Add Monotonic for i.MX RT chip family

13 files changed, 1251 insertions, 1 deletions

diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index 1f8ac841..4815e424 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -156,6 +156,7 @@ jobs:
 
       - name: Configure rust target (v6, v7)
         run: |
+          rustup target add thumbv7em-none-eabihf
           rustup target add thumbv7m-none-eabi
           rustup target add thumbv6m-none-eabi
           rustup component add rust-src
diff --git a/examples/teensy4_blinky/.cargo/config.toml b/examples/teensy4_blinky/.cargo/config.toml
new file mode 100644
index 00000000..7ab43ea0
--- /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 00000000..8253a71b
--- /dev/null
+++ b/examples/teensy4_blinky/Cargo.lock
@@ -0,0 +1,603 @@
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+dependencies = [
+ "embedded-hal 0.2.7",
+ "nb 0.1.3",
+ "usb-device",
+]
+
+[[package]]
+name = "vcell"
+version = "0.1.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "77439c1b53d2303b20d9459b1ade71a83c716e3f9c34f3228c00e6f185d6c002"
+
+[[package]]
+name = "version_check"
+version = "0.9.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+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 00000000..800ad58b
--- /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 00000000..778e7129
--- /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 00000000..9851feab
--- /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 00000000..dd4fef0b
--- /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 00000000..1e2fbf39
--- /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 00000000..1b95e7b0
--- /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;
+        }
+    }
+}
diff --git a/rtic-monotonics/CHANGELOG.md b/rtic-monotonics/CHANGELOG.md
index 327448c4..cd8817df 100644
--- a/rtic-monotonics/CHANGELOG.md
+++ b/rtic-monotonics/CHANGELOG.md
@@ -7,6 +7,10 @@ For each category, *Added*, *Changed*, *Fixed* add new entries at the top!
 
 ## Unreleased
 
+### Added
+
+- i.MX RT support
+
 ### Fixed
 
 - Fix STM32 rollover race condition
diff --git a/rtic-monotonics/Cargo.toml b/rtic-monotonics/Cargo.toml
index 1d9138d3..7470ed9a 100644
--- a/rtic-monotonics/Cargo.toml
+++ b/rtic-monotonics/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name = "rtic-monotonics"
-version = "1.2.0"
+version = "1.2.1"
 
 edition = "2021"
 authors = [
@@ -45,6 +45,9 @@ nrf9160-pac = { version = "0.12.2", optional = true }
 # STM32
 stm32-metapac = { version = "14.0.0", optional = true }
 
+# i.MX RT
+imxrt-ral = { version = "0.5.3", optional = true }
+
 [build-dependencies]
 proc-macro2 = { version = "1.0.36", optional = true }
 quote = { version = "1.0.15", optional = true }
@@ -74,6 +77,12 @@ nrf5340-app = ["dep:cortex-m", "dep:nrf5340-app-pac", "dep:critical-section"]
 nrf5340-net = ["dep:cortex-m", "dep:nrf5340-net-pac", "dep:critical-section"]
 nrf9160 = ["dep:cortex-m", "dep:nrf9160-pac", "dep:critical-section"]
 
