treewide: Rust updates

cpu/nrf5x_common/periph/i2c_nrf52_nrf9160.c

@@ -22,9 +22,9 @@
  * As this implementation is based on the nRF5x TWIM peripheral, it can not
  * issue a read following a read (or a write following a write) without
  * creating a (repeated) start condition:
  * <https://devzone.nordicsemi.com/f/nordic-q-a/66615/nrf52840-twim-how-to-write-multiple-buffers-without-repeated-start-condition>,
  * backed also by later experiments discussed in the [Rust embedded
  * channel](https://matrix.to/#/!BHcierreUuwCMxVqOf:matrix.org/$JwNejRaeJx_tvqKgS88GenDG8ZNHrkTW09896dIehQ8?via=matrix.org&via=catircservices.org&via=tchncs.de).
  * Due to this shortcoming in the hardware, any operations with I2C_NOSTART
  * fail.
  *
@@ -126,6 +126,16 @@
         DEBUG("[i2c] finish: stop event occurred\n");
     }
 
+    if (inten_success_flag & TWIM_INTEN_LASTTX_Msk) {
+        /* The interrupt is raised already when the last TX is started, but we
+         * have to wait until it was actually transmitted lest the transmission
+         * would be suppressed immediately by the next following write --
+         * careful here: enabling DEBUG introduces enough latency that the
+         * issue doesn't show up any more. */
+        while (bus(dev)->TXD.AMOUNT != bus(dev)->TXD.MAXCNT &&
+                !bus(dev)->EVENTS_ERROR) {}
+    }
+
     if (bus(dev)->EVENTS_ERROR) {
         bus(dev)->EVENTS_ERROR = 0;
         if (bus(dev)->ERRORSRC & TWIM_ERRORSRC_ANACK_Msk) {

drivers/lsm303agr/Cargo.toml

@@ -11,7 +11,5 @@ license = "LGPL-2.1-only"
 publish = false
 
 [dependencies]
-lsm303agr = "^0.2"
+lsm303agr = "1.0"
 riot-wrappers = "^0.8"
-# Whatever lsm uses
-nb = "*"

drivers/lsm303agr/Makefile.dep

@@ -1,3 +1,4 @@
 USEMODULE += rust_riotmodules
+USEMODULE += ztimer_msec
 
 FEATURES_REQUIRED += periph_i2c

drivers/lsm303agr/src/lib.rs

@@ -1,6 +1,6 @@
 #![no_std]
 
-use lsm303agr::{interface, mode, Lsm303agr, AccelOutputDataRate::Hz50};
+use lsm303agr::{interface, mode, Lsm303agr, AccelOutputDataRate::Hz50, AccelMode};
 
 use riot_wrappers::{saul, println, i2c, cstr::cstr, mutex::Mutex};
 use saul::{Phydat, registration};
@@ -59,9 +59,11 @@ fn init() -> Result<(), &'static str> {
     for (&i2cdev, (lsm, (reg, reg_mag))) in I2C_DEVICES.iter().zip(lsm.iter_mut().zip(reg.iter_mut().zip(reg_mag.iter_mut()))) {
         let mut device = Lsm303agr::new_with_i2c(i2c::I2CDevice::new(i2cdev));
 
+        let mut init_clock = riot_wrappers::ztimer::Clock::msec();
+
         device.init()
             .map_err(|_| "Device initialization failed")?;
-        device.set_accel_odr(Hz50)
+        device.set_accel_mode_and_odr(&mut init_clock, AccelMode::Normal, Hz50)
             .map_err(|_| "Device configuration failed")?;
 
         let lsm = lsm.insert(SaulLSM { device: Mutex::new(device) });
@@ -90,10 +92,10 @@ impl registration::Drivable for &SaulLSM {
         let mut device = self.device.try_lock()
             .ok_or(registration::Error)?;
 
-        let data = device.accel_data()
+        let data = device.acceleration()
             .map_err(|_| registration::Error)?;
         // Data is in the +-2g range by default, which doesn't overflow even the i16 SAUL uses
-        Ok(Phydat::new(&[data.x as _, data.y as _, data.z as _], Some(saul::Unit::GForce), -3))
+        Ok(Phydat::new(&[data.x_mg() as _, data.y_mg() as _, data.z_mg() as _], Some(saul::Unit::GForce), -3))
     }
 }
 
@@ -115,9 +117,8 @@ impl registration::Drivable for MagAspect {
         let mut device = self.0.device.try_lock()
             .ok_or(registration::Error)?;
 
-        let data = nb::block!(device.mag_data())
+        let data = device.magnetic_field()
             .map_err(|_| registration::Error)?;
-        // Original data is in nanotesla
-        return Ok(Phydat::fit(&[data.x, data.y, data.z], Some(saul::Unit::T), -9))
+        return Ok(Phydat::fit(&[data.x_nt(), data.y_nt(), data.z_nt()], Some(saul::Unit::T), -9))
     }
 }