LPSPI: embedded-hal 1.0 rework

.github/workflows/rust.yml

@@ -6,17 +6,12 @@ jobs:
   format:
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v3
-    - uses: actions-rs/toolchain@v1
+    - uses: actions/checkout@v4
+    - uses: dtolnay/rust-toolchain@stable
       with:
-        profile: minimal
-        toolchain: stable
         components: rustfmt
-    - uses: actions-rs/cargo@v1
-      name: Check formatting
-      with:
-        command: fmt
-        args: --all -- --check
+    - name: Check formatting
+      run: cargo +stable fmt --all -- --check
 
   # Checks the common HAL for all chips supported by imxrt-ral.
   lint-hal:
@@ -36,11 +31,9 @@ jobs:
         - imxrt-ral/imxrt1176_cm7
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v3
-    - uses: actions-rs/toolchain@v1
+    - uses: actions/checkout@v4
+    - uses: dtolnay/rust-toolchain@stable
       with:
-        profile: minimal
-        toolchain: stable
         components: clippy
     - uses: actions-rs/clippy-check@v1
       name: Lint imxrt-hal
@@ -64,18 +57,16 @@ jobs:
         - imxrt-ral/imxrt1176_cm7,imxrt1170
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v3
-    - uses: actions-rs/toolchain@v1
+    - uses: actions/checkout@v4
+    - uses: dtolnay/rust-toolchain@stable
       with:
-        profile: minimal
-        toolchain: stable
         components: clippy
     - uses: actions-rs/clippy-check@v1
       name: Lint imxrt-log
       with:
         token: ${{ secrets.GITHUB_TOKEN }}
         args: --features=${{ matrix.chips }} --package=imxrt-log --package=imxrt-hal -- -D warnings
-  
+
   # Lint and build examples for boards.
   examples:
     needs: lint-hal
@@ -104,23 +95,18 @@ jobs:
           --example=rtic_usb_serial --example=rtic_usb_test_class --example=rtic_usb_keypress --example=rtic_usb_mouse
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v3
-    - uses: actions-rs/toolchain@v1
+    - uses: actions/checkout@v4
+    - uses: dtolnay/rust-toolchain@nightly
       with:
-        profile: minimal
-        toolchain: stable
         components: clippy
-        target: thumbv7em-none-eabihf
+        targets: thumbv7em-none-eabihf
     - name: Lint board and examples
       uses: actions-rs/clippy-check@v1
       with:
         token: ${{ secrets.GITHUB_TOKEN }}
         args: ${{ matrix.config }} --target=thumbv7em-none-eabihf
     - name: Build examples
-      uses: actions-rs/cargo@v1
-      with:
-        command: build
-        args: ${{ matrix.config }} --target=thumbv7em-none-eabihf --release
+      run: cargo +nightly build ${{ matrix.config }} --target=thumbv7em-none-eabihf --release
 
   # Run unit, integration tests.
   #
@@ -140,16 +126,10 @@ jobs:
         - imxrt-ral/imxrt1176_cm7,imxrt1170
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v3
-    - uses: actions-rs/toolchain@v1
-      with:
-        profile: minimal
-        toolchain: stable
+    - uses: actions/checkout@v4
+    - uses: dtolnay/rust-toolchain@stable
     - name: Run unit, integration tests
-      uses: actions-rs/cargo@v1
-      with:
-        command: test
-        args: --features=${{ matrix.chips }} --tests --package=imxrt-hal --package=imxrt-log
+      run: cargo +stable test --features=${{ matrix.chips }} --tests --package=imxrt-hal --package=imxrt-log
 
