Fix mono delay (#843)

* rtic-time: Compenstate for timer uncertainty

* Update changelog and incorrect cargo.lock in an example

* Fix Monotonic impls

* Fix tests

* Fix other monotonics, again

* Update changelog

* Fix example

* Fix DelayUs and DelayMs impls

* Minor coding style fix in u64 conversions

* Fix all changelogs

* Fix changelog

* Fix blocking DelayUs

* Minor monotonic rework

* Add delay precision test

* Add more tests

* Add rust-version tags to Cargo.toml

* Fix imxrt, rp2040 and systick timer

* Fix more monotonics

* Fix systick monotonic

* Some reverts

* Fix imxrt

* Fix nrf

* Fix rp2040

* Fix stm32

* Fix systick

* Fix rtic-time tests

* Bump to e-h.rc2

* Apply e-h.rc2 fixes to rtic-time

* Apply fixes from arbiter

* Fix clippy warning

* Minor beautification

* Revert previous changes

* Fix variable name

* Add blocking tests, but disable them by default

2 files changed, 10 insertions, 37 deletions

diff --git a/rtic-monotonics/src/nrf/rtc.rs b/rtic-monotonics/src/nrf/rtc.rs
index 9491307..1f4e34f 100644
--- a/rtic-monotonics/src/nrf/rtc.rs
+++ b/rtic-monotonics/src/nrf/rtc.rs
@@ -43,7 +43,7 @@ use nrf9160_pac::{self as pac, Interrupt, RTC0_NS as RTC0, RTC1_NS as RTC1};
 use crate::{Monotonic, TimeoutError, TimerQueue};
 use atomic_polyfill::{AtomicU32, Ordering};
 use core::future::Future;
-pub use fugit::{self, ExtU64};
+pub use fugit::{self, ExtU64, ExtU64Ceil};
 
 #[doc(hidden)]
 #[macro_export]
@@ -167,28 +167,15 @@ macro_rules! make_rtc {
             }
         }
 
-        #[cfg(feature = "embedded-hal-async")]
-        impl embedded_hal_async::delay::DelayUs for $mono_name {
-            #[inline]
-            async fn delay_us(&mut self, us: u32) {
-               Self::delay((us as u64).micros()).await;
-            }
 
-            #[inline]
-            async fn delay_ms(&mut self, ms: u32) {
-                Self::delay((ms as u64).millis()).await;
-            }
-        }
+        rtic_time::embedded_hal_delay_impl_fugit64!($mono_name);
 
-        impl embedded_hal::delay::DelayUs for $mono_name {
-            fn delay_us(&mut self, us: u32) {
-                let done = Self::now() + u64::from(us).micros();
-                while Self::now() < done {}
-            }
-        }
+        #[cfg(feature = "embedded-hal-async")]
+        rtic_time::embedded_hal_async_delay_impl_fugit64!($mono_name);
 
         impl Monotonic for $mono_name {
             const ZERO: Self::Instant = Self::Instant::from_ticks(0);
+            const TICK_PERIOD: Self::Duration = Self::Duration::from_ticks(1);
 
             type Instant = fugit::TimerInstantU64<32_768>;
             type Duration = fugit::TimerDurationU64<32_768>;
diff --git a/rtic-monotonics/src/nrf/timer.rs b/rtic-monotonics/src/nrf/timer.rs
index 589cc6f..0488ca9 100644
--- a/rtic-monotonics/src/nrf/timer.rs
+++ b/rtic-monotonics/src/nrf/timer.rs
@@ -29,7 +29,7 @@
 use crate::{Monotonic, TimeoutError, TimerQueue};
 use atomic_polyfill::{AtomicU32, Ordering};
 use core::future::Future;
-pub use fugit::{self, ExtU64};
+pub use fugit::{self, ExtU64, ExtU64Ceil};
 
 #[cfg(feature = "nrf52810")]
 use nrf52810_pac::{self as pac, Interrupt, TIMER0, TIMER1, TIMER2};
@@ -203,28 +203,14 @@ macro_rules! make_timer {
             }
         }
 
-        #[cfg(feature = "embedded-hal-async")]
-        impl embedded_hal_async::delay::DelayUs for $mono_name {
-            #[inline]
-            async fn delay_us(&mut self, us: u32) {
-                Self::delay((us as u64).micros()).await;
-            }
-
-            #[inline]
-            async fn delay_ms(&mut self, ms: u32) {
-                Self::delay((ms as u64).millis()).await;
-            }
-        }
+        rtic_time::embedded_hal_delay_impl_fugit64!($mono_name);
 
-        impl embedded_hal::delay::DelayUs for $mono_name {
-            fn delay_us(&mut self, us: u32) {
-                let done = Self::now() + (us as u64).micros();
-                while Self::now() < done {}
-            }
-        }
+        #[cfg(feature = "embedded-hal-async")]
+        rtic_time::embedded_hal_async_delay_impl_fugit64!($mono_name);
 
         impl Monotonic for $mono_name {
             const ZERO: Self::Instant = Self::Instant::from_ticks(0);
+            const TICK_PERIOD: Self::Duration = Self::Duration::from_ticks(1);
 
             type Instant = fugit::TimerInstantU64<1_000_000>;
             type Duration = fugit::TimerDurationU64<1_000_000>;