Make embedded-hal 0.2.7 dependency optional

.github/workflows/ci.yml

@@ -23,6 +23,9 @@ jobs:
           - gd32f190x4
           - gd32f190x6
           - gd32f190x8
+        extra-features:
+          - rt
+          - rt,embedded-hal-02
         rust:
           - stable
         include:
@@ -41,4 +44,4 @@ jobs:
       - uses: actions-rs/cargo@v1
         with:
           command: check
-          args: --features=${{ matrix.mcu }},rt --examples
+          args: --features=${{ matrix.mcu }},${{ matrix.extra-features }} --examples

CHANGELOG.md

@@ -5,6 +5,13 @@ All notable changes to this project will be documented in this file.
 The format is based on [Keep a Changelog](http://keepachangelog.com/)
 and this project adheres to [Semantic Versioning](http://semver.org/).
 
+## [Unreleased]
+
+### Breaking changes
+
+- Moved `embedded-hal` 0.2 trait implementations behind the `embedded-hal-02` feature flag,
+  to make the dependency optional.
+
 ## [0.8.0]
 
 ### Breaking changes

Cargo.toml

@@ -23,7 +23,7 @@ embedded-dma = "0.2.0"
 embedded-hal = "1.0.0"
 embedded-hal-02 = { package = "embedded-hal", version = "0.2.7", features = [
   "unproven",
-] }
+], optional = true }
 embedded-io = "0.6.1"
 gd32f1 = { version = "0.8.0", features = ["critical-section"] }
 nb = "1.1.0"

examples/adc.rs

@@ -6,7 +6,6 @@
 
 use cortex_m_rt::entry;
 use cortex_m_semihosting::hprintln;
-use embedded_hal_02::adc::OneShot;
 use gd32f1x0_hal::{adc::Adc, pac, prelude::*};
 
 #[entry]
@@ -34,7 +33,7 @@
     let mut ch0 = gpiob.pb0.into_analog(&mut gpiob.config);
 
     loop {
-        let data: u16 = adc.read(&mut ch0).unwrap();
+        let data: u16 = adc.read_channel(&mut ch0);
         hprintln!("adc1: {}", data);
     }
 }

examples/blinky.rs

@@ -11,11 +11,9 @@
 
 use panic_halt as _;
 
-use nb::block;
-
+use core::hint::spin_loop;
 use cortex_m_rt::entry;
 use embedded_hal::digital::OutputPin;
-use embedded_hal_02::timer::CountDown;
 use gd32f1x0_hal::{pac, prelude::*, timer::Timer};
 
 #[entry]
@@ -45,9 +43,13 @@ fn main() -> ! {
 
     // Wait for the timer to trigger an update and change the state of the LED
     loop {
-        block!(timer.wait()).unwrap();
+        while !timer.has_elapsed() {
+            spin_loop();
+        }
         led.set_high().unwrap();
-        block!(timer.wait()).unwrap();
+        while !timer.has_elapsed() {
+            spin_loop();
+        }
         led.set_low().unwrap();
     }
 }

examples/blinky_generic.rs

@@ -6,11 +6,9 @@
 
 use panic_halt as _;
 
-use nb::block;
-
+use core::hint::spin_loop;
 use cortex_m_rt::entry;
 use embedded_hal::digital::OutputPin;
-use embedded_hal_02::timer::CountDown;
 use gd32f1x0_hal::{pac, prelude::*, timer::Timer};
 
 #[entry]
@@ -44,11 +42,15 @@ fn main() -> ! {
 
     // Wait for the timer to trigger an update and change the state of the LED
     loop {
-        block!(timer.wait()).unwrap();
+        while !timer.has_elapsed() {
+            spin_loop();
+        }
         for led in leds.iter_mut() {
             led.set_high().unwrap();
         }
-        block!(timer.wait()).unwrap();
+        while !timer.has_elapsed() {
+            spin_loop();
+        }
         for led in leds.iter_mut() {
             led.set_low().unwrap();
         }

examples/blinky_timer_irq.rs

@@ -15,10 +15,7 @@ use panic_halt as _;
 use core::cell::RefCell;
 use cortex_m::{asm::wfi, interrupt::Mutex};
 use cortex_m_rt::entry;
-use embedded_hal_02::{
-    digital::v2::{OutputPin, ToggleableOutputPin},
-    timer::CountDown,
-};
+use embedded_hal::digital::{OutputPin, StatefulOutputPin};
 use gd32f1x0_hal::{
     gpio::{gpioc, Output, PushPull},
     pac::{interrupt, Interrupt, Peripherals, TIMER1},
@@ -57,8 +54,7 @@ fn TIMER1() {
     });
 
     let _ = led.toggle();
-    // TODO: Shouldn't this just return?
-    let _ = tim.wait();
+    tim.clear_interrupt_flag(Event::Update);
 }
 
