Merge branch 'main' into issue-1974-add-sai-driver

7 files changed, 310 insertions, 10 deletions

diff --git a/embassy-time/CHANGELOG.md b/embassy-time/CHANGELOG.md
index 26640d930..e3b38455c 100644
--- a/embassy-time/CHANGELOG.md
+++ b/embassy-time/CHANGELOG.md
@@ -5,6 +5,15 @@ All notable changes to this project will be documented in this file.
 The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/),
 and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0.html).
 
+## 0.1.4 - ???
+
+- Added more tick rates
+
+## 0.1.3 - 2023-08-28
+
+- Update `embedded-hal-async` to `1.0.0-rc.1`
+- Update `embedded-hal v1` to `1.0.0-rc.1`
+
 ## 0.1.2 - 2023-07-05
 
 - Update `embedded-hal-async` to `0.2.0-alpha.2`.
@@ -26,4 +35,4 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ## 0.1.0 - 2022-08-26
 
-- First release
\ No newline at end of file
+- First release
diff --git a/embassy-time/Cargo.toml b/embassy-time/Cargo.toml
index 00d31d30f..8f034a9de 100644
--- a/embassy-time/Cargo.toml
+++ b/embassy-time/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name = "embassy-time"
-version = "0.1.2"
+version = "0.1.4"
 edition = "2021"
 description = "Instant and Duration for embedded no-std systems, with async timer support"
 repository = "https://github.com/embassy-rs/embassy"
@@ -145,6 +145,68 @@ tick-hz-384_000_000 = []
 tick-hz-512_000_000 = []
 tick-hz-576_000_000 = []
 tick-hz-768_000_000 = []
+tick-hz-20_000_000 = []
+tick-hz-30_000_000 = []
+tick-hz-40_000_000 = []
+tick-hz-50_000_000 = []
+tick-hz-60_000_000 = []
+tick-hz-70_000_000 = []
+tick-hz-80_000_000 = []
+tick-hz-90_000_000 = []
+tick-hz-110_000_000 = []
+tick-hz-120_000_000 = []
+tick-hz-130_000_000 = []
+tick-hz-140_000_000 = []
+tick-hz-150_000_000 = []
+tick-hz-160_000_000 = []
+tick-hz-170_000_000 = []
+tick-hz-180_000_000 = []
+tick-hz-190_000_000 = []
+tick-hz-200_000_000 = []
+tick-hz-210_000_000 = []
+tick-hz-220_000_000 = []
+tick-hz-230_000_000 = []
+tick-hz-240_000_000 = []
+tick-hz-250_000_000 = []
+tick-hz-260_000_000 = []
+tick-hz-270_000_000 = []
+tick-hz-280_000_000 = []
+tick-hz-290_000_000 = []
+tick-hz-300_000_000 = []
+tick-hz-320_000_000 = []
+tick-hz-340_000_000 = []
+tick-hz-360_000_000 = []
+tick-hz-380_000_000 = []
+tick-hz-400_000_000 = []
+tick-hz-420_000_000 = []
+tick-hz-440_000_000 = []
+tick-hz-460_000_000 = []
+tick-hz-480_000_000 = []
+tick-hz-500_000_000 = []
+tick-hz-520_000_000 = []
+tick-hz-540_000_000 = []
+tick-hz-560_000_000 = []
+tick-hz-580_000_000 = []
+tick-hz-600_000_000 = []
+tick-hz-620_000_000 = []
+tick-hz-640_000_000 = []
+tick-hz-660_000_000 = []
+tick-hz-680_000_000 = []
+tick-hz-700_000_000 = []
+tick-hz-720_000_000 = []
+tick-hz-740_000_000 = []
+tick-hz-760_000_000 = []
+tick-hz-780_000_000 = []
+tick-hz-800_000_000 = []
+tick-hz-820_000_000 = []
+tick-hz-840_000_000 = []
+tick-hz-860_000_000 = []
+tick-hz-880_000_000 = []
+tick-hz-900_000_000 = []
+tick-hz-920_000_000 = []
+tick-hz-940_000_000 = []
+tick-hz-960_000_000 = []
+tick-hz-980_000_000 = []
 # END TICKS
 
