Merge pull request #504 from newAM/eh1

cortex-m: add support for embedded-hal 1.0 delays
rust-embedded · Feb 18, 2024 · 335c8c2 · 335c8c2
2 parents 6df9a38 + ec6b3ba
commit 335c8c2
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Showing 17 changed files with 58 additions and 23 deletions.
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -18,7 +18,7 @@ jobs:
 
         include:
           # Test MSRV
-          - rust: 1.59.0
+          - rust: 1.60.0
 
           # Test nightly but don't fail
           - rust: nightly

diff --git a/.github/workflows/rt-ci.yml b/.github/workflows/rt-ci.yml
@@ -13,7 +13,7 @@ jobs:
     continue-on-error: ${{ matrix.experimental || false }}
     strategy:
       matrix:
-        rust: [nightly, stable, 1.59.0]
+        rust: [nightly, stable, 1.60.0]
 
         include:
           # Nightly is only for reference and allowed to fail

diff --git a/cortex-m-rt/CHANGELOG.md b/cortex-m-rt/CHANGELOG.md
@@ -10,6 +10,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 - Add `zero-init-ram` feature to initialize RAM with zeros on startup. This can be necessary on
   safety-critical hardware to properly initialize memory integrity measures.
 - Add optional `exception` argument for `HardFault`. It has one option `trampoline` which is true by default. When set to false, no trampoline will be created and the function will be called as the exception handler directly.
+- MSRV increased to 1.60.0 to align with `embedded-hal` version 1.
 
 ## [v0.7.3]
 

diff --git a/cortex-m-rt/Cargo.toml b/cortex-m-rt/Cargo.toml
@@ -16,7 +16,7 @@ version = "0.7.3"
 autoexamples = true
 links = "cortex-m-rt" # Prevent multiple versions of cortex-m-rt being linked
 edition = "2021"
-rust-version = "1.59"
+rust-version = "1.60"
 
 [dependencies]
 cortex-m-rt-macros = { path = "macros", version = "=0.7.0" }

diff --git a/cortex-m-rt/README.md b/cortex-m-rt/README.md
@@ -11,7 +11,7 @@ This project is developed and maintained by the [Cortex-M team][team].
 
 # Minimum Supported Rust Version (MSRV)
 
-This crate is guaranteed to compile on stable Rust 1.59.0 and up. It *might*
+This crate is guaranteed to compile on stable Rust 1.60.0 and up. It *might*
 compile with older versions but that may change in any new patch release.
 
 # License

diff --git a/cortex-m-rt/macros/Cargo.toml b/cortex-m-rt/macros/Cargo.toml
@@ -9,7 +9,7 @@ name = "cortex-m-rt-macros"
 repository = "https://github.com/rust-embedded/cortex-m"
 version = "0.7.0"
 edition = "2021"
-rust-version = "1.59"
+rust-version = "1.60"
 
 [lib]
 proc-macro = true

diff --git a/cortex-m-rt/src/lib.rs b/cortex-m-rt/src/lib.rs
@@ -442,7 +442,7 @@
 //!
 //! # Minimum Supported Rust Version (MSRV)
 //!
-//! The MSRV of this release is Rust 1.59.0.
+//! The MSRV of this release is Rust 1.60.0.
 
 // # Developer notes
 //

diff --git a/cortex-m-semihosting/CHANGELOG.md b/cortex-m-semihosting/CHANGELOG.md
@@ -5,6 +5,8 @@ This project adheres to [Semantic Versioning](http://semver.org/).
 
 ## [Unreleased]
 
+- MSRV bumped to 1.60 to align with `embedded-hal` version 1.
+
 ## [v0.5.0] - 2022-03-01
 
 - Always use inline-asm, requiring Rust 1.59.

diff --git a/cortex-m-semihosting/Cargo.toml b/cortex-m-semihosting/Cargo.toml
@@ -13,7 +13,7 @@ readme = "README.md"
 repository = "https://github.com/rust-embedded/cortex-m"
 version = "0.5.0"
 edition = "2021"
-rust-version = "1.59"
+rust-version = "1.60"
 
 [features]
 jlink-quirks = []

diff --git a/cortex-m-semihosting/README.md b/cortex-m-semihosting/README.md
@@ -11,7 +11,7 @@ This project is developed and maintained by the [Cortex-M team][team].
 
 # Minimum Supported Rust Version (MSRV)
 
-This crate is guaranteed to compile on stable Rust 1.59.0 and up. It *might*
+This crate is guaranteed to compile on stable Rust 1.60.0 and up. It *might*
 compile with older versions but that may change in any new patch release.
 
 ## License

diff --git a/cortex-m/CHANGELOG.md b/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, requiring rust 1.60.
 
 ### Fixed
 - Fixed `singleton!()` statics sometimes ending up in `.data` instead of `.bss` (#364, #380).

diff --git a/cortex-m/Cargo.toml b/cortex-m/Cargo.toml
@@ -13,14 +13,15 @@ readme = "README.md"
 repository = "https://github.com/rust-embedded/cortex-m"
 version = "0.7.4"
 edition = "2021"
-rust-version = "1.59"
+rust-version = "1.60"
 links = "cortex-m"  # prevent multiple versions of this crate to be linked together
 
 [dependencies]
 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"

diff --git a/cortex-m/README.md b/cortex-m/README.md
@@ -11,7 +11,7 @@ This project is developed and maintained by the [Cortex-M team][team].
 
 ## Minimum Supported Rust Version (MSRV)
 
-This crate is guaranteed to compile on stable Rust 1.59 and up. It might compile with older versions but that may change in any new patch release.
+This crate is guaranteed to compile on stable Rust 1.60.0 and up. It might compile with older versions but that may change in any new patch release.
 
 ## License
 

diff --git a/cortex-m/src/delay.rs b/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 +75,91 @@ 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) {
+        // from the rp2040-hal:
+        let us = ns / 1000 + if ns % 1000 == 0 { 0 } else { 1 };
+        // With rustc 1.73, this can be replaced by:
+        // let us = ns.div_ceil(1000);
+        Delay::delay_us(self, us)
+    }
+
+    #[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)
+    }
+}
diff --git a/cortex-m/src/lib.rs b/cortex-m/src/lib.rs
@@ -27,7 +27,7 @@
 //!
 //! # Minimum Supported Rust Version (MSRV)
 //!
-//! This crate is guaranteed to compile on stable Rust 1.59 and up. It *might*
+//! This crate is guaranteed to compile on stable Rust 1.60 and up. It *might*
 //! compile with older versions but that may change in any new patch release.
 
 #![deny(missing_docs)]

diff --git a/panic-semihosting/Cargo.toml b/panic-semihosting/Cargo.toml
@@ -11,7 +11,7 @@ license = "MIT OR Apache-2.0"
 name = "panic-semihosting"
 repository = "https://github.com/rust-embedded/cortex-m"
 version = "0.6.0"
-rust-version = "1.59"
+rust-version = "1.60"
 edition = "2021"
 
 [dependencies]

diff --git a/panic-semihosting/README.md b/panic-semihosting/README.md
@@ -8,7 +8,7 @@ This project is developed and maintained by the [Cortex-M team][team].
 
 ## Minimum Supported Rust Version (MSRV)
 
-This crate is guaranteed to compile on stable Rust 1.59.0 and up. It *might*
+This crate is guaranteed to compile on stable Rust 1.60.0 and up. It *might*
 compile with older versions but that may change in any new patch release.
 
 ## License