Feature/time types (#64)

* Use fugit time types for SPI peripheral, update examples

* initial WIP

* fix CI build errors

* Use extension trait in examples

Co-authored-by: Jesse Braham <jesse@beta7.io>

esp-hal-common/Cargo.toml

@@ -13,6 +13,7 @@ license     = "MIT OR Apache-2.0"
 [dependencies]
 cfg-if       = "1.0"
 embedded-hal = { version = "0.2", features = ["unproven"] }
+fugit        = "0.3"
 nb           = "1.0"
 paste        = "1.0"
 procmacros   = { path = "../esp-hal-procmacros", package = "esp-hal-procmacros" }

esp-hal-common/src/delay.rs

@@ -30,13 +30,14 @@ where
 
 #[cfg(feature = "esp32c3")]
 mod delay {
+    use fugit::HertzU64;
+
     use crate::pac::SYSTIMER;
 
     // The counters and comparators are driven using `XTAL_CLK`. The average clock
     // frequency is fXTAL_CLK/2.5, which is 16 MHz. The timer counting is
     // incremented by 1/16 μs on each `CNT_CLK` cycle.
-    const CLK_FREQ_HZ: u64 = 16_000_000;
-
+    const CLK_FREQ_HZ: HertzU64 = HertzU64::MHz(16);
     /// Delay driver
     ///
     /// Uses the `SYSTIMER` peripheral for counting clock cycles, as
@@ -60,7 +61,7 @@ mod delay {
         /// Delay for the specified number of microseconds
         pub fn delay(&self, us: u32) {
             let t0 = self.unit0_value();
-            let clocks = (us as u64 * CLK_FREQ_HZ) / 1_000_000;
+            let clocks = (us as u64 * CLK_FREQ_HZ.raw()) / HertzU64::MHz(1).raw();
 
             while self.unit0_value().wrapping_sub(t0) <= clocks {}
         }
@@ -89,9 +90,12 @@ mod delay {
 
 #[cfg(not(feature = "esp32c3"))]
 mod delay {
+
+    use fugit::HertzU64;
+
     // FIXME: The ESP32-S2 and ESP32-S3 have fixed crystal frequencies of 40MHz.
     //        This will not always be the case when using the ESP32.
-    const CLK_FREQ_HZ: u64 = 40_000_000;
+    const CLK_FREQ_HZ: HertzU64 = HertzU64::MHz(40);
 
     /// Delay driver
     ///
@@ -107,7 +111,7 @@ mod delay {
 
         /// Delay for the specified number of microseconds
         pub fn delay(&self, us: u32) {
-            let clocks = (us as u64 * CLK_FREQ_HZ) / 1_000_000;
+            let clocks = (us as u64 * CLK_FREQ_HZ.raw()) / HertzU64::MHz(1).raw();
             xtensa_lx::timer::delay(clocks as u32);
         }
     }

esp-hal-common/src/i2c.rs

@@ -4,6 +4,7 @@
 use core::convert::TryInto;
 
 use embedded_hal::blocking::i2c::*;
+use fugit::HertzU32;
 
 use crate::{
     gpio::{InputPin, OutputPin},
@@ -13,13 +14,13 @@ use crate::{
 
 cfg_if::cfg_if! {
     if #[cfg(feature = "esp32c3")] {
-        const SOURCE_CLK_FREQ: u32 = 40_000_000;
+        const SOURCE_CLK_FREQ: HertzU32 = HertzU32::MHz(40);
     } else if #[cfg(feature = "esp32")] {
-        const SOURCE_CLK_FREQ: u32 = 80_000_000;
+        const SOURCE_CLK_FREQ: HertzU32 = HertzU32::MHz(80);
     } else if #[cfg(feature = "esp32s2")] {
-        const SOURCE_CLK_FREQ: u32 = 80_000_000;
+        const SOURCE_CLK_FREQ: HertzU32 = HertzU32::MHz(80);
     } else {
-        const SOURCE_CLK_FREQ: u32 = 40_000_000;
+        const SOURCE_CLK_FREQ: HertzU32 = HertzU32::MHz(40);
     }
 }
 
@@ -218,7 +219,7 @@ where
         i2c: T,
         mut sda: SDA,
         mut scl: SCL,
-        frequency: u32,
+        frequency: HertzU32,
         system: &mut System,
     ) -> Result<Self, SetupError> {
         enable_peripheral(&i2c, system);
@@ -311,7 +312,7 @@ pub trait Instance {
 
     fn i2c_number(&self) -> usize;
 