 [dependencies]
diff --git a/embassy-time/gen_tick.py b/embassy-time/gen_tick.py
index 15e65187b..67a4c79c8 100644
--- a/embassy-time/gen_tick.py
+++ b/embassy-time/gen_tick.py
@@ -17,6 +17,10 @@ for i in range(1, 10):
     ticks.append(2**i * 1000000)
     ticks.append(2**i * 9 // 8 * 1000000)
     ticks.append(2**i * 3 // 2 * 1000000)
+for i in range(1, 30):
+    ticks.append(10 * i * 1_000_000)
+for i in range(15, 50):
+    ticks.append(20 * i * 1_000_000)
 
 seen = set()
 ticks = [x for x in ticks if not (x in seen or seen.add(x))]
diff --git a/embassy-time/src/fmt.rs b/embassy-time/src/fmt.rs
index 066970813..78e583c1c 100644
--- a/embassy-time/src/fmt.rs
+++ b/embassy-time/src/fmt.rs
@@ -1,6 +1,8 @@
 #![macro_use]
 #![allow(unused_macros)]
 
+use core::fmt::{Debug, Display, LowerHex};
+
 #[cfg(all(feature = "defmt", feature = "log"))]
 compile_error!("You may not enable both `defmt` and `log` features.");
 
@@ -81,14 +83,17 @@ macro_rules! todo {
     };
 }
 
+#[cfg(not(feature = "defmt"))]
 macro_rules! unreachable {
     ($($x:tt)*) => {
-        {
-            #[cfg(not(feature = "defmt"))]
-            ::core::unreachable!($($x)*);
-            #[cfg(feature = "defmt")]
-            ::defmt::unreachable!($($x)*);
-        }
+        ::core::unreachable!($($x)*)
+    };
+}
+
+#[cfg(feature = "defmt")]
+macro_rules! unreachable {
+    ($($x:tt)*) => {
+        ::defmt::unreachable!($($x)*)
     };
 }
 
@@ -223,3 +228,31 @@ impl<T, E> Try for Result<T, E> {
         self
     }
 }
+
+#[allow(unused)]
+pub(crate) struct Bytes<'a>(pub &'a [u8]);
+
+impl<'a> Debug for Bytes<'a> {
+    fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
+        write!(f, "{:#02x?}", self.0)
+    }
+}
+
+impl<'a> Display for Bytes<'a> {
+    fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
+        write!(f, "{:#02x?}", self.0)
+    }
+}
+
+impl<'a> LowerHex for Bytes<'a> {
+    fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
+        write!(f, "{:#02x?}", self.0)
+    }
+}
+
+#[cfg(feature = "defmt")]
+impl<'a> defmt::Format for Bytes<'a> {
+    fn format(&self, fmt: defmt::Formatter) {
+        defmt::write!(fmt, "{:02x}", self.0)
+    }
+}
diff --git a/embassy-time/src/instant.rs b/embassy-time/src/instant.rs
index 44f226f62..5571cdd15 100644
--- a/embassy-time/src/instant.rs
+++ b/embassy-time/src/instant.rs
@@ -71,7 +71,7 @@ impl Instant {
     /// Panics on over/underflow.
     pub fn duration_since(&self, earlier: Instant) -> Duration {
         Duration {
-            ticks: self.ticks.checked_sub(earlier.ticks).unwrap(),
+            ticks: unwrap!(self.ticks.checked_sub(earlier.ticks)),
         }
     }
 
