Merge branch 'main' into 17-add-support-for-boot-protocol

4 files changed, 36 insertions, 1 deletions

diff --git a/embassy-time/CHANGELOG.md b/embassy-time/CHANGELOG.md
index 572571215..4a50da8ef 100644
--- a/embassy-time/CHANGELOG.md
+++ b/embassy-time/CHANGELOG.md
@@ -8,6 +8,8 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 <!-- next-header -->
 ## Unreleased - ReleaseDate
 
+- Add as_nanos and from_nanos where missing
+
 ## 0.5.0 - 2025-08-26
 
 - Allow inlining on time driver boundary
diff --git a/embassy-time/Cargo.toml b/embassy-time/Cargo.toml
index 2d7c3c1fa..bad6ecf97 100644
--- a/embassy-time/Cargo.toml
+++ b/embassy-time/Cargo.toml
@@ -31,6 +31,11 @@ target = "x86_64-unknown-linux-gnu"
 features = ["defmt", "std"]
 
 [features]
+## Enable defmt
+defmt = ["dep:defmt"]
+## Enable log  
+log = ["dep:log"]
+
 ## Display the time since startup next to defmt log messages.
 ## At most 1 `defmt-timestamp-uptime-*` feature can be used.
 ## `defmt-timestamp-uptime` is provided for backwards compatibility (provides the same format as `uptime-us`).
diff --git a/embassy-time/src/duration.rs b/embassy-time/src/duration.rs
index 5b140eeff..b3ea0468d 100644
--- a/embassy-time/src/duration.rs
+++ b/embassy-time/src/duration.rs
@@ -37,6 +37,11 @@ impl Duration {
         self.ticks * (1_000_000 / GCD_1M) / (TICK_HZ / GCD_1M)
     }
 
+    /// Convert the `Duration` to nanoseconds, rounding down.
+    pub const fn as_nanos(&self) -> u64 {
+        self.ticks * (1_000_000_000 / GCD_1G) / (TICK_HZ / GCD_1G)
+    }
+
     /// Creates a duration from the specified number of clock ticks
     pub const fn from_ticks(ticks: u64) -> Duration {
         Duration { ticks }
diff --git a/embassy-time/src/instant.rs b/embassy-time/src/instant.rs
index 6571bea62..de5ebebf8 100644
--- a/embassy-time/src/instant.rs
+++ b/embassy-time/src/instant.rs
@@ -1,7 +1,7 @@
 use core::fmt;
 use core::ops::{Add, AddAssign, Sub, SubAssign};
 
-use super::{Duration, GCD_1K, GCD_1M, TICK_HZ};
+use super::{Duration, GCD_1G, GCD_1K, GCD_1M, TICK_HZ};
 
 #[derive(Debug, Copy, Clone, PartialEq, Eq, PartialOrd, Ord)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
@@ -29,6 +29,13 @@ impl Instant {
         Self { ticks }
     }
 
+    /// Create an Instant from a nanosecond count since system boot.
+    pub const fn from_nanos(nanos: u64) -> Self {
+        Self {
+            ticks: nanos * (TICK_HZ / GCD_1G) / (1_000_000_000 / GCD_1G),
+        }
+    }
+
     /// Create an Instant from a microsecond count since system boot.
     pub const fn from_micros(micros: u64) -> Self {
         Self {
@@ -50,6 +57,17 @@ impl Instant {
         }
     }
 
+    /// Try to create an Instant from a nanosecond count since system boot.
+    /// Fails if the number of nanoseconds is too large.
+    pub const fn try_from_nanos(nanos: u64) -> Option<Self> {
+        let Some(value) = nanos.checked_mul(TICK_HZ / GCD_1G) else {
+            return None;
+        };
+        Some(Self {
+            ticks: value / (1_000_000_000 / GCD_1G),
+        })
+    }
+
     /// Try to create an Instant from a microsecond count since system boot.
     /// Fails if the number of microseconds is too large.
     pub const fn try_from_micros(micros: u64) -> Option<Self> {
@@ -101,6 +119,11 @@ impl Instant {
         self.ticks * (1_000_000 / GCD_1M) / (TICK_HZ / GCD_1M)
     }
 
+    /// Nanoseconds since system boot.
+    pub const fn as_nanos(&self) -> u64 {
+        self.ticks * (1_000_000_000 / GCD_1G) / (TICK_HZ / GCD_1G)
+    }
+
     /// Duration between this Instant and another Instant
     /// Panics on over/underflow.
     pub fn duration_since(&self, earlier: Instant) -> Duration {