rtic-monotonics: Implement blocking DelayUs from embedded-hal 1

7 files changed, 39 insertions, 0 deletions

diff --git a/rtic-monotonics/CHANGELOG.md b/rtic-monotonics/CHANGELOG.md
index 4341658..9f35757 100644
--- a/rtic-monotonics/CHANGELOG.md
+++ b/rtic-monotonics/CHANGELOG.md
@@ -10,6 +10,7 @@ For each category, *Added*, *Changed*, *Fixed* add new entries at the top!
 ### Added
 
 - STM32 support.
+- `embedded-hal` 1.0.0-rc.1 `DelayUs` support
 
 ## v1.1.0 - 2023-08-29
 
diff --git a/rtic-monotonics/Cargo.toml b/rtic-monotonics/Cargo.toml
index c4396ad..5c0e758 100644
--- a/rtic-monotonics/Cargo.toml
+++ b/rtic-monotonics/Cargo.toml
@@ -21,6 +21,7 @@ rustdoc-flags = ["--cfg", "docsrs"]
 
 [dependencies]
 rtic-time = { version = "1.0.0", path = "../rtic-time" }
+embedded-hal = { version = "1.0.0-rc.1" }
 embedded-hal-async = { version = "1.0.0-rc.1", optional = true }
 fugit = { version = "0.3.6" }
 atomic-polyfill = "1"
diff --git a/rtic-monotonics/src/nrf/rtc.rs b/rtic-monotonics/src/nrf/rtc.rs
index c74c986..9491307 100644
--- a/rtic-monotonics/src/nrf/rtc.rs
+++ b/rtic-monotonics/src/nrf/rtc.rs
@@ -180,6 +180,13 @@ macro_rules! make_rtc {
             }
         }
 
+        impl embedded_hal::delay::DelayUs for $mono_name {
+            fn delay_us(&mut self, us: u32) {
+                let done = Self::now() + u64::from(us).micros();
+                while Self::now() < done {}
+            }
+        }
+
         impl Monotonic for $mono_name {
             const ZERO: Self::Instant = Self::Instant::from_ticks(0);
 
diff --git a/rtic-monotonics/src/nrf/timer.rs b/rtic-monotonics/src/nrf/timer.rs
index 1b90f16..bd544d0 100644
--- a/rtic-monotonics/src/nrf/timer.rs
+++ b/rtic-monotonics/src/nrf/timer.rs
@@ -216,6 +216,13 @@ macro_rules! make_timer {
             }
         }
 
+        impl embedded_hal::delay::DelayUs for $mono_name {
+            fn delay_us(&mut self, us: u32) {
+                let done = Self::now() + (us as u64).micros();
+                while Self::now() < done {}
+            }
+        }
+
         impl Monotonic for $mono_name {
             const ZERO: Self::Instant = Self::Instant::from_ticks(0);
 
diff --git a/rtic-monotonics/src/rp2040.rs b/rtic-monotonics/src/rp2040.rs
index 61bd1ff..43e6770 100644
--- a/rtic-monotonics/src/rp2040.rs
+++ b/rtic-monotonics/src/rp2040.rs
@@ -162,6 +162,13 @@ impl embedded_hal_async::delay::DelayUs for Timer {
     }
 }
 
+impl embedded_hal::delay::DelayUs for Timer {
+    fn delay_us(&mut self, us: u32) {
+        let done = Self::now() + u64::from(us).micros();
+        while Self::now() < done {}
+    }
+}
+
 /// Register the Timer interrupt for the monotonic.
 #[macro_export]
 macro_rules! create_rp2040_monotonic_token {
diff --git a/rtic-monotonics/src/stm32.rs b/rtic-monotonics/src/stm32.rs
index 3232f4a..77d36e4 100644
--- a/rtic-monotonics/src/stm32.rs
+++ b/rtic-monotonics/src/stm32.rs
@@ -230,6 +230,13 @@ macro_rules! make_timer {
             }
         }
 
+        impl embedded_hal::delay::DelayUs for $mono_name {
+            fn delay_us(&mut self, us: u32) {
+                let done = Self::now() + (us as u64).micros();
+                while Self::now() < done {}
+            }
+        }
+
         impl Monotonic for $mono_name {
             type Instant = fugit::TimerInstantU64<TIMER_HZ>;
             type Duration = fugit::TimerDurationU64<TIMER_HZ>;
diff --git a/rtic-monotonics/src/systick.rs b/rtic-monotonics/src/systick.rs
index 9b8fca8..fb4f883 100644
--- a/rtic-monotonics/src/systick.rs
+++ b/rtic-monotonics/src/systick.rs
@@ -203,6 +203,15 @@ impl embedded_hal_async::delay::DelayUs for Systick {
     }
 }
 
+impl embedded_hal::delay::DelayUs for Systick {
+    fn delay_us(&mut self, us: u32) {
+        #[cfg(feature = "systick-64bit")]
+        let us = u64::from(us);
+        let done = Self::now() + us.micros();
+        while Self::now() < done {}
+    }
+}
+
 /// Register the Systick interrupt for the monotonic.
 #[macro_export]
 macro_rules! create_systick_token {