Merge branch 'main' of https://github.com/embassy-rs/embassy

embassy-stm32/src/adc/f1.rs

@@ -3,8 +3,8 @@ use core::marker::PhantomData;
 use core::task::Poll;
 
 use embassy_hal_internal::into_ref;
-use embedded_hal_02::blocking::delay::DelayUs;
 
+use super::blocking_delay_us;
 use crate::adc::{Adc, AdcPin, Instance, SampleTime};
 use crate::time::Hertz;
 use crate::{interrupt, Peripheral};
@@ -48,14 +48,14 @@ impl<T: Instance> super::SealedAdcPin<T> for Temperature {
 }
 
 impl<'d, T: Instance> Adc<'d, T> {
-    pub fn new(adc: impl Peripheral<P = T> + 'd, delay: &mut impl DelayUs<u32>) -> Self {
+    pub fn new(adc: impl Peripheral<P = T> + 'd) -> Self {
         into_ref!(adc);
         T::enable_and_reset();
         T::regs().cr2().modify(|reg| reg.set_adon(true));
 
         // 11.4: Before starting a calibration, the ADC must have been in power-on state (ADON bit = ‘1’)
-        // for at least two ADC clock cycles
+        // for at least two ADC clock cycles.
-        delay.delay_us((1_000_000 * 2) / Self::freq().0 + 1);
+        blocking_delay_us((1_000_000 * 2) / Self::freq().0 + 1);
 
         // Reset calibration
         T::regs().cr2().modify(|reg| reg.set_rstcal(true));
@@ -70,7 +70,7 @@ impl<'d, T: Instance> Adc<'d, T> {
         }
 
         // One cycle after calibration
-        delay.delay_us((1_000_000) / Self::freq().0 + 1);
+        blocking_delay_us((1_000_000 * 1) / Self::freq().0 + 1);
 
         Self {
             adc,
@@ -95,7 +95,7 @@ impl<'d, T: Instance> Adc<'d, T> {
         }
     }
 
-    pub fn enable_vref(&self, _delay: &mut impl DelayUs<u32>) -> Vref {
+    pub fn enable_vref(&self) -> Vref {
         T::regs().cr2().modify(|reg| {
             reg.set_tsvrefe(true);
         });

embassy-stm32/src/adc/f3.rs

@@ -3,8 +3,8 @@ use core::marker::PhantomData;
 use core::task::Poll;
 
 use embassy_hal_internal::into_ref;
-use embedded_hal_02::blocking::delay::DelayUs;
 
+use super::blocking_delay_us;
 use crate::adc::{Adc, AdcPin, Instance, SampleTime};
 use crate::interrupt::typelevel::Interrupt;
 use crate::time::Hertz;
@@ -58,7 +58,6 @@ impl<'d, T: Instance> Adc<'d, T> {
     pub fn new(
         adc: impl Peripheral<P = T> + 'd,
         _irq: impl interrupt::typelevel::Binding<T::Interrupt, InterruptHandler<T>> + 'd,
-        delay: &mut impl DelayUs<u32>,
     ) -> Self {
         use crate::pac::adc::vals;
 
@@ -71,7 +70,7 @@ impl<'d, T: Instance> Adc<'d, T> {
         T::regs().cr().modify(|w| w.set_advregen(vals::Advregen::ENABLED));
 
         // Wait for the regulator to stabilize
-        delay.delay_us(10);
+        blocking_delay_us(10);
 
         assert!(!T::regs().cr().read().aden());
 
@@ -81,8 +80,8 @@ impl<'d, T: Instance> Adc<'d, T> {
 
         while T::regs().cr().read().adcal() {}
 
-        // Wait more than 4 clock cycles after adcal is cleared (RM0364 p. 223)
+        // Wait more than 4 clock cycles after adcal is cleared (RM0364 p. 223).
-        delay.delay_us(1 + (6 * 1_000_000 / Self::freq().0));
+        blocking_delay_us((1_000_000 * 4) / Self::freq().0 + 1);
 
