embedded-hal v1 transition (#723)

* Rempace embedded-hal with ehal_02 in preparation to add embedded-hal-1

* Implementations for `gpio` module

* Implement i2c

* Implement SPI

* Adapt to new peripheral macros

* Fix compile error

* Add copy bounds to sercom wordsize to satisfy ehal-01

* Fix wrong copy bounds

* Impl embedded-io::{Read, Write} for uart

* Fix Tier 1 examples

* impl embedded_hal_nb for uart

* Fix u16::max_value() clippy lint

* Fix clippy transmute lint

* Add block_on_flags method to uart

* Minor cleanup

* Impl embedded_hal_nb::serial for spi

* Update changelogs

* Implement ehal-1 timer traits

* Implement embedded-hal 1.0 pwm

* Update changelog

* Fix compile error

* Remove unproven feature from HAL

* Update changelog

* Fix SPI implementation

* Fix T1 examples (again)

* rustfmt

* Fix feather_m4 compilation

* Fix metro_m4 spi example

* Fix metro_m4 i2c example

* Reexport dma feature in T1 BSPs and fix i2c examples

Cargo.toml

@@ -0,0 +1,4 @@
+[workspace]
+resolver = "2"
+members = ["hal", "atsamd-hal-macros"]
+exclude = ["pac", "boards"]

README.md

@@ -12,14 +12,14 @@ The Hardware Abstraction Layer (HAL - [![Crates.io](https://img.shields.io/crate
 
 | Chip family | Documented features   |
 |:------------|:----------------------|
-| [samd11c]   | samd11c unproven      |
-| [samd11d]   | samd11d unproven      |
-| [samd21g]   | samd21g unproven usb  |
-| [samd21j]   | samd21j unproven usb  |
-| [samd51g]   | samd51g unproven usb  |
-| [samd51j]   | samd51j unproven usb  |
-| [samd51n]   | samd51n unproven usb  |
-| [samd51p]   | samd51p unproven usb  |
+| [samd11c]   | samd11c               |
+| [samd11d]   | samd11d               |
+| [samd21g]   | samd21g usb           |
+| [samd21j]   | samd21j usb           |
+| [samd51g]   | samd51g usb           |
+| [samd51j]   | samd51j usb           |
+| [samd51n]   | samd51n usb           |
+| [samd51p]   | samd51p usb           |
 
 [samd11c]: https://atsamd-rs.github.io/docs/samd11c/thumbv6m-none-eabi/doc/atsamd_hal/index.html
 [samd11d]: https://atsamd-rs.github.io/docs/samd11d/thumbv6m-none-eabi/doc/atsamd_hal/index.html

boards/atsame54_xpro/CHANGELOG.md

@@ -1,5 +1,6 @@
 # Unreleased
 
+- Implement `embedded-hal` `1.0` for GPIO, SPI, I2C, UART and fix examples
 - Update the PACs to svd2rust 0.30.2.
 
 # v0.6.0

boards/atsame54_xpro/Cargo.toml

@@ -38,9 +38,8 @@ panic-rtt-target = { version = "0.1", features = ["cortex-m"] }
 rtt-target = { version = "0.3", features = ["cortex-m"] }
 
 [features]
-default = ["rt", "atsamd-hal/same54p", "atsamd-hal/unproven"]
+default = ["rt", "atsamd-hal/same54p"]
 rt = ["cortex-m-rt", "atsamd-hal/same54p-rt"]
-unproven = ["atsamd-hal/unproven"]
 usb = ["atsamd-hal/usb", "usb-device"]
 can = ["atsamd-hal/can"]
 

boards/atsame54_xpro/examples/blinky_rtic.rs

@@ -5,10 +5,9 @@ use atsame54_xpro as bsp;
 use bsp::hal;
 use bsp::hal::clock::v2 as clock;
 use dwt_systick_monotonic::DwtSystick;
-use dwt_systick_monotonic::ExtU32 as _;
+use dwt_systick_monotonic::{fugit::RateExtU32, ExtU32};
 // TODO: Any reason this cannot be in a HAL's prelude?
-use hal::ehal::digital::v2::StatefulOutputPin as _;
-use hal::prelude::*;
+use hal::ehal::digital::StatefulOutputPin;
 use panic_rtt_target as _;
 use rtt_target::{rprintln, rtt_init_print};
 
@@ -45,7 +44,7 @@ mod app {
             bsp::pin_alias!(pins.xosc1_x_in),
             bsp::pin_alias!(pins.xosc1_x_out),
             // Xosc1 on Same54Xpro is 12 MHz
-            12.MHz(),
+            12_u32.MHz(),
         )
         .enable();
 

boards/feather_m0/CHANGELOG.md

@@ -1,5 +1,6 @@
 # Unreleased
 
+- Implement `embedded-hal` `1.0` for GPIO, SPI, I2C, UART and fix examples
 - Update the PACs to svd2rust 0.30.2.
 
