Fixes for updated embedded hal

rtic-rs · Nov 29, 2023 · 324bff8 · 324bff8
1 parent 9f5820d
commit 324bff8
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Showing 9 changed files with 83 additions and 21 deletions.
diff --git a/rtic-monotonics/Cargo.toml b/rtic-monotonics/Cargo.toml
@@ -28,8 +28,8 @@ rustdoc-flags = ["--cfg", "docsrs"]
 
 [dependencies]
 rtic-time = { version = "1.0.0", path = "../rtic-time" }
-embedded-hal = { version = "1.0.0-rc.1" }
-embedded-hal-async = { version = "1.0.0-rc.1", optional = true }
+embedded-hal = { version = "1.0.0-rc.2" }
+embedded-hal-async = { version = "1.0.0-rc.2", optional = true }
 fugit = { version = "0.3.6" }
 atomic-polyfill = "1"
 cfg-if = "1.0.0"

diff --git a/rtic-monotonics/src/imxrt.rs b/rtic-monotonics/src/imxrt.rs
@@ -217,7 +217,12 @@ macro_rules! make_timer {
         }
 
         #[cfg(feature = "embedded-hal-async")]
-        impl embedded_hal_async::delay::DelayUs for $mono_name {
+        impl embedded_hal_async::delay::DelayNs for $mono_name {
+            #[inline]
+            async fn delay_ns(&mut self, ns: u32) {
+                Self::delay((ns as u64).nanos()).await;
+            }
+
             #[inline]
             async fn delay_us(&mut self, us: u32) {
                 Self::delay((us as u64).micros()).await;
@@ -229,7 +234,12 @@ macro_rules! make_timer {
             }
         }
 
-        impl embedded_hal::delay::DelayUs for $mono_name {
+        impl embedded_hal::delay::DelayNs for $mono_name {
+            fn delay_ns(&mut self, ns: u32) {
+                let done = Self::now() + u64::from(ns).nanos();
+                while Self::now() < done {}
+            }
+
             fn delay_us(&mut self, us: u32) {
                 let done = Self::now() + (us as u64).micros();
                 while Self::now() < done {}

diff --git a/rtic-monotonics/src/nrf/rtc.rs b/rtic-monotonics/src/nrf/rtc.rs
@@ -168,7 +168,12 @@ macro_rules! make_rtc {
         }
 
         #[cfg(feature = "embedded-hal-async")]
-        impl embedded_hal_async::delay::DelayUs for $mono_name {
+        impl embedded_hal_async::delay::DelayNs for $mono_name {
+            #[inline]
+            async fn delay_ns(&mut self, ns: u32) {
+                Self::delay((ns as u64).nanos()).await;
+            }
+
             #[inline]
             async fn delay_us(&mut self, us: u32) {
                Self::delay((us as u64).micros()).await;
@@ -180,7 +185,12 @@ macro_rules! make_rtc {
             }
         }
 
-        impl embedded_hal::delay::DelayUs for $mono_name {
+        impl embedded_hal::delay::DelayNs for $mono_name {
+            fn delay_ns(&mut self, ns: u32) {
+                let done = Self::now() + u64::from(ns).nanos();
+                while Self::now() < done {}
+            }
+
             fn delay_us(&mut self, us: u32) {
                 let done = Self::now() + u64::from(us).micros();
                 while Self::now() < done {}

diff --git a/rtic-monotonics/src/nrf/timer.rs b/rtic-monotonics/src/nrf/timer.rs
@@ -204,7 +204,12 @@ macro_rules! make_timer {
         }
 
         #[cfg(feature = "embedded-hal-async")]
-        impl embedded_hal_async::delay::DelayUs for $mono_name {
+        impl embedded_hal_async::delay::DelayNs for $mono_name {
+            #[inline]
+            async fn delay_ns(&mut self, ns: u32) {
+                Self::delay((ns as u64).nanos()).await;
+            }
+
             #[inline]
             async fn delay_us(&mut self, us: u32) {
                 Self::delay((us as u64).micros()).await;
@@ -216,7 +221,12 @@ macro_rules! make_timer {
             }
         }
 
-        impl embedded_hal::delay::DelayUs for $mono_name {
+        impl embedded_hal::delay::DelayNs for $mono_name {
+            fn delay_ns(&mut self, ns: u32) {
+                let done = Self::now() + u64::from(ns).nanos();
+                while Self::now() < done {}
+            }
+
             fn delay_us(&mut self, us: u32) {
                 let done = Self::now() + (us as u64).micros();
                 while Self::now() < done {}

diff --git a/rtic-monotonics/src/rp2040.rs b/rtic-monotonics/src/rp2040.rs
@@ -152,7 +152,11 @@ impl Monotonic for Timer {
 }
 
 #[cfg(feature = "embedded-hal-async")]
-impl embedded_hal_async::delay::DelayUs for Timer {
+impl embedded_hal_async::delay::DelayNs for Timer {
+    async fn delay_ns(&mut self, ns: u32) {
+        Self::delay((ns as u64).nanos()).await;
+    }
+
     async fn delay_us(&mut self, us: u32) {
         Self::delay((us as u64).micros()).await;
     }
@@ -162,7 +166,12 @@ impl embedded_hal_async::delay::DelayUs for Timer {
     }
 }
 