diff --git a/embassy-time/src/tick.rs b/embassy-time/src/tick.rs
index 608bc44f1..be544181a 100644
--- a/embassy-time/src/tick.rs
+++ b/embassy-time/src/tick.rs
@@ -156,6 +156,130 @@ pub const TICK_HZ: u64 = 512_000_000;
 pub const TICK_HZ: u64 = 576_000_000;
 #[cfg(feature = "tick-hz-768_000_000")]
 pub const TICK_HZ: u64 = 768_000_000;
+#[cfg(feature = "tick-hz-20_000_000")]
+pub const TICK_HZ: u64 = 20_000_000;
+#[cfg(feature = "tick-hz-30_000_000")]
+pub const TICK_HZ: u64 = 30_000_000;
+#[cfg(feature = "tick-hz-40_000_000")]
+pub const TICK_HZ: u64 = 40_000_000;
+#[cfg(feature = "tick-hz-50_000_000")]
+pub const TICK_HZ: u64 = 50_000_000;
+#[cfg(feature = "tick-hz-60_000_000")]
+pub const TICK_HZ: u64 = 60_000_000;
+#[cfg(feature = "tick-hz-70_000_000")]
+pub const TICK_HZ: u64 = 70_000_000;
+#[cfg(feature = "tick-hz-80_000_000")]
+pub const TICK_HZ: u64 = 80_000_000;
+#[cfg(feature = "tick-hz-90_000_000")]
+pub const TICK_HZ: u64 = 90_000_000;
+#[cfg(feature = "tick-hz-110_000_000")]
+pub const TICK_HZ: u64 = 110_000_000;
+#[cfg(feature = "tick-hz-120_000_000")]
+pub const TICK_HZ: u64 = 120_000_000;
+#[cfg(feature = "tick-hz-130_000_000")]
+pub const TICK_HZ: u64 = 130_000_000;
+#[cfg(feature = "tick-hz-140_000_000")]
+pub const TICK_HZ: u64 = 140_000_000;
+#[cfg(feature = "tick-hz-150_000_000")]
+pub const TICK_HZ: u64 = 150_000_000;
+#[cfg(feature = "tick-hz-160_000_000")]
+pub const TICK_HZ: u64 = 160_000_000;
+#[cfg(feature = "tick-hz-170_000_000")]
+pub const TICK_HZ: u64 = 170_000_000;
+#[cfg(feature = "tick-hz-180_000_000")]
+pub const TICK_HZ: u64 = 180_000_000;
+#[cfg(feature = "tick-hz-190_000_000")]
+pub const TICK_HZ: u64 = 190_000_000;
+#[cfg(feature = "tick-hz-200_000_000")]
+pub const TICK_HZ: u64 = 200_000_000;
+#[cfg(feature = "tick-hz-210_000_000")]
+pub const TICK_HZ: u64 = 210_000_000;
+#[cfg(feature = "tick-hz-220_000_000")]
+pub const TICK_HZ: u64 = 220_000_000;
+#[cfg(feature = "tick-hz-230_000_000")]
+pub const TICK_HZ: u64 = 230_000_000;
+#[cfg(feature = "tick-hz-240_000_000")]
+pub const TICK_HZ: u64 = 240_000_000;
+#[cfg(feature = "tick-hz-250_000_000")]
+pub const TICK_HZ: u64 = 250_000_000;
+#[cfg(feature = "tick-hz-260_000_000")]
+pub const TICK_HZ: u64 = 260_000_000;
+#[cfg(feature = "tick-hz-270_000_000")]
+pub const TICK_HZ: u64 = 270_000_000;
+#[cfg(feature = "tick-hz-280_000_000")]
+pub const TICK_HZ: u64 = 280_000_000;
+#[cfg(feature = "tick-hz-290_000_000")]
+pub const TICK_HZ: u64 = 290_000_000;
+#[cfg(feature = "tick-hz-300_000_000")]
+pub const TICK_HZ: u64 = 300_000_000;
+#[cfg(feature = "tick-hz-320_000_000")]
+pub const TICK_HZ: u64 = 320_000_000;
+#[cfg(feature = "tick-hz-340_000_000")]
+pub const TICK_HZ: u64 = 340_000_000;
+#[cfg(feature = "tick-hz-360_000_000")]
+pub const TICK_HZ: u64 = 360_000_000;
+#[cfg(feature = "tick-hz-380_000_000")]
+pub const TICK_HZ: u64 = 380_000_000;