 #[entry]

examples/pwm.rs

@@ -8,7 +8,7 @@ use panic_halt as _;
 
 use cortex_m::asm;
 use cortex_m_rt::entry;
-use embedded_hal_02::{Pwm, PwmPin};
+use embedded_hal::pwm::SetDutyCycle;
 use gd32f1x0_hal::{
     gpio::{gpioa::PA11, OutputMode, PullMode},
     pac,
@@ -61,41 +61,41 @@ fn main() -> ! {
 
     asm::bkpt();
 
-    let max = pwm.get_max_duty();
+    let max = pwm.max_duty_cycle();
 
     //// Operations affecting single channels can be accessed through
     //// the Pwm object or via dereferencing to the pin.
 
     // Use the Pwm object to set C2 to full strength
-    pwm.set_duty(Channel::C2, max);
+    pwm.set_duty_cycle(Channel::C2, max);
 
     asm::bkpt();
 
     // Use the Pwm object to set C2 to be dim
-    pwm.set_duty(Channel::C2, max / 4);
+    pwm.set_duty_cycle(Channel::C2, max / 4);
 
     asm::bkpt();
 
     // Use the Pwm object to set C2 to be zero
-    pwm.set_duty(Channel::C2, 0);
+    pwm.set_duty_cycle(Channel::C2, 0);
 
     asm::bkpt();
 
     // Extract the PwmChannel for C2
     let mut pwm_channel = pwm.split().2.unwrap();
 
     // Use the PwmChannel object to set C2 to be full strength
-    pwm_channel.set_duty(max);
+    pwm_channel.set_duty_cycle(max).unwrap();
 
     asm::bkpt();
 
     // Use the PwmChannel object to set C2 to be dim
-    pwm_channel.set_duty(max / 4);
+    pwm_channel.set_duty_cycle(max / 4).unwrap();
 
     asm::bkpt();
 
     // Use the PwmChannel object to set C2 to be zero
-    pwm_channel.set_duty(0);
+    pwm_channel.set_duty_cycle(0).unwrap();
 
     asm::bkpt();
 

examples/pwm_complementary.rs

@@ -8,7 +8,7 @@ use panic_halt as _;
 
 use cortex_m::asm;
 use cortex_m_rt::entry;
-use embedded_hal_02::{Pwm, PwmPin};
+use embedded_hal::pwm::SetDutyCycle;
 use gd32f1x0_hal::{
     gpio::{OutputMode, PullMode},
     pac,
@@ -81,41 +81,41 @@ fn main() -> ! {
 
     asm::bkpt();
 
-    let max = pwm.get_max_duty();
+    let max = pwm.max_duty_cycle();
 
     //// Operations affecting single channels can be accessed through
     //// the Pwm object or via dereferencing to the pin.
 
     // Use the Pwm object to set C2 to full strength
-    pwm.set_duty(Channel::C2, max);
+    pwm.set_duty_cycle(Channel::C2, max);
 
     asm::bkpt();
 
     // Use the Pwm object to set C2 to be dim
-    pwm.set_duty(Channel::C2, max / 4);
+    pwm.set_duty_cycle(Channel::C2, max / 4);
 
     asm::bkpt();
 
     // Use the Pwm object to set C2 to be zero
-    pwm.set_duty(Channel::C2, 0);
+    pwm.set_duty_cycle(Channel::C2, 0);
 
     asm::bkpt();
 
     // Extract the PwmChannel for C2
     let mut pwm_channel = pwm.split().2.unwrap();
 
     // Use the PwmChannel object to set C2 to be full strength
-    pwm_channel.set_duty(max);
+    pwm_channel.set_duty_cycle(max).unwrap();
 
     asm::bkpt();
 
     // Use the PwmChannel object to set C2 to be dim
-    pwm_channel.set_duty(max / 4);
+    pwm_channel.set_duty_cycle(max / 4).unwrap();
 
     asm::bkpt();
 
