cortex-m: add support for embedded-hal 1.0 delays

Author: newAM

cortex-m/CHANGELOG.md

@@ -10,6 +10,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 ### Breaking changes
 
 - `NVIC::request()` no longer requires `&mut self`.
+- `embedded-hal` version 0.2 delay implementations now required the `eh0` feature.
 
 ### Added
 - Updated `SCB.ICSR.VECTACTIVE`/`SCB::vect_active()` to be 9 bits instead of 8.
@@ -22,6 +23,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 - Add `std` and `serde` crate features for improved host-side ITM decode functionality when working with the downstream `itm`, `cargo-rtic-scope` crates (#363, #366).
 - Added the ability to name the statics generated by `singleton!()` for better debuggability (#364, #380).
 - Added `critical-section-single-core` feature which provides an implementation for the `critical_section` crate for single-core systems, based on disabling all interrupts. (#447)
+- Added support for `embedded-hal` version 1 delay traits.
 
 ### Fixed
 - Fixed `singleton!()` statics sometimes ending up in `.data` instead of `.bss` (#364, #380).

cortex-m/Cargo.toml

@@ -20,7 +20,8 @@ links = "cortex-m"  # prevent multiple versions of this crate to be linked toget
 critical-section = "1.0.0"
 volatile-register = "0.2.2"
 bitfield = "0.13.2"
-embedded-hal = "0.2.4"
+eh0 = { package = "embedded-hal", version = "0.2.4", optional = true }
+eh1 = { package = "embedded-hal", version = "1.0.0" }
 
 [dependencies.serde]
 version = "1"
@@ -30,6 +31,7 @@ optional = true
 [features]
 cm7 = []
 cm7-r0p1 = ["cm7"]
+eh0 = ["dep:eh0"]
 linker-plugin-lto = []
 std = []
 critical-section-single-core = ["critical-section/restore-state-bool"]

cortex-m/src/delay.rs

@@ -1,7 +1,7 @@
 //! A delay driver based on SysTick.
 
 use crate::peripheral::{syst::SystClkSource, SYST};
-use embedded_hal::blocking::delay::{DelayMs, DelayUs};
+use eh1::delay::DelayNs;
 
 /// System timer (SysTick) as a delay provider.
 pub struct Delay {
@@ -75,62 +75,87 @@ impl Delay {
     }
 }
 
-impl DelayMs<u32> for Delay {
+#[cfg(feature = "eh0")]
+impl eh0::blocking::delay::DelayMs<u32> for Delay {
     #[inline]
     fn delay_ms(&mut self, ms: u32) {
         Delay::delay_ms(self, ms);
     }
 }
 
 // This is a workaround to allow `delay_ms(42)` construction without specifying a type.
-impl DelayMs<i32> for Delay {
+#[cfg(feature = "eh0")]
+impl eh0::blocking::delay::DelayMs<i32> for Delay {
     #[inline(always)]
     fn delay_ms(&mut self, ms: i32) {
         assert!(ms >= 0);
         Delay::delay_ms(self, ms as u32);
     }
 }
 
-impl DelayMs<u16> for Delay {
+#[cfg(feature = "eh0")]
+impl eh0::blocking::delay::DelayMs<u16> for Delay {
     #[inline(always)]
     fn delay_ms(&mut self, ms: u16) {
         Delay::delay_ms(self, u32::from(ms));
     }
 }
 
-impl DelayMs<u8> for Delay {
+#[cfg(feature = "eh0")]
+impl eh0::blocking::delay::DelayMs<u8> for Delay {
     #[inline(always)]
     fn delay_ms(&mut self, ms: u8) {
         Delay::delay_ms(self, u32::from(ms));
     }
 }
 
-impl DelayUs<u32> for Delay {
+#[cfg(feature = "eh0")]
+impl eh0::blocking::delay::DelayUs<u32> for Delay {
     #[inline]
     fn delay_us(&mut self, us: u32) {
         Delay::delay_us(self, us);
     }
 }
 
 // This is a workaround to allow `delay_us(42)` construction without specifying a type.
-impl DelayUs<i32> for Delay {
+#[cfg(feature = "eh0")]
+impl eh0::blocking::delay::DelayUs<i32> for Delay {
     #[inline(always)]
     fn delay_us(&mut self, us: i32) {
         assert!(us >= 0);
         Delay::delay_us(self, us as u32);
     }
 }
 
-impl DelayUs<u16> for Delay {
+#[cfg(feature = "eh0")]
+impl eh0::blocking::delay::DelayUs<u16> for Delay {
     #[inline(always)]
     fn delay_us(&mut self, us: u16) {
         Delay::delay_us(self, u32::from(us))
     }
 }
 
-impl DelayUs<u8> for Delay {
+#[cfg(feature = "eh0")]
+impl eh0::blocking::delay::DelayUs<u8> for Delay {
     #[inline(always)]
     fn delay_us(&mut self, us: u8) {
         Delay::delay_us(self, u32::from(us))
     }
 }
+
+impl DelayNs for Delay {
+    #[inline]
+    fn delay_ns(&mut self, ns: u32) {
+        Delay::delay_us(self, ns.saturating_add(999) / 1000)
+    }
+
+    #[inline]
+    fn delay_us(&mut self, us: u32) {
+        Delay::delay_us(self, us)
+    }
+
+    #[inline]
+    fn delay_ms(&mut self, ms: u32) {
+        Delay::delay_ms(self, ms)
+    }
+}