 # v0.13.0

boards/feather_m0/Cargo.toml

@@ -53,7 +53,6 @@ panic-semihosting = "0.5"
 # ask the HAL to enable atsamd21g support
 default = ["rt", "atsamd-hal/samd21g"]
 rt = ["cortex-m-rt", "atsamd-hal/samd21g-rt"]
-unproven = ["atsamd-hal/unproven"]
 use_rtt = ["atsamd-hal/use_rtt"]
 usb = ["atsamd-hal/usb", "usb-device"]
 # Enable pins for the radio on "RadioFruits" with RFM95, RFM96, RFM69
@@ -87,11 +86,9 @@ name = "timers"
 
 [[example]]
 name = "pwm"
-required-features = ["unproven"]
 
 [[example]]
 name = "adc"
-required-features = ["unproven"]
 
 [[example]]
 name = "ssd1306_graphicsmode_128x64_i2c"
@@ -113,7 +110,7 @@ name = "ssd1306_terminalmode_128x64_spi"
 
 [[example]]
 name = "usb_echo"
-required-features = ["usb", "unproven"]
+required-features = ["usb"]
 
 [[example]]
 name = "sleeping_timer"
@@ -127,15 +124,15 @@ required-features = ["dma"]
 
 [[example]]
 name = "clock"
-required-features = ["usb", "unproven"]
+required-features = ["usb"]
 
 [[example]]
 name = "adalogger"
-required-features = ["adalogger", "usb", "sdmmc", "unproven"]
+required-features = ["adalogger", "usb", "sdmmc"]
 
 [[example]]
 name = "blinky_rtic"
-required-features = ["rtic", "unproven"]
+required-features = ["rtic"]
 
 [[example]]
 name = "uart"

boards/feather_m0/examples/i2c.rs

@@ -19,8 +19,8 @@ use pac::Peripherals;
 
 use hal::clock::GenericClockController;
 use hal::dmac::{DmaController, PriorityLevel};
-use hal::ehal::blocking::i2c::WriteRead;
-use hal::prelude::*;
+use hal::ehal::i2c::I2c;
+use hal::fugit::RateExtU32;
 use hal::sercom::i2c;
 
 const LENGTH: usize = 1;
@@ -57,7 +57,7 @@ fn main() -> ! {
     let sercom3_clock = &clocks.sercom3_core(&gclk0).unwrap();
     let pads = i2c::Pads::new(sda, scl);
     let mut i2c = i2c::Config::new(&pm, peripherals.SERCOM3, pads, sercom3_clock.freq())
-        .baud(100.khz())
+        .baud(100.kHz())
         .enable();
 
     let mut buffer = [0x00; 1];

boards/feather_m0/examples/pwm.rs

@@ -15,7 +15,8 @@ use feather_m0 as bsp;
 use bsp::pin_alias;
 use hal::clock::GenericClockController;
 use hal::delay::Delay;
-use hal::prelude::*;
+use hal::ehal::{delay::DelayNs, pwm::SetDutyCycle};
+use hal::fugit::RateExtU32;
 use hal::pwm::Pwm3;
 use pac::{CorePeripherals, Peripherals};
 
@@ -38,16 +39,18 @@ fn main() -> ! {
     let gclk0 = clocks.gclk0();
     let mut pwm3 = Pwm3::new(
         &clocks.tcc2_tc3(&gclk0).unwrap(),
-        1.khz(),
+        1.kHz(),
         peripherals.TC3,
         &mut peripherals.PM,
     );
-    let max_duty = pwm3.get_max_duty();
+    let max_duty = pwm3.max_duty_cycle();
 
     loop {
-        pwm3.set_duty(max_duty / 2);
-        delay.delay_ms(1000u16);
-        pwm3.set_duty(max_duty / 8);
-        delay.delay_ms(1000u16);
+        // The embedded-hal spec requires that set_duty_cycle returns a Result.
+        // In our case, the function is infaillible so we can safely ignore the result.
+        let _ = pwm3.set_duty_cycle(max_duty / 2);
+        delay.delay_ms(1000);
+        let _ = pwm3.set_duty_cycle(max_duty / 8);
+        delay.delay_ms(1000);
     }
 }

