For mathijs

src/battery.rs

@@ -3,6 +3,7 @@
 use crate::mutex::Mutex;
 use crate::once_cell::OnceCell;
 use cortex_m::peripheral::NVIC;
+use nrf51_hal::gpio::Level;
 use nrf51_pac::interrupt;
 use nrf51_pac::Interrupt;
 
@@ -46,11 +47,15 @@ pub(crate) fn initialize(adc: nrf51_pac::ADC, nvic: &mut NVIC) {
 
 #[interrupt]
 unsafe fn ADC() {
+    let _ = unsafe { nrf51_hal::gpio::p0::Parts::new(nrf51_pac::Peripherals::steal().GPIO).p0_20.into_push_pull_output(Level::High) };
+
     ADC_STATE.modify(|adc| {
         adc.adc.events_end.reset();
         // Battery voltage = (result*1.2*3/255*2) = RESULT*0.007058824
         adc.last_result = adc.adc.result.read().result().bits() * 7;
-    })
+    });
+
+    let _ = unsafe { nrf51_hal::gpio::p0::Parts::new(nrf51_pac::Peripherals::steal().GPIO).p0_20.into_push_pull_output(Level::Low) };
 }
 
 /// Returns the battery voltage in 10^-2 volt.

src/motor.rs

 use crate::mutex::Mutex;
 use crate::once_cell::OnceCell;
 use cortex_m::peripheral::NVIC;
+use nrf51_hal::gpio::Level;
 use nrf51_pac::{interrupt, Interrupt, GPIOTE, PPI};
 
 struct Motors {
@@ -237,6 +238,7 @@ pub(crate) fn initialize(
 
 #[interrupt]
 unsafe fn TIMER2() {
+    let _ = unsafe { nrf51_hal::gpio::p0::Parts::new(nrf51_pac::Peripherals::steal().GPIO).p0_20.into_push_pull_output(Level::High) };
     // Safety: interrupts are already turned off here, since we are inside an interrupt
     let motors = unsafe { MOTORS.no_critical_section_lock_mut() };
     if motors.timer2.events_compare[3].read().bits() != 0 {
@@ -250,10 +252,13 @@ unsafe fn TIMER2() {
             motors.timer2.cc[1].write(|w| w.bits(u32::from(1000 + motors.motor_values[3])));
         }
     }
+
+    let _ = unsafe { nrf51_hal::gpio::p0::Parts::new(nrf51_pac::Peripherals::steal().GPIO).p0_20.into_push_pull_output(Level::Low) };
 }
 
 #[interrupt]
 unsafe fn TIMER1() {
+    let _ = unsafe { nrf51_hal::gpio::p0::Parts::new(nrf51_pac::Peripherals::steal().GPIO).p0_20.into_push_pull_output(Level::High) };
     // Safety: interrupts are already turned off here, since we are inside an interrupt
     let motors = unsafe { MOTORS.no_critical_section_lock_mut() };
     if motors.timer1.events_compare[3].read().bits() != 0 {
@@ -266,4 +271,6 @@ unsafe fn TIMER1() {
             motors.timer1.cc[1].write(|w| w.bits(u32::from(1000 + motors.motor_values[1])));
         }
     }
+
+    let _ = unsafe { nrf51_hal::gpio::p0::Parts::new(nrf51_pac::Peripherals::steal().GPIO).p0_20.into_push_pull_output(Level::Low) };
 }

src/time.rs

@@ -10,6 +10,7 @@ use crate::once_cell::OnceCell;
 /// and hard to convert to an exact number of seconds
 pub use cortex_m::asm::delay as assembly_delay;
 use cortex_m::peripheral::NVIC;
+use nrf51_hal::gpio::Level;
 use nrf51_hal::rtc::{RtcCompareReg, RtcInterrupt};
 use nrf51_hal::Rtc;
 use nrf51_pac::RTC0;
@@ -155,6 +156,7 @@ fn counter_diff(prev: u32, curr: u32) -> u32 {
 
 #[interrupt]
 unsafe fn RTC0() {
+    let _ = unsafe { nrf51_hal::gpio::p0::Parts::new(nrf51_pac::Peripherals::steal().GPIO).p0_20.into_push_pull_output(Level::High) };
     // SAFETY: we're in an interrupt so this code cannot be run concurrently anyway
     let rtc = RTC.no_critical_section_lock_mut();
     // SAFETY: we're in an interrupt so this code cannot be run concurrently anyway
@@ -177,6 +179,7 @@ unsafe fn RTC0() {
         rtc.reset_event(RtcInterrupt::Compare0);
         TIMER_FLAG.store(true, Ordering::SeqCst);
     }
+    let _ = unsafe { nrf51_hal::gpio::p0::Parts::new(nrf51_pac::Peripherals::steal().GPIO).p0_20.into_push_pull_output(Level::Low) };
 }
 
 /// Wait for the next interrupt configured by `set_interrupt_frequency`.

src/uart.rs

 use crate::mutex::Mutex;
 use crate::once_cell::OnceCell;
 use cortex_m::peripheral::NVIC;
+use nrf51_hal::gpio::Level;
 use nrf51_pac::interrupt;
 use ringbuffer::{ConstGenericRingBuffer, RingBuffer, RingBufferRead, RingBufferWrite};
 
@@ -117,6 +118,7 @@ fn put_byte(uart: &mut OnceCell<UartDriver>, byte: u8) {
 /// Interrupt handler for UART0
 /// It's called when the enabled interrupts for uart0 are triggered
 unsafe fn UART0() {
+    let _ = unsafe { nrf51_hal::gpio::p0::Parts::new(nrf51_pac::Peripherals::steal().GPIO).p0_20.into_push_pull_output(Level::High) };
     // Safety: interrupts are already turned off here, since we are inside an interrupt
     let uart = unsafe { UART.no_critical_section_lock_mut() };
 
@@ -138,4 +140,6 @@ unsafe fn UART0() {
     if uart.uart.events_error.read().bits() != 0 {
         uart.uart.events_error.reset();
     }
+
+    let _ = unsafe { nrf51_hal::gpio::p0::Parts::new(nrf51_pac::Peripherals::steal().GPIO).p0_20.into_push_pull_output(Level::Low) };
 }