   # Ensures that documentation builds, and that links are valid
   docs:
@@ -158,14 +138,9 @@ jobs:
     env:
       RUSTDOCFLAGS: -D warnings
     steps:
-    - uses: actions/checkout@v2
-    - uses: actions-rs/toolchain@v1
-      with:
-        toolchain: stable
+    - uses: actions/checkout@v4
+    - uses: dtolnay/rust-toolchain@stable
     - name: Run documentation tests
-      uses: actions-rs/cargo@v1
-      with:
-        command: test
-        args: --features=board/teensy4 --workspace --doc
+      run: cargo +stable test --features=board/teensy4 --workspace --doc
     - name: Check documentation, doclinks throughout workspace
-      run: cargo doc --workspace --no-deps --features=board/teensy4
+      run: cargo +stable doc --workspace --no-deps --features=board/teensy4

Cargo.toml

@@ -1,14 +1,17 @@
 [package]
 name = "imxrt-hal"
-authors = ["Tom Burdick <[email protected]>", "Ian McIntyre <[email protected]>"]
+authors = [
+    "Tom Burdick <[email protected]>",
+    "Ian McIntyre <[email protected]>",
+]
 description = """
 Hardware abstraction layer for NXP i.MX RT microcontrollers.
 """
 readme = "README.md"
-repository = { workspace  = true }
-keywords = { workspace  = true }
-categories = { workspace  = true }
-license = { workspace  = true }
+repository = { workspace = true }
+keywords = { workspace = true }
+categories = { workspace = true }
+license = { workspace = true }
 edition = { workspace = true }
 version = "0.5.4"
 
@@ -19,7 +22,7 @@ version = "1.0"
 version = "1.2"
 
 [dependencies.fugit]
-version = "0.3"
+version = "0.3.7"
 
 # For EH02 CountDown.
 [dependencies.void]
@@ -33,11 +36,34 @@ version = "1"
 package = "embedded-hal"
 version = "0.2"
 
+[dependencies.eh1]
+package = "embedded-hal"
+version = "1.0.0-rc.2"
+
+[dependencies.eh1-async]
+package = "embedded-hal-async"
+version = "1.0.0-rc.2"
+optional = true
+
 [dependencies.rand_core]
-version = "0.5"
+version = "0.6"
 default-features = false
 optional = true
 
+[dependencies.cortex-m]
+version = "0.7"
+
+[dependencies.cassette]
+version = "0.2.3"
+
+[dependencies.futures]
+version = "0.3.11"
+default-features = false
+features = ["async-await"]
+
+[dependencies.log]
+version = "0.4"
+
 #######################
 # imxrt-rs dependencies
 #######################
@@ -70,6 +96,7 @@ imxrt1020 = ["imxrt-iomuxc/imxrt1020"]
 imxrt1060 = ["imxrt-iomuxc/imxrt1060"]
 imxrt1064 = ["imxrt-iomuxc/imxrt1060"]
 imxrt1170 = ["imxrt-iomuxc/imxrt1170"]
+async = ["dep:eh1-async"]
 
 ################
 # Extra features
@@ -80,16 +107,17 @@ imxrt1170 = ["imxrt-iomuxc/imxrt1170"]
 eh02-unproven = []
 
 [workspace]
-members = [
-    "board",
-    "logging",
-]
+members = ["board", "logging"]
 
 [workspace.dependencies]
 imxrt-dma = "0.1"
 imxrt-iomuxc = "0.2.1"
 imxrt-hal = { version = "0.5", path = "." }
-imxrt-log = { path = "logging", default-features = false, features = ["log", "lpuart", "usbd"] }
+imxrt-log = { path = "logging", default-features = false, features = [
+    "log",
+    "lpuart",
+    "usbd",
+] }
 imxrt-ral = "0.5"
 imxrt-rt = "0.1"
 imxrt-usbd = "0.2"
@@ -124,10 +152,9 @@ codegen-units = 256
 ######################################
 
 [dev-dependencies]
-cortex-m = "0.7"
 imxrt-rt = { workspace = true }
-menu = "0.3.2"
-cortex-m-rtic = "1.0"
+menu = "0.4.0"
+rtic = { version = "2.0.1", features = ["thumbv7-backend"] }
 log = "0.4"
 defmt = "0.3"
 pin-utils = "0.1"
@@ -148,7 +175,7 @@ required-features = ["board/spi"]
 
