Added C/Rust-Bindings for XGPIO

mission/freeRTOS_rust_helper.c

@@ -1,6 +1,7 @@
 #include "FreeRTOS.h"
 #include "semphr.h"
 #include "task.h"
+#include <xgpiops.h>
 
 // TODO namespace the names
 
@@ -98,4 +99,36 @@ uint8_t give_mutex(void * handle) {
   } else {
     return 0;
   }
+}
+
+
+
+XGpioPs gpio;
+void gpio_setup() {
+  XGpioPs_Config config;
+  config.DeviceId = 4; // chosen by fair dice throw
+  config.BaseAddr = XPS_GPIO_BASEADDR;
+  s32 returncode = XGpioPs_CfgInitialize(&gpio, &config, XPS_GPIO_BASEADDR);
+  //printf("Configured XGPIO");
+  XGpioPs_SetDirection(&gpio, 0, (1 << 7));
+  XGpioPs_SetOutputEnable(&gpio, 0, (1 << 7));
+  XGpioPs_WritePin(&gpio, 7, 1);
+  //printf("Blinking is initialized");
+  XGpioPs_WritePin(&gpio, 7, 0);
+  //printf("Value written once");
+}
+
+
+void gpio_write_pin(uint32_t pin, uint32_t data) {
+    XGpioPs_WritePin(&gpio, pin, data);
+}
+
+uint32_t gpio_read_pin(uint32_t pin) {
+  return XGpioPs_ReadPin(&gpio, pin);
+}
+
+void gpio_toggle_pin(uint32_t pin) {
+  static int pinvalue = 1;
+  pinvalue = pinvalue ^ 1;
+  XGpioPs_WritePin(&gpio, pin, pinvalue);
 }

mission_rust/src/fsrc/osal/mod.rs

@@ -46,6 +46,12 @@ extern "C" {
     fn enable_global_threading_c();
     fn disable_global_threading_c();
 
+
+    pub fn gpio_setup() -> ();
+    pub fn gpio_write_pin(pin: u32, data: u32) -> (); // TODO: Is u32 compatible to uint32_t?
+    pub fn gpio_read_pin(pin: u32) -> u32;
+    pub fn gpio_toggle_pin(pin: u32) -> ();
+
 }
 
 pub fn task_delete_self() {