-impl embedded_hal::delay::DelayUs for Timer {
+impl embedded_hal::delay::DelayNs for Timer {
+    fn delay_ns(&mut self, ns: u32) {
+        let done = Self::now() + u64::from(ns).nanos();
+        while Self::now() < done {}
+    }
+
     fn delay_us(&mut self, us: u32) {
         let done = Self::now() + u64::from(us).micros();
         while Self::now() < done {}

diff --git a/rtic-monotonics/src/stm32.rs b/rtic-monotonics/src/stm32.rs
@@ -219,7 +219,12 @@ macro_rules! make_timer {
         }
 
         #[cfg(feature = "embedded-hal-async")]
-        impl embedded_hal_async::delay::DelayUs for $mono_name {
+        impl embedded_hal_async::delay::DelayNs for $mono_name {
+            #[inline]
+            async fn delay_ns(&mut self, ns: u32) {
+                Self::delay((ns as u64).nanos()).await;
+            }
+
             #[inline]
             async fn delay_us(&mut self, us: u32) {
                 Self::delay((us as u64).micros()).await;
@@ -231,7 +236,12 @@ macro_rules! make_timer {
             }
         }
 
-        impl embedded_hal::delay::DelayUs for $mono_name {
+        impl embedded_hal::delay::DelayNs for $mono_name {
+            fn delay_ns(&mut self, ns: u32) {
+                let done = Self::now() + u64::from(ns).nanos();
+                while Self::now() < done {}
+            }
+
             fn delay_us(&mut self, us: u32) {
                 let done = Self::now() + (us as u64).micros();
                 while Self::now() < done {}

diff --git a/rtic-monotonics/src/systick.rs b/rtic-monotonics/src/systick.rs
@@ -189,7 +189,13 @@ impl Monotonic for Systick {
 }
 
 #[cfg(feature = "embedded-hal-async")]
-impl embedded_hal_async::delay::DelayUs for Systick {
+impl embedded_hal_async::delay::DelayNs for Systick {
+    async fn delay_ns(&mut self, ns: u32) {
+        #[cfg(feature = "systick-64bit")]
+        let ns = u64::from(ns);
+        Self::delay(ns.nanos()).await;
+    }
+
     async fn delay_us(&mut self, us: u32) {
         #[cfg(feature = "systick-64bit")]
         let us = u64::from(us);
@@ -203,7 +209,14 @@ impl embedded_hal_async::delay::DelayUs for Systick {
     }
 }
 
-impl embedded_hal::delay::DelayUs for Systick {
+impl embedded_hal::delay::DelayNs for Systick {
+    fn delay_ns(&mut self, ns: u32) {
+        #[cfg(feature = "systick-64bit")]
+        let ns = u64::from(ns);
+        let done = Self::now() + ns.nanos();
+        while Self::now() < done {}
+    }
+
     fn delay_us(&mut self, us: u32) {
         #[cfg(feature = "systick-64bit")]
         let us = u64::from(us);

diff --git a/rtic-sync/Cargo.toml b/rtic-sync/Cargo.toml
@@ -21,9 +21,9 @@ heapless = "0.7"
 critical-section = "1"
 rtic-common = { version = "1.0.0", path = "../rtic-common" }
 portable-atomic = { version = "1", default-features = false }
-embedded-hal = { version = "1.0.0-rc.1", optional = true }
-embedded-hal-async = { version = "1.0.0-rc.1", optional = true }
-embedded-hal-bus = { version = "0.1.0-rc.1", optional = true, features = ["async"] }
+embedded-hal = { version = "1.0.0-rc.2", optional = true }
+embedded-hal-async = { version = "1.0.0-rc.2", optional = true }
+embedded-hal-bus = { version = "0.1.0-rc.2", optional = true, features = ["async"] }
 
 [dev-dependencies]
 tokio = { version = "1", features = ["rt", "macros", "time"] }

diff --git a/rtic-sync/src/arbiter.rs b/rtic-sync/src/arbiter.rs
@@ -197,7 +197,7 @@ pub mod spi {
     use super::Arbiter;
     use embedded_hal::digital::OutputPin;
     use embedded_hal_async::{
-        delay::DelayUs,
+        delay::DelayNs,
         spi::{ErrorType, Operation, SpiBus, SpiDevice},
     };
     use embedded_hal_bus::spi::DeviceError;
@@ -229,7 +229,7 @@ pub mod spi {
         Word: Copy + 'static,
         BUS: SpiBus<Word>,
         CS: OutputPin,
-        D: DelayUs,
+        D: DelayNs,
     {
         async fn transaction(
             &mut self,
@@ -246,10 +246,10 @@ pub mod spi {
                         Operation::Write(buf) => bus.write(buf).await,
                         Operation::Transfer(read, write) => bus.transfer(read, write).await,
                         Operation::TransferInPlace(buf) => bus.transfer_in_place(buf).await,
-                        Operation::DelayUs(us) => match bus.flush().await {
+                        Operation::DelayNs(ns) => match bus.flush().await {
                             Err(e) => Err(e),
                             Ok(()) => {
-                                self.delay.delay_us(*us).await;
+                                self.delay.delay_ns(*ns).await;
                                 Ok(())
                             }
                         },