Fixes for updated embedded hal

rtic-rs · Nov 29, 2023 · d6bf28e · d6bf28e
1 parent a13cb30
commit d6bf28e
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Showing 6 changed files with 74 additions and 12 deletions.
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);