Merge pull request #2231 from embassy-rs/stable3

Update embedded-(hal,io,nal).

4 files changed, 33 insertions, 6 deletions

diff --git a/embassy-time/src/delay.rs b/embassy-time/src/delay.rs
index be962747c..aab56b1f1 100644
--- a/embassy-time/src/delay.rs
+++ b/embassy-time/src/delay.rs
@@ -18,7 +18,11 @@ pub struct Delay;
 mod eh1 {
     use super::*;
 
-    impl embedded_hal_1::delay::DelayUs for Delay {
+    impl embedded_hal_1::delay::DelayNs for Delay {
+        fn delay_ns(&mut self, ns: u32) {
+            block_for(Duration::from_nanos(ns as u64))
+        }
+
         fn delay_us(&mut self, us: u32) {
             block_for(Duration::from_micros(us as u64))
         }
@@ -34,13 +38,17 @@ mod eha {
     use super::*;
     use crate::Timer;
 
-    impl embedded_hal_async::delay::DelayUs for Delay {
-        async fn delay_us(&mut self, micros: u32) {
-            Timer::after_micros(micros as _).await
+    impl embedded_hal_async::delay::DelayNs for Delay {
+        async fn delay_ns(&mut self, ns: u32) {
+            Timer::after_nanos(ns as _).await
+        }
+
+        async fn delay_us(&mut self, us: u32) {
+            Timer::after_micros(us as _).await
         }
 
-        async fn delay_ms(&mut self, millis: u32) {
-            Timer::after_millis(millis as _).await
+        async fn delay_ms(&mut self, ms: u32) {
+            Timer::after_millis(ms as _).await
         }
     }
 }
diff --git a/embassy-time/src/duration.rs b/embassy-time/src/duration.rs
index 8366455be..647d208e3 100644
--- a/embassy-time/src/duration.rs
+++ b/embassy-time/src/duration.rs
@@ -2,6 +2,7 @@ use core::fmt;
 use core::ops::{Add, AddAssign, Div, DivAssign, Mul, MulAssign, Sub, SubAssign};
 
 use super::{GCD_1K, GCD_1M, TICK_HZ};
+use crate::GCD_1G;
 
 #[derive(Debug, Default, Copy, Clone, PartialEq, Eq, PartialOrd, Ord)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
@@ -61,6 +62,14 @@ impl Duration {
         }
     }
 
+    /// Creates a duration from the specified number of nanoseconds, rounding up.
+    /// NOTE: Delays this small may be inaccurate.
+    pub const fn from_nanos(micros: u64) -> Duration {
+        Duration {
+            ticks: div_ceil(micros * (TICK_HZ / GCD_1G), 1_000_000_000 / GCD_1G),
+        }
+    }
+
     /// Creates a duration from the specified number of seconds, rounding down.
     pub const fn from_secs_floor(secs: u64) -> Duration {
         Duration { ticks: secs * TICK_HZ }
diff --git a/embassy-time/src/lib.rs b/embassy-time/src/lib.rs
index a90368d59..a0f6e3824 100644
--- a/embassy-time/src/lib.rs
+++ b/embassy-time/src/lib.rs
@@ -52,6 +52,7 @@ const fn gcd(a: u64, b: u64) -> u64 {
 
 pub(crate) const GCD_1K: u64 = gcd(TICK_HZ, 1_000);
 pub(crate) const GCD_1M: u64 = gcd(TICK_HZ, 1_000_000);
+pub(crate) const GCD_1G: u64 = gcd(TICK_HZ, 1_000_000_000);
 
 #[cfg(feature = "defmt-timestamp-uptime")]
 defmt::timestamp! {"{=u64:us}", Instant::now().as_micros() }
diff --git a/embassy-time/src/timer.rs b/embassy-time/src/timer.rs
index ee2423daf..574d715da 100644
--- a/embassy-time/src/timer.rs
+++ b/embassy-time/src/timer.rs
@@ -74,6 +74,15 @@ impl Timer {
         Self::after(Duration::from_ticks(ticks))
     }
 
+    /// Expire after the specified number of nanoseconds.
+    ///
+    /// This method is a convenience wrapper for calling `Timer::after(Duration::from_nanos())`.
+    /// For more details, refer to [`Timer::after()`] and [`Duration::from_nanos()`].
+    #[inline]
+    pub fn after_nanos(nanos: u64) -> Self {
+        Self::after(Duration::from_nanos(nanos))
+    }
+
     /// Expire after the specified number of microseconds.
     ///
     /// This method is a convenience wrapper for calling `Timer::after(Duration::from_micros())`.