boards/feather_m0/examples/timers.rs

@@ -12,9 +12,11 @@ use feather_m0 as bsp;
 
 use bsp::{entry, pin_alias};
 use hal::clock::GenericClockController;
-use hal::prelude::*;
+use hal::ehal::digital::OutputPin;
+use hal::nb;
 use hal::time::Hertz;
 use hal::timer::TimerCounter;
+use hal::timer_traits::InterruptDrivenTimer;
 use pac::Peripherals;
 
 #[entry]

boards/feather_m0/examples/uart.rs

@@ -16,7 +16,7 @@ use feather_m0 as bsp;
 use bsp::{entry, periph_alias, pin_alias};
 use hal::clock::GenericClockController;
 use hal::dmac::{DmaController, PriorityLevel};
-use hal::prelude::*;
+use hal::fugit::RateExtU32;
 
 use pac::Peripherals;
 
@@ -49,7 +49,7 @@ fn main() -> ! {
     // Setup UART peripheral
     let uart = bsp::uart(
         &mut clocks,
-        9600.hz(),
+        9600.Hz(),
         uart_sercom,
         &mut pm,
         uart_rx,

boards/feather_m4/CHANGELOG.md

@@ -1,5 +1,6 @@
 # Unreleased
 
+- Implement `embedded-hal` `1.0` for GPIO, SPI, I2C, UART and fix examples
 - Update the PACs to svd2rust 0.30.2.
 
 # v0.11.0

boards/feather_m4/Cargo.toml

@@ -45,9 +45,8 @@ heapless = "0.7"
 # ask the HAL to enable atsamd51j support
 default = ["rt", "atsamd-hal/samd51j"]
 rt = ["cortex-m-rt", "atsamd-hal/samd51j-rt"]
-unproven = ["atsamd-hal/unproven"]
 usb = ["atsamd-hal/usb", "usb-device"]
-dma = ["atsamd-hal/dma", "unproven"]
+dma = ["atsamd-hal/dma"]
 max-channels = ["dma", "atsamd-hal/dma"]
 
 
@@ -64,7 +63,6 @@ opt-level = "s"
 
 [[example]]
 name = "pwm"
-required-features = ["unproven"]
 
 [[example]]
 name = "usb_echo"
@@ -80,15 +78,15 @@ required-features = ["dma"]
 
 [[example]]
 name = "pukcc_test"
-required-features = ["unproven", "usb"]
+required-features = ["usb"]
 
 [[example]]
 name = "nvm_dsu"
-required-features = ["unproven", "usb"]
+required-features = ["usb"]
 
 [[example]]
 name = "smart_eeprom"
-required-features = ["unproven", "usb"]
+required-features = [ "usb"]
 
 [[example]]
 name = "i2c"

boards/feather_m4/examples/clocking_v2.rs

@@ -3,8 +3,6 @@
 
 use panic_halt as _;
 
-use core::fmt::Write as _;
-
 use atsamd_hal::{
     clock::v2::{
         self as clock,
@@ -15,10 +13,9 @@ use atsamd_hal::{
         rtcosc::RtcOsc,
         xosc32k::{ControlGainMode, Xosc1k, Xosc32k, Xosc32kBase},
     },
-    ehal::serial::Read as _,
-    ehal::serial::Write,
+    embedded_io::{Read, Write},
+    fugit::RateExtU32,
     gpio::{Pins, PA04, PA05},
-    prelude::*,
     rtc::{ClockMode, Rtc},
     sercom::{
         uart::{self, BaudMode, Flags, Oversampling},
@@ -142,7 +139,7 @@ mod app {
         // In the future, the `Rtc` will take ownership of the `RtcOsc`
         let rtc = Rtc::clock_mode(device.RTC, rtc_osc.freq(), &mut mclk);
 
-        writeln!(&mut uart as &mut dyn Write<_, Error = _>, "RTIC booted!").unwrap();
+        writeln!(&mut uart as &mut dyn Write<Error = _>, "RTIC booted!").unwrap();
 
         (
             SharedResources { uart, rtc },
@@ -156,12 +153,13 @@ mod app {
         let mut uart = cx.shared.uart;
         let mut rtc = cx.shared.rtc;
         // Read from `Uart` to clean interrupt flag
-        let _ = uart.lock(|u| u.read().unwrap());
+        let mut buf = [0];
+        let _ = uart.lock(|u| u.read(&mut buf).unwrap());
 
