rust/zynq7000-rs
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re-worked GPIO implementation

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This commit is contained in:
Robin Müller
2025-04-10 17:10:24 +02:00
parent 1bbfc98a0a
commit f423f8e6dd
25 changed files with 1254 additions and 1321 deletions
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2
examples/zedboard/Cargo.toml
View File

@ -11,7 +11,7 @@ keywords = ["no-std", "arm", "cortex-a", "amd", "zynq7000"]
categories = ["embedded", "no-std", "hardware-support"]
[dependencies]
cortex-ar = { git = "https://github.com/us-irs/cortex-ar.git", branch = "cortex-a-addition", features = ["critical-section-single-core"] }
cortex-ar = { git = "https://github.com/rust-embedded/cortex-ar", branch = "main", features = ["critical-section-single-core"] }
zynq7000-rt = { path = "../../zynq7000-rt" }
zynq7000 = { path = "../../zynq7000" }
zynq7000-hal = { path = "../../zynq7000-hal" }

43
examples/zedboard/src/bin/l3gd20h-i2c-mio.rs
View File

@ -22,7 +22,7 @@ use zynq7000_hal::{
clocks::Clocks,
configure_level_shifter,
gic::{GicConfigurator, GicInterruptHelper, Interrupt},
gpio::{EmioPin, GpioPins, PinState},
gpio::{GpioPins, Output, PinState},
gtc::Gtc,
i2c,
time::Hertz,
@ -73,12 +73,10 @@ async fn main(_spawner: Spawner) -> ! {
let uart_clk_config = uart::ClkConfigRaw::new_autocalc_with_error(clocks.io_clocks(), 115200)
.unwrap()
.0;
let uart_tx = gpio_pins.mio.mio48.into_uart();
let uart_rx = gpio_pins.mio.mio49.into_uart();
let mut uart = uart::Uart::new_with_mio(
dp.uart_1,
uart::UartConfig::new_with_clk_config(uart_clk_config),
(uart_tx, uart_rx),
(gpio_pins.mio.mio48, gpio_pins.mio.mio49),
)
.unwrap();
uart.write_all(b"-- Zynq 7000 Zedboard I2C L3GD20H example --\n\r")
@ -95,45 +93,48 @@ async fn main(_spawner: Spawner) -> ! {
let boot_mode = BootMode::new();
info!("Boot mode: {:?}", boot_mode);
let sck_pin = gpio_pins.mio.mio12.into_i2c();
let sda_pin = gpio_pins.mio.mio13.into_i2c();
let pin_sel = match I2C_ADDR_SEL {
I2cAddr::Sa0Low => PinState::Low,
I2cAddr::Sa0High => PinState::High,
};
let _sa0_pin = gpio_pins.mio.mio11.into_output(pin_sel);
let _sa0_pin = Output::new_for_mio(gpio_pins.mio.mio11, pin_sel);
// The CS pin must be pulled high.
let _cs_pin = gpio_pins.mio.mio10.into_output(PinState::High);
let _cs_pin = Output::new_for_mio(gpio_pins.mio.mio10, PinState::High);
let clk_config = i2c::calculate_divisors(
clocks.arm_clocks().cpu_1x_clk(),
i2c::I2cSpeed::Normal100kHz,
)
.unwrap();
let i2c = i2c::I2c::new_with_mio(dp.i2c_1, clk_config, (sck_pin, sda_pin)).unwrap();
let i2c = i2c::I2c::new_with_mio(
dp.i2c_1,
clk_config,
(gpio_pins.mio.mio12, gpio_pins.mio.mio13),
)
.unwrap();
let mut l3gd20 = l3gd20::i2c::L3gd20::new(i2c, l3gd20::i2c::I2cAddr::Sa0Low).unwrap();
let who_am_i = l3gd20.who_am_i().unwrap();
info!("L3GD20 WHO_AM_I: 0x{:02X}", who_am_i);
let mut delay = Delay;
let mut ticker = Ticker::every(Duration::from_millis(400));
let mut mio_led = gpio_pins.mio.mio7.into_output(PinState::Low);
let mut mio_led = Output::new_for_mio(gpio_pins.mio.mio7, PinState::Low);
let mut emio_leds: [EmioPin; 8] = [
gpio_pins.emio.take(0).unwrap(),
gpio_pins.emio.take(1).unwrap(),
gpio_pins.emio.take(2).unwrap(),
gpio_pins.emio.take(3).unwrap(),
gpio_pins.emio.take(4).unwrap(),
gpio_pins.emio.take(5).unwrap(),
gpio_pins.emio.take(6).unwrap(),
gpio_pins.emio.take(7).unwrap(),
let mut emio_leds: [Output; 8] = [
Output::new_for_emio(gpio_pins.emio.take(0).unwrap(), PinState::Low),
Output::new_for_emio(gpio_pins.emio.take(1).unwrap(), PinState::Low),
Output::new_for_emio(gpio_pins.emio.take(2).unwrap(), PinState::Low),
Output::new_for_emio(gpio_pins.emio.take(3).unwrap(), PinState::Low),
Output::new_for_emio(gpio_pins.emio.take(4).unwrap(), PinState::Low),
Output::new_for_emio(gpio_pins.emio.take(5).unwrap(), PinState::Low),
Output::new_for_emio(gpio_pins.emio.take(6).unwrap(), PinState::Low),
Output::new_for_emio(gpio_pins.emio.take(7).unwrap(), PinState::Low),
];
for (idx, led) in emio_leds.iter_mut().enumerate() {
if idx % 2 == 0 {
led.into_output(PinState::High);
led.set_high();
} else {
led.into_output(PinState::Low);
led.set_low();
}
}

