cortex-m: add support for embedded-hal 1.0 delays (#504)

Author: newAM

cortex-m/Cargo.toml

@@ -21,7 +21,8 @@ bare-metal = { version = "0.2.4", features = ["const-fn"] }
 critical-section = { version = "1.0.0", optional = true }
 volatile-register = "0.2.0"
 bitfield = "0.13.2"
-embedded-hal = "0.2.4"
+eh0 = { package = "embedded-hal", version = "0.2.4" }
+eh1 = { package = "embedded-hal", version = "1.0.0" }
 
 [dependencies.serde]
 version = "1"

cortex-m/src/delay.rs

@@ -1,7 +1,7 @@
 //! A delay driver based on SysTick.
 
 use crate::peripheral::{syst::SystClkSource, SYST};
-use embedded_hal::blocking::delay::{DelayMs, DelayUs};
+use eh1::delay::DelayNs;
 
 /// System timer (SysTick) as a delay provider.
 pub struct Delay {
@@ -75,62 +75,83 @@ impl Delay {
     }
 }
 
-impl DelayMs<u32> for Delay {
+impl eh0::blocking::delay::DelayMs<u32> for Delay {
     #[inline]
     fn delay_ms(&mut self, ms: u32) {
         Delay::delay_ms(self, ms);
     }
 }
 
 // This is a workaround to allow `delay_ms(42)` construction without specifying a type.
-impl DelayMs<i32> for Delay {
+impl eh0::blocking::delay::DelayMs<i32> for Delay {
     #[inline(always)]
     fn delay_ms(&mut self, ms: i32) {
         assert!(ms >= 0);
         Delay::delay_ms(self, ms as u32);
     }
 }
 
-impl DelayMs<u16> for Delay {
+impl eh0::blocking::delay::DelayMs<u16> for Delay {
     #[inline(always)]
     fn delay_ms(&mut self, ms: u16) {
         Delay::delay_ms(self, u32::from(ms));
     }
 }
 
-impl DelayMs<u8> for Delay {
+impl eh0::blocking::delay::DelayMs<u8> for Delay {
     #[inline(always)]
     fn delay_ms(&mut self, ms: u8) {
         Delay::delay_ms(self, u32::from(ms));
     }
 }
 
-impl DelayUs<u32> for Delay {
+impl eh0::blocking::delay::DelayUs<u32> for Delay {
     #[inline]
     fn delay_us(&mut self, us: u32) {
         Delay::delay_us(self, us);
     }
 }
 
 // This is a workaround to allow `delay_us(42)` construction without specifying a type.
-impl DelayUs<i32> for Delay {
+impl eh0::blocking::delay::DelayUs<i32> for Delay {
     #[inline(always)]
     fn delay_us(&mut self, us: i32) {
         assert!(us >= 0);
         Delay::delay_us(self, us as u32);
     }
 }
 
-impl DelayUs<u16> for Delay {
+impl eh0::blocking::delay::DelayUs<u16> for Delay {
     #[inline(always)]
     fn delay_us(&mut self, us: u16) {
         Delay::delay_us(self, u32::from(us))
     }
 }
 
-impl DelayUs<u8> for Delay {
+impl eh0::blocking::delay::DelayUs<u8> for Delay {
     #[inline(always)]
     fn delay_us(&mut self, us: u8) {
         Delay::delay_us(self, u32::from(us))
     }
 }
+
+impl DelayNs for Delay {
+    #[inline]
+    fn delay_ns(&mut self, ns: u32) {
+        // from the rp2040-hal:
+        let us = ns / 1000 + if ns % 1000 == 0 { 0 } else { 1 };
+        // With rustc 1.73, this can be replaced by:
+        // let us = ns.div_ceil(1000);
+        Delay::delay_us(self, us)
+    }
+
+    #[inline]
+    fn delay_us(&mut self, us: u32) {
+        Delay::delay_us(self, us)
+    }
+
+    #[inline]
+    fn delay_ms(&mut self, ms: u32) {
+        Delay::delay_ms(self, ms)
+    }
+}