         // Enable the adc
         T::regs().cr().modify(|w| w.set_aden(true));
@@ -117,7 +116,7 @@ impl<'d, T: Instance> Adc<'d, T> {
         }
     }
 
-    pub fn enable_vref(&self, _delay: &mut impl DelayUs<u32>) -> Vref {
+    pub fn enable_vref(&self) -> Vref {
         T::common_regs().ccr().modify(|w| w.set_vrefen(true));
 
         Vref {}

embassy-stm32/src/adc/mod.rs

@@ -69,6 +69,15 @@ trait SealedInternalChannel<T> {
     fn channel(&self) -> u8;
 }
 
+/// Performs a busy-wait delay for a specified number of microseconds.
+#[allow(unused)]
+pub(crate) fn blocking_delay_us(us: u32) {
+    #[cfg(time)]
+    embassy_time::block_for(embassy_time::Duration::from_micros(us));
+    #[cfg(not(time))]
+    cortex_m::asm::delay(unsafe { crate::rcc::get_freqs() }.sys.unwrap().0 * us / 1_000_000);
+}
+
 /// ADC instance.
 #[cfg(not(any(adc_f1, adc_v1, adc_l0, adc_v2, adc_v3, adc_v4, adc_f3, adc_f3_v1_1, adc_g0, adc_h5)))]
 #[allow(private_bounds)]

embassy-stm32/src/adc/v1.rs

@@ -3,10 +3,10 @@ use core::marker::PhantomData;
 use core::task::Poll;
 
 use embassy_hal_internal::into_ref;
-use embedded_hal_02::blocking::delay::DelayUs;
 #[cfg(adc_l0)]
 use stm32_metapac::adc::vals::Ckmode;
 
+use super::blocking_delay_us;
 use crate::adc::{Adc, AdcPin, Instance, Resolution, SampleTime};
 use crate::interrupt::typelevel::Interrupt;
 use crate::peripherals::ADC;
@@ -65,7 +65,6 @@ impl<'d, T: Instance> Adc<'d, T> {
     pub fn new(
         adc: impl Peripheral<P = T> + 'd,
         _irq: impl interrupt::typelevel::Binding<T::Interrupt, InterruptHandler<T>> + 'd,
-        delay: &mut impl DelayUs<u32>,
     ) -> Self {
         into_ref!(adc);
         T::enable_and_reset();
@@ -74,7 +73,7 @@ impl<'d, T: Instance> Adc<'d, T> {
         //
         // Table 57. ADC characteristics
         // tstab = 14 * 1/fadc
-        delay.delay_us(1);
+        blocking_delay_us(1);
 
         // set default PCKL/2 on L0s because HSI is disabled in the default clock config
         #[cfg(adc_l0)]
@@ -114,7 +113,7 @@ impl<'d, T: Instance> Adc<'d, T> {
     }
 
     #[cfg(not(adc_l0))]
-    pub fn enable_vbat(&self, _delay: &mut impl DelayUs<u32>) -> Vbat {
+    pub fn enable_vbat(&self) -> Vbat {
         // SMP must be ≥ 56 ADC clock cycles when using HSI14.
         //
         // 6.3.20 Vbat monitoring characteristics
@@ -123,22 +122,22 @@ impl<'d, T: Instance> Adc<'d, T> {
         Vbat
     }
 
-    pub fn enable_vref(&self, delay: &mut impl DelayUs<u32>) -> Vref {
+    pub fn enable_vref(&self) -> Vref {
         // Table 28. Embedded internal reference voltage
         // tstart = 10μs
         T::regs().ccr().modify(|reg| reg.set_vrefen(true));
-        delay.delay_us(10);
+        blocking_delay_us(10);
         Vref
     }
 
-    pub fn enable_temperature(&self, delay: &mut impl DelayUs<u32>) -> Temperature {
+    pub fn enable_temperature(&self) -> Temperature {
         // SMP must be ≥ 56 ADC clock cycles when using HSI14.
         //
         // 6.3.19 Temperature sensor characteristics
         // tstart ≤ 10μs
         // ts_temp ≥ 4μs
         T::regs().ccr().modify(|reg| reg.set_tsen(true));
-        delay.delay_us(10);
+        blocking_delay_us(10);
         Temperature
     }
 

embassy-stm32/src/adc/v2.rs

@@ -1,6 +1,6 @@
 use embassy_hal_internal::into_ref;
-use embedded_hal_02::blocking::delay::DelayUs;
 
