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Fix mono delay (#843)

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* rtic-time: Compenstate for timer uncertainty

* Update changelog and incorrect cargo.lock in an example

* Fix Monotonic impls

* Fix tests

* Fix other monotonics, again

* Update changelog

* Fix example

* Fix DelayUs and DelayMs impls

* Minor coding style fix in u64 conversions

* Fix all changelogs

* Fix changelog

* Fix blocking DelayUs

* Minor monotonic rework

* Add delay precision test

* Add more tests

* Add rust-version tags to Cargo.toml

* Fix imxrt, rp2040 and systick timer

* Fix more monotonics

* Fix systick monotonic

* Some reverts

* Fix imxrt

* Fix nrf

* Fix rp2040

* Fix stm32

* Fix systick

* Fix rtic-time tests

* Bump to e-h.rc2

* Apply e-h.rc2 fixes to rtic-time

* Apply fixes from arbiter

* Fix clippy warning

* Minor beautification

* Revert previous changes

* Fix variable name

* Add blocking tests, but disable them by default
This commit is contained in:
Finomnis 2023-12-01 08:59:22 +01:00 • committed by GitHub
parent 9f5820da1d
commit 612a47ef4d
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19 changed files with 560 additions and 141 deletions
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6
rtic-sync/Cargo.toml
View file

@ -21,9 +21,9 @@ heapless = "0.7"
critical-section = "1"
rtic-common = { version = "1.0.0", path = "../rtic-common" }
portable-atomic = { version = "1", default-features = false }
embedded-hal = { version = "1.0.0-rc.1", optional = true }
embedded-hal-async = { version = "1.0.0-rc.1", optional = true }
embedded-hal-bus = { version = "0.1.0-rc.1", optional = true, features = ["async"] }
embedded-hal = { version = "1.0.0-rc.2", optional = true }
embedded-hal-async = { version = "1.0.0-rc.2", optional = true }
embedded-hal-bus = { version = "0.1.0-rc.2", optional = true, features = ["async"] }
[dev-dependencies]
tokio = { version = "1", features = ["rt", "macros", "time"] }

8
rtic-sync/src/arbiter.rs
View file

@ -197,7 +197,7 @@ pub mod spi {
use super::Arbiter;
use embedded_hal::digital::OutputPin;
use embedded_hal_async::{
delay::DelayUs,
delay::DelayNs,
spi::{ErrorType, Operation, SpiBus, SpiDevice},
};
use embedded_hal_bus::spi::DeviceError;
@ -229,7 +229,7 @@ pub mod spi {
Word: Copy + 'static,
BUS: SpiBus<Word>,
CS: OutputPin,
D: DelayUs,
D: DelayNs,
{
async fn transaction(
&mut self,
@ -246,10 +246,10 @@ pub mod spi {
Operation::Write(buf) => bus.write(buf).await,
Operation::Transfer(read, write) => bus.transfer(read, write).await,
Operation::TransferInPlace(buf) => bus.transfer_in_place(buf).await,
Operation::DelayUs(us) => match bus.flush().await {
Operation::DelayNs(ns) => match bus.flush().await {
Err(e) => Err(e),
Ok(()) => {
self.delay.delay_us(*us).await;
self.delay.delay_ns(*ns).await;
Ok(())
}
},