8 files changed, 932 insertions, 0 deletions
diff --git a/examples/teensy4_blinky/.cargo/config.toml b/examples/teensy4_blinky/.cargo/config.toml
new file mode 100644
index 0000000..7ab43ea
--- /dev/null
+++ b/examples/teensy4_blinky/.cargo/config.toml
@@ -0,0 +1,6 @@
+[target.thumbv7em-none-eabihf]
+runner = "python3 run.py"
+rustflags = ["-C", "link-arg=-Tt4link.x"]
+
+[build]
+target = "thumbv7em-none-eabihf" # Teensy 4
diff --git a/examples/teensy4_blinky/Cargo.lock b/examples/teensy4_blinky/Cargo.lock
new file mode 100644
index 0000000..8253a71
--- /dev/null
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+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",
+]
diff --git a/examples/teensy4_blinky/Cargo.toml b/examples/teensy4_blinky/Cargo.toml
new file mode 100644
index 0000000..800ad58
--- /dev/null
+++ b/examples/teensy4_blinky/Cargo.toml
@@ -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
diff --git a/examples/teensy4_blinky/README.md b/examples/teensy4_blinky/README.md
new file mode 100644
index 0000000..778e712
--- /dev/null
+++ b/examples/teensy4_blinky/README.md
@@ -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
+  ```
diff --git a/examples/teensy4_blinky/examples/common/mod.rs b/examples/teensy4_blinky/examples/common/mod.rs
new file mode 100644
index 0000000..9851fea
--- /dev/null
+++ b/examples/teensy4_blinky/examples/common/mod.rs
@@ -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;
diff --git a/examples/teensy4_blinky/examples/with_logs.rs b/examples/teensy4_blinky/examples/with_logs.rs
new file mode 100644
index 0000000..dd4fef0
--- /dev/null
+++ b/examples/teensy4_blinky/examples/with_logs.rs
@@ -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();
+        }
+    }
+}
diff --git a/examples/teensy4_blinky/run.py b/examples/teensy4_blinky/run.py
new file mode 100644
index 0000000..1e2fbf3
--- /dev/null
+++ b/examples/teensy4_blinky/run.py
@@ -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()
diff --git a/examples/teensy4_blinky/src/main.rs b/examples/teensy4_blinky/src/main.rs
new file mode 100644
index 0000000..1b95e7b
--- /dev/null
+++ b/examples/teensy4_blinky/src/main.rs
@@ -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;
+        }
+    }
+}