 [[example]]
 name = "rtic_spi"
-required-features = ["board/spi"]
+#required-features = ["board/spi"]
 
 [[example]]
 name = "hal_logging"

board/src/teensy4.rs

@@ -49,16 +49,27 @@ pub type SpiPins = hal::lpspi::Pins<
     iomuxc::gpio_b0::GPIO_B0_02, // SDO, P11
     iomuxc::gpio_b0::GPIO_B0_01, // SDI, P12
     iomuxc::gpio_b0::GPIO_B0_03, // SCK, P13
-    iomuxc::gpio_b0::GPIO_B0_00, // PCS0, P10
 >;
 
 #[cfg(not(feature = "spi"))]
 /// Activate the `"spi"` feature to configure the SPI peripheral.
-pub type Spi = ();
+mod lpspi_types {
+    pub type SpiBus = ();
+    pub type SpiCsPin = ();
+    pub type SpiInterruptHandler = ();
+}
 
 #[cfg(feature = "spi")]
 /// SPI peripheral.
-pub type Spi = hal::lpspi::Lpspi<SpiPins, 4>;
+mod lpspi_types {
+
+    use super::*;
+    pub type SpiBus = hal::lpspi::Lpspi<'static, 4>;
+    pub type SpiCsPin = hal::gpio::Output<iomuxc::gpio_b0::GPIO_B0_00>;
+    pub type SpiInterruptHandler = hal::lpspi::LpspiInterruptHandler<'static, 4>;
+}
+
+pub use lpspi_types::*;
 
 pub type I2cPins = hal::lpi2c::Pins<
     iomuxc::gpio_ad_b1::GPIO_AD_B1_07, // SCL, P16
@@ -110,7 +121,7 @@ pub struct Specifics {
     pub button: Button,
     pub ports: GpioPorts,
     pub console: Console,
-    pub spi: Spi,
+    pub spi: (SpiBus, SpiCsPin),
     pub i2c: I2c,
     pub pwm: Pwm,
     pub trng: hal::trng::Trng,
@@ -153,17 +164,25 @@ impl Specifics {
                 sdo: iomuxc.gpio_b0.p02,
                 sdi: iomuxc.gpio_b0.p01,
                 sck: iomuxc.gpio_b0.p03,
-                pcs0: iomuxc.gpio_b0.p00,
             };
-            let mut spi = Spi::new(lpspi4, pins);
-            spi.disabled(|spi| {
-                spi.set_clock_hz(super::LPSPI_CLK_FREQUENCY, super::SPI_BAUD_RATE_FREQUENCY);
+            let cs_pin = gpio2.output(iomuxc.gpio_b0.p00);
+
+            static mut SPI_DATA: Option<super::hal::lpspi::LpspiData<4>> = None;
+            let mut spi = SpiBus::new(
+                lpspi4,
+                pins,
+                unsafe { &mut SPI_DATA },
+                super::LPSPI_CLK_FREQUENCY,
+            );
+            spi.disabled(|bus| {
+                bus.set_clock_hz(super::SPI_BAUD_RATE_FREQUENCY);
             });
-            spi
+
+            (spi, cs_pin)
         };
         #[cfg(not(feature = "spi"))]
         #[allow(clippy::let_unit_value)]
-        let spi = ();
+        let spi = ((), ());
 
         let lpi2c3 = unsafe { ral::lpi2c::LPI2C3::instance() };
         let i2c = I2c::new(
@@ -218,7 +237,7 @@ pub(crate) const CLOCK_GATES: &[clock_gate::Locator] = &[
     clock_gate::gpio::<2>(),
     clock_gate::lpuart::<{ Console::N }>(),
     #[cfg(feature = "spi")]
-    clock_gate::lpspi::<{ Spi::N }>(),
+    clock_gate::lpspi::<{ SpiBus::N }>(),
     clock_gate::lpi2c::<{ I2c::N }>(),
     clock_gate::flexpwm::<{ pwm::Peripheral::N }>(),
 ];