Update rustfmt.toml

Cargo.toml

@@ -16,8 +16,8 @@ members = [
 ]
 
 [workspace.package]
-version = "0.4.6"
+version = "0.5.0"
-edition = "2021"
+edition = "2024"
 repository = "https://git.bfpower.io/BFPOWER/physical"
 readme = "README.md"
 license = "MIT"
@@ -30,14 +30,14 @@ default-features = false
 [workspace.dependencies.libm]
 version = "0.2.*"
 [workspace.dependencies.float-cmp]
-version = "0.9.*"
+version = "0.10.*"
 # Logging
 [workspace.dependencies.tracing]
 version = "0.1.*"
 [workspace.dependencies.defmt]
-version = "0.3.*"
+version = "1.0.*"
 [workspace.dependencies.defmt-rtt]
-version = "0.4.*"
+version = "1.1.*"
 # Embedded-HAL
 [workspace.dependencies.embedded-hal]
 version = "1.0.*"
@@ -46,7 +46,7 @@ version = "1.0.*"
 # Memory
 [workspace.dependencies.static_cell]
 version = "2.1.*"
-# Serioalization
+# Serialization
 [workspace.dependencies.serde]
 version = "1.0.*"
 default-features = false
@@ -57,34 +57,45 @@ version = "0.7.*"
 [workspace.dependencies.cortex-m-rt]
 version = "0.7.*"
 [workspace.dependencies.panic-probe]
-version = "0.3.*"
+version = "1.0.*"
 features = ["print-defmt"]
 # Embassy
 [workspace.dependencies.embassy-futures]
 version = "0.1.*"
 [workspace.dependencies.embassy-time]
-version = "0.3.*"
+version = "0.5.*"
 features = ["defmt", "defmt-timestamp-uptime"]
 [workspace.dependencies.embassy-sync]
-version = "0.6.*"
+version = "0.8.*"
 features = ["defmt"]
 [workspace.dependencies.embassy-embedded-hal]
-version = "0.1.*"
+version = "0.6.*"
 [workspace.dependencies.embassy-executor]
-version = "0.5.*"
+version = "0.10.*"
-features = ["defmt", "arch-cortex-m", "integrated-timers", "executor-interrupt", "executor-thread"]
+features = ["defmt", "platform-cortex-m", "executor-interrupt", "executor-thread"]
 [workspace.dependencies.embassy-usb]
-version = "0.2.*"
+version = "0.6.*"
 features = ["defmt"]
 [workspace.dependencies.embassy-stm32]
-version = "0.1.*"
+version = "0.6.*"
-features = ["defmt", "unstable-pac"]
+features = ["defmt", "unstable-pac", "gpio-init-analog"]
 [workspace.dependencies.embassy-nrf]
-version = "0.1.*"
+version = "0.10.*"
 features = ["defmt"]
 # Meta
+[workspace.dependencies.cfg-if]
+version = "1.0.*"
 [workspace.dependencies.derive_more]
-version = "0.99.*"
+version = "2.1.*"
+default-features = false
+features = ["add", "add_assign", "not", "display"]
+[workspace.dependencies.thiserror]
+version = "2.0.*"
+default-features = false
+[workspace.dependencies.bitfields]
+version = "1.0.*"
+[workspace.dependencies.enumflags2]
+version = "0.7.*"
 [workspace.dependencies.syn]
 version = "2.0.*"
 features = ["extra-traits", "parsing"]

drivers/ads1256/driver/src/adc.rs

@@ -1,6 +1,6 @@
 use crate::{
     drate, mux, opcodes, status, AdControl, Ads1256, BlockingDelay, CalibrationCommand, Conversion,
-    DataRate, Gain, Multiplexer, Status,
+    DataRate, Multiplexer, Status,
 };
 use embedded_hal::digital::OutputPin;
 use embedded_hal::spi;

drivers/ads1256/driver/src/lib.rs

@@ -6,10 +6,13 @@ mod io;
 #[cfg(feature = "embassy-sync")]
 mod mutex;
 