-    fn setup(&mut self, frequency: u32) -> Result<(), SetupError> {
+    fn setup(&mut self, frequency: HertzU32) -> Result<(), SetupError> {
         // Reset entire peripheral (also resets fifo)
         self.reset();
 
@@ -423,21 +424,25 @@ pub trait Instance {
 
     /// Sets the frequency of the I2C interface by calculating and applying the
     /// associated timings
-    fn set_frequency(&mut self, source_clk: u32, bus_freq: u32) -> Result<(), SetupError> {
+    fn set_frequency(
+        &mut self,
+        source_clk: HertzU32,
+        bus_freq: HertzU32,
+    ) -> Result<(), SetupError> {
         cfg_if::cfg_if! {
             if #[cfg(any(feature = "esp32s3", feature = "esp32c3"))] {
                 // C3 and S3 have a clock devider mechanism, which we want to configure
                 // as high as possible.
-                let sclk_div: u8 = (source_clk / (bus_freq * 1024) + 1)
+                let sclk_div: u8 = (source_clk.raw() / (bus_freq.raw() * 1024) + 1)
                     .try_into()
                     .map_err(|_| SetupError::InvalidClkConfig)?;
 
-                let half_cycle: u16 = ((source_clk / sclk_div as u32 / bus_freq / 2) as u32)
+                let half_cycle: u16 = ((source_clk.raw() / sclk_div as u32 / bus_freq.raw() / 2) as u32)
                     .try_into()
                     .map_err(|_| SetupError::InvalidClkConfig)?;
             } else {
                 // For EPS32 and the S2 variant no clock divider mechanism exists.
-                let half_cycle: u16 = (source_clk / (bus_freq * 2) as u32)
+                let half_cycle: u16 = (source_clk.raw() / (bus_freq.raw() * 2) as u32)
                 .try_into()
                 .map_err(|_| SetupError::InvalidClkConfig)?;
             }
@@ -448,14 +453,14 @@ pub trait Instance {
         // but improves readability)
         cfg_if::cfg_if! {
             if #[cfg(feature = "esp32c3")] {
-                let scl_wait_high: u8 = (if bus_freq <= 50000 { 0 } else { half_cycle / 8 })
+                let scl_wait_high: u8 = (if bus_freq.raw() <= 50000 { 0 } else { half_cycle / 8 })
                     .try_into()
                     .map_err(|_| SetupError::InvalidClkConfig)?;
                 let scl_high: u16 = half_cycle - scl_wait_high as u16;
                 let sda_hold = half_cycle / 4;
                 let sda_sample = scl_high / 2;
             } else if #[cfg(feature = "esp32s3")] {
-                let scl_high = if bus_freq <= 50000 { half_cycle } else { half_cycle / 5 * 4 + 4 };
+                let scl_high = if bus_freq.raw() <= 50000 { half_cycle } else { half_cycle / 5 * 4 + 4 };
                 let scl_wait_high: u8 = (half_cycle - scl_high).try_into().map_err(|_| SetupError::InvalidClkConfig)?;
                 let sda_hold = half_cycle / 2;
                 let sda_sample = half_cycle / 2;

esp-hal-common/src/prelude.rs

@@ -13,3 +13,4 @@ pub use embedded_hal::{
     },
     prelude::*,
 };
+pub use fugit::{ExtU32 as _, ExtU64 as _, RateExtU32 as _, RateExtU64 as _};

esp-hal-common/src/pulse_control.rs

@@ -80,6 +80,8 @@
 
 use core::slice::Iter;
 
+use fugit::NanosDurationU32;
+
 use crate::{
     gpio::{types::OutputSignal, OutputPin},
     pac::RMT,
@@ -169,11 +171,11 @@ pub struct PulseCode {
     /// Logical output level in the first pulse code interval
     pub level1: bool,
     /// Length of the first pulse code interval (in clock cycles)
-    pub length1: u16,
+    pub length1: NanosDurationU32,
     /// Logical output level in the second pulse code interval
     pub level2: bool,
     /// Length of the second pulse code interval (in clock cycles)
-    pub length2: u16,
+    pub length2: NanosDurationU32,
 }
 
 /// Convert a pulse code structure into a u32 value that can be written
@@ -185,7 +187,7 @@ impl From<PulseCode> for u32 {
         // little-endian
 
         // The length1 value resides in bits [14:0]
-        let mut entry: u32 = p.length1 as u32;
+        let mut entry: u32 = p.length1.ticks() as u32;
 
         // If level1 is high, set bit 15, otherwise clear it
         if p.level1 {
@@ -202,7 +204,7 @@ impl From<PulseCode> for u32 {
         }
 