+#[cfg(feature = "tick-hz-400_000_000")]
+pub const TICK_HZ: u64 = 400_000_000;
+#[cfg(feature = "tick-hz-420_000_000")]
+pub const TICK_HZ: u64 = 420_000_000;
+#[cfg(feature = "tick-hz-440_000_000")]
+pub const TICK_HZ: u64 = 440_000_000;
+#[cfg(feature = "tick-hz-460_000_000")]
+pub const TICK_HZ: u64 = 460_000_000;
+#[cfg(feature = "tick-hz-480_000_000")]
+pub const TICK_HZ: u64 = 480_000_000;
+#[cfg(feature = "tick-hz-500_000_000")]
+pub const TICK_HZ: u64 = 500_000_000;
+#[cfg(feature = "tick-hz-520_000_000")]
+pub const TICK_HZ: u64 = 520_000_000;
+#[cfg(feature = "tick-hz-540_000_000")]
+pub const TICK_HZ: u64 = 540_000_000;
+#[cfg(feature = "tick-hz-560_000_000")]
+pub const TICK_HZ: u64 = 560_000_000;
+#[cfg(feature = "tick-hz-580_000_000")]
+pub const TICK_HZ: u64 = 580_000_000;
+#[cfg(feature = "tick-hz-600_000_000")]
+pub const TICK_HZ: u64 = 600_000_000;
+#[cfg(feature = "tick-hz-620_000_000")]
+pub const TICK_HZ: u64 = 620_000_000;
+#[cfg(feature = "tick-hz-640_000_000")]
+pub const TICK_HZ: u64 = 640_000_000;
+#[cfg(feature = "tick-hz-660_000_000")]
+pub const TICK_HZ: u64 = 660_000_000;
+#[cfg(feature = "tick-hz-680_000_000")]
+pub const TICK_HZ: u64 = 680_000_000;
+#[cfg(feature = "tick-hz-700_000_000")]
+pub const TICK_HZ: u64 = 700_000_000;
+#[cfg(feature = "tick-hz-720_000_000")]
+pub const TICK_HZ: u64 = 720_000_000;
+#[cfg(feature = "tick-hz-740_000_000")]
+pub const TICK_HZ: u64 = 740_000_000;
+#[cfg(feature = "tick-hz-760_000_000")]
+pub const TICK_HZ: u64 = 760_000_000;
+#[cfg(feature = "tick-hz-780_000_000")]
+pub const TICK_HZ: u64 = 780_000_000;
+#[cfg(feature = "tick-hz-800_000_000")]
+pub const TICK_HZ: u64 = 800_000_000;
+#[cfg(feature = "tick-hz-820_000_000")]
+pub const TICK_HZ: u64 = 820_000_000;
+#[cfg(feature = "tick-hz-840_000_000")]
+pub const TICK_HZ: u64 = 840_000_000;
+#[cfg(feature = "tick-hz-860_000_000")]
+pub const TICK_HZ: u64 = 860_000_000;
+#[cfg(feature = "tick-hz-880_000_000")]
+pub const TICK_HZ: u64 = 880_000_000;
+#[cfg(feature = "tick-hz-900_000_000")]
+pub const TICK_HZ: u64 = 900_000_000;
+#[cfg(feature = "tick-hz-920_000_000")]
+pub const TICK_HZ: u64 = 920_000_000;
+#[cfg(feature = "tick-hz-940_000_000")]
+pub const TICK_HZ: u64 = 940_000_000;
+#[cfg(feature = "tick-hz-960_000_000")]
+pub const TICK_HZ: u64 = 960_000_000;
+#[cfg(feature = "tick-hz-980_000_000")]
+pub const TICK_HZ: u64 = 980_000_000;
 #[cfg(not(any(
     feature = "tick-hz-1",
     feature = "tick-hz-10",
@@ -235,5 +359,67 @@ pub const TICK_HZ: u64 = 768_000_000;
     feature = "tick-hz-512_000_000",
     feature = "tick-hz-576_000_000",
     feature = "tick-hz-768_000_000",
+    feature = "tick-hz-20_000_000",
+    feature = "tick-hz-30_000_000",
+    feature = "tick-hz-40_000_000",
+    feature = "tick-hz-50_000_000",
+    feature = "tick-hz-60_000_000",
+    feature = "tick-hz-70_000_000",