+#[allow(unused_imports)]
 pub use crate::adc::*;
 pub use crate::delay::*;
+#[allow(unused_imports)]
 pub use crate::io::*;
 #[cfg(feature = "embassy-sync")]
+#[allow(unused_imports)]
 pub use crate::mutex::*;
 pub use ads1256_types::adcon::{ClockOut, Gain, Sdcs};
 pub use ads1256_types::drate::DataRate;

drivers/ads1256/types/src/registers.rs

@@ -157,7 +157,7 @@ impl Status {
     #[inline(always)]
     pub const fn data_ready(self) -> bool {
         const MASK: u8 = 0b1;
-        unsafe { mem::transmute::<u8, bool>(self.0 & MASK) }
+        unsafe { !mem::transmute::<u8, bool>(self.0 & MASK) }
     }
 
     #[inline(always)]

drivers/ads1256/types/src/standard.rs

@@ -1,5 +1,5 @@
 pub mod input {
-    use crate::{Buffer, Config, DataRate, Gain, Multiplexer, MuxInput};
+    use crate::{Multiplexer, MuxInput};
 
     #[cfg_attr(feature = "defmt", derive(defmt::Format))]
     #[derive(Copy, Clone, Eq, PartialEq, Debug)]

examples/ads1256/Cargo.toml

@@ -34,4 +34,4 @@ features = ["tick-hz-16_000_000"]
 [dependencies.panic-probe]
 workspace = true
 [dependencies]
-log = "0.4.20"
+log = "0.4.*"

examples/ads1256/src/bin/adc.rs

@@ -1,27 +1,25 @@
 #![no_std]
 #![no_main]
 
-use cortex_m::prelude::{_embedded_hal_blocking_delay_DelayMs, _embedded_hal_blocking_delay_DelayUs};
 use {defmt_rtt as _, panic_probe as _};
 
 use {embassy_executor as executor, embassy_stm32 as stm32};
 
 use ads1256::{
-    AdControl, Ads1256, AutoCal, BitOrder, Buffer, ClockOut, Config, DState, DataRate, DigitalIo,
+    AdControl, Ads1256, AutoCal, BitOrder, Buffer, ClockOut, Config,
-    DigitalIoDirection, DigitalIoState, DioDirection, Gain, Multiplexer, MuxInput, OutputPin, Sdcs,
+    DataRate, DigitalIo, DigitalIoDirection, DigitalIoState, Gain, Multiplexer,
-    SpiBus, Status, Wait, BlockingDelay
+    MuxInput, OutputPin, Sdcs, SpiBus, Status, Wait,
 };
-use embassy_time::{Delay, Timer};
+use embassy_time::Delay;
 use executor::Spawner;
 use physical::quantity::Quantity;
-use stm32::dma::NoDma;
 use stm32::exti::ExtiInput;
-use stm32::gpio::{Input, Level, Output, Pull, Speed};
+use stm32::gpio::{Level, Output, Pull, Speed};
 use stm32::spi::Spi;
 use stm32::time::Hertz;
 use stm32::{pac, spi};
 
-use defmt::{debug, error, info, trace, unwrap};
+use defmt::info;
 
 const AUTOCAL_CONF: Config = Config {
     status: Status::setting(Buffer::Enabled, AutoCal::Enabled, BitOrder::MostSigFirst),
@@ -33,15 +31,17 @@ const AUTOCAL_CONF: Config = Config {
 
 const ADS1256_DELAY: ads1256::DefaultDelay<Delay> = ads1256::DefaultDelay::new(Delay);
 
+stm32::bind_interrupts!(struct Irqs {
+    EXTI3 => stm32::exti::InterruptHandler<stm32::interrupt::typelevel::EXTI3>;
+});
+
 #[embassy_executor::main]
-async fn main(spawner: Spawner) {
+async fn main(_spawner: Spawner) {
-    unsafe {
+    pac::FLASH.acr().modify(|v| {
-        pac::FLASH.acr().modify(|v| {
+        v.set_prften(true);
-            v.set_prften(true);
+        v.set_icen(true);
-            v.set_icen(true);
+        v.set_dcen(true);
-            v.set_dcen(true);
+    });
-        });
-    }
 
     let p = embassy_stm32::init(Default::default());
 
@@ -50,18 +50,10 @@ async fn main(spawner: Spawner) {
     spi_conf.bit_order = spi::BitOrder::MsbFirst;
     spi_conf.frequency = Hertz(ads1256::defaults::SPI_CLK_HZ);
 
