Local { led })
|
||||
}
|
||||
|
||||
#[task(local = [led])]
|
||||
async fn blink(cx: blink::Context) {
|
||||
let blink::LocalResources { led, .. } = cx.local;
|
||||
|
||||
loop {
|
||||
led.toggle();
|
||||
Mono::delay(1000.millis()).await;
|
||||
}
|
||||
}
|
||||
}
|
||||
Loading…
Add table
Add a link
Reference in a new issue