Use Spidev 0.5.2

This allows using the delay transfer support.

Author: LehMaxence

Cargo.toml

@@ -29,7 +29,7 @@ sysfs_gpio = { version = "0.6.1", optional = true }
 i2cdev = { version = "0.5.1", optional = true }
 nb = "1"
 serialport = { version = "4.2.0", default-features = false }
-spidev = { version = "0.5.1", optional = true }
+spidev = { version = "0.5.2", optional = true }
 nix = "0.23.1"
 
 [dev-dependencies]

src/spi.rs

@@ -8,25 +8,20 @@ use std::io;
 use std::ops;
 use std::path::Path;
 
-use crate::Delay;
-use spidev::SpidevTransfer;
-
 /// Newtype around [`spidev::Spidev`] that implements the `embedded-hal` traits
 ///
-/// [`spidev::Spidev`]: https://docs.rs/spidev/0.5.spidev/spidev/struct.Spidev.html
-pub struct Spidev(pub spidev::Spidev, Delay);
+/// [`spidev::Spidev`]: https://docs.rs/spidev/0.5.2/spidev/struct.Spidev.html
+pub struct Spidev(pub spidev::Spidev);
 
 impl Spidev {
     /// See [`spidev::Spidev::open`][0] for details.
     ///
-    /// [0]: https://docs.rs/spidev/0.5.spidev/spidev/struct.Spidev.html#method.open
+    /// [0]: https://docs.rs/spidev/0.5.2/spidev/struct.Spidev.html#method.open
     pub fn open<P>(path: P) -> Result<Self, SPIError>
     where
         P: AsRef<Path>,
     {
-        spidev::Spidev::open(path)
-            .map(|spidev| Spidev(spidev, Delay {}))
-            .map_err(|e| e.into())
+        spidev::Spidev::open(path).map(Spidev).map_err(|e| e.into())
     }
 }
 
@@ -46,10 +41,10 @@ impl ops::DerefMut for Spidev {
 
 mod embedded_hal_impl {
     use super::*;
-    use embedded_hal::delay::DelayUs;
     use embedded_hal::spi::ErrorType;
     use embedded_hal::spi::{Operation as SpiOperation, SpiBus, SpiDevice};
     use spidev::SpidevTransfer;
+    use std::convert::TryInto;
     use std::io::{Read, Write};
 
     impl ErrorType for Spidev {
@@ -88,62 +83,33 @@ mod embedded_hal_impl {
             &mut self,
             operations: &mut [SpiOperation<'_, u8>],
         ) -> Result<(), Self::Error> {
-            let mut spidev_ops: Vec<Operation> = vec![];
-            let mut spidev_transfers: Vec<SpidevTransfer> = vec![];
-
-            for op in operations {
-                match op {
-                    SpiOperation::Read(buf) => spidev_transfers.push(SpidevTransfer::read(buf)),
-                    SpiOperation::Write(buf) => spidev_transfers.push(SpidevTransfer::write(buf)),
-                    SpiOperation::Transfer(read, write) => {
-                        spidev_transfers.push(SpidevTransfer::read_write(write, read))
-                    }
+            let mut transfers: Vec<_> = operations
+                .iter_mut()
+                .map(|op| match op {
+                    SpiOperation::Read(buf) => SpidevTransfer::read(buf),
+                    SpiOperation::Write(buf) => SpidevTransfer::write(buf),
+                    SpiOperation::Transfer(read, write) => SpidevTransfer::read_write(write, read),
                     SpiOperation::TransferInPlace(buf) => {
                         let tx = unsafe {
                             let p = buf.as_ptr();
                             std::slice::from_raw_parts(p, buf.len())
                         };
-                        spidev_transfers.push(SpidevTransfer::read_write(tx, buf))
+                        SpidevTransfer::read_write(tx, buf)
                     }
                     SpiOperation::DelayUs(us) => {
-                        if !spidev_transfers.is_empty() {
-                            let mut transfers: Vec<SpidevTransfer> = vec![];
-                            std::mem::swap(&mut transfers, &mut spidev_transfers);
-                            spidev_ops.push(Operation::Transfers(transfers));
-                        }
-                        spidev_ops.push(Operation::Delay(us.to_owned()));
-                    }
-                }
-            }
-
-            if !spidev_transfers.is_empty() {
-                spidev_ops.push(Operation::Transfers(spidev_transfers));
-            }
-
-            for op in spidev_ops {
-                match op {
-                    Operation::Transfers(mut transfers) => {
-                        self.0
-                            .transfer_multiple(&mut transfers)
-                            .map_err(|err| SPIError { err })?;
-                        self.flush()?;
-                    }
-                    Operation::Delay(us) => {
-                        self.1.delay_us(us);
+                        SpidevTransfer::delay((*us).try_into().unwrap_or(u16::MAX))
                     }
-                }
-            }
-
+                })
+                .collect();
+            self.0
+                .transfer_multiple(&mut transfers)
+                .map_err(|err| SPIError { err })?;
+            self.flush()?;
             Ok(())
         }
     }
 }
 
-enum Operation<'a, 'b> {
-    Transfers(Vec<SpidevTransfer<'a, 'b>>),
-    Delay(u32),
-}
-
 /// Error type wrapping [io::Error](io::Error) to implement [embedded_hal::spi::ErrorKind]
 #[derive(Debug)]
 pub struct SPIError {