-    let ads1256_data_ready = ExtiInput::new(Input::new(p.PA3, Pull::Up), p.EXTI3);
+    let ads1256_data_ready = ExtiInput::new(p.PA3, p.EXTI3, Pull::Up, Irqs);
     let select_ads1256 = Output::new(p.PA1, Level::High, Speed::VeryHigh);
 
-    let mut spi = Spi::new(
+    let mut spi = Spi::new_blocking(p.SPI1, p.PA5, p.PA7, p.PA6, spi_conf);
-        p.SPI1,
-        p.PA5,
-        p.PA7,
-        p.PA6,
-        NoDma,
-        NoDma,
-        spi_conf,
-    );
 
     let mut ads_1256 = Ads1256::new(ADS1256_DELAY, select_ads1256, ads1256_data_ready);
     // single_conversion(&mut spi, &mut ads_1256).await;
@@ -70,6 +62,7 @@ async fn main(spawner: Spawner) {
     cycle_multiplexer(&mut spi, &mut ads_1256).await;
 }
 
+#[allow(dead_code)]
 async fn single_conversion<DelayerT: ads1256::BlockingDelay, SST: OutputPin, DrdyT: Wait>(
     spi: &mut impl SpiBus,
     ads_1256: &mut Ads1256<DelayerT, SST, DrdyT>,
@@ -78,9 +71,14 @@ async fn single_conversion<DelayerT: ads1256::BlockingDelay, SST: OutputPin, Drd
     ads_1256.delayer.t11_1_delay();
     ads_1256.conversion_init(spi).unwrap();
     let data = ads_1256.cmd_read_data(spi).await.unwrap();
-    info!("data: {}, volts: {}", data, data.to_voltage(AUTOCAL_CONF.ad_control.gain()).fmt(Some(5)));
+    info!(
+        "data: {}, volts: {}",
+        data,
+        data.to_voltage(AUTOCAL_CONF.ad_control.gain()).fmt(Some(5))
+    );
 }
 
+#[allow(dead_code)]
 async fn read_continuous<DelayerT: ads1256::BlockingDelay, SST: OutputPin, DrdyT: Wait>(
     spi: &mut impl SpiBus,
     ads_1256: &mut Ads1256<DelayerT, SST, DrdyT>,
@@ -90,7 +88,11 @@ async fn read_continuous<DelayerT: ads1256::BlockingDelay, SST: OutputPin, DrdyT
     ads_1256.start_rdatac(spi).await.unwrap();
     loop {
         let data = ads_1256.read_data(spi).await.unwrap();
-        info!("data: {}, volts: {}", data, data.to_voltage(AUTOCAL_CONF.ad_control.gain()).fmt(Some(5)));
+        info!(
+            "data: {}, volts: {}",
+            data,
+            data.to_voltage(AUTOCAL_CONF.ad_control.gain()).fmt(Some(5))
+        );
     }
 }
 
@@ -103,7 +105,6 @@ async fn cycle_multiplexer<DelayerT: ads1256::BlockingDelay, SST: OutputPin, Drd
     const INPUT_3: Multiplexer = Multiplexer::setting(MuxInput::AIn3, MuxInput::Common);
 
     let ad_control = AUTOCAL_CONF.ad_control;
-    let status = AUTOCAL_CONF.status;
 
     ads_1256.write_config(spi, AUTOCAL_CONF).unwrap();
     ads_1256.delayer.t11_1_delay();
@@ -113,19 +114,30 @@ async fn cycle_multiplexer<DelayerT: ads1256::BlockingDelay, SST: OutputPin, Drd
             .autocal_convert(spi, INPUT_1, None, Some(ad_control.with_gain(Gain::X4)), None, false)
             .await
             .unwrap();
-        info!("Input 1: data: {}, volts: {}", data, data.to_voltage(ad_control.gain()).fmt(Some(5)));
+        info!(
+            "Input 1: data: {}, volts: {}",
+            data,
+            data.to_voltage(ad_control.gain()).fmt(Some(5))
+        );
         let ad_control = ad_control.with_gain(Gain::X8);
         let data = ads_1256
             .autocal_convert(spi, INPUT_2, None, Some(ad_control.with_gain(Gain::X8)), None, false)
             .await
             .unwrap();
-        info!("Input 2: data: {}, volts: {}", data, data.to_voltage(ad_control.gain()).fmt(Some(5)));
+        info!(
+            "Input 2: data: {}, volts: {}",
+            data,
+            data.to_voltage(ad_control.gain()).fmt(Some(5))
+        );
         let ad_control = ad_control.with_gain(Gain::X16);
         let data = ads_1256
             .autocal_convert(spi, INPUT_3, None, Some(ad_control.with_gain(Gain::X16)), None, false)
             .await
             .unwrap();
-        info!("Input 3: data: {}, volts: {}", data, data.to_voltage(ad_control.gain()).fmt(Some(5)));
+        info!(
+            "Input 3: data: {}, volts: {}",
+            data,
+            data.to_voltage(ad_control.gain()).fmt(Some(5))
+        );
     }
-
 }

