Merge branch 'main' into main

rp2040-hal/Cargo.toml

@@ -18,8 +18,8 @@ targets = ["thumbv6m-none-eabi"]
 [dependencies]
 cortex-m = "0.7.2"
 embedded-hal = { version = "0.2.5", features = ["unproven"] }
-eh1_0_alpha = { package = "embedded-hal", version = "=1.0.0-rc.1", optional = true }
-eh_nb_1_0_alpha = { package = "embedded-hal-nb", version = "=1.0.0-rc.1", optional = true }
+eh1_0_alpha = { package = "embedded-hal", version = "=1.0.0-rc.3",  optional = true }
+eh_nb_1_0_alpha = { package = "embedded-hal-nb", version = "=1.0.0-rc.3",  optional = true }
 embedded-dma = "0.2.0"
 embedded-io = "0.6.1"
 fugit = "0.3.6"
@@ -181,6 +181,10 @@ required-features = ["critical-section-impl"]
 name = "pwm_blink"
 required-features = ["critical-section-impl"]
 
+[[example]]
+name = "pwm_blink_embedded_hal_1"
+required-features = ["critical-section-impl", "eh1_0_alpha"]
+
 [[example]]
 name = "rom_funcs"
 required-features = ["critical-section-impl"]

rp2040-hal/examples/pio_blink.rs

@@ -66,7 +66,7 @@ fn main() -> ! {
     let (mut pio, sm0, _, _, _) = pac.PIO0.split(&mut pac.RESETS);
     let installed = pio.install(&program).unwrap();
     let (int, frac) = (0, 0); // as slow as possible (0 is interpreted as 65536)
-    let (sm, _, _) = rp2040_hal::pio::PIOBuilder::from_program(installed)
+    let (sm, _, _) = rp2040_hal::pio::PIOBuilder::from_installed_program(installed)
         .set_pins(led_pin_id, 1)
         .clock_divisor_fixed_point(int, frac)
         .build(sm0);

rp2040-hal/examples/pio_dma.rs

@@ -62,7 +62,7 @@ fn main() -> ! {
     // Initialize and start PIO
     let (mut pio, sm0, _, _, _) = pac.PIO0.split(&mut pac.RESETS);
     let installed = pio.install(&program.program).unwrap();
-    let (mut sm, rx, tx) = rp2040_hal::pio::PIOBuilder::from_program(installed)
+    let (mut sm, rx, tx) = rp2040_hal::pio::PIOBuilder::from_installed_program(installed)
         .out_pins(led_pin_id, 1)
         .clock_divisor_fixed_point(0, 0) // as slow as possible (0 is interpreted as 65536)
         .autopull(true)

rp2040-hal/examples/pio_proc_blink.rs

@@ -52,7 +52,7 @@ fn main() -> ! {
     let (mut pio, sm0, _, _, _) = pac.PIO0.split(&mut pac.RESETS);
     let installed = pio.install(&program.program).unwrap();
     let (int, frac) = (0, 0); // as slow as possible (0 is interpreted as 65536)
-    let (mut sm, _, _) = rp2040_hal::pio::PIOBuilder::from_program(installed)
+    let (mut sm, _, _) = rp2040_hal::pio::PIOBuilder::from_installed_program(installed)
         .set_pins(led_pin_id, 1)
         .clock_divisor_fixed_point(int, frac)
         .build(sm0);

rp2040-hal/examples/pio_side_set.rs

@@ -55,7 +55,7 @@ fn main() -> ! {
     let (mut pio, sm0, _, _, _) = pac.PIO0.split(&mut pac.RESETS);
     let installed = pio.install(&program.program).unwrap();
     let (int, frac) = (0, 0); // as slow as possible (0 is interpreted as 65536)
-    let (mut sm, _, _) = rp2040_hal::pio::PIOBuilder::from_program(installed)
+    let (mut sm, _, _) = rp2040_hal::pio::PIOBuilder::from_installed_program(installed)
         .side_set_pin_base(led_pin_id)
         .clock_divisor_fixed_point(int, frac)
         .build(sm0);

rp2040-hal/examples/pio_synchronized.rs

@@ -64,7 +64,7 @@ fn main() -> ! {
     let (int, frac) = (256, 0);
 
     let installed = pio.install(&program.program).unwrap();
-    let (mut sm0, _, _) = rp2040_hal::pio::PIOBuilder::from_program(
+    let (mut sm0, _, _) = rp2040_hal::pio::PIOBuilder::from_installed_program(
         // Safety: We won't uninstall the program, ever
         unsafe { installed.share() },
     )
@@ -74,7 +74,7 @@ fn main() -> ! {
     // The GPIO pin needs to be configured as an output.
     sm0.set_pindirs([(pin0, hal::pio::PinDir::Output)]);
 