     // Use the PwmChannel object to set C2 to be zero
-    pwm_channel.set_duty(0);
+    pwm_channel.set_duty_cycle(0).unwrap();
 
     asm::bkpt();
 

examples/timer-interrupt-rtic.rs

@@ -14,7 +14,6 @@ use panic_halt as _;
 use rtic::app;
 
 use embedded_hal::digital::OutputPin;
-use embedded_hal_02::timer::CountDown;
 use gd32f1x0_hal::{
     gpio::{gpioc::PC13, Output, PushPull},
     pac,

src/adc.rs

@@ -20,13 +20,21 @@ use crate::pac::{
 };
 use crate::rcu::{Clocks, Enable, Reset, APB2};
 use core::{
-    convert::Infallible,
     marker::PhantomData,
     sync::atomic::{self, Ordering},
 };
 use cortex_m::asm::delay;
 use embedded_dma::WriteBuffer;
-use embedded_hal_02::adc::{Channel, OneShot};
+#[cfg(feature = "embedded-hal-02")]
+use embedded_hal_02::adc::Channel as _;
+
+#[cfg(feature = "embedded-hal-02")]
+pub trait Channel<ADC>: embedded_hal_02::adc::Channel<ADC, ID = u8> {}
+
+#[cfg(not(feature = "embedded-hal-02"))]
+pub trait Channel<ADC> {
+    fn channel() -> u8;
+}
 
 /// The number of ADC clock cycles to wait between powering on and starting calibration.
 const ADC_CALIBRATION_CYCLES: u32 = 14;
@@ -293,7 +301,7 @@ impl Adc {
 
     /// Set ADC sampling time for particular channel
     #[inline(always)]
-    pub fn set_sample_time<C: Channel<ADC, ID = u8>>(&mut self, _pin: &C, sample_time: SampleTime) {
+    pub fn set_sample_time<C: Channel<ADC>>(&mut self, _pin: &C, sample_time: SampleTime) {
         self.set_channel_sample_time(C::channel(), sample_time);
     }
 
@@ -465,10 +473,14 @@ impl Adc {
         self.rb.rdata.read().rdata().bits()
     }
 
+    pub fn read_channel<PIN: Channel<ADC>>(&mut self, _pin: &PIN) -> u16 {
+        self.convert(PIN::channel())
+    }
+
     /// Configure the ADC to read from the given pin with DMA.
     pub fn with_dma<PIN>(mut self, pins: PIN, dma_ch: C0) -> AdcDma<PIN, Continuous>
     where
-        PIN: Channel<ADC, ID = u8>,
+        PIN: Channel<ADC>,
     {
         self.rb.ctl0.modify(|_, w| w.disrc().disabled());
         self.rb
@@ -490,15 +502,16 @@ impl Adc {
     }
 }
 
-impl<WORD, PIN> OneShot<ADC, WORD, PIN> for Adc
+#[cfg(feature = "embedded-hal-02")]
+impl<WORD, PIN> embedded_hal_02::adc::OneShot<ADC, WORD, PIN> for Adc
 where
     WORD: From<u16>,
-    PIN: Channel<ADC, ID = u8>,
+    PIN: Channel<ADC>,
 {
-    type Error = Infallible;
+    type Error = core::convert::Infallible;
 
-    fn read(&mut self, _pin: &mut PIN) -> nb::Result<WORD, Self::Error> {
-        let res = self.convert(PIN::channel());
+    fn read(&mut self, pin: &mut PIN) -> nb::Result<WORD, Self::Error> {
+        let res = self.read_channel(pin);
         // TODO: Should this also be scaled based on Vref?
         Ok(res.into())
     }
@@ -595,7 +608,7 @@ pub struct Sequence {
 
 impl Sequence {
     /// Adds the given ADC pin to the list of channels.
-    pub fn add_pin<PIN: Channel<ADC, ID = u8>>(&mut self, pin: PIN) -> Result<(), PIN> {
+    pub fn add_pin<PIN: Channel<ADC>>(&mut self, pin: PIN) -> Result<(), PIN> {
         if self.length >= self.channels.len() {
             return Err(pin);
         }
@@ -634,11 +647,17 @@ pub struct VBat;
 macro_rules! adc_pins {
     ($ADC:ident, $($pin:ty => $chan:expr),+ $(,)*) => {
         $(
-            impl Channel<$ADC> for $pin {
+            #[cfg(feature = "embedded-hal-02")]
+            impl embedded_hal_02::adc::Channel<$ADC> for $pin {
                 type ID = u8;
 
                 fn channel() -> u8 { $chan }
             }
+
+            impl Channel<$ADC> for $pin {
+                #[cfg(not(feature = "embedded-hal-02"))]
+                fn channel() -> u8 { $chan }
+            }
         )+
     };
 }