Merge #743

743: Update embedded-hal-async r=korken89 a=datdenkikniet



Co-authored-by: datdenkikniet <jcdra1@gmail.com>

5 files changed, 33 insertions, 49 deletions

diff --git a/rtic-monotonics/Cargo.toml b/rtic-monotonics/Cargo.toml
index 3c294ea..764abba 100644
--- a/rtic-monotonics/Cargo.toml
+++ b/rtic-monotonics/Cargo.toml
@@ -20,7 +20,7 @@ rustdoc-flags = ["--cfg", "docsrs"]
 
 [dependencies]
 rtic-time = { version = "1.0.0-alpha.1", path = "../rtic-time" }
-embedded-hal-async = { version = "0.2.0-alpha.0", optional = true }
+embedded-hal-async = { version = "0.2.0-alpha.1", optional = true }
 fugit = { version = "0.3.6" }
 atomic-polyfill = "1"
 cfg-if = "1.0.0"
diff --git a/rtic-monotonics/src/nrf/rtc.rs b/rtic-monotonics/src/nrf/rtc.rs
index 50087ab..c74c986 100644
--- a/rtic-monotonics/src/nrf/rtc.rs
+++ b/rtic-monotonics/src/nrf/rtc.rs
@@ -40,8 +40,7 @@ use nrf5340_net_pac::{self as pac, Interrupt, RTC0_NS as RTC0, RTC1_NS as RTC1};
 #[cfg(feature = "nrf9160")]
 use nrf9160_pac::{self as pac, Interrupt, RTC0_NS as RTC0, RTC1_NS as RTC1};
 
-use super::super::Monotonic;
-pub use super::super::{TimeoutError, TimerQueue};
+use crate::{Monotonic, TimeoutError, TimerQueue};
 use atomic_polyfill::{AtomicU32, Ordering};
 use core::future::Future;
 pub use fugit::{self, ExtU64};
@@ -131,6 +130,12 @@ macro_rules! make_rtc {
                 &$tq
             }
 
+            #[inline(always)]
+            fn is_overflow() -> bool {
+                let rtc = unsafe { &*$rtc::PTR };
+                rtc.events_ovrflw.read().bits() == 1
+            }
+
             /// Timeout at a specific time.
             #[inline]
             pub async fn timeout_at<F: Future>(
@@ -160,28 +165,18 @@ macro_rules! make_rtc {
             pub async fn delay_until(instant: <Self as Monotonic>::Instant) {
                 $tq.delay_until(instant).await;
             }
-
-            #[inline(always)]
-            fn is_overflow() -> bool {
-                let rtc = unsafe { &*$rtc::PTR };
-                rtc.events_ovrflw.read().bits() == 1
-            }
         }
 
         #[cfg(feature = "embedded-hal-async")]
         impl embedded_hal_async::delay::DelayUs for $mono_name {
-            type Error = core::convert::Infallible;
-
             #[inline]
-            async fn delay_us(&mut self, us: u32) -> Result<(), Self::Error> {
-                $tq.delay((us as u64).micros()).await;
-                Ok(())
+            async fn delay_us(&mut self, us: u32) {
+               Self::delay((us as u64).micros()).await;
             }
 
             #[inline]
-            async fn delay_ms(&mut self, ms: u32) -> Result<(), Self::Error> {
-                $tq.delay((ms as u64).millis()).await;
-                Ok(())
+            async fn delay_ms(&mut self, ms: u32) {
+                Self::delay((ms as u64).millis()).await;
             }
         }
 
diff --git a/rtic-monotonics/src/nrf/timer.rs b/rtic-monotonics/src/nrf/timer.rs
index 6b7ade6..1b90f16 100644
--- a/rtic-monotonics/src/nrf/timer.rs
+++ b/rtic-monotonics/src/nrf/timer.rs
@@ -26,8 +26,7 @@
 //! }
 //! ```
 
-use super::super::Monotonic;
-pub use super::super::{TimeoutError, TimerQueue};
+use crate::{Monotonic, TimeoutError, TimerQueue};
 use atomic_polyfill::{AtomicU32, Ordering};
 use core::future::Future;
 pub use fugit::{self, ExtU64};
@@ -167,6 +166,12 @@ macro_rules! make_timer {
                 &$tq
             }
 