51
examples/zedboard/src/bin/l3gd20h-spi-mio.rs
View File

@ -22,7 +22,7 @@ use zynq7000_hal::{
clocks::Clocks,
configure_level_shifter,
gic::{GicConfigurator, GicInterruptHelper, Interrupt},
gpio::{DynMioPin, EmioPin, GpioPins, PinState},
gpio::{GpioPins, Output, PinState},
gtc::Gtc,
spi::{self, SpiAsync, SpiId, SpiWithHwCs, SpiWithHwCsAsync, on_interrupt},
time::Hertz,
@ -82,12 +82,10 @@ async fn main(spawner: Spawner) -> ! {
let uart_clk_config = uart::ClkConfigRaw::new_autocalc_with_error(clocks.io_clocks(), 115200)
.unwrap()
.0;
let uart_tx = gpio_pins.mio.mio48.into_uart();
let uart_rx = gpio_pins.mio.mio49.into_uart();
let mut uart = uart::Uart::new_with_mio(
dp.uart_1,
uart::UartConfig::new_with_clk_config(uart_clk_config),
(uart_tx, uart_rx),
(gpio_pins.mio.mio48, gpio_pins.mio.mio49),
)
.unwrap();
uart.write_all(b"-- Zynq 7000 Zedboard SPI L3GD20H example --\n\r")
@ -106,10 +104,6 @@ async fn main(spawner: Spawner) -> ! {
spi_ref_clk_div
);
}
let sck_pin = gpio_pins.mio.mio12.into_spi();
let mosi_pin = gpio_pins.mio.mio10.into_spi();
let miso_pin = gpio_pins.mio.mio11.into_spi();
let ss_pin = gpio_pins.mio.mio13.into_spi();
let mut spi = spi::Spi::new_one_hw_cs(
dp.spi_1,
@ -121,8 +115,12 @@ async fn main(spawner: Spawner) -> ! {
embedded_hal::spi::MODE_3,
spi::SlaveSelectConfig::AutoWithAutoStart,
),
(sck_pin, mosi_pin, miso_pin),
ss_pin,
(
gpio_pins.mio.mio12,
gpio_pins.mio.mio10,
gpio_pins.mio.mio11,
),
gpio_pins.mio.mio13,
)
.unwrap();
let mod_id = spi.regs().read_mod_id();
@ -138,24 +136,25 @@ async fn main(spawner: Spawner) -> ! {
.build(),
);
let mio_led = gpio_pins.mio.mio7.into_output(PinState::Low).downgrade();
let mut emio_leds: [EmioPin; 8] = [
gpio_pins.emio.take(0).unwrap(),
gpio_pins.emio.take(1).unwrap(),
gpio_pins.emio.take(2).unwrap(),
gpio_pins.emio.take(3).unwrap(),
gpio_pins.emio.take(4).unwrap(),
gpio_pins.emio.take(5).unwrap(),
gpio_pins.emio.take(6).unwrap(),
gpio_pins.emio.take(7).unwrap(),
let mio_led = Output::new_for_mio(gpio_pins.mio.mio7, PinState::Low);
let mut emio_leds: [Output; 8] = [
Output::new_for_emio(gpio_pins.emio.take(0).unwrap(), PinState::Low),
Output::new_for_emio(gpio_pins.emio.take(1).unwrap(), PinState::Low),
Output::new_for_emio(gpio_pins.emio.take(2).unwrap(), PinState::Low),
Output::new_for_emio(gpio_pins.emio.take(3).unwrap(), PinState::Low),
Output::new_for_emio(gpio_pins.emio.take(4).unwrap(), PinState::Low),
Output::new_for_emio(gpio_pins.emio.take(5).unwrap(), PinState::Low),
Output::new_for_emio(gpio_pins.emio.take(6).unwrap(), PinState::Low),
Output::new_for_emio(gpio_pins.emio.take(7).unwrap(), PinState::Low),
];
for (idx, led) in emio_leds.iter_mut().enumerate() {
if idx % 2 == 0 {
led.into_output(PinState::High);
led.set_high();
} else {
led.into_output(PinState::Low);
led.set_low();
}
}
spawner.spawn(logger_task(uart)).unwrap();
if BLOCKING {
blocking_application(mio_led, emio_leds, spi).await;
@ -178,8 +177,8 @@ pub async fn logger_task(uart: uart::Uart) {
}
pub async fn blocking_application(
mut mio_led: DynMioPin,
mut emio_leds: [EmioPin; 8],
mut mio_led: Output,
mut emio_leds: [Output; 8],
spi: spi::Spi,
) -> ! {
let mut delay = Delay;
@ -207,8 +206,8 @@ pub async fn blocking_application(
}
pub async fn non_blocking_application(
mut mio_led: DynMioPin,
mut emio_leds: [EmioPin; 8],
mut mio_led: Output,
mut emio_leds: [Output; 8],
spi: spi::Spi,
) -> ! {
let mut delay = Delay;

