Add initial support for embedded-hal version 1.0

This adds a dependency and feature for embedded-hal v1.0 and a basic
implementation for the `DelayNs` trait.

hal/CHANGELOG.md

@@ -7,6 +7,7 @@
 - Update the PACs to svd2rust 0.30.2.
 - Fix warnings for thumbv7 targets
 - Update README.md - moves some content to wiki
+- Add basic support for `embedded-hal` version 1.0 under the feature `embedded-hal-1`.
 
 # v0.16.0
 

hal/Cargo.toml

@@ -36,6 +36,7 @@ bitflags = "1.2.1"
 cipher = "0.3"
 cortex-m = "0.7"
 embedded-hal = "0.2"
+embedded-hal-1 = { package = "embedded-hal", version = "1.0.0-rc.1",  optional = true }
 fugit = "0.3"
 modular-bitfield = "0.11"
 nb = "1.0"
@@ -371,3 +372,5 @@ periph-e53n = ["periph-d51n", "has-ethernet"]
 
 periph-e54n = ["periph-d51n", "has-ethernet", "has-can0", "has-can1"]
 periph-e54p = ["periph-d51p", "has-ethernet", "has-can0", "has-can1"]
+
+embedded-hal-1 = ["dep:embedded-hal-1"]

hal/src/lib.rs

@@ -1,6 +1,8 @@
 #![no_std]
 
 pub use embedded_hal as ehal;
+#[cfg(feature = "embedded-hal-1")]
+pub use embedded_hal_1 as ehal1;
 pub use fugit;
 pub use paste;
 pub mod typelevel;

hal/src/prelude.rs

@@ -6,12 +6,19 @@ pub use fugit::RateExtU32 as _;
 
 // embedded-hal doesn’t yet have v2 in its prelude, so we need to
 // export it ourselves
-#[cfg(feature = "unproven")]
+//
+// We only have embedded-hal v0.2 items inour prelude if v1 is not enabled.
+#[cfg(all(not(feature = "embedded-hal-1"), feature = "unproven"))]
 pub use crate::ehal::digital::v2::InputPin as _atsamd_hal_embedded_hal_digital_v2_InputPin;
+#[cfg(not(feature = "embedded-hal-1"))]
 pub use crate::ehal::digital::v2::OutputPin as _atsamd_hal_embedded_hal_digital_v2_OutputPin;
-#[cfg(feature = "unproven")]
+#[cfg(all(not(feature = "embedded-hal-1"), feature = "unproven"))]
 pub use crate::ehal::digital::v2::ToggleableOutputPin as _atsamd_hal_embedded_hal_digital_v2_ToggleableOutputPin;
 
+#[cfg(not(feature = "embedded-hal-1"))]
 pub use crate::ehal::prelude::*;
 
+#[cfg(feature = "embedded-hal-1")]
+pub use crate::ehal::digital::{Error as _, InputPin as _, OutputPin as _, StatefulOutputPin as _};
+
 pub use nb;

hal/src/sleeping_delay.rs

@@ -4,9 +4,13 @@ use cortex_m::asm;
 use fugit::ExtU32;
 
 use crate::ehal::blocking::delay::{DelayMs, DelayUs};
+#[cfg(feature = "embedded-hal-1")]
+use crate::ehal1::delay::DelayNs;
 use crate::timer_traits::InterruptDrivenTimer;
 
 const NUM_US_IN_S: u32 = 1_000_000;
+#[cfg(feature = "embedded-hal-1")]
+const NUM_NS_IN_S: u32 = 1_000_000_000;
 
 /// Delay and sleep while we do (WFI) using a timer
 pub struct SleepingDelay<TIM> {
@@ -35,6 +39,34 @@ where
     }
 }
 
+#[cfg(feature = "embedded-hal-1")]
+impl<TIM> DelayNs for SleepingDelay<TIM>
+where
+    TIM: InterruptDrivenTimer,
+{
+    fn delay_ns(&mut self, ns: u32) {
+        // Determine how many cycles we need to run for this delay, if any
+        // Avoid timers that run longer than a second because for 48 MHz-based timers,
+        //   there is no valid divisor + cycle count greater than ~1.3s, so we'd panic.
+        let mut loop_count: u32 = 1 + (ns / NUM_NS_IN_S);
+
+        // Start the timer and sleep!
+        self.timer.start((ns / loop_count).nanos());
+        self.timer.enable_interrupt();
+        loop {
+            asm::wfi();
+            if self.timer.wait().is_ok() || self.interrupt_fired.load(atomic::Ordering::Relaxed) {
+                self.interrupt_fired.store(false, atomic::Ordering::Relaxed);
+                loop_count -= 1;
+                if loop_count == 0 {
+                    break;
+                }
+            }
+        }
+        self.timer.disable_interrupt();
+    }
+}
+
 impl<TIM, TYPE> DelayUs<TYPE> for SleepingDelay<TIM>
 where
     TIM: InterruptDrivenTimer,
@@ -49,6 +81,7 @@ where
         let mut count: u32 = 1 + (us / NUM_US_IN_S);
 
         // Start the timer and sleep!
+        // TODO: why does this use nanos?
         self.timer.start((us / count).nanos());
         self.timer.enable_interrupt();
         loop {
@@ -71,6 +104,6 @@ where
     TYPE: Into<u32>,
 {
     fn delay_ms(&mut self, ms: TYPE) {
-        self.delay_us(ms.into() * 1_000_u32);
+        <Self as DelayUs<_>>::delay_us(self, ms.into() * 1_000_u32);
     }
 }