+use super::blocking_delay_us;
 use crate::adc::{Adc, AdcPin, Instance, Resolution, SampleTime};
 use crate::peripherals::ADC1;
 use crate::time::Hertz;
@@ -11,9 +11,6 @@ pub const VREF_DEFAULT_MV: u32 = 3300;
 /// VREF voltage used for factory calibration of VREFINTCAL register.
 pub const VREF_CALIB_MV: u32 = 3300;
 
-/// ADC turn-on time
-pub const ADC_POWERUP_TIME_US: u32 = 3;
-
 pub struct VrefInt;
 impl AdcPin<ADC1> for VrefInt {}
 impl super::SealedAdcPin<ADC1> for VrefInt {
@@ -97,7 +94,7 @@ impl<'d, T> Adc<'d, T>
 where
     T: Instance,
 {
-    pub fn new(adc: impl Peripheral<P = T> + 'd, delay: &mut impl DelayUs<u32>) -> Self {
+    pub fn new(adc: impl Peripheral<P = T> + 'd) -> Self {
         into_ref!(adc);
         T::enable_and_reset();
 
@@ -107,7 +104,7 @@ where
             reg.set_adon(true);
         });
 
-        delay.delay_us(ADC_POWERUP_TIME_US);
+        blocking_delay_us(3);
 
         Self {
             adc,

embassy-stm32/src/adc/v3.rs

@@ -1,7 +1,7 @@
 use cfg_if::cfg_if;
 use embassy_hal_internal::into_ref;
-use embedded_hal_02::blocking::delay::DelayUs;
 
+use super::blocking_delay_us;
 use crate::adc::{Adc, AdcPin, Instance, Resolution, SampleTime};
 use crate::Peripheral;
 
@@ -74,7 +74,7 @@ cfg_if! {
 }
 
 impl<'d, T: Instance> Adc<'d, T> {
-    pub fn new(adc: impl Peripheral<P = T> + 'd, delay: &mut impl DelayUs<u32>) -> Self {
+    pub fn new(adc: impl Peripheral<P = T> + 'd) -> Self {
         into_ref!(adc);
         T::enable_and_reset();
         T::regs().cr().modify(|reg| {
@@ -88,7 +88,7 @@ impl<'d, T: Instance> Adc<'d, T> {
             reg.set_chselrmod(false);
         });
 
-        delay.delay_us(20);
+        blocking_delay_us(20);
 
         T::regs().cr().modify(|reg| {
             reg.set_adcal(true);
@@ -98,7 +98,7 @@ impl<'d, T: Instance> Adc<'d, T> {
             // spin
         }
 
-        delay.delay_us(1);
+        blocking_delay_us(1);
 
         Self {
             adc,
@@ -106,7 +106,7 @@ impl<'d, T: Instance> Adc<'d, T> {
         }
     }
 
-    pub fn enable_vrefint(&self, delay: &mut impl DelayUs<u32>) -> VrefInt {
+    pub fn enable_vrefint(&self) -> VrefInt {
         #[cfg(not(adc_g0))]
         T::common_regs().ccr().modify(|reg| {
             reg.set_vrefen(true);
@@ -117,10 +117,8 @@ impl<'d, T: Instance> Adc<'d, T> {
         });
 
         // "Table 24. Embedded internal voltage reference" states that it takes a maximum of 12 us
-        // to stabilize the internal voltage reference, we wait a little more.
+        // to stabilize the internal voltage reference.
-        // TODO: delay 15us
+        blocking_delay_us(15);
-        //cortex_m::asm::delay(20_000_000);
-        delay.delay_us(15);
 
