#![no_std]
#![no_main]
use teensy4_panic as _;
#[rtic::app(device = teensy4_bsp, peripherals = true)]
mod app {
use bsp::board;
use bsp::hal::{self, gpt};
use teensy4_bsp as bsp;
const GPT_CLOCK_SOURCE: gpt::ClockSource = gpt::ClockSource::PeripheralClock;
const GPT_DIVIDER: u32 = 8;
const GPT_FREQUENCY: u32 = board::PERCLK_FREQUENCY / GPT_DIVIDER;
const GPT_DELAY_MS: u32 = GPT_FREQUENCY / 1_000 * 250;
const OCR: hal::gpt::OutputCompareRegister = hal::gpt::OutputCompareRegister::OCR3;
#[local]
struct Local {}
#[shared]
struct Shared {
led: board::Led,
gpt1: hal::gpt::Gpt1,
gpt2: hal::gpt::Gpt2,
}
fn init_gpt<const N: u8>(gpt: &mut hal::gpt::Gpt<N>) {
gpt.set_clock_source(GPT_CLOCK_SOURCE);
gpt.set_divider(GPT_DIVIDER);
gpt.set_output_compare_count(OCR, GPT_DELAY_MS);
gpt.set_mode(hal::gpt::Mode::Restart);
gpt.set_reset_on_enable(true);
gpt.set_output_interrupt_on_compare(OCR, true);
}
#[init]
fn init(cx: init::Context) -> (Shared, Local, init::Monotonics) {
let board::Resources {
pins,
mut gpt1,
mut gpt2,
mut gpio2,
..
} = board::t40(cx.device);
let led = board::led(&mut gpio2, pins.p13);
init_gpt(&mut gpt1);
init_gpt(&mut gpt2);
gpt1.enable();
(Shared { led, gpt1, gpt2 }, Local {}, init::Monotonics())
}
#[idle]
fn idle(_: idle::Context) -> ! {
loop {
cortex_m::asm::wfi();
}
}
#[task(binds = GPT1, shared = [led, gpt1, gpt2])]
fn turn_on(cx: turn_on::Context) {
let gpt1 = cx.shared.gpt1;
let gpt2 = cx.shared.gpt2;
let led = cx.shared.led;
(gpt1, gpt2, led).lock(|gpt1, gpt2, led| {
gpt1.clear_elapsed(OCR);
gpt1.disable();
led.set();
while gpt1.is_elapsed(OCR) {}
gpt2.enable();
})
}
#[task(binds = GPT2, shared = [led, gpt1, gpt2])]
fn turn_off(cx: turn_off::Context) {
let gpt1 = cx.shared.gpt1;
let gpt2 = cx.shared.gpt2;
let led = cx.shared.led;
(gpt1, gpt2, led).lock(|gpt1, gpt2, led| {
gpt2.clear_elapsed(OCR);
gpt2.disable();
led.clear();
while gpt2.is_elapsed(OCR) {}
gpt1.enable();
})
}
}