         // The length2 value resides in bits [30:16]
-        entry |= (p.length2 as u32) << 16;
+        entry |= (p.length2.ticks() as u32) << 16;
 
         entry
     }

esp-hal-common/src/spi.rs

@@ -15,7 +15,7 @@
 //!     mosi,
 //!     miso,
 //!     cs,
-//!     100_000,
+//!     100u32.kHz(),
 //!     embedded_hal::spi::MODE_0,
 //!     &mut peripherals.SYSTEM,
 //! );
@@ -24,6 +24,7 @@
 use core::convert::Infallible;
 
 use embedded_hal::spi::{FullDuplex, Mode};
+use fugit::{HertzU32, RateExtU32};
 
 use crate::{
     pac::spi2::RegisterBlock,
@@ -57,7 +58,7 @@ where
         mut mosi: MOSI,
         mut miso: MISO,
         mut cs: CS,
-        frequency: u32,
+        frequency: HertzU32,
         mode: Mode,
         system: &mut System,
     ) -> Self {
@@ -184,15 +185,17 @@ pub trait Instance {
     }
 
     // taken from https://github.com/apache/incubator-nuttx/blob/8267a7618629838231256edfa666e44b5313348e/arch/risc-v/src/esp32c3/esp32c3_spi.c#L496
-    fn setup(&mut self, frequency: u32) {
-        const APB_CLK_FREQ: u32 = 80_000_000; // TODO this might not be always true
+    fn setup(&mut self, frequency: HertzU32) {
+        // FIXME: this might not be always true
+        let apb_clk_freq: HertzU32 = 80u32.MHz();
+
         let reg_val: u32;
         let duty_cycle = 128;
 
         // In HW, n, h and l fields range from 1 to 64, pre ranges from 1 to 8K.
         // The value written to register is one lower than the used value.
 
-        if frequency > ((APB_CLK_FREQ / 4) * 3) {
+        if frequency > ((apb_clk_freq / 4) * 3) {
             // Using APB frequency directly will give us the best result here.
             reg_val = 1 << 31;
         } else {
@@ -219,7 +222,7 @@ pub trait Instance {
                 *   pre = round((APB_CLK_FREQ / n) / frequency)
                 */
 
-                pre = ((APB_CLK_FREQ as i32/ n) + (frequency as i32 / 2)) / frequency as i32;
+                pre = ((apb_clk_freq.raw() as i32/ n) + (frequency.raw() as i32 / 2)) / frequency.raw() as i32;
 
                 if pre <= 0 {
                     pre = 1;
@@ -229,7 +232,7 @@ pub trait Instance {
                     pre = 16;
                 }
 
-                errval = (APB_CLK_FREQ as i32 / (pre as i32 * n as i32) - frequency as i32).abs();
+                errval = (apb_clk_freq.raw() as i32 / (pre as i32 * n as i32) - frequency.raw() as i32).abs();
                 if bestn == -1 || errval <= besterr {
                     besterr = errval;
                     bestn = n as i32;

esp-hal-common/src/utils/smart_leds_adapter.rs

@@ -13,6 +13,7 @@
 
 use core::{marker::PhantomData, slice::IterMut};
 
+use fugit::NanosDuration;
 use smart_leds_trait::{SmartLedsWrite, RGB8};
 
 #[cfg(any(feature = "esp32", feature = "esp32s2"))]
@@ -42,10 +43,14 @@ const SK68XX_T0L_NS: u32 = SK68XX_CODE_PERIOD - SK68XX_T0H_NS;
 const SK68XX_T1H_NS: u32 = 640;
 const SK68XX_T1L_NS: u32 = SK68XX_CODE_PERIOD - SK68XX_T1H_NS;
 
-const SK68XX_T0H_CYCLES: u16 = ((SK68XX_T0H_NS * (SOURCE_CLK_FREQ / 1_000_000)) / 500) as u16;
-const SK68XX_T0L_CYCLES: u16 = ((SK68XX_T0L_NS * (SOURCE_CLK_FREQ / 1_000_000)) / 500) as u16;
-const SK68XX_T1H_CYCLES: u16 = ((SK68XX_T1H_NS * (SOURCE_CLK_FREQ / 1_000_000)) / 500) as u16;
-const SK68XX_T1L_CYCLES: u16 = ((SK68XX_T1L_NS * (SOURCE_CLK_FREQ / 1_000_000)) / 500) as u16;
+const SK68XX_T0H_CYCLES: NanosDuration<u32> =
+    NanosDuration::<u32>::from_ticks((SK68XX_T0H_NS * (SOURCE_CLK_FREQ / 1_000_000)) / 500);
+const SK68XX_T0L_CYCLES: NanosDuration<u32> =
+    NanosDuration::<u32>::from_ticks((SK68XX_T0L_NS * (SOURCE_CLK_FREQ / 1_000_000)) / 500);
+const SK68XX_T1H_CYCLES: NanosDuration<u32> =
+    NanosDuration::<u32>::from_ticks((SK68XX_T1H_NS * (SOURCE_CLK_FREQ / 1_000_000)) / 500);
+const SK68XX_T1L_CYCLES: NanosDuration<u32> =
+    NanosDuration::<u32>::from_ticks((SK68XX_T1L_NS * (SOURCE_CLK_FREQ / 1_000_000)) / 500);
 