         VrefInt {}
     }

embassy-stm32/src/adc/v4.rs

@@ -1,9 +1,8 @@
-use embedded_hal_02::blocking::delay::DelayUs;
 #[allow(unused)]
 use pac::adc::vals::{Adcaldif, Boost, Difsel, Exten, Pcsel};
 use pac::adccommon::vals::Presc;
 
-use super::{Adc, AdcPin, Instance, InternalChannel, Resolution, SampleTime};
+use super::{blocking_delay_us, Adc, AdcPin, Instance, InternalChannel, Resolution, SampleTime};
 use crate::time::Hertz;
 use crate::{pac, Peripheral};
 
@@ -129,7 +128,7 @@ impl Prescaler {
 
 impl<'d, T: Instance> Adc<'d, T> {
     /// Create a new ADC driver.
-    pub fn new(adc: impl Peripheral<P = T> + 'd, delay: &mut impl DelayUs<u16>) -> Self {
+    pub fn new(adc: impl Peripheral<P = T> + 'd) -> Self {
         embassy_hal_internal::into_ref!(adc);
         T::enable_and_reset();
 
@@ -161,11 +160,11 @@ impl<'d, T: Instance> Adc<'d, T> {
             adc,
             sample_time: SampleTime::from_bits(0),
         };
-        s.power_up(delay);
+        s.power_up();
         s.configure_differential_inputs();
 
         s.calibrate();
-        delay.delay_us(1);
+        blocking_delay_us(1);
 
         s.enable();
         s.configure();
@@ -173,13 +172,13 @@ impl<'d, T: Instance> Adc<'d, T> {
         s
     }
 
-    fn power_up(&mut self, delay: &mut impl DelayUs<u16>) {
+    fn power_up(&mut self) {
         T::regs().cr().modify(|reg| {
             reg.set_deeppwd(false);
             reg.set_advregen(true);
         });
 
-        delay.delay_us(10);
+        blocking_delay_us(10);
     }
 
     fn configure_differential_inputs(&mut self) {

examples/stm32f0/src/bin/adc.rs

@@ -6,7 +6,7 @@ use embassy_executor::Spawner;
 use embassy_stm32::adc::{Adc, SampleTime};
 use embassy_stm32::peripherals::ADC;
 use embassy_stm32::{adc, bind_interrupts};
-use embassy_time::{Delay, Timer};
+use embassy_time::Timer;
 use {defmt_rtt as _, panic_probe as _};
 
 bind_interrupts!(struct Irqs {
@@ -18,11 +18,11 @@ async fn main(_spawner: Spawner) {
     let p = embassy_stm32::init(Default::default());
     info!("Hello World!");
 
-    let mut adc = Adc::new(p.ADC, Irqs, &mut Delay);
+    let mut adc = Adc::new(p.ADC, Irqs);
     adc.set_sample_time(SampleTime::CYCLES71_5);
     let mut pin = p.PA1;
 
-    let mut vrefint = adc.enable_vref(&mut Delay);
+    let mut vrefint = adc.enable_vref();
     let vrefint_sample = adc.read(&mut vrefint).await;
     let convert_to_millivolts = |sample| {
         // From https://www.st.com/resource/en/datasheet/stm32f031c6.pdf

examples/stm32f1/src/bin/adc.rs

@@ -6,7 +6,7 @@ use embassy_executor::Spawner;
 use embassy_stm32::adc::Adc;
 use embassy_stm32::peripherals::ADC1;
 use embassy_stm32::{adc, bind_interrupts};
-use embassy_time::{Delay, Timer};
+use embassy_time::Timer;
 use {defmt_rtt as _, panic_probe as _};
 
 bind_interrupts!(struct Irqs {
@@ -18,10 +18,10 @@ async fn main(_spawner: Spawner) {
     let p = embassy_stm32::init(Default::default());
     info!("Hello World!");
 
-    let mut adc = Adc::new(p.ADC1, &mut Delay);
+    let mut adc = Adc::new(p.ADC1);
     let mut pin = p.PB1;
 
