feat: Avoid using nb in uart and twai. Udpate examples and tests to a…

…void using block!

esp-hal/Cargo.toml

@@ -44,12 +44,10 @@ esp-synopsys-usb-otg     = { version = "0.4.2", optional = true, features = ["fs
 fugit                    = "0.3.7"
 instability              = "0.3"
 log                      = { version = "0.4.22", optional = true }
-nb                       = "1.1.0"
 paste                    = "1.0.15"
 portable-atomic          = { version = "1.9.0", default-features = false }
 procmacros               = { version = "0.15.0", package = "esp-hal-procmacros", path = "../esp-hal-procmacros" }
 strum                    = { version = "0.26.3", default-features = false, features = ["derive"] }
-void                     = { version = "1.0.2", default-features = false }
 usb-device               = { version = "0.3.2", optional = true }
 rand_core                = "0.6.4"
 ufmt-write               = "0.1.0"

esp-hal/src/analog/adc/mod.rs

@@ -43,7 +43,11 @@
 //! let mut delay = Delay::new();
 //!
 //! loop {
-//!     let pin_value: u16 = nb::block!(adc1.read_oneshot(&mut pin)).unwrap();
+//!     let pin_value: u16 = loop {
+//!        if let Some(value) = adc1.read_oneshot(&mut pin) {
+//!          break value;
+//!       }
+//!    };
 //!
 //!     delay.delay_millis(1500);
 //! }

esp-hal/src/hmac.rs

@@ -34,8 +34,6 @@
 //!
 //! [HMAC]: https://github.com/esp-rs/esp-hal/blob/main/examples/src/bin/hmac.rs
 
-use core::convert::Infallible;
-
 use crate::{
     peripheral::{Peripheral, PeripheralRef},
     peripherals::HMAC,
@@ -175,8 +173,8 @@ impl<'d> Hmac<'d> {
 
         let msg_len = self.byte_written as u64;
 
-        nb::block!(self.write_data(&[0x80])).unwrap();
-        nb::block!(self.flush_data()).unwrap();
+        self.write_data(&[0x80])?;
+        self.flush_data()?;
         self.next_command();
         debug_assert!(self.byte_written % 4 == 0);
 

esp-hal/src/rng.rs

@@ -81,10 +81,13 @@
 ///     Attenuation::Attenuation11dB
 /// );
 /// let mut adc1 = Adc::<ADC1>::new(peripherals.ADC1, adc1_config);
-/// let pin_value: u16 = nb::block!(adc1.read_oneshot(&mut adc1_pin)).unwrap();
+/// let pin_value: u16 = loop {
+///    if let Some(value) = adc1.read_oneshot(&mut adc1_pin) {
+///       break value;
+///    }
+/// };
 /// rng.read(&mut buf);
 /// true_rand = rng.random();
-/// let pin_value: u16 = nb::block!(adc1.read_oneshot(&mut adc1_pin)).unwrap();
 /// # }
 /// ```
 use core::marker::PhantomData;

esp-hal/src/rsa/esp32.rs

@@ -1,5 +1,3 @@
-use core::convert::Infallible;
-
 use crate::rsa::{
     implement_op,
     Multi,

esp-hal/src/rsa/esp32cX.rs

@@ -1,5 +1,3 @@
-use core::convert::Infallible;
-
 use crate::rsa::{
     implement_op,
     Multi,

esp-hal/src/rsa/esp32sX.rs

@@ -1,5 +1,3 @@
-use core::convert::Infallible;
-
 use crate::rsa::{
     implement_op,
     Multi,

esp-hal/src/sha.rs

@@ -33,30 +33,28 @@
 #![doc = crate::before_snippet!()]
 //! # use esp_hal::sha::Sha;
 //! # use esp_hal::sha::Sha256;
-//! # use nb::block;
 //! let mut source_data = "HELLO, ESPRESSIF!".as_bytes();
 //! let mut sha = Sha::new(peripherals.SHA);
 //! let mut hasher = sha.start::<Sha256>();
 //! // Short hashes can be created by decreasing the output buffer to the
 //! // desired length
 //! let mut output = [0u8; 32];
 //!
-//! while !source_data.is_empty() {
-//!     // All the HW Sha functions are infallible so unwrap is fine to use if
-//!     // you use block!
-//!     source_data = block!(hasher.update(source_data)).unwrap();
-//! }
+//! let source_data = loop {
+//!    if let Some(data) = hasher.finish(&mut output) {
+//!       break data;
+//!   }
+//! };
 //!
 //! // Finish can be called as many times as desired to get multiple copies of
 //! // the output.
-//! block!(hasher.finish(output.as_mut_slice())).unwrap();
-//!
+//! while hasher.finish(output.as_mut_slice()).is_none() {}
 //! # }
 //! ```
 //! ## Implementation State
 //! - DMA-SHA Mode is not supported.
 
