Merge pull request #435 from nrf-rs/embedded-hal

Make embedded-hal 0.2 optional

.github/workflows/ci.yml

@@ -12,7 +12,7 @@ jobs:
     continue-on-error: ${{ matrix.rust_version == 'nightly' }}
 
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v4
     - name: Install Rust stable
       uses: actions-rs/toolchain@v1
       with:
@@ -44,10 +44,20 @@ jobs:
           - rust_version: stable
             rustflags: --deny warnings
 
+  format:
+    name: Format
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - name: Copy Cargo.toml
+        run: cp Cargo.ci.toml Cargo.toml
+      - name: Format Rust code
+        run: cargo fmt --all -- --check
+
   ci:
     if: ${{ success() }}
     # all new jobs must be added to this list
-    needs: [build]
+    needs: [build, format]
     runs-on: ubuntu-latest
     steps:
       - name: CI succeeded

examples/nvmc-demo/src/main.rs

@@ -6,7 +6,7 @@
 #[cfg(feature = "52840")]
 use nrf52840_hal as hal;
 
-use core::convert::TryInto;
+use core::{convert::TryInto, ptr::addr_of_mut};
 use embedded_storage::nor_flash::NorFlash;
 use embedded_storage::nor_flash::ReadNorFlash;
 use hal::nvmc::Nvmc;
@@ -33,7 +33,7 @@ fn main() -> ! {
     let p = hal::pac::Peripherals::take().unwrap();
 
     #[cfg(feature = "52840")]
-    let mut nvmc = Nvmc::new(p.NVMC, unsafe { &mut CONFIG });
+    let mut nvmc = Nvmc::new(p.NVMC, unsafe { addr_of_mut!(CONFIG).as_mut().unwrap() });
 
     erase_if_needed(&mut nvmc, LAST_PAGE);
 

examples/wdt-demo/Cargo.toml

@@ -5,14 +5,9 @@ authors = ["James Munns <james.munns@ferrous-systems.com>"]
 edition = "2018"
 publish = false
 
-# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
-
 [dependencies]
 cortex-m = "0.7.3"
 cortex-m-rt = { version = "0.7.0", features = ["device"] }
+embedded-hal = "1.0.0"
 rtt-target = { version = "0.3.1", features = ["cortex-m"] }
 nrf52840-hal = { features = ["rt"], path = "../../nrf52840-hal" }
-
-[dependencies.embedded-hal]
-version = "0.2.3"
-features = ["unproven"]

examples/wdt-demo/src/main.rs

@@ -14,10 +14,7 @@
 #![no_std]
 #![no_main]
 
-use embedded_hal::{
-    digital::v2::{InputPin, OutputPin},
-    timer::CountDown,
-};
+use embedded_hal::digital::{InputPin, OutputPin};
 use {
     core::panic::PanicInfo,
     hal::{
@@ -37,10 +34,10 @@ fn main() -> ! {
     rtt_init_print!();
     let p0 = hal::gpio::p0::Parts::new(p.P0);
 
-    let btn1 = p0.p0_11.into_pullup_input().degrade();
-    let btn2 = p0.p0_12.into_pullup_input().degrade();
-    let btn3 = p0.p0_24.into_pullup_input().degrade();
-    let btn4 = p0.p0_25.into_pullup_input().degrade();
+    let mut btn1 = p0.p0_11.into_pullup_input().degrade();
+    let mut btn2 = p0.p0_12.into_pullup_input().degrade();
+    let mut btn3 = p0.p0_24.into_pullup_input().degrade();
+    let mut btn4 = p0.p0_25.into_pullup_input().degrade();
 
     let mut led1 = p0.p0_13.into_push_pull_output(Level::High).degrade();
     let mut led2 = p0.p0_14.into_push_pull_output(Level::High).degrade();
@@ -102,7 +99,7 @@ fn main() -> ! {
         rprintln!("Not restarted by the dog!");
     }
 
-    let buttons = [&btn1, &btn2, &btn3, &btn4];
+    let buttons = [&mut btn1, &mut btn2, &mut btn3, &mut btn4];
 
     let leds = [&mut led1, &mut led2, &mut led3, &mut led4];
 

nrf-hal-common/Cargo.toml

@@ -20,13 +20,13 @@ license = "MIT OR Apache-2.0"
 edition = "2018"
 
 [dependencies]
-cortex-m = "0.7.3"
-nb = "1.0.0"
-fixed = "1.0.0"
-rand_core = "0.6.3"
+cortex-m = "0.7.7"
+nb = "1.1.0"
+fixed = "1.25.1"
+rand_core = "0.6.4"
 cfg-if = "1.0.0"
 embedded-dma = "0.2.0"
-embedded-storage = "0.3.0"
+embedded-storage = "0.3.1"
 
 [dependencies.void]
 default-features = false
@@ -79,7 +79,8 @@ optional = true
 [dependencies.embedded-hal-02]
 package = "embedded-hal"
 features = ["unproven"]
-version = "0.2.4"
+version = "0.2.7"
+optional = true
 
 [dependencies.embedded-hal]
 version = "1.0.0"

nrf-hal-common/src/adc.rs

@@ -1,16 +1,21 @@
 //! API for the Analog to Digital converter.
 