examples/ads1256/src/bin/registers.rs

@@ -1,9 +1,9 @@
 #![no_std]
 #![no_main]
 
-use cortex_m::prelude::_embedded_hal_blocking_delay_DelayUs;
 use {defmt_rtt as _, panic_probe as _};
 
+use embassy_stm32::bind_interrupts;
 use {embassy_executor as executor, embassy_stm32 as stm32};
 
 use ads1256::{
@@ -13,26 +13,28 @@ use ads1256::{
 };
 use embassy_time::Delay;
 use executor::Spawner;
-use stm32::dma::NoDma;
+
 use stm32::exti::ExtiInput;
-use stm32::gpio::{Input, Level, Output, Pull, Speed};
+use stm32::gpio::{Level, Output, Pull, Speed};
 use stm32::spi::Spi;
 use stm32::time::Hertz;
 use stm32::{pac, spi};
 
-use defmt::{debug, error, info, trace, unwrap};
+use defmt::info;
 
 const ADS1256_DELAY: ads1256::DefaultDelay<Delay> = ads1256::DefaultDelay::new(Delay);
 
+bind_interrupts!(struct Irqs {
+    EXTI3 => stm32::exti::InterruptHandler<stm32::interrupt::typelevel::EXTI3>;
+});
+
 #[embassy_executor::main]
-async fn main(spawner: Spawner) {
+async fn main(_spawner: Spawner) {
-    unsafe {
+    pac::FLASH.acr().modify(|v| {
-        pac::FLASH.acr().modify(|v| {
+        v.set_prften(true);
-            v.set_prften(true);
+        v.set_icen(true);
-            v.set_icen(true);
+        v.set_dcen(true);
-            v.set_dcen(true);
+    });
-        });
-    }
 
     let p = embassy_stm32::init(Default::default());
 
@@ -41,18 +43,10 @@ async fn main(spawner: Spawner) {
     spi_conf.bit_order = spi::BitOrder::MsbFirst;
     spi_conf.frequency = Hertz(ads1256::defaults::SPI_CLK_HZ);
 
-    let ads1256_data_ready = ExtiInput::new(Input::new(p.PA3, Pull::Up), p.EXTI3);
+    let ads1256_data_ready = ExtiInput::new(p.PA3, p.EXTI3, Pull::Up, Irqs);
     let select_ads1256 = Output::new(p.PA1, Level::High, Speed::VeryHigh);
 
-    let mut spi = Spi::new(
+    let mut spi = Spi::new_blocking(p.SPI1, p.PA5, p.PA7, p.PA6, spi_conf);
-        p.SPI1,
-        p.PA5,
-        p.PA7,
-        p.PA6,
-        NoDma,
-        NoDma,
-        spi_conf,
-    );
 
     let mut ads_1256 = Ads1256::new(ADS1256_DELAY, select_ads1256, ads1256_data_ready);
     // status(&mut spi, &mut ads_1256);
@@ -60,9 +54,10 @@ async fn main(spawner: Spawner) {
     // ad_control(&mut spi, &mut ads_1256);
     // data_rate(&mut spi, &mut ads_1256);
     // gpio(&mut spi, &mut ads_1256);
-     config(&mut spi, &mut ads_1256);
+    config(&mut spi, &mut ads_1256);
 }
 
+#[allow(dead_code)]
 fn status<DelayerT: ads1256::BlockingDelay, SST: OutputPin, DrdyT: Wait>(
     spi: &mut impl SpiBus,
     ads_1256: &mut Ads1256<DelayerT, SST, DrdyT>,
@@ -79,6 +74,7 @@ fn status<DelayerT: ads1256::BlockingDelay, SST: OutputPin, DrdyT: Wait>(
     info!("ADS1256 new status: {}", status);
 }
 