-use core::{borrow::BorrowMut, convert::Infallible, marker::PhantomData, mem::size_of};
+use core::{borrow::BorrowMut, marker::PhantomData, mem::size_of};
 
 /// Re-export digest for convenience
 #[cfg(feature = "digest")]
@@ -225,9 +223,7 @@ impl<'d, A: ShaAlgorithm, S: BorrowMut<Sha<'d>>> ShaDigest<'d, A, S> {
         // Store message length for padding
         let length = (self.cursor as u64 * 8).to_be_bytes();
         // Append "1" bit
-        if self.update(&[0x80]).is_none() {
-            return None;
-        }
+        self.update(&[0x80])?;
 
         // Flush partial data, ensures aligned cursor
         {
@@ -540,16 +536,16 @@ impl<'d, A: ShaAlgorithm, S: BorrowMut<Sha<'d>>> digest::OutputSizeUser for ShaD
 impl<'d, A: ShaAlgorithm, S: BorrowMut<Sha<'d>>> digest::Update for ShaDigest<'d, A, S> {
     fn update(&mut self, data: &[u8]) {
         let mut remaining = data.as_ref();
-        while !remaining.is_empty() {
-            remaining = nb::block!(Self::update(self, remaining)).unwrap();
+        while let Some(rem) = Self::update(self, remaining) {
+            remaining = rem;
         }
     }
 }
 
 #[cfg(feature = "digest")]
 impl<'d, A: ShaAlgorithm, S: BorrowMut<Sha<'d>>> digest::FixedOutput for ShaDigest<'d, A, S> {
     fn finalize_into(mut self, out: &mut digest::Output<Self>) {
-        nb::block!(self.finish(out)).unwrap();
+        while self.finish(out).is_none() {}
     }
 }
 

esp-hal/src/spi/master.rs

@@ -2211,14 +2211,16 @@ mod ehal1 {
         T: Instance,
         Dm: DriverMode,
     {
-        fn read(&mut self) -> nb::Result<u8, Self::Error> {
-            self.driver().read_byte().ok_or(nb::Error::WouldBlock)
+        fn read(&mut self) -> embedded_hal_nb::nb::Result<u8, Self::Error> {
+            self.driver()
+                .read_byte()
+                .ok_or(embedded_hal_nb::nb::Error::WouldBlock)
         }
 
-        fn write(&mut self, word: u8) -> nb::Result<(), Self::Error> {
+        fn write(&mut self, word: u8) -> embedded_hal_nb::nb::Result<(), Self::Error> {
             self.driver()
                 .write_byte(word)
-                .map_or_else(|| Err(nb::Error::WouldBlock), |_| Ok(()))
+                .map_or_else(|| Err(embedded_hal_nb::nb::Error::WouldBlock), |_| Ok(()))
         }
     }
 

esp-hal/src/timer/mod.rs

@@ -35,7 +35,7 @@
 //!
 //! periodic.start(1.secs());
 //! loop {
-//!     nb::block!(periodic.wait());
+//!    while periodic.wait().is_none() {}
 //! }
 //! # }
 //! ```

esp-hal/src/twai/mod.rs

@@ -31,7 +31,6 @@
 //! # use esp_hal::twai::TwaiConfiguration;
 //! # use esp_hal::twai::BaudRate;
 //! # use esp_hal::twai::TwaiMode;
-//! # use nb::block;
 //! // Use GPIO pins 2 and 3 to connect to the respective pins on the TWAI
 //! // transceiver.
 //! let twai_rx_pin = peripherals.GPIO3;
@@ -62,10 +61,14 @@
 //!
 //! loop {
 //!     // Wait for a frame to be received.
-//!     let frame = block!(twai.receive()).unwrap();
+//!     let frame = loop {
+//!         if let Ok(frame) = twai.receive() {
+//!            break frame;
+//!        }
+//!    };
 //!
 //!     // Transmit the frame back.
-//!     let _result = block!(twai.transmit(&frame)).unwrap();
+//!     while twai.transmit(&frame).is_err() {}
 //! }
 //! # }
 //! ```
@@ -81,7 +84,6 @@
 //! # use esp_hal::twai::EspTwaiFrame;
 //! # use esp_hal::twai::StandardId;
 //! # use esp_hal::twai::TwaiMode;
-//! # use nb::block;
 //! // Use GPIO pins 2 and 3 to connect to the respective pins on the TWAI
 //! // transceiver.
 //! let can_rx_pin = peripherals.GPIO3;
@@ -111,7 +113,11 @@
 //!
 //! let frame = EspTwaiFrame::new_self_reception(StandardId::ZERO,
 //!     &[1, 2, 3]).unwrap(); // Wait for a frame to be received.
-//! let frame = block!(can.receive()).unwrap();
+//! let frame = loop {
+//!    if let Ok(frame) = can.receive() {
+//!       break frame;
+//!   }
+//! };
 //!
 //! # loop {}
 //! # }
@@ -1179,12 +1185,12 @@ where
     }
 