+# i.MX RT Timers
+# Use as `features = ["imxrt_gpt1"]`
+imxrt = ["dep:cortex-m", "dep:imxrt-ral"]
+imxrt_gpt1 = ["imxrt"]
+imxrt_gpt2 = ["imxrt"]
+
 # STM32 timers
 # Use as `features = ["stm32g081kb", "stm32_tim15"]`
 stm32_tim2 = []
diff --git a/rtic-monotonics/src/imxrt.rs b/rtic-monotonics/src/imxrt.rs
new file mode 100644
index 00000000..ee7e2ffe
--- /dev/null
+++ b/rtic-monotonics/src/imxrt.rs
@@ -0,0 +1,300 @@
+//! [`Monotonic`] impl for the i.MX RT.
+//!
+//! # Example
+//!
+//! ```
+//! use rtic_monotonics::imxrt::*;
+//! use rtic_monotonics::imxrt::Gpt1 as Mono;
+//!
+//! fn init() {
+//!     // Obtain ownership of the timer register block
+//!     let gpt1 = unsafe { imxrt_ral::gpt::GPT1::instance() };
+//!
+//!     // Configure the timer clock source and determine its tick rate
+//!     let timer_tickrate_hz = 1_000_000;
+//!
+//!     // Generate timer token to ensure correct timer interrupt handler is used
+//!     let token = rtic_monotonics::create_imxrt_gpt1_token!();
+//!
+//!     // Start the monotonic
+//!     Mono::start(timer_tickrate_hz, gpt1, token);
+//! }
+//!
+//! async fn usage() {
+//!     loop {
+//!          // Use the monotonic
+//!          let timestamp = Mono::now().ticks();
+//!          Mono::delay(100.millis()).await;
+//!     }
+//! }
+//! ```
+
+use crate::{Monotonic, TimeoutError, TimerQueue};
+use atomic_polyfill::{compiler_fence, AtomicU32, Ordering};
+pub use fugit::{self, ExtU64};
+
+use imxrt_ral as ral;
+
+const TIMER_HZ: u32 = 1_000_000;
+
+#[doc(hidden)]
+#[macro_export]
+macro_rules! __internal_create_imxrt_timer_interrupt {
+    ($mono_timer:ident, $timer:ident, $timer_token:ident) => {{
+        #[no_mangle]
+        #[allow(non_snake_case)]
+        unsafe extern "C" fn $timer() {
+            $crate::imxrt::$mono_timer::__tq().on_monotonic_interrupt();
+        }
+
+        pub struct $timer_token;
+
+        unsafe impl $crate::InterruptToken<$crate::imxrt::$mono_timer> for $timer_token {}
+
+        $timer_token
+    }};
+}
+
+/// Register GPT1 interrupt for the monotonic.
+#[cfg(feature = "imxrt_gpt1")]
+#[macro_export]
+macro_rules! create_imxrt_gpt1_token {
+    () => {{
+        $crate::__internal_create_imxrt_timer_interrupt!(Gpt1, GPT1, Gpt1Token)
+    }};
+}
+
+/// Register GPT2 interrupt for the monotonic.
+#[cfg(feature = "imxrt_gpt2")]
+#[macro_export]
+macro_rules! create_imxrt_gpt2_token {
+    () => {{
+        $crate::__internal_create_imxrt_timer_interrupt!(Gpt2, GPT2, Gpt2Token)
+    }};
+}
+
+// Credits to the `time-driver` of `embassy-stm32`.
+//
+// Clock timekeeping works with something we call "periods", which are time intervals
+// of 2^31 ticks. The Clock counter value is 32 bits, so one "overflow cycle" is 2 periods.
+//
+// A `period` count is maintained in parallel to the Timer hardware `counter`, like this:
+// - `period` and `counter` start at 0
+// - `period` is incremented on overflow (at counter value 0)
+// - `period` is incremented "midway" between overflows (at counter value 0x8000_0000)
+//
+// Therefore, when `period` is even, counter is in 0..0x7FFF_FFFF. When odd, counter is in 0x8000_0000..0xFFFF_FFFF
+// This allows for now() to return the correct value even if it races an overflow.
+//
+// To get `now()`, `period` is read first, then `counter` is read. If the counter value matches
+// the expected range for the `period` parity, we're done. If it doesn't, this means that
+// a new period start has raced us between reading `period` and `counter`, so we assume the `counter` value
+// corresponds to the next period.
+//
+// `period` is a 32bit integer, so it overflows on 2^32 * 2^31 / 1_000_000 seconds of uptime, which is 292471 years.
+fn calc_now(period: u32, counter: u32) -> u64 {
+    (u64::from(period) << 31) + u64::from(counter ^ ((period & 1) << 31))
+}
+
+macro_rules! make_timer {
+    ($mono_name:ident, $timer:ident, $period:ident, $tq:ident$(, doc: ($($doc:tt)*))?) => {
+        /// Monotonic timer queue implementation.
+        $(
+            #[cfg_attr(docsrs, doc(cfg($($doc)*)))]
+        )?
+
+        pub struct $mono_name;
+
+        use ral::gpt::$timer;
+
+        /// Number of 2^31 periods elapsed since boot.