77
examples/zedboard/src/bin/uart-blocking.rs
View File

@ -17,7 +17,7 @@ use zynq7000_hal::{
clocks::Clocks,
configure_level_shifter,
gic::{GicConfigurator, GicInterruptHelper, Interrupt},
gpio::{EmioPin, GpioPins, PinState},
gpio::{GpioPins, Output, PinState},
gtc::Gtc,
uart::{ClkConfigRaw, Uart, UartConfig},
};
@ -50,13 +50,13 @@ pub enum UartSel {
}
pub struct UartMultiplexer {
sel_pins: [EmioPin; 3],
sel_pins: [Output; 3],
}
impl UartMultiplexer {
pub fn new(mut sel_pins: [EmioPin; 3]) -> Self {
pub fn new(mut sel_pins: [Output; 3]) -> Self {
for pin in sel_pins.iter_mut() {
pin.into_output(PinState::Low);
pin.set_low();
}
Self { sel_pins }
}
@ -65,34 +65,34 @@ impl UartMultiplexer {
// TODO: A pin group switcher would be nice to do this in one go.
match sel {
UartSel::Uart0 => {
self.sel_pins[2].set_low().unwrap();
self.sel_pins[1].set_low().unwrap();
self.sel_pins[0].set_low().unwrap();
self.sel_pins[2].set_low();
self.sel_pins[1].set_low();
self.sel_pins[0].set_low();
}
UartSel::Uartlite => {
self.sel_pins[2].set_low().unwrap();
self.sel_pins[1].set_low().unwrap();
self.sel_pins[0].set_high().unwrap();
self.sel_pins[2].set_low();
self.sel_pins[1].set_low();
self.sel_pins[0].set_high();
}
UartSel::Uart16550 => {
self.sel_pins[2].set_low().unwrap();
self.sel_pins[1].set_high().unwrap();
self.sel_pins[0].set_low().unwrap();
self.sel_pins[2].set_low();
self.sel_pins[1].set_high();
self.sel_pins[0].set_low();
}
UartSel::Uart0ToUartlite => {
self.sel_pins[2].set_low().unwrap();
self.sel_pins[1].set_high().unwrap();
self.sel_pins[0].set_high().unwrap();
self.sel_pins[2].set_low();
self.sel_pins[1].set_high();
self.sel_pins[0].set_high();
}
UartSel::Uart0ToUart16550 => {
self.sel_pins[2].set_high().unwrap();
self.sel_pins[1].set_low().unwrap();
self.sel_pins[0].set_low().unwrap();
self.sel_pins[2].set_high();
self.sel_pins[1].set_low();
self.sel_pins[0].set_low();
}
UartSel::UartliteToUart16550 => {
self.sel_pins[2].set_high().unwrap();
self.sel_pins[1].set_low().unwrap();
self.sel_pins[0].set_high().unwrap();
self.sel_pins[2].set_high();
self.sel_pins[1].set_low();
self.sel_pins[0].set_high();
}
}
}
@ -123,12 +123,10 @@ async fn main(_spawner: Spawner) -> ! {
let uart_clk_config = ClkConfigRaw::new_autocalc_with_error(clocks.io_clocks(), 115200)
.unwrap()
.0;
let uart_tx = gpio_pins.mio.mio48.into_uart();
let uart_rx = gpio_pins.mio.mio49.into_uart();
let mut log_uart = Uart::new_with_mio(
dp.uart_1,
UartConfig::new_with_clk_config(uart_clk_config),
(uart_tx, uart_rx),
(gpio_pins.mio.mio48, gpio_pins.mio.mio49),
)
.unwrap();
log_uart.write_all(INIT_STRING.as_bytes()).unwrap();
@ -163,26 +161,23 @@ async fn main(_spawner: Spawner) -> ! {
info!("Boot mode: {:?}", boot_mode);
let mut ticker = Ticker::every(Duration::from_millis(1000));
let mut mio_led = gpio_pins.mio.mio7.into_output(PinState::Low);
let mut emio_leds: [EmioPin; 8] = [
gpio_pins.emio.take(0).unwrap(),
gpio_pins.emio.take(1).unwrap(),
gpio_pins.emio.take(2).unwrap(),
gpio_pins.emio.take(3).unwrap(),
gpio_pins.emio.take(4).unwrap(),
gpio_pins.emio.take(5).unwrap(),
gpio_pins.emio.take(6).unwrap(),
gpio_pins.emio.take(7).unwrap(),
let mut mio_led = Output::new_for_mio(gpio_pins.mio.mio7, PinState::Low);
let mut emio_leds: [Output; 8] = [
Output::new_for_emio(gpio_pins.emio.take(0).unwrap(), PinState::Low),
Output::new_for_emio(gpio_pins.emio.take(1).unwrap(), PinState::Low),
Output::new_for_emio(gpio_pins.emio.take(2).unwrap(), PinState::Low),
Output::new_for_emio(gpio_pins.emio.take(3).unwrap(), PinState::Low),
Output::new_for_emio(gpio_pins.emio.take(4).unwrap(), PinState::Low),
Output::new_for_emio(gpio_pins.emio.take(5).unwrap(), PinState::Low),
Output::new_for_emio(gpio_pins.emio.take(6).unwrap(), PinState::Low),
Output::new_for_emio(gpio_pins.emio.take(7).unwrap(), PinState::Low),
];
for led in emio_leds.iter_mut() {
led.into_output(PinState::Low);
}
let mut uart_mux = UartMultiplexer::new([
gpio_pins.emio.take(8).unwrap(),
gpio_pins.emio.take(9).unwrap(),
gpio_pins.emio.take(10).unwrap(),
Output::new_for_emio(gpio_pins.emio.take(8).unwrap(), PinState::Low),
Output::new_for_emio(gpio_pins.emio.take(9).unwrap(), PinState::Low),
Output::new_for_emio(gpio_pins.emio.take(10).unwrap(), PinState::Low),
]);
let mut current_sel = UartSel::Uart0;
uart_mux.select(current_sel);