-use embedded_hal_02::adc::{Channel, OneShot};
-
-use core::hint::unreachable_unchecked;
-
 use crate::{
     gpio::{Floating, Input},
     pac::{
         adc::config::{INPSEL_A as InputSelection, REFSEL_A as Reference, RES_A as Resolution},
         ADC,
     },
 };
+use core::hint::unreachable_unchecked;
+
+#[cfg(feature = "embedded-hal-02")]
+pub trait Channel: embedded_hal_02::adc::Channel<Adc, ID = u8> {}
+
+#[cfg(not(feature = "embedded-hal-02"))]
+pub trait Channel {
+    fn channel() -> u8;
+}
 
 pub struct Adc(ADC);
 
@@ -57,32 +62,9 @@ impl Adc {
 
         Self(adc)
     }
-}
-
-pub struct AdcConfig {
-    pub resolution: Resolution,
-    pub input_selection: InputSelection,
-    pub reference: Reference,
-}
-
-// 0 volts reads as 0, VDD volts reads as 2^10.
-impl Default for AdcConfig {
-    fn default() -> Self {
-        Self {
-            resolution: Resolution::_10BIT,
-            input_selection: InputSelection::ANALOG_INPUT_ONE_THIRD_PRESCALING,
-            reference: Reference::SUPPLY_ONE_THIRD_PRESCALING,
-        }
-    }
-}
-
-impl<PIN> OneShot<Adc, i16, PIN> for Adc
-where
-    PIN: Channel<Adc, ID = u8>,
-{
-    type Error = ();
 
-    fn read(&mut self, _pin: &mut PIN) -> nb::Result<i16, Self::Error> {
+    /// Samples the given channel of the ADC and returns the value read.
+    pub fn read_channel<PIN: Channel>(&mut self, _pin: &PIN) -> i16 {
         let original_inpsel = self.0.config.read().inpsel();
         match PIN::channel() {
             0 => self.0.config.modify(|_, w| w.psel().analog_input0()),
@@ -118,17 +100,54 @@ where
             .modify(|_, w| w.inpsel().variant(original_inpsel.variant().unwrap()));
 
         // Max resolution is 10 bits so casting is always safe
-        Ok(self.0.result.read().result().bits() as i16)
+        self.0.result.read().result().bits() as i16
+    }
+}
+
+pub struct AdcConfig {
+    pub resolution: Resolution,
+    pub input_selection: InputSelection,
+    pub reference: Reference,
+}
+
+// 0 volts reads as 0, VDD volts reads as 2^10.
+impl Default for AdcConfig {
+    fn default() -> Self {
+        Self {
+            resolution: Resolution::_10BIT,
+            input_selection: InputSelection::ANALOG_INPUT_ONE_THIRD_PRESCALING,
+            reference: Reference::SUPPLY_ONE_THIRD_PRESCALING,
+        }
+    }
+}
+
+#[cfg(feature = "embedded-hal-02")]
+impl<PIN> embedded_hal_02::adc::OneShot<Adc, i16, PIN> for Adc
+where
+    PIN: Channel,
+{
+    type Error = ();
+
+    fn read(&mut self, pin: &mut PIN) -> nb::Result<i16, Self::Error> {
+        Ok(self.read_channel(pin))
     }
 }
 
 macro_rules! channel_mappings {
     ($($n:expr => $pin:path),*) => {
         $(
-            impl Channel<Adc> for $pin {
+            #[cfg(feature = "embedded-hal-02")]
+            impl embedded_hal_02::adc::Channel<Adc> for $pin {
                 type ID = u8;
 
-                fn channel() -> <Self as embedded_hal_02::adc::Channel<Adc>>::ID {
+                fn channel() -> u8 {
+                    $n
+                }
+            }
+
+            impl Channel for $pin {
+                #[cfg(not(feature = "embedded-hal-02"))]
+                fn channel() -> u8 {
                     $n
                 }
             }

nrf-hal-common/src/delay.rs

@@ -5,7 +5,6 @@ use core::convert::TryInto;
 use cortex_m::peripheral::syst::SystClkSource;
 use cortex_m::peripheral::SYST;
 use embedded_hal::delay::DelayNs;
-use embedded_hal_02::blocking::delay::{DelayMs, DelayUs};
 
 /// System timer (SysTick) as a delay provider.
 pub struct Delay {
@@ -26,37 +25,43 @@ impl Delay {
     }
 }
 
-impl DelayMs<u32> for Delay {
+#[cfg(feature = "embedded-hal-02")]
+impl embedded_hal_02::blocking::delay::DelayMs<u32> for Delay {
     fn delay_ms(&mut self, ms: u32) {
         DelayNs::delay_ms(self, ms);
     }
 }
 
-impl DelayMs<u16> for Delay {
+#[cfg(feature = "embedded-hal-02")]
+impl embedded_hal_02::blocking::delay::DelayMs<u16> for Delay {
     fn delay_ms(&mut self, ms: u16) {
         DelayNs::delay_ms(self, ms.into());
     }
 }
 
-impl DelayMs<u8> for Delay {
+#[cfg(feature = "embedded-hal-02")]
+impl embedded_hal_02::blocking::delay::DelayMs<u8> for Delay {
     fn delay_ms(&mut self, ms: u8) {
         DelayNs::delay_ms(self, ms.into());
     }
 }
 
-impl DelayUs<u32> for Delay {
+#[cfg(feature = "embedded-hal-02")]
+impl embedded_hal_02::blocking::delay::DelayUs<u32> for Delay {
     fn delay_us(&mut self, us: u32) {
         DelayNs::delay_us(self, us);
     }
 }
 
-impl DelayUs<u16> for Delay {
+#[cfg(feature = "embedded-hal-02")]
+impl embedded_hal_02::blocking::delay::DelayUs<u16> for Delay {
     fn delay_us(&mut self, us: u16) {
         DelayNs::delay_us(self, us.into());
     }
 }
 
-impl DelayUs<u8> for Delay {
+#[cfg(feature = "embedded-hal-02")]
+impl embedded_hal_02::blocking::delay::DelayUs<u8> for Delay {
     fn delay_us(&mut self, us: u8) {
         DelayNs::delay_us(self, us.into());
     }