-    let (mut sm1, _, _) = rp2040_hal::pio::PIOBuilder::from_program(installed)
+    let (mut sm1, _, _) = rp2040_hal::pio::PIOBuilder::from_installed_program(installed)
         .set_pins(pin1, 1)
         .clock_divisor_fixed_point(int, frac)
         .build(sm1);

rp2040-hal/examples/pwm_blink.rs

@@ -104,13 +104,13 @@ fn main() -> ! {
     // Infinite loop, fading LED up and down
     loop {
         // Ramp brightness up
-        for i in (LOW..=HIGH).skip(100) {
+        for i in LOW..=HIGH {
             delay.delay_us(8);
             channel.set_duty(i);
         }
 
         // Ramp brightness down
-        for i in (LOW..=HIGH).rev().skip(100) {
+        for i in (LOW..=HIGH).rev() {
             delay.delay_us(8);
             channel.set_duty(i);
         }

rp2040-hal/examples/pwm_blink_embedded_hal_1.rs

@@ -0,0 +1,122 @@
+//! # PWM Blink Example
+//!
+//! If you have an LED connected to pin 25, it will fade the LED using the PWM
+//! peripheral.
+//!
+//! It may need to be adapted to your particular board layout and/or pin assignment.
+//!
+//! See the `Cargo.toml` file for Copyright and license details.
+
+#![no_std]
+#![no_main]
+
+// Ensure we halt the program on panic (if we don't mention this crate it won't
+// be linked)
+use panic_halt as _;
+
+// Alias for our HAL crate
+use rp2040_hal as hal;
+
+// Some traits we need
+use eh1_0_alpha::pwm::SetDutyCycle;
+use rp2040_hal::clocks::Clock;
+
+// A shorter alias for the Peripheral Access Crate, which provides low-level
+// register access
+use hal::pac;
+
+/// The linker will place this boot block at the start of our program image. We
+/// need this to help the ROM bootloader get our code up and running.
+/// Note: This boot block is not necessary when using a rp-hal based BSP
+/// as the BSPs already perform this step.
+#[link_section = ".boot2"]
+#[used]
+pub static BOOT2: [u8; 256] = rp2040_boot2::BOOT_LOADER_GENERIC_03H;
+
+/// The minimum PWM value (i.e. LED brightness) we want
+const LOW: u16 = 0;
+
+/// The maximum PWM value (i.e. LED brightness) we want
+const HIGH: u16 = 25000;
+
+/// External high-speed crystal on the Raspberry Pi Pico board is 12 MHz. Adjust
+/// if your board has a different frequency
+const XTAL_FREQ_HZ: u32 = 12_000_000u32;
+
+/// Entry point to our bare-metal application.
+///
+/// The `#[rp2040_hal::entry]` macro ensures the Cortex-M start-up code calls this function
+/// as soon as all global variables and the spinlock are initialised.
+///
+/// The function configures the RP2040 peripherals, then fades the LED in an
+/// infinite loop.
+#[rp2040_hal::entry]
+fn main() -> ! {
+    // Grab our singleton objects
+    let mut pac = pac::Peripherals::take().unwrap();
+    let core = pac::CorePeripherals::take().unwrap();
+
+    // Set up the watchdog driver - needed by the clock setup code
+    let mut watchdog = hal::Watchdog::new(pac.WATCHDOG);
+
+    // Configure the clocks
+    //
+    // The default is to generate a 125 MHz system clock
+    let clocks = hal::clocks::init_clocks_and_plls(
+        XTAL_FREQ_HZ,
+        pac.XOSC,
+        pac.CLOCKS,
+        pac.PLL_SYS,
+        pac.PLL_USB,
+        &mut pac.RESETS,
+        &mut watchdog,
+    )
+    .ok()
+    .unwrap();
+
+    // The single-cycle I/O block controls our GPIO pins
+    let sio = hal::Sio::new(pac.SIO);
+
+    // Set the pins up according to their function on this particular board
+    let pins = hal::gpio::Pins::new(
+        pac.IO_BANK0,
+        pac.PADS_BANK0,
+        sio.gpio_bank0,
+        &mut pac.RESETS,
+    );
+
+    // The delay object lets us wait for specified amounts of time (in
+    // milliseconds)
+    let mut delay = cortex_m::delay::Delay::new(core.SYST, clocks.system_clock.freq().to_Hz());
+
+    // Init PWMs
+    let mut pwm_slices = hal::pwm::Slices::new(pac.PWM, &mut pac.RESETS);
+
+    // Configure PWM4
+    let pwm = &mut pwm_slices.pwm4;
+    pwm.set_ph_correct();
+    pwm.enable();
+
+    // Output channel B on PWM4 to GPIO 25
+    let channel = &mut pwm.channel_b;
+    channel.output_to(pins.gpio25);
+
+    // Infinite loop, fading LED up and down
+    loop {
+        // Ramp brightness up
+        for i in LOW..=HIGH {
+            delay.delay_us(8);
+            channel.set_duty_cycle(i).unwrap();
+        }
+
+        // Ramp brightness down
+        for i in (LOW..=HIGH).rev() {
+            delay.delay_us(8);
+            channel.set_duty_cycle(i).unwrap();
+        }
+
+        delay.delay_ms(500);
+    }
+}
+
+// End of file