+            #[inline(always)]
+            fn is_overflow() -> bool {
+                let timer = unsafe { &*$timer::PTR };
+                timer.events_compare[1].read().bits() & 1 != 0
+            }
+
             /// Timeout at a specific time.
             #[inline]
             pub async fn timeout_at<F: Future>(
@@ -196,28 +201,18 @@ macro_rules! make_timer {
             pub async fn delay_until(instant: <Self as Monotonic>::Instant) {
                 $tq.delay_until(instant).await;
             }
-
-            #[inline(always)]
-            fn is_overflow() -> bool {
-                let timer = unsafe { &*$timer::PTR };
-                timer.events_compare[1].read().bits() & 1 != 0
-            }
         }
 
         #[cfg(feature = "embedded-hal-async")]
         impl embedded_hal_async::delay::DelayUs for $mono_name {
-            type Error = core::convert::Infallible;
-
             #[inline]
-            async fn delay_us(&mut self, us: u32) -> Result<(), Self::Error> {
-                $tq.delay((us as u64).micros()).await;
-                Ok(())
+            async fn delay_us(&mut self, us: u32) {
+                Self::delay((us as u64).micros()).await;
             }
 
             #[inline]
-            async fn delay_ms(&mut self, ms: u32) -> Result<(), Self::Error> {
-                $tq.delay((ms as u64).millis()).await;
-                Ok(())
+            async fn delay_ms(&mut self, ms: u32) {
+                Self::delay((ms as u64).millis()).await;
             }
         }
 
diff --git a/rtic-monotonics/src/rp2040.rs b/rtic-monotonics/src/rp2040.rs
index ac1fc1a..a9fd3f3 100644
--- a/rtic-monotonics/src/rp2040.rs
+++ b/rtic-monotonics/src/rp2040.rs
@@ -25,6 +25,7 @@
 //! ```
 
 use super::Monotonic;
+
 pub use super::{TimeoutError, TimerQueue};
 use core::future::Future;
 pub use fugit::{self, ExtU64};
@@ -152,16 +153,12 @@ impl Monotonic for Timer {
 
 #[cfg(feature = "embedded-hal-async")]
 impl embedded_hal_async::delay::DelayUs for Timer {
-    type Error = core::convert::Infallible;
-
-    async fn delay_us(&mut self, us: u32) -> Result<(), Self::Error> {
-        TIMER_QUEUE.delay((us as u64).micros()).await;
-        Ok(())
+    async fn delay_us(&mut self, us: u32) {
+        Self::delay((us as u64).micros()).await;
     }
 
-    async fn delay_ms(&mut self, ms: u32) -> Result<(), Self::Error> {
-        TIMER_QUEUE.delay((ms as u64).millis()).await;
-        Ok(())
+    async fn delay_ms(&mut self, ms: u32) {
+        Self::delay((ms as u64).millis()).await;
     }
 }
 
diff --git a/rtic-monotonics/src/systick.rs b/rtic-monotonics/src/systick.rs
index 0f215a7..fe66a20 100644
--- a/rtic-monotonics/src/systick.rs
+++ b/rtic-monotonics/src/systick.rs
@@ -129,6 +129,7 @@ impl Systick {
     }
 
     /// Delay to some specific time instant.
+    #[inline]
     pub async fn delay_until(instant: <Self as Monotonic>::Instant) {
         SYSTICK_TIMER_QUEUE.delay_until(instant).await;
     }
@@ -173,16 +174,12 @@ impl Monotonic for Systick {
 
 #[cfg(feature = "embedded-hal-async")]
 impl embedded_hal_async::delay::DelayUs for Systick {
-    type Error = core::convert::Infallible;
-
-    async fn delay_us(&mut self, us: u32) -> Result<(), Self::Error> {
-        SYSTICK_TIMER_QUEUE.delay(us.micros()).await;
-        Ok(())
+    async fn delay_us(&mut self, us: u32) {
+        Self::delay(us.micros()).await;
     }
 
-    async fn delay_ms(&mut self, ms: u32) -> Result<(), Self::Error> {
-        SYSTICK_TIMER_QUEUE.delay(ms.millis()).await;
-        Ok(())
+    async fn delay_ms(&mut self, ms: u32) {
+        Self::delay(ms.millis()).await;
     }
 }