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

1 files changed, 5 insertions, 17 deletions

diff --git a/rtic-monotonics/src/rp2040.rs b/rtic-monotonics/src/rp2040.rs
index 130c7d3..998b532 100644
--- a/rtic-monotonics/src/rp2040.rs
+++ b/rtic-monotonics/src/rp2040.rs
@@ -28,7 +28,7 @@ use super::Monotonic;
 
 pub use super::{TimeoutError, TimerQueue};
 use core::future::Future;
-pub use fugit::{self, ExtU64};
+pub use fugit::{self, ExtU64, ExtU64Ceil};
 use rp2040_pac::{timer, Interrupt, NVIC, RESETS, TIMER};
 
 /// Timer implementing [`Monotonic`] which runs at 1 MHz.
@@ -104,6 +104,7 @@ impl Monotonic for Timer {
     type Duration = fugit::TimerDurationU64<1_000_000>;
 
     const ZERO: Self::Instant = Self::Instant::from_ticks(0);
+    const TICK_PERIOD: Self::Duration = Self::Duration::from_ticks(1);
 
     fn now() -> Self::Instant {
         let timer = Self::timer();
@@ -151,23 +152,10 @@ impl Monotonic for Timer {
     fn disable_timer() {}
 }
 
-#[cfg(feature = "embedded-hal-async")]
-impl embedded_hal_async::delay::DelayUs for Timer {
-    async fn delay_us(&mut self, us: u32) {
-        Self::delay((us as u64).micros()).await;
-    }
-
-    async fn delay_ms(&mut self, ms: u32) {
-        Self::delay((ms as u64).millis()).await;
-    }
-}
+rtic_time::embedded_hal_delay_impl_fugit64!(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 {}
-    }
-}
+#[cfg(feature = "embedded-hal-async")]
+rtic_time::embedded_hal_async_delay_impl_fugit64!(Timer);
 
 /// Register the Timer interrupt for the monotonic.
 #[macro_export]