rp2040-hal/src/gpio/func.rs

@@ -173,6 +173,7 @@ impl DynFunction {
         }
     }
 }
+impl<P: super::pin::PinId> ValidFunction<DynFunction> for P {}
 macro_rules! pin_valid_func {
     ($bank:ident as $prefix:ident, [$head:ident $(, $func:ident)*], [$($name:tt),+]) => {
         pin_valid_func!($bank as $prefix, [$($func),*], [$($name),+]);

rp2040-hal/src/gpio/mod.rs

@@ -1434,11 +1434,11 @@ mod eh1 {
         I: PinId,
         P: PullType,
     {
-        fn is_set_high(&self) -> Result<bool, Self::Error> {
+        fn is_set_high(&mut self) -> Result<bool, Self::Error> {
             Ok(self._is_set_high())
         }
 
-        fn is_set_low(&self) -> Result<bool, Self::Error> {
+        fn is_set_low(&mut self) -> Result<bool, Self::Error> {
             Ok(self._is_set_low())
         }
     }
@@ -1459,11 +1459,11 @@ mod eh1 {
         I: PinId,
         P: PullType,
     {
-        fn is_high(&self) -> Result<bool, Self::Error> {
+        fn is_high(&mut self) -> Result<bool, Self::Error> {
             Ok(self._is_high())
         }
 
-        fn is_low(&self) -> Result<bool, Self::Error> {
+        fn is_low(&mut self) -> Result<bool, Self::Error> {
             Ok(self._is_low())
         }
     }
@@ -1480,11 +1480,11 @@ mod eh1 {
     impl<'a, I: PinId, F: super::func::Function, P: PullType> InputPin
         for super::AsInputPin<'a, I, F, P>
     {
-        fn is_high(&self) -> Result<bool, Self::Error> {
+        fn is_high(&mut self) -> Result<bool, Self::Error> {
             Ok(self.0._is_high())
         }
 
-        fn is_low(&self) -> Result<bool, Self::Error> {
+        fn is_low(&mut self) -> Result<bool, Self::Error> {
             Ok(self.0._is_low())
         }
     }

rp2040-hal/src/pio.rs

@@ -290,7 +290,7 @@ impl<P: PIOExt> PIO<P> {
 /// ).program;
 /// let installed = pio.install(&program).unwrap();
 /// // Configure a state machine to use the program.
-/// let (sm, rx, tx) = PIOBuilder::from_program(installed).build(sm0);
+/// let (sm, rx, tx) = PIOBuilder::from_installed_program(installed).build(sm0);
 /// // Uninitialize the state machine again, freeing the program.
 /// let (sm, installed) = sm.uninit(rx, tx);
 /// // Uninstall the program to free instruction memory.
@@ -1940,12 +1940,44 @@ pub enum InstallError {
 }
 