+#[allow(dead_code)]
 fn multiplexer<DelayerT: ads1256::BlockingDelay, SST: OutputPin, DrdyT: Wait>(
     spi: &mut impl SpiBus,
     ads_1256: &mut Ads1256<DelayerT, SST, DrdyT>,
@@ -98,6 +94,7 @@ fn multiplexer<DelayerT: ads1256::BlockingDelay, SST: OutputPin, DrdyT: Wait>(
     info!("ADS1256 new ad_control: {}", multiplexer);
 }
 
+#[allow(dead_code)]
 fn ad_control<DelayerT: ads1256::BlockingDelay, SST: OutputPin, DrdyT: Wait>(
     spi: &mut impl SpiBus,
     ads_1256: &mut Ads1256<DelayerT, SST, DrdyT>,
@@ -115,6 +112,7 @@ fn ad_control<DelayerT: ads1256::BlockingDelay, SST: OutputPin, DrdyT: Wait>(
     info!("ADS1256 new ad_control: {}", ad_control);
 }
 
+#[allow(dead_code)]
 fn data_rate<DelayerT: ads1256::BlockingDelay, SST: OutputPin, DrdyT: Wait>(
     spi: &mut impl SpiBus,
     ads_1256: &mut Ads1256<DelayerT, SST, DrdyT>,
@@ -129,6 +127,7 @@ fn data_rate<DelayerT: ads1256::BlockingDelay, SST: OutputPin, DrdyT: Wait>(
     info!("ADS1256 new data rate: {}", data_rate);
 }
 
+#[allow(dead_code)]
 fn gpio<DelayerT: ads1256::BlockingDelay, SST: OutputPin, DrdyT: Wait>(
     spi: &mut impl SpiBus,
     ads_1256: &mut Ads1256<DelayerT, SST, DrdyT>,

generate-quantity/src/lib.rs

@@ -4,7 +4,7 @@ use proc_macro2::{Span, TokenStream as TokenStream2};
 use quote::quote;
 use std::ops::Deref;
 use syn::parse::{Parse, ParseStream};
-use syn::{parse_macro_input, Ident, LitStr, Token};
+use syn::{Ident, LitStr, Token, parse_macro_input};
 
 const NUMBER_TYPES: &[&str] = &[
     "u8", "i8", "u16", "i16", "u32", "i32", "u64", "i64", "u128", "i128", "usize", "isize", "f32",
@@ -108,9 +108,10 @@ pub fn quantity_type(input: TokenStream) -> TokenStream {
             derive_more::AddAssign,
             derive_more::Sub,
             derive_more::SubAssign,
+            derive_more::Neg,
             derive_more::Display
         )]
-        #[display(fmt = "{} {}", _0, "Self::symbol()")]
+        #[display("{_0} {}", Self::symbol())]
         #[repr(transparent)]
         pub struct #struct_name<V: Value>(pub V);
 

node/Cargo.toml

@@ -11,10 +11,13 @@ license.workspace = true
 comms = []
 single-packet-msgs = []
 usb = ["embassy-usb"]
+counter = []
 stm32 = ["embassy-stm32", "physical/stm32"]
 
 [dependencies.physical]
 path = ".."
+[dependencies.cfg-if]
+workspace = true
 [dependencies.embedded-hal]
 workspace = true
 [dependencies.embedded-hal-async]

node/src/comms.rs

@@ -1,7 +1,9 @@
+#[allow(async_fn_in_trait)]
 pub trait Sender {
     async fn send(&mut self, msg: &[u8]) -> Result<(), Reset>;
 }
 