81
examples/zedboard/src/bin/uart-non-blocking.rs
View File

@ -43,7 +43,7 @@ use zynq7000_hal::{
clocks::Clocks,
configure_level_shifter,
gic::{GicConfigurator, GicInterruptHelper, Interrupt},
gpio::{EmioPin, GpioPins, Mio7, MioPin, Output, PinState},
gpio::{GpioPins, Output, PinState},
gtc::Gtc,
time::Hertz,
uart::{ClkConfigRaw, Uart, UartConfig},
@ -114,13 +114,13 @@ pub enum UartSel {
}
pub struct UartMultiplexer {
sel_pins: [EmioPin; 3],
sel_pins: [Output; 3],
}
impl UartMultiplexer {
pub fn new(mut sel_pins: [EmioPin; 3]) -> Self {
pub fn new(mut sel_pins: [Output; 3]) -> Self {
for pin in sel_pins.iter_mut() {
pin.into_output(PinState::Low);
pin.set_low();
}
Self { sel_pins }
}
@ -129,38 +129,39 @@ impl UartMultiplexer {
// TODO: A pin group switcher would be nice to do this in one go.
match sel {
UartSel::Uart0 => {
self.sel_pins[2].set_low().unwrap();
self.sel_pins[1].set_low().unwrap();
self.sel_pins[0].set_low().unwrap();
self.sel_pins[2].set_low();
self.sel_pins[1].set_low();
self.sel_pins[0].set_low();
}
UartSel::Uartlite => {
self.sel_pins[2].set_low().unwrap();
self.sel_pins[1].set_low().unwrap();
self.sel_pins[0].set_high().unwrap();
self.sel_pins[2].set_low();
self.sel_pins[1].set_low();
self.sel_pins[0].set_high();
}
UartSel::Uart16550 => {
self.sel_pins[2].set_low().unwrap();
self.sel_pins[1].set_high().unwrap();
self.sel_pins[0].set_low().unwrap();
self.sel_pins[2].set_low();
self.sel_pins[1].set_high();
self.sel_pins[0].set_low();
}
UartSel::Uart0ToUartlite => {
self.sel_pins[2].set_low().unwrap();
self.sel_pins[1].set_high().unwrap();
self.sel_pins[0].set_high().unwrap();
self.sel_pins[2].set_low();
self.sel_pins[1].set_high();
self.sel_pins[0].set_high();
}
UartSel::Uart0ToUart16550 => {
self.sel_pins[2].set_high().unwrap();
self.sel_pins[1].set_low().unwrap();
self.sel_pins[0].set_low().unwrap();
self.sel_pins[2].set_high();
self.sel_pins[1].set_low();
self.sel_pins[0].set_low();
}
UartSel::UartliteToUart16550 => {
self.sel_pins[2].set_high().unwrap();
self.sel_pins[1].set_low().unwrap();
self.sel_pins[0].set_high().unwrap();
self.sel_pins[2].set_high();
self.sel_pins[1].set_low();
self.sel_pins[0].set_high();
}
}
}
}
#[embassy_executor::main]
#[unsafe(export_name = "main")]
async fn main(spawner: Spawner) -> ! {
@ -192,12 +193,10 @@ async fn main(spawner: Spawner) -> ! {
let uart_clk_config = ClkConfigRaw::new_autocalc_with_error(clocks.io_clocks(), 115200)
.unwrap()
.0;
let uart_tx = gpio_pins.mio.mio48.into_uart();
let uart_rx = gpio_pins.mio.mio49.into_uart();
