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

8 files changed, 43 insertions, 115 deletions

diff --git a/rtic-monotonics/CHANGELOG.md b/rtic-monotonics/CHANGELOG.md
index d030bb0..4dea3fc 100644
--- a/rtic-monotonics/CHANGELOG.md
+++ b/rtic-monotonics/CHANGELOG.md
@@ -7,6 +7,10 @@ For each category, *Added*, *Changed*, *Fixed* add new entries at the top!
 
 ## Unreleased
 
+### Fixed
+
+- **Soundness fix:** Monotonics did not wait long enough in `Duration` based delays.
+
 ## v1.3.0 - 2023-11-08
 
 ### Added
diff --git a/rtic-monotonics/Cargo.toml b/rtic-monotonics/Cargo.toml
index 441e772..4d9dc0b 100644
--- a/rtic-monotonics/Cargo.toml
+++ b/rtic-monotonics/Cargo.toml
@@ -28,8 +28,8 @@ 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 }
+embedded-hal = { version = "1.0.0-rc.2" }
+embedded-hal-async = { version = "1.0.0-rc.2", optional = true }
 fugit = { version = "0.3.6" }
 atomic-polyfill = "1"
 cfg-if = "1.0.0"
diff --git a/rtic-monotonics/src/imxrt.rs b/rtic-monotonics/src/imxrt.rs
index 3944829..97ba73f 100644
--- a/rtic-monotonics/src/imxrt.rs
+++ b/rtic-monotonics/src/imxrt.rs
@@ -31,7 +31,7 @@
 
 use crate::{Monotonic, TimeoutError, TimerQueue};
 use atomic_polyfill::{compiler_fence, AtomicU32, Ordering};
-pub use fugit::{self, ExtU64};
+pub use fugit::{self, ExtU64, ExtU64Ceil};
 
 use imxrt_ral as ral;
 
@@ -216,31 +216,17 @@ 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 {
             type Instant = fugit::TimerInstantU64<TIMER_HZ>;
             type Duration = fugit::TimerDurationU64<TIMER_HZ>;
 
             const ZERO: Self::Instant = Self::Instant::from_ticks(0);
+            const TICK_PERIOD: Self::Duration = Self::Duration::from_ticks(1);
 
             fn now() -> Self::Instant {
                 let gpt = unsafe{ $timer::instance() };
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>;
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]
diff --git a/rtic-monotonics/src/stm32.rs b/rtic-monotonics/src/stm32.rs
index 2676a34..254f130 100644
--- a/rtic-monotonics/src/stm32.rs
+++ b/rtic-monotonics/src/stm32.rs
@@ -36,7 +36,7 @@
 
 use crate::{Monotonic, TimeoutError, TimerQueue};
 use atomic_polyfill::{compiler_fence, AtomicU64, Ordering};
-pub use fugit::{self, ExtU64};
+pub use fugit::{self, ExtU64, ExtU64Ceil};
 use stm32_metapac as pac;
 
 mod _generated {
@@ -218,31 +218,17 @@ 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 {
             type Instant = fugit::TimerInstantU64<TIMER_HZ>;
             type Duration = fugit::TimerDurationU64<TIMER_HZ>;
 
             const ZERO: Self::Instant = Self::Instant::from_ticks(0);
+            const TICK_PERIOD: Self::Duration = Self::Duration::from_ticks(1);
 
             fn now() -> Self::Instant {
                 // Credits to the `time-driver` of `embassy-stm32`.
diff --git a/rtic-monotonics/src/systick.rs b/rtic-monotonics/src/systick.rs
index 265ca9a..9bd056c 100644
--- a/rtic-monotonics/src/systick.rs
+++ b/rtic-monotonics/src/systick.rs
@@ -40,11 +40,11 @@ use cortex_m::peripheral::SYST;
 pub use fugit;
 cfg_if::cfg_if! {
     if #[cfg(feature = "systick-64bit")] {
-        pub use fugit::ExtU64;
+        pub use fugit::{ExtU64, ExtU64Ceil};
         use atomic_polyfill::AtomicU64;
         static SYSTICK_CNT: AtomicU64 = AtomicU64::new(0);
     } else {
-        pub use fugit::ExtU32;
+        pub use fugit::{ExtU32, ExtU32Ceil};
         use atomic_polyfill::AtomicU32;
         static SYSTICK_CNT: AtomicU32 = AtomicU32::new(0);
     }
@@ -156,6 +156,7 @@ impl Monotonic for Systick {
     }
 
     const ZERO: Self::Instant = Self::Instant::from_ticks(0);
+    const TICK_PERIOD: Self::Duration = Self::Duration::from_ticks(1);
 
     fn now() -> Self::Instant {
         if Self::systick().has_wrapped() {
@@ -188,27 +189,17 @@ impl Monotonic for Systick {
     fn disable_timer() {}
 }
 
-#[cfg(feature = "embedded-hal-async")]
-impl embedded_hal_async::delay::DelayUs for Systick {
-    async fn delay_us(&mut self, us: u32) {
-        #[cfg(feature = "systick-64bit")]
-        let us = u64::from(us);
-        Self::delay(us.micros()).await;
-    }
+cfg_if::cfg_if! {
+    if #[cfg(feature = "systick-64bit")] {
+        rtic_time::embedded_hal_delay_impl_fugit64!(Systick);
 
-    async fn delay_ms(&mut self, ms: u32) {
-        #[cfg(feature = "systick-64bit")]
-        let ms = u64::from(ms);
-        Self::delay(ms.millis()).await;
-    }
-}
+        #[cfg(feature = "embedded-hal-async")]
+        rtic_time::embedded_hal_async_delay_impl_fugit64!(Systick);
+    } else {
+        rtic_time::embedded_hal_delay_impl_fugit32!(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 {}
+        #[cfg(feature = "embedded-hal-async")]
+        rtic_time::embedded_hal_async_delay_impl_fugit32!(Systick);
     }
 }