+#[allow(async_fn_in_trait)]
 pub trait Receiver {
     async fn receive(&mut self, buffer: &mut [u8]) -> Result<(), Reset>;
 }

node/src/stm32/counter.rs

@@ -0,0 +1,181 @@
+//! Hardware pulse counter using a timer in External Clock Mode.
+//!
+//! Counts edges on an external signal entirely in hardware. Supports three
+//! pin sources per timer: the dedicated ETR pin, or any CH1/CH2 pin.
+
+use embassy_stm32::Peri;
+use embassy_stm32::gpio::{AfType, Flex, Pull};
+use embassy_stm32::pac::timer::vals::{Etp, Etps};
+use embassy_stm32::timer::low_level::{
+    FilterValue, InputCaptureMode, InputTISelection, SlaveMode, Timer, TriggerSource,
+};
+use embassy_stm32::timer::{
+    Ch1, Ch2, Channel, ExternalTriggerPin, GeneralInstance4Channel, TimerPin,
+};
+
+/// Which edge increments the counter.
+#[derive(Clone, Copy, Default, defmt::Format)]
+pub enum CountEdge {
+    #[default]
+    Rising,
+    Falling,
+    /// Count on both rising and falling edges.
+    /// Only supported with channel pins (CH1/CH2), not ETR.
+    Both,
+}
+
+/// Pulse counter configuration.
+#[derive(Copy, Clone)]
+pub struct PulseCounterConfig {
+    pub edge: CountEdge,
+    pub filter: FilterValue,
+    pub pull: Pull,
+}
+
+impl Default for PulseCounterConfig {
+    fn default() -> Self {
+        Self {
+            edge: CountEdge::Rising,
+            filter: FilterValue::NO_FILTER,
+            pull: Pull::None,
+        }
+    }
+}
+
+/// Hardware pulse counter driven by an external signal.
+///
+/// Takes ownership of the timer and pin, preventing reuse elsewhere.
+pub struct PulseCounter<'d, T: GeneralInstance4Channel> {
+    inner: Timer<'d, T>,
+    _pin: Flex<'d>,
+}
+
+// ---- Constructors ----
+
+impl<'d, T: GeneralInstance4Channel> PulseCounter<'d, T> {
+    /// Count pulses on the timer's ETR (External Trigger) pin.
+    ///
+    /// # Panics
+    /// Panics if `config.edge` is [`CountEdge::Both`] — ETR only supports single-edge detection.
+    pub fn new_etr(
+        tim: Peri<'d, T>,
+        pin: Peri<'d, impl ExternalTriggerPin<T>>,
+        config: PulseCounterConfig,
+    ) -> Self {
+        assert!(
+            !matches!(config.edge, CountEdge::Both),
+            "ETR does not support both-edge detection"
+        );
+
+        let af_num = pin.af_num();
+        let mut flex_pin = Flex::new(pin);
+        flex_pin.set_as_af_unchecked(af_num, AfType::input(config.pull));
+
+        let inner = Timer::new(tim);
+
+        inner.set_slave_mode(SlaveMode::EXT_CLOCK_MODE);
+        inner.set_trigger_source(TriggerSource::ETRF);
+        inner.set_external_trigger_filter(config.filter);
+        inner.set_external_trigger_prescaler(Etps::DIV1);
+        inner.set_external_trigger_polarity(match config.edge {
+            CountEdge::Rising => Etp::from(0),
+            CountEdge::Falling => Etp::from(1),
+            CountEdge::Both => unreachable!(),
+        });
+
+        inner.start();
+        Self {
+            inner,
+            _pin: flex_pin,
+        }
+    }
+
+    /// Count pulses on a CH1 pin.
+    pub fn new_ch1(
+        tim: Peri<'d, T>,
+        pin: Peri<'d, impl TimerPin<T, Ch1>>,
+        config: PulseCounterConfig,
+    ) -> Self {
+        let af_num = pin.af_num();
+        let mut flex_pin = Flex::new(pin);
+        flex_pin.set_as_af_unchecked(af_num, AfType::input(config.pull));
+
+        let inner = Timer::new(tim);
+        Self::configure_channel(&inner, Channel::Ch1, TriggerSource::TI1FP1, &config);
+
+        inner.start();
+        Self {
+            inner,
+            _pin: flex_pin,
+        }
+    }
+
+    /// Count pulses on a CH2 pin.
+    pub fn new_ch2(
+        tim: Peri<'d, T>,
+        pin: Peri<'d, impl TimerPin<T, Ch2>>,
+        config: PulseCounterConfig,
+    ) -> Self {
+        let af_num = pin.af_num();
+        let mut flex_pin = Flex::new(pin);
+        flex_pin.set_as_af_unchecked(af_num, AfType::input(config.pull));
+
+        let inner = Timer::new(tim);
+        Self::configure_channel(&inner, Channel::Ch2, TriggerSource::TI2FP2, &config);
+
+        inner.start();
+        Self {
+            inner,
+            _pin: flex_pin,
+        }
+    }
+
+    /// Common channel setup: put the channel in input mode, configure its
+    /// filter and edge polarity, then wire it as the slave-mode trigger.
+    fn configure_channel(
+        inner: &Timer<'d, T>,
+        channel: Channel,
+        trigger: TriggerSource,
+        config: &PulseCounterConfig,
+    ) {
+        // Channel must be in input mode for the ICxF filter bits to exist.
+        // Normal = direct mapping (TI1→IC1, TI2→IC2).
+        inner.set_input_ti_selection(channel, InputTISelection::Normal);
+        inner.set_input_capture_filter(channel, config.filter);
+        inner.set_input_capture_mode(
+            channel,
+            match config.edge {
+                CountEdge::Rising => InputCaptureMode::Rising,
+                CountEdge::Falling => InputCaptureMode::Falling,
+                CountEdge::Both => InputCaptureMode::BothEdges,
+            },
+        );
+
+        inner.set_trigger_source(trigger);
+        inner.set_slave_mode(SlaveMode::EXT_CLOCK_MODE);
+    }
+}
+
+// ---- Reading ----
+
+impl<'d, T: GeneralInstance4Channel> PulseCounter<'d, T> {
+    /// Read the current count (lower 16 bits).
+    #[inline]
+    pub fn count(&self) -> u16 {
+        self.inner.regs_gp16().cnt().read().cnt()
+    }
+
+    /// Reset the counter to zero.
+    #[inline]
+    pub fn reset(&self) {
+        self.inner.reset();
+    }
+}
+
+impl<'d, T: embassy_stm32::timer::GeneralInstance32bit4Channel> PulseCounter<'d, T> {
+    /// Read the current count as a full 32-bit value.
+    #[inline]
+    pub fn count_32(&self) -> u32 {
+        self.inner.regs_gp32().cnt().read()
+    }
+}