let mut log_uart = Uart::new_with_mio(
dp.uart_1,
UartConfig::new_with_clk_config(uart_clk_config),
(uart_tx, uart_rx),
(gpio_pins.mio.mio48, gpio_pins.mio.mio49),
)
.unwrap();
log_uart.write_all(INIT_STRING.as_bytes()).unwrap();
@ -222,9 +221,9 @@ async fn main(spawner: Spawner) -> ! {
// Set up UART multiplexing before creating and configuring the UARTs.
let mut uart_mux = UartMultiplexer::new([
gpio_pins.emio.take(8).unwrap(),
gpio_pins.emio.take(9).unwrap(),
gpio_pins.emio.take(10).unwrap(),
Output::new_for_emio(gpio_pins.emio.take(8).unwrap(), PinState::Low),
Output::new_for_emio(gpio_pins.emio.take(9).unwrap(), PinState::Low),
Output::new_for_emio(gpio_pins.emio.take(10).unwrap(), PinState::Low),
]);
match UART_MODE {
UartMode::Uart0ToUartlite => uart_mux.select(UartSel::Uart0ToUartlite),
@ -254,21 +253,17 @@ async fn main(spawner: Spawner) -> ! {
let boot_mode = BootMode::new();
info!("Boot mode: {:?}", boot_mode);
let mio_led = gpio_pins.mio.mio7.into_output(PinState::Low);
let mut emio_leds: [EmioPin; 8] = [
gpio_pins.emio.take(0).unwrap(),
gpio_pins.emio.take(1).unwrap(),
gpio_pins.emio.take(2).unwrap(),
gpio_pins.emio.take(3).unwrap(),
gpio_pins.emio.take(4).unwrap(),
gpio_pins.emio.take(5).unwrap(),
gpio_pins.emio.take(6).unwrap(),
gpio_pins.emio.take(7).unwrap(),
let mio_led = Output::new_for_mio(gpio_pins.mio.mio7, PinState::Low);
let emio_leds: [Output; 8] = [
Output::new_for_emio(gpio_pins.emio.take(0).unwrap(), PinState::Low),
Output::new_for_emio(gpio_pins.emio.take(1).unwrap(), PinState::Low),
Output::new_for_emio(gpio_pins.emio.take(2).unwrap(), PinState::Low),
Output::new_for_emio(gpio_pins.emio.take(3).unwrap(), PinState::Low),
Output::new_for_emio(gpio_pins.emio.take(4).unwrap(), PinState::Low),
Output::new_for_emio(gpio_pins.emio.take(5).unwrap(), PinState::Low),
Output::new_for_emio(gpio_pins.emio.take(6).unwrap(), PinState::Low),
Output::new_for_emio(gpio_pins.emio.take(7).unwrap(), PinState::Low),
];
for led in emio_leds.iter_mut() {
led.into_output(PinState::Low);
}
let (uart_0_tx, mut uart_0_rx) = uart_0.split();
let (uartlite_tx, _uartlite_rx) = uartlite.split();
@ -353,7 +348,7 @@ fn build_print_string(prefix: &str, base_str: &str) -> alloc::string::String {
}
#[embassy_executor::task]
async fn led_task(mut mio_led: MioPin<Mio7, Output>, mut emio_leds: [EmioPin; 8]) {
async fn led_task(mut mio_led: Output, mut emio_leds: [Output; 8]) {
let mut ticker = Ticker::every(Duration::from_millis(1000));
let mut led_idx = 0;
loop {