-    let mut vrefint = adc.enable_vref(&mut Delay);
+    let mut vrefint = adc.enable_vref();
     let vrefint_sample = adc.read(&mut vrefint).await;
     let convert_to_millivolts = |sample| {
         // From http://www.st.com/resource/en/datasheet/CD00161566.pdf

examples/stm32f334/src/bin/adc.rs

@@ -7,7 +7,7 @@ use embassy_stm32::adc::{Adc, SampleTime};
 use embassy_stm32::peripherals::ADC1;
 use embassy_stm32::time::mhz;
 use embassy_stm32::{adc, bind_interrupts, Config};
-use embassy_time::{Delay, Timer};
+use embassy_time::Timer;
 use {defmt_rtt as _, panic_probe as _};
 
 bind_interrupts!(struct Irqs {
@@ -38,13 +38,13 @@ async fn main(_spawner: Spawner) -> ! {
 
     info!("create adc...");
 
-    let mut adc = Adc::new(p.ADC1, Irqs, &mut Delay);
+    let mut adc = Adc::new(p.ADC1, Irqs);
 
     adc.set_sample_time(SampleTime::CYCLES601_5);
 
     info!("enable vrefint...");
 
-    let mut vrefint = adc.enable_vref(&mut Delay);
+    let mut vrefint = adc.enable_vref();
     let mut temperature = adc.enable_temperature();
 
     loop {

examples/stm32f334/src/bin/opamp.rs

@@ -8,7 +8,7 @@ use embassy_stm32::opamp::{OpAmp, OpAmpGain};
 use embassy_stm32::peripherals::ADC2;
 use embassy_stm32::time::mhz;
 use embassy_stm32::{adc, bind_interrupts, Config};
-use embassy_time::{Delay, Timer};
+use embassy_time::Timer;
 use {defmt_rtt as _, panic_probe as _};
 
 bind_interrupts!(struct Irqs {
@@ -39,14 +39,14 @@ async fn main(_spawner: Spawner) -> ! {
 
     info!("create adc...");
 
-    let mut adc = Adc::new(p.ADC2, Irqs, &mut Delay);
+    let mut adc = Adc::new(p.ADC2, Irqs);
     let mut opamp = OpAmp::new(p.OPAMP2);
 
     adc.set_sample_time(SampleTime::CYCLES601_5);
 
     info!("enable vrefint...");
 
-    let mut vrefint = adc.enable_vref(&mut Delay);
+    let mut vrefint = adc.enable_vref();
     let mut temperature = adc.enable_temperature();
     let mut buffer = opamp.buffer_ext(&mut p.PA7, &mut p.PA6, OpAmpGain::Mul1);
 

examples/stm32f4/src/bin/adc.rs

@@ -14,7 +14,7 @@ async fn main(_spawner: Spawner) {
     info!("Hello World!");
 
     let mut delay = Delay;
-    let mut adc = Adc::new(p.ADC1, &mut delay);
+    let mut adc = Adc::new(p.ADC1);
     let mut pin = p.PC1;
 
     let mut vrefint = adc.enable_vrefint();

examples/stm32f7/src/bin/adc.rs

@@ -4,7 +4,7 @@
 use defmt::*;
 use embassy_executor::Spawner;
 use embassy_stm32::adc::Adc;
-use embassy_time::{Delay, Timer};
+use embassy_time::Timer;
 use {defmt_rtt as _, panic_probe as _};
 
 #[embassy_executor::main]
@@ -12,7 +12,7 @@ async fn main(_spawner: Spawner) {
     let p = embassy_stm32::init(Default::default());
     info!("Hello World!");
 
-    let mut adc = Adc::new(p.ADC1, &mut Delay);
+    let mut adc = Adc::new(p.ADC1);
     let mut pin = p.PA3;
 
     let mut vrefint = adc.enable_vrefint();

examples/stm32g4/src/bin/adc.rs

@@ -5,7 +5,7 @@ use defmt::*;
 use embassy_executor::Spawner;
 use embassy_stm32::adc::{Adc, SampleTime};
 use embassy_stm32::Config;
-use embassy_time::{Delay, Timer};
+use embassy_time::Timer;
 use {defmt_rtt as _, panic_probe as _};
 