node/src/stm32/mod.rs

@@ -1,2 +1,4 @@
 #[cfg(feature = "usb")]
 pub mod usb;
+#[cfg(feature = "counter")]
+pub mod counter;

node/src/stm32/usb.rs

@@ -3,13 +3,15 @@
 
 use crate::comms;
 use embassy_stm32::peripherals::USB_OTG_FS;
-use embassy_stm32::usb_otg::{Driver, Endpoint, In, Out};
+use embassy_stm32::usb::Driver as StmUsbDriver;
-use embassy_usb::driver::{EndpointIn, EndpointOut};
+use embassy_usb::driver::{Driver as UsbDriverTrait, EndpointIn, EndpointOut};
 use embassy_usb::UsbDevice;
 
-pub type TypedUSB = UsbDevice<'static, Driver<'static, USB_OTG_FS>>;
+type UsbDriver = StmUsbDriver<'static, USB_OTG_FS>;
-pub type TypedInterIn = Endpoint<'static, USB_OTG_FS, In>;
+pub type TypedInterIn = <UsbDriver as UsbDriverTrait<'static>>::EndpointIn;
-pub type TypedInterOut = Endpoint<'static, USB_OTG_FS, Out>;
+pub type TypedInterOut = <UsbDriver as UsbDriverTrait<'static>>::EndpointOut;
+
+pub type TypedUSB = UsbDevice<'static, UsbDriver>;
 
 pub struct UsbIO {
     /// Send to master
@@ -18,13 +20,13 @@ pub struct UsbIO {
     pub interrupt_out: TypedInterOut,
 }
 
-impl comms::Sender for TypedInterIn {
+impl<T: EndpointIn> comms::Sender for T {
     async fn send(&mut self, msg: &[u8]) -> Result<(), comms::Reset> {
         self.write(msg).await.map_err(|_| comms::Reset)
     }
 }
 
-impl comms::Receiver for TypedInterOut {
+impl<T: EndpointOut> comms::Receiver for T {
     #[cfg(feature = "single-packet-msgs")]
     async fn receive(&mut self, buffer: &mut [u8]) -> Result<(), comms::Reset> {
         // This is OK when all our messages are smaller than a single packet.