         // Print out `DateTime` coming from `Rtc`
         uart.lock(|u| {
             writeln!(
-                u as &mut dyn Write<_, Error = _>,
+                u as &mut dyn Write<Error = _>,
                 "{:#?}",
                 rtc.lock(|r| r.current_time())
             )

boards/feather_m4/examples/i2c.rs

@@ -19,8 +19,8 @@ use pac::Peripherals;
 
 use hal::clock::GenericClockController;
 use hal::dmac::{DmaController, PriorityLevel};
-use hal::ehal::blocking::i2c::WriteRead;
-use hal::prelude::*;
+use hal::ehal::i2c::I2c;
+use hal::fugit::RateExtU32;
 use hal::sercom::i2c;
 
 const LENGTH: usize = 1;

boards/feather_m4/examples/neopixel_rainbow.rs

@@ -19,10 +19,11 @@ use panic_semihosting as _;
 use bsp::entry;
 use hal::clock::GenericClockController;
 use hal::delay::Delay;
+use hal::ehal::delay::DelayNs;
 use hal::pac::{CorePeripherals, Peripherals};
-use hal::prelude::*;
 use hal::time::Hertz;
 use hal::timer::*;
+use hal::timer_traits::InterruptDrivenTimer;
 
 use smart_leds::{
     hsv::{hsv2rgb, Hsv},
@@ -62,7 +63,7 @@ fn main() -> ! {
                 val: 2,
             })];
             neopixel.write(colors.iter().cloned()).unwrap();
-            delay.delay_ms(5u8);
+            delay.delay_ms(5);
         }
     }
 }

boards/feather_m4/examples/nvm_dsu.rs

@@ -12,7 +12,7 @@ use panic_halt as _;
 use panic_semihosting as _;
 
 use bsp::entry;
-use ehal::digital::v2::ToggleableOutputPin;
+use ehal::digital::StatefulOutputPin;
 use hal::clock::GenericClockController;
 use hal::dsu::Dsu;
 use hal::nvm::{retrieve_bank_size, Bank, Nvm, WriteGranularity, BLOCKSIZE};

boards/feather_m4/examples/pukcc_test.rs

@@ -12,7 +12,7 @@ use panic_halt as _;
 use panic_semihosting as _;
 
 use bsp::entry;
-use ehal::digital::v2::ToggleableOutputPin;
+use ehal::digital::StatefulOutputPin;
 use hal::clock::GenericClockController;
 use hal::pac::{interrupt, CorePeripherals, Peripherals};
 use hal::{pukcc::*, usb::UsbBus};

boards/feather_m4/examples/pwm.rs

@@ -2,8 +2,6 @@
 #![no_main]
 
 // Pulse Width Modulation
-//
-// cargo build --features="unproven"
 
 use bsp::hal;
 use feather_m4 as bsp;

boards/feather_m4/examples/serial.rs

@@ -12,10 +12,13 @@ use panic_semihosting as _;
 use bsp::{entry, periph_alias, pin_alias};
 use hal::clock::GenericClockController;
 use hal::delay::Delay;
+use hal::ehal::delay::DelayNs;
+use hal::ehal_nb::serial::Write;
+use hal::fugit::RateExtU32;
+use hal::nb;
 use hal::pac::gclk::genctrl::SRCSELECT_A;
 use hal::pac::gclk::pchctrl::GENSELECT_A;
 use hal::pac::{CorePeripherals, Peripherals};
-use hal::prelude::*;
 
 #[entry]
 fn main() -> ! {
@@ -49,6 +52,6 @@ fn main() -> ! {
         for byte in b"Hello, world!" {
             nb::block!(uart.write(*byte)).unwrap();
         }
-        delay.delay_ms(1000u16);
+        delay.delay_ms(1000);
     }
 }

boards/feather_m4/examples/smart_eeprom.rs

@@ -12,7 +12,7 @@ use panic_halt as _;
 use panic_semihosting as _;
 
 use bsp::entry;
-use ehal::digital::v2::ToggleableOutputPin;
+use ehal::digital::StatefulOutputPin;
 use hal::clock::GenericClockController;
 use hal::nvm::{smart_eeprom, Nvm};
 use hal::pac::{interrupt, CorePeripherals, Peripherals};