 impl<P: PIOExt> PIOBuilder<P> {
-    /// Set config settings based on information from the given [`pio::Program`].
+    /// Set config settings based on information from the given [`InstalledProgram`].
+    /// Additional configuration may be needed in addition to this.
+    ///
+    /// Note: This was formerly called `from_program`. The new function has
+    /// a different default shift direction, `ShiftDirection::Right`, matching
+    /// the hardware reset value.
+    pub fn from_installed_program(p: InstalledProgram<P>) -> Self {
+        PIOBuilder {
+            clock_divisor: (1, 0),
+            program: p,
+            jmp_pin: 0,
+            out_sticky: false,
+            inline_out: None,
+            mov_status: MovStatusConfig::Tx(0),
+            fifo_join: Buffers::RxTx,
+            pull_threshold: 0,
+            push_threshold: 0,
+            out_shiftdir: ShiftDirection::Right,
+            in_shiftdir: ShiftDirection::Right,
+            autopull: false,
+            autopush: false,
+            set_count: 5,
+            out_count: 0,
+            in_base: 0,
+            side_set_base: 0,
+            set_base: 0,
+            out_base: 0,
+        }
+    }
+
+    /// Set config settings based on information from the given [`InstalledProgram`].
     /// Additional configuration may be needed in addition to this.
     ///
     /// Note: The shift direction for both input and output shift registers
     /// defaults to `ShiftDirection::Left`, which is different from the
-    /// rp2040 reset value.
+    /// rp2040 reset value. The alternative [`Self::from_installed_program`],
+    /// fixes this.
+    #[deprecated(note = "please use `from_installed_program` instead")]
     pub fn from_program(p: InstalledProgram<P>) -> Self {
         PIOBuilder {
             clock_divisor: (1, 0),

rp2040-hal/src/pwm/mod.rs

@@ -76,8 +76,12 @@
 //! min_config() leaves those registers in the state they were before it was called (Careful, this can lead to unexpected behavior)
 //! It's recommended to only call min_config() after calling default_config() on a pin that shares a PWM block.
 
+#[cfg(feature = "eh1_0_alpha")]
+use core::convert::Infallible;
 use core::marker::PhantomData;
 
+#[cfg(feature = "eh1_0_alpha")]
+use eh1_0_alpha::pwm::{ErrorType, SetDutyCycle};
 use embedded_dma::Word;
 use embedded_hal::PwmPin;
 
@@ -652,6 +656,23 @@ impl<S: AnySlice> PwmPin for Channel<S, A> {
     }
 }
 
+#[cfg(feature = "eh1_0_alpha")]
+impl<S: AnySlice> ErrorType for Channel<S, B> {
+    type Error = Infallible;
+}
+
+#[cfg(feature = "eh1_0_alpha")]
+impl<S: AnySlice> SetDutyCycle for Channel<S, B> {
+    fn max_duty_cycle(&self) -> u16 {
+        self.get_max_duty()
+    }
+
+    fn set_duty_cycle(&mut self, duty: u16) -> Result<(), Self::Error> {
+        self.set_duty(duty);
+        Ok(())
+    }
+}
+
 impl<S: AnySlice> PwmPin for Channel<S, B> {
     type Duty = u16;
 

rp2040-hal/src/rtc/mod.rs

@@ -36,6 +36,7 @@ pub use self::datetime::{DateTime, DayOfWeek, Error as DateTimeError};
 /// A reference to the real time clock of the system
 pub struct RealTimeClock {
     rtc: RTC,
+    clock: RtcClock,
 }
 
 impl RealTimeClock {
@@ -68,7 +69,7 @@ impl RealTimeClock {
         let freq = clock.freq().to_Hz() - 1;
         rtc.clkdiv_m1.write(|w| unsafe { w.bits(freq) });
 
-        let mut result = Self { rtc };
+        let mut result = Self { rtc, clock };
         result.set_leap_year_check(true); // should be on by default, make sure this is the case.
         result.set_datetime(initial_date)?;
         Ok(result)
@@ -196,6 +197,12 @@ impl RealTimeClock {
         self.set_match_ena(false);
         self.set_match_ena(true);
     }
+
+    /// Free the RTC peripheral and RTC clock
+    pub fn free(self, resets: &mut RESETS) -> (RTC, RtcClock) {
+        resets.reset.modify(|_, w| w.rtc().set_bit());
+        (self.rtc, self.clock)
+    }
 }
 
 /// Errors that can occur on methods on [RtcClock]