+    feature = "tick-hz-80_000_000",
+    feature = "tick-hz-90_000_000",
+    feature = "tick-hz-110_000_000",
+    feature = "tick-hz-120_000_000",
+    feature = "tick-hz-130_000_000",
+    feature = "tick-hz-140_000_000",
+    feature = "tick-hz-150_000_000",
+    feature = "tick-hz-160_000_000",
+    feature = "tick-hz-170_000_000",
+    feature = "tick-hz-180_000_000",
+    feature = "tick-hz-190_000_000",
+    feature = "tick-hz-200_000_000",
+    feature = "tick-hz-210_000_000",
+    feature = "tick-hz-220_000_000",
+    feature = "tick-hz-230_000_000",
+    feature = "tick-hz-240_000_000",
+    feature = "tick-hz-250_000_000",
+    feature = "tick-hz-260_000_000",
+    feature = "tick-hz-270_000_000",
+    feature = "tick-hz-280_000_000",
+    feature = "tick-hz-290_000_000",
+    feature = "tick-hz-300_000_000",
+    feature = "tick-hz-320_000_000",
+    feature = "tick-hz-340_000_000",
+    feature = "tick-hz-360_000_000",
+    feature = "tick-hz-380_000_000",
+    feature = "tick-hz-400_000_000",
+    feature = "tick-hz-420_000_000",
+    feature = "tick-hz-440_000_000",
+    feature = "tick-hz-460_000_000",
+    feature = "tick-hz-480_000_000",
+    feature = "tick-hz-500_000_000",
+    feature = "tick-hz-520_000_000",
+    feature = "tick-hz-540_000_000",
+    feature = "tick-hz-560_000_000",
+    feature = "tick-hz-580_000_000",
+    feature = "tick-hz-600_000_000",
+    feature = "tick-hz-620_000_000",
+    feature = "tick-hz-640_000_000",
+    feature = "tick-hz-660_000_000",
+    feature = "tick-hz-680_000_000",
+    feature = "tick-hz-700_000_000",
+    feature = "tick-hz-720_000_000",
+    feature = "tick-hz-740_000_000",
+    feature = "tick-hz-760_000_000",
+    feature = "tick-hz-780_000_000",
+    feature = "tick-hz-800_000_000",
+    feature = "tick-hz-820_000_000",
+    feature = "tick-hz-840_000_000",
+    feature = "tick-hz-860_000_000",
+    feature = "tick-hz-880_000_000",
+    feature = "tick-hz-900_000_000",
+    feature = "tick-hz-920_000_000",
+    feature = "tick-hz-940_000_000",
+    feature = "tick-hz-960_000_000",
+    feature = "tick-hz-980_000_000",
 )))]
 pub const TICK_HZ: u64 = 1_000_000;
diff --git a/embassy-time/src/timer.rs b/embassy-time/src/timer.rs
index ad5026e62..07ddf473f 100644
--- a/embassy-time/src/timer.rs
+++ b/embassy-time/src/timer.rs
@@ -133,7 +133,13 @@ impl Ticker {
         Self { expires_at, duration }
     }
 
-    /// Waits for the next tick
+    /// Resets the ticker back to its original state.
+    /// This causes the ticker to go back to zero, even if the current tick isn't over yet.
+    pub fn reset(&mut self) {
+        self.expires_at = Instant::now() + self.duration;
+    }
+
+    /// Waits for the next tick.
     pub fn next(&mut self) -> impl Future<Output = ()> + '_ {
         poll_fn(|cx| {
             if self.expires_at <= Instant::now() {