 #[embassy_executor::main]
@@ -28,7 +28,7 @@ async fn main(_spawner: Spawner) {
     let mut p = embassy_stm32::init(config);
     info!("Hello World!");
 
-    let mut adc = Adc::new(p.ADC2, &mut Delay);
+    let mut adc = Adc::new(p.ADC2);
     adc.set_sample_time(SampleTime::CYCLES32_5);
 
     loop {

examples/stm32h7/src/bin/adc.rs

@@ -5,7 +5,7 @@ use defmt::*;
 use embassy_executor::Spawner;
 use embassy_stm32::adc::{Adc, SampleTime};
 use embassy_stm32::Config;
-use embassy_time::{Delay, Timer};
+use embassy_time::Timer;
 use {defmt_rtt as _, panic_probe as _};
 
 #[embassy_executor::main]
@@ -44,7 +44,7 @@ async fn main(_spawner: Spawner) {
 
     info!("Hello World!");
 
-    let mut adc = Adc::new(p.ADC3, &mut Delay);
+    let mut adc = Adc::new(p.ADC3);
 
     adc.set_sample_time(SampleTime::CYCLES32_5);
 

examples/stm32l0/src/bin/adc.rs

@@ -6,7 +6,7 @@ use embassy_executor::Spawner;
 use embassy_stm32::adc::{Adc, SampleTime};
 use embassy_stm32::peripherals::ADC;
 use embassy_stm32::{adc, bind_interrupts};
-use embassy_time::{Delay, Timer};
+use embassy_time::Timer;
 use {defmt_rtt as _, panic_probe as _};
 
 bind_interrupts!(struct Irqs {
@@ -18,11 +18,11 @@ async fn main(_spawner: Spawner) {
     let p = embassy_stm32::init(Default::default());
     info!("Hello World!");
 
-    let mut adc = Adc::new(p.ADC, Irqs, &mut Delay);
+    let mut adc = Adc::new(p.ADC, Irqs);
     adc.set_sample_time(SampleTime::CYCLES79_5);
     let mut pin = p.PA1;
 
-    let mut vrefint = adc.enable_vref(&mut Delay);
+    let mut vrefint = adc.enable_vref();
     let vrefint_sample = adc.read(&mut vrefint).await;
     let convert_to_millivolts = |sample| {
         // From https://www.st.com/resource/en/datasheet/stm32l051c6.pdf

examples/stm32l4/src/bin/adc.rs

@@ -4,7 +4,6 @@
 use defmt::*;
 use embassy_stm32::adc::{Adc, Resolution};
 use embassy_stm32::Config;
-use embassy_time::Delay;
 use {defmt_rtt as _, panic_probe as _};
 
 #[cortex_m_rt::entry]
@@ -18,7 +17,7 @@ fn main() -> ! {
     }
     let p = embassy_stm32::init(config);
 
-    let mut adc = Adc::new(p.ADC1, &mut Delay);
+    let mut adc = Adc::new(p.ADC1);
     //adc.enable_vref();
     adc.set_resolution(Resolution::BITS8);
     let mut channel = p.PC0;

tests/stm32/src/bin/dac.rs

@@ -13,7 +13,7 @@ use embassy_executor::Spawner;
 use embassy_stm32::adc::Adc;
 use embassy_stm32::dac::{DacCh1, Value};
 use embassy_stm32::dma::NoDma;
-use embassy_time::{Delay, Timer};
+use embassy_time::Timer;
 use micromath::F32Ext;
 use {defmt_rtt as _, panic_probe as _};
 
@@ -28,7 +28,7 @@ async fn main(_spawner: Spawner) {
     let mut adc_pin = unsafe { core::ptr::read(&dac_pin) };
 
     let mut dac = DacCh1::new(dac, NoDma, dac_pin);
-    let mut adc = Adc::new(adc, &mut Delay);
+    let mut adc = Adc::new(adc);
 
     #[cfg(feature = "stm32h755zi")]
     let normalization_factor = 256;