 /// All types of errors that can happen during the conversion and transmission
 /// of LED commands

esp32-hal/Cargo.toml

@@ -26,6 +26,7 @@ categories = [
 [dependencies]
 bare-metal   = "1.0"
 embedded-hal = { version = "0.2",  features = ["unproven"] }
+fugit        = "0.3"
 nb           = "1.0"
 void         = { version = "1.0",  default-features = false }
 xtensa-lx    = { version = "0.7",  features = ["esp32"] }

esp32-hal/examples/i2c_display.rs

@@ -49,7 +49,7 @@ fn main() -> ! {
         peripherals.I2C0,
         io.pins.gpio32,
         io.pins.gpio33,
-        100_000,
+        100u32.kHz(),
         &mut peripherals.DPORT,
     )
     .unwrap();

esp32-hal/examples/spi_loopback.rs

@@ -47,18 +47,18 @@ fn main() -> ! {
         mosi,
         miso,
         cs,
-        100_000,
+        100u32.kHz(),
         embedded_hal::spi::MODE_0,
         &mut peripherals.DPORT,
     );
 
-    let delay = Delay::new();
+    let mut delay = Delay::new();
 
     loop {
         let mut data = [0xde, 0xca, 0xfb, 0xad];
         spi.transfer(&mut data).unwrap();
         writeln!(serial0, "{:x?}", data).ok();
 
-        delay.delay(250_000);
+        delay.delay_ms(250u32);
     }
 }

esp32c3-hal/Cargo.toml

@@ -26,9 +26,10 @@ categories = [
 [dependencies]
 bare-metal   = "1.0"
 embedded-hal = { version = "0.2", features = ["unproven"] }
+fugit        = "0.3"
 nb           = "1.0"
-r0           = "1.0.0"
-riscv        = "0.8.0"
+r0           = "1.0"
+riscv        = "0.8"
 riscv-rt     = { version = "0.8", optional = true }
 void         = { version = "1.0", default-features = false }
 

esp32c3-hal/examples/i2c_display.rs

@@ -47,7 +47,7 @@ fn main() -> ! {
         peripherals.I2C0,
         io.pins.gpio1,
         io.pins.gpio2,
-        100_000,
+        100u32.kHz(),
         &mut peripherals.SYSTEM,
     )
     .unwrap();

esp32c3-hal/examples/spi_loopback.rs

@@ -55,18 +55,18 @@ fn main() -> ! {
         mosi,
         miso,
         cs,
-        100_000,
+        100u32.kHz(),
         embedded_hal::spi::MODE_0,
         &mut peripherals.SYSTEM,
     );
 
-    let delay = Delay::new(peripherals.SYSTIMER);
+    let mut delay = Delay::new(peripherals.SYSTIMER);
 
     loop {
         let mut data = [0xde, 0xca, 0xfb, 0xad];
         spi.transfer(&mut data).unwrap();
         writeln!(serial0, "{:x?}", data).ok();
 
-        delay.delay(250_000);
+        delay.delay_ms(250u32);
     }
 }

esp32s2-hal/Cargo.toml

@@ -26,6 +26,7 @@ categories = [
 [dependencies]
 bare-metal   = "1.0"
 embedded-hal = { version = "0.2",  features = ["unproven"] }
+fugit        = "0.3"
 nb           = "1.0"
 void         = { version = "1.0",  default-features = false }
 xtensa-lx    = { version = "0.7",  features = ["esp32s2"] }

esp32s2-hal/examples/i2c_display.rs

@@ -49,7 +49,7 @@ fn main() -> ! {
         peripherals.I2C0,
         io.pins.gpio35,
         io.pins.gpio36,
-        100_000,
+        100u32.kHz(),
         &mut peripherals.SYSTEM,
     )
     .unwrap();