rust-toolchain.toml

@@ -1,8 +1,8 @@
 # Before upgrading check that everything is available on all tier1 targets here:
 # https://rust-lang.github.io/rustup-components-history
 [toolchain]
-channel = "1.82"
+channel = "stable"
-components = [ "rust-src", "rustfmt", "llvm-tools" ]
+components = [ "rust-src", "rustfmt" ]
 targets = [
     "thumbv7em-none-eabi",
     "thumbv7m-none-eabi",

rustfmt.toml

@@ -2,7 +2,9 @@ imports_granularity = "Module"
 format_strings = true
 wrap_comments = true
 match_block_trailing_comma = true
-enum_discrim_align_threshold = 25
+enum_discrim_align_threshold = 50
-fn_call_width = 100
+max_width = 110
+chain_width = 110
+fn_call_width = 110
+single_line_if_else_max_width = 110
 comment_width = 120
-single_line_if_else_max_width = 100

src/quantity/mod.rs

@@ -6,9 +6,6 @@ mod volume;
 mod volume_rate;
 mod pressure;
 
-#[cfg(feature = "defmt")]
-pub use defmt_impl::*;
-
 pub use irradiance::*;
 pub use resistance::*;
 pub use temperature::*;
@@ -22,16 +19,16 @@ use core::marker::PhantomData;
 use core::ops::{Add, Sub};
 use num_traits::{FromPrimitive, Num, NumCast};
 
-const DECA: u8 = 10;
+pub const DECA: u8 = 10;
-const DECI: u8 = 10;
+pub const DECI: u8 = 10;
-const HECTO: u8 = 100;
+pub const HECTO: u8 = 100;
-const CENTI: u8 = 100;
+pub const CENTI: u8 = 100;
-const KILO: u16 = 1_000;
+pub const KILO: u16 = 1_000;
-const MILLI: u16 = 1_000;
+pub const MILLI: u16 = 1_000;
-const MEGA: u32 = 1_000_000;
+pub const MEGA: u32 = 1_000_000;
-const MICRO: u32 = 1_000_000;
+pub const MICRO: u32 = 1_000_000;
-const GIGA: u32 = 1_000_000_000;
+pub const GIGA: u32 = 1_000_000_000;
-const NANO: u32 = 1_000_000_000;
+pub const NANO: u32 = 1_000_000_000;
 
 pub trait Quantity<V: Value>: Copy + PartialEq + PartialOrd + Add + Sub {
     fn value(self) -> V;

src/quantity/volume.rs

@@ -19,9 +19,9 @@ quantity_type! {MilliLiters, "mL"}
 
 impl<V: Value> MilliLiters<V> {
     #[inline]
-    pub fn to_liters(self) -> MilliLiters<V> {
+    pub fn to_liters(self) -> Liters<V> {
         let divisor = V::from_u16(MILLI).unwrap();
-        MilliLiters(self.0 / divisor)
+        Liters(self.0 / divisor)
     }
 }
 

src/transducer/mod.rs

@@ -1,3 +1,4 @@
 mod part;
 
+#[allow(unused_imports)]
 pub use part::*;

src/transducer/part/thermocouple/type_k.rs

@@ -1,6 +1,6 @@
 //! Note - Thermocouple conversion uses [f64] arithmetic internally.
 
-use libm::pow;
+use libm::exp;
 use crate::error::InvalidValue;
 use crate::quantity::{Celsius, MilliVolts, Quantity};
 
@@ -45,7 +45,7 @@ fn _convert(
 
         Ok(Celsius(celsius as f32))
     } else if mv >= 20.644 && mv <= 54.886 {
-        let celsius = 1.318058e2
+        let celsius = -1.318058e2
             + 4.830222E+1 * mv
             + -1.646031 * mv_pow2
             + 5.464731E-2 * mv_pow3
@@ -136,8 +136,8 @@ pub fn temp_to_voltage_poly(
         Ok(MilliVolts(mv as f32))
     } else if celsius >= 0.0 && celsius <= 1372.0 {
         let base = celsius - 0.126968600000E+03;
-        let exp = -0.118343200000E-03 * (base * base);
+        let exponent = -0.118343200000E-03 * (base * base);
-        let addition = pow(0.1185976, exp);
+        let addition = 0.1185976 * exp(exponent);
 
         let mv = -0.176004136860E-01
             + 0.389212049750E-01 * celsius