cortex-m: add support for embedded-hal 1.0 delays

Author: newAM

cortex-m/CHANGELOG.md

@@ -22,6 +22,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 - Add `std` and `serde` crate features for improved host-side ITM decode functionality when working with the downstream `itm`, `cargo-rtic-scope` crates (#363, #366).
 - Added the ability to name the statics generated by `singleton!()` for better debuggability (#364, #380).
 - Added `critical-section-single-core` feature which provides an implementation for the `critical_section` crate for single-core systems, based on disabling all interrupts. (#447)
+- Added support for `embedded-hal` version 1 delay traits.
 
 ### Fixed
 - Fixed `singleton!()` statics sometimes ending up in `.data` instead of `.bss` (#364, #380).

cortex-m/Cargo.toml

@@ -20,7 +20,8 @@ links = "cortex-m"  # prevent multiple versions of this crate to be linked toget
 critical-section = "1.0.0"
 volatile-register = "0.2.2"
 bitfield = "0.13.2"
-embedded-hal = "0.2.4"
+embedded-hal-0 = { package = "embedded-hal", version = "0.2.4" }
+embedded-hal-1 = { package = "embedded-hal", version = "1.0.0" }
 
 [dependencies.serde]
 version = "1"

cortex-m/src/delay.rs

@@ -1,7 +1,8 @@
 //! A delay driver based on SysTick.
 
 use crate::peripheral::{syst::SystClkSource, SYST};
-use embedded_hal::blocking::delay::{DelayMs, DelayUs};
+use embedded_hal_0::blocking::delay::{DelayMs, DelayUs};
+use embedded_hal_1::delay::DelayNs;
 
 /// System timer (SysTick) as a delay provider.
 pub struct Delay {
@@ -134,3 +135,20 @@ impl DelayUs<u8> for Delay {
         Delay::delay_us(self, u32::from(us))
     }
 }
+
+impl DelayNs for Delay {
+    #[inline]
+    fn delay_ns(&mut self, ns: u32) {
+        Delay::delay_us(self, ns.saturating_add(999) / 1000)
+    }
+
+    #[inline]
+    fn delay_us(&mut self, us: u32) {
+        Delay::delay_us(self, us)
+    }
+
+    #[inline]
+    fn delay_ms(&mut self, ms: u32) {
+        Delay::delay_ms(self, ms)
+    }
+}