     /// Sends the specified `EspTwaiFrame` over the TWAI bus.
-    pub fn transmit(&mut self, frame: &EspTwaiFrame) -> nb::Result<(), EspTwaiError> {
+    pub fn transmit(&mut self, frame: &EspTwaiFrame) -> Result<(), EspTwaiError> {
         self.tx.transmit(frame)
     }
 
     /// Receives a TWAI frame from the TWAI bus.
-    pub fn receive(&mut self) -> nb::Result<EspTwaiFrame, EspTwaiError> {
+    pub fn receive(&mut self) -> Result<EspTwaiFrame, EspTwaiError> {
         self.rx.receive()
     }
 
@@ -1219,17 +1225,18 @@ where
     /// NOTE: TODO: This may not work if using the self reception/self test
     /// functionality. See notes 1 and 2 in the "Frame Identifier" section
     /// of the reference manual.
-    pub fn transmit(&mut self, frame: &EspTwaiFrame) -> nb::Result<(), EspTwaiError> {
+    pub fn transmit(&mut self, frame: &EspTwaiFrame) -> Result<(), EspTwaiError> {
         let register_block = self.twai.register_block();
         let status = register_block.status().read();
 
         // Check that the peripheral is not in a bus off state.
         if status.bus_off_st().bit_is_set() {
-            return nb::Result::Err(nb::Error::Other(EspTwaiError::BusOff));
+            return Err(EspTwaiError::BusOff);
         }
         // Check that the peripheral is not already transmitting a packet.
         if !status.tx_buf_st().bit_is_set() {
-            return nb::Result::Err(nb::Error::WouldBlock);
+            return Err(EspTwaiError::WouldBlock); // TODO: Is this the right
+                                                  // error?
         }
 
         write_frame(register_block, frame);
@@ -1251,28 +1258,26 @@ where
     Dm: crate::DriverMode,
 {
     /// Receive a frame
-    pub fn receive(&mut self) -> nb::Result<EspTwaiFrame, EspTwaiError> {
+    pub fn receive(&mut self) -> Result<EspTwaiFrame, EspTwaiError> {
         let register_block = self.twai.register_block();
         let status = register_block.status().read();
 
         // Check that the peripheral is not in a bus off state.
         if status.bus_off_st().bit_is_set() {
-            return nb::Result::Err(nb::Error::Other(EspTwaiError::BusOff));
+            return Err(EspTwaiError::BusOff);
         }
 
         // Check that we actually have packets to receive.
         if !status.rx_buf_st().bit_is_set() {
-            return nb::Result::Err(nb::Error::WouldBlock);
+            return Err(EspTwaiError::WouldBlock);
         }
 
         // Check if the packet in the receive buffer is valid or overrun.
         if status.miss_st().bit_is_set() {
-            return nb::Result::Err(nb::Error::Other(EspTwaiError::EmbeddedHAL(
-                ErrorKind::Overrun,
-            )));
+            return Err(EspTwaiError::EmbeddedHAL(ErrorKind::Overrun));
         }
 
-        Ok(read_frame(register_block)?)
+        read_frame(register_block)
     }
 }
 
@@ -1288,6 +1293,8 @@ pub enum EspTwaiError {
     NonCompliantDlc(u8),
     /// Encapsulates errors defined by the embedded-hal crate.
     EmbeddedHAL(ErrorKind),
+    /// This operation requires blocking behavior to complete
+    WouldBlock,
 }
 
 #[cfg(any(doc, feature = "unstable"))]
@@ -1344,18 +1351,21 @@ where
     type Error = EspTwaiError;
 
     /// Transmit a frame.
-    fn transmit(&mut self, frame: &Self::Frame) -> nb::Result<Option<Self::Frame>, Self::Error> {
+    fn transmit(
+        &mut self,
+        frame: &Self::Frame,
+    ) -> embedded_hal_nb::nb::Result<Option<Self::Frame>, Self::Error> {
         self.tx.transmit(frame)?;
 
         // Success in readying packet for transmit. No packets can be replaced in the
         // transmit buffer so return None in accordance with the
         // embedded-can/embedded-hal trait.
-        nb::Result::Ok(None)
+        embedded_hal_nb::nb::Result::Ok(None)
     }
 
     /// Return a received frame if there are any available.
-    fn receive(&mut self) -> nb::Result<Self::Frame, Self::Error> {
-        self.rx.receive()
+    fn receive(&mut self) -> embedded_hal_nb::nb::Result<Self::Frame, Self::Error> {
+        Ok(self.rx.receive()?)
     }
 }