29
examples/zedboard/src/main.rs
View File

@ -14,7 +14,7 @@ use zynq7000_hal::{
clocks::Clocks,
configure_level_shifter,
gic::{GicConfigurator, GicInterruptHelper, Interrupt},
gpio::{EmioPin, GpioPins, PinState},
gpio::{GpioPins, Output, PinState},
gtc::Gtc,
uart::{ClkConfigRaw, Uart, UartConfig},
};
@ -59,12 +59,10 @@ async fn main(_spawner: Spawner) -> ! {
let uart_clk_config = ClkConfigRaw::new_autocalc_with_error(clocks.io_clocks(), 115200)
.unwrap()
.0;
let uart_tx = gpio_pins.mio.mio48.into_uart();
let uart_rx = gpio_pins.mio.mio49.into_uart();
let mut uart = Uart::new_with_mio(
dp.uart_1,
UartConfig::new_with_clk_config(uart_clk_config),
(uart_tx, uart_rx),
(gpio_pins.mio.mio48, gpio_pins.mio.mio49),
)
.unwrap();
uart.write_all(INIT_STRING.as_bytes()).unwrap();
@ -81,21 +79,18 @@ async fn main(_spawner: Spawner) -> ! {
info!("Boot mode: {:?}", boot_mode);
let mut ticker = Ticker::every(Duration::from_millis(200));
let mut mio_led = gpio_pins.mio.mio7.into_output(PinState::Low);
let mut emio_leds: [EmioPin; 8] = [
gpio_pins.emio.take(0).unwrap(),
gpio_pins.emio.take(1).unwrap(),
gpio_pins.emio.take(2).unwrap(),
gpio_pins.emio.take(3).unwrap(),
gpio_pins.emio.take(4).unwrap(),
gpio_pins.emio.take(5).unwrap(),
gpio_pins.emio.take(6).unwrap(),
gpio_pins.emio.take(7).unwrap(),
let mut mio_led = Output::new_for_mio(gpio_pins.mio.mio7, PinState::Low);
let mut emio_leds: [Output; 8] = [
Output::new_for_emio(gpio_pins.emio.take(0).unwrap(), PinState::Low),
Output::new_for_emio(gpio_pins.emio.take(1).unwrap(), PinState::Low),
Output::new_for_emio(gpio_pins.emio.take(2).unwrap(), PinState::Low),
Output::new_for_emio(gpio_pins.emio.take(3).unwrap(), PinState::Low),
Output::new_for_emio(gpio_pins.emio.take(4).unwrap(), PinState::Low),
Output::new_for_emio(gpio_pins.emio.take(5).unwrap(), PinState::Low),
Output::new_for_emio(gpio_pins.emio.take(6).unwrap(), PinState::Low),
Output::new_for_emio(gpio_pins.emio.take(7).unwrap(), PinState::Low),
];
for led in emio_leds.iter_mut() {
led.into_output(PinState::Low);
}
loop {
mio_led.toggle().unwrap();