+        static $period: AtomicU32 = AtomicU32::new(0);
+        static $tq: TimerQueue<$mono_name> = TimerQueue::new();
+
+        impl $mono_name {
+            /// Starts the monotonic timer.
+            /// - `tick_freq_hz`: The tick frequency of the given timer.
+            /// - `gpt`: The GPT timer register block instance.
+            /// - `_interrupt_token`: Required for correct timer interrupt handling.
+            /// This method must be called only once.
+            pub fn start(tick_freq_hz: u32, gpt: $timer, _interrupt_token: impl crate::InterruptToken<Self>) {
+                // Find a prescaler that creates our desired tick frequency
+                let previous_prescaler = ral::read_reg!(ral::gpt, gpt, PR, PRESCALER) + 1;
+                let previous_clock_freq = tick_freq_hz * previous_prescaler;
+                assert!((previous_clock_freq % TIMER_HZ) == 0,
+                        "Unable to find a fitting prescaler value!\n    Input: {}/{}\n    Desired: {}",
+                        previous_clock_freq, previous_prescaler, TIMER_HZ);
+                let prescaler = previous_clock_freq / TIMER_HZ;
+                assert!(prescaler > 0);
+                assert!(prescaler <= 4096);
+
+                // Disable the timer.
+                ral::modify_reg!(ral::gpt, gpt, CR, EN: 0);
+                // Clear all status registers.
+                ral::write_reg!(ral::gpt, gpt, SR, 0b11_1111);
+
+                // Base configuration
+                ral::modify_reg!(ral::gpt, gpt, CR,
+                    ENMOD: 1,   // Clear timer state
+                    FRR: 1,     // Free-Run mode
+                );
+
+                // Reset period
+                $period.store(0, Ordering::Relaxed);
+
+                // Prescaler
+                ral::modify_reg!(ral::gpt, gpt, PR,
+                    PRESCALER: (prescaler - 1), // Scale to our desired clock rate
+                );
+
+                // Enable interrupts
+                ral::write_reg!(ral::gpt, gpt, IR,
+                    ROVIE: 1,   // Rollover interrupt
+                    OF1IE: 1,   // Timer compare 1 interrupt (for half-periods)
+                    OF2IE: 1,   // Timer compare 2 interrupt (for dynamic wakeup)
+                );
+
+                // Configure half-period interrupt
+                ral::write_reg!(ral::gpt, gpt, OCR[0], 0x8000_0000);
+
+                // Dynamic interrupt register; for now initialize to zero
+                // so it gets combined with rollover interrupt
+                ral::write_reg!(ral::gpt, gpt, OCR[1], 0x0000_0000);
+
+                // Enable the timer
+                ral::modify_reg!(ral::gpt, gpt, CR, EN: 1);
+                ral::modify_reg!(ral::gpt, gpt, CR,
+                    ENMOD: 0,   // Keep state when disabled
+                );
+
+                $tq.initialize(Self {});
+
+                // SAFETY: We take full ownership of the peripheral and interrupt vector,
+                // plus we are not using any external shared resources so we won't impact
+                // basepri/source masking based critical sections.
+                unsafe {
+                    crate::set_monotonic_prio(ral::NVIC_PRIO_BITS, ral::Interrupt::$timer);
+                    cortex_m::peripheral::NVIC::unmask(ral::Interrupt::$timer);
+                }
+            }
+
+            /// Used to access the underlying timer queue
+            #[doc(hidden)]
+            pub fn __tq() -> &'static TimerQueue<$mono_name> {
+                &$tq
+            }
+
+            /// Delay for some duration of time.
+            #[inline]
+            pub async fn delay(duration: <Self as Monotonic>::Duration) {
+                $tq.delay(duration).await;
+            }
+
+            /// Timeout at a specific time.
+            pub async fn timeout_at<F: core::future::Future>(
+                instant: <Self as rtic_time::Monotonic>::Instant,
+                future: F,
+            ) -> Result<F::Output, TimeoutError> {
+                $tq.timeout_at(instant, future).await
+            }
+
+            /// Timeout after a specific duration.
+            #[inline]
+            pub async fn timeout_after<F: core::future::Future>(
+                duration: <Self as Monotonic>::Duration,
+                future: F,
+            ) -> Result<F::Output, TimeoutError> {
+                $tq.timeout_after(duration, future).await
+            }
+
+            /// Delay to some specific time instant.
+            #[inline]
+            pub async fn delay_until(instant: <Self as Monotonic>::Instant) {
+                $tq.delay_until(instant).await;
+            }
+        }
+
+        #[cfg(feature = "embedded-hal-async")]
+        impl embedded_hal_async::delay::DelayUs for $mono_name {
+            #[inline]
+            async fn delay_us(&mut self, us: u32) {
+                Self::delay((us as u64).micros()).await;
+            }
+
+            #[inline]
+            async fn delay_ms(&mut self, ms: u32) {
+                Self::delay((ms as u64).millis()).await;
+            }
+        }
+
+        impl embedded_hal::delay::DelayUs for $mono_name {
+            fn delay_us(&mut self, us: u32) {
+                let done = Self::now() + (us as u64).micros();
+                while Self::now() < done {}
+            }
+        }
+
+        impl Monotonic for $mono_name {
+            type Instant = fugit::TimerInstantU64<TIMER_HZ>;
+            type Duration = fugit::TimerDurationU64<TIMER_HZ>;
+
+            const ZERO: Self::Instant = Self::Instant::from_ticks(0);
+
+            fn now() -> Self::Instant {
+                let gpt = unsafe{ $timer::instance() };
+
+                // Important: period **must** be read first.
+                let period = $period.load(Ordering::Relaxed);
+                compiler_fence(Ordering::Acquire);
+                let counter = ral::read_reg!(ral::gpt, gpt, CNT);
+
+                Self::Instant::from_ticks(calc_now(period, counter))
+            }
+
+            fn set_compare(instant: Self::Instant) {
+                let gpt = unsafe{ $timer::instance() };
+
+                // Set the timer regardless of whether it is multiple periods in the future,
+                // or even already in the past.
+                // The worst thing that can happen is a spurious wakeup, and with a timer
+                // period of half an hour, this is hardly a problem.
+
+                let ticks = instant.duration_since_epoch().ticks();
+                let ticks_wrapped = ticks as u32;
+
+                ral::write_reg!(ral::gpt, gpt, OCR[1], ticks_wrapped);
+            }
+
+            fn clear_compare_flag() {
+                let gpt = unsafe{ $timer::instance() };
+                ral::write_reg!(ral::gpt, gpt, SR, OF2: 1);
+            }
+
+            fn pend_interrupt() {
+                cortex_m::peripheral::NVIC::pend(ral::Interrupt::$timer);
+            }
+
+            fn on_interrupt() {
+                let gpt = unsafe{ $timer::instance() };
+
+                let (rollover, half_rollover) = ral::read_reg!(ral::gpt, gpt, SR, ROV, OF1);
+
+                if rollover != 0 {
+                    $period.fetch_add(1, Ordering::Relaxed);
+                    ral::write_reg!(ral::gpt, gpt, SR, ROV: 1);
+                }
+
+                if half_rollover != 0 {
+                    $period.fetch_add(1, Ordering::Relaxed);
+                    ral::write_reg!(ral::gpt, gpt, SR, OF1: 1);
+                }
+            }
+        }
+    };
+}
+
+#[cfg(feature = "imxrt_gpt1")]
+make_timer!(Gpt1, GPT1, GPT1_HALFPERIODS, GPT1_TQ);
+
+#[cfg(feature = "imxrt_gpt2")]
+make_timer!(Gpt2, GPT2, GPT2_HALFPERIODS, GPT2_TQ);
diff --git a/rtic-monotonics/src/lib.rs b/rtic-monotonics/src/lib.rs
index 8757eb85..69925cba 100644
--- a/rtic-monotonics/src/lib.rs
+++ b/rtic-monotonics/src/lib.rs
@@ -33,6 +33,9 @@ pub mod systick;
 #[cfg(feature = "rp2040")]
 pub mod rp2040;
 
+#[cfg(feature = "imxrt")]
+pub mod imxrt;
+
 #[cfg(any(
     feature = "nrf52810",
     feature = "nrf52811",
@@ -64,6 +67,7 @@ pub(crate) const fn cortex_logical2hw(logical: u8, nvic_prio_bits: u8) -> u8 {
     feature = "nrf5340-app",
     feature = "nrf5340-net",
     feature = "nrf9160",
+    feature = "imxrt",
     stm32,
 ))]
 pub(crate) unsafe fn set_monotonic_prio(