Cargo.toml

@@ -17,7 +17,7 @@ members = [
 ]
 
 [workspace.package]
-version = "0.1.0"
+version = "0.2.0"
 edition = "2021"
 repository = "https://git.bfpower.io/BFPOWER/physical"
 readme = "README.md"
@@ -29,7 +29,7 @@ license = "MIT"
 version = "0.2.*"
 # Units of measurement
 [workspace.dependencies.uom]
-version = "0.34.*"
+version = "0.35.*"
 default-features = false
 features = ["f32", "si"]
 # Logging
@@ -45,14 +45,14 @@ version = "3.6.*"
 default-features = false
 # Embedded-HAL
 [workspace.dependencies.embedded-hal]
-version = "1.0.0-alpha.10"
+version = "1.0.*"
 [workspace.dependencies.embedded-hal-async]
-version = "0.2.0-alpha.1"
+version = "1.0.*"
 # Memory
 [workspace.dependencies.static_cell]
-version = "1.1.*"
+version = "2.0.*"
 [workspace.dependencies.heapless]
-version = "0.7.*"
+version = "0.8.*"
 # Other embedded utilities
 [workspace.dependencies.cortex-m]
 version = "0.7.*"
@@ -72,23 +72,22 @@ features = ["uom"]
 [workspace.dependencies.embassy-futures]
 version = "0.1.*"
 [workspace.dependencies.embassy-time]
-version = "0.1.*"
+version = "0.3.*"
-features = ["defmt", "defmt-timestamp-uptime", "unstable-traits", "nightly", ]
+features = ["defmt", "defmt-timestamp-uptime"]
 [workspace.dependencies.embassy-sync]
-version = "0.1.*"
+version = "0.5.*"
 features = ["defmt"]
 [workspace.dependencies.embassy-embedded-hal]
 version = "0.1.*"
-features = ["nightly"]
 [workspace.dependencies.embassy-executor]
-version = "0.1.*"
+version = "0.5.*"
-features = ["defmt", "arch-cortex-m", "integrated-timers", "executor-interrupt", "executor-thread", "nightly"]
+features = ["defmt", "arch-cortex-m", "integrated-timers", "executor-interrupt", "executor-thread"]
 [workspace.dependencies.embassy-stm32]
 version = "0.1.*"
-features = ["defmt", "unstable-traits", "unstable-pac", "nightly"]
+features = ["defmt", "unstable-pac"]
 [workspace.dependencies.embassy-nrf]
 version = "0.1.*"
-features = ["defmt", "unstable-traits", "nightly"]
+features = ["defmt"]
 # Macros
 [workspace.dependencies.syn]
 version = "2.0.*"
@@ -98,22 +97,6 @@ version = "1.0.*"
 [workspace.dependencies.trybuild]
 version = "1.0.*"
 
-#---------------------------------------------------------------------------------------------------------------------
-#----- Patch ------------------------
-#---------------------------------------------------------------------------------------------------------------------
-[patch.crates-io]
-embassy-executor = { git = "https://github.com/embassy-rs/embassy", rev = "047ea9066f0d946fd4d706577b21df38fd3b1647" }
-embassy-time = { git = "https://github.com/embassy-rs/embassy", rev = "047ea9066f0d946fd4d706577b21df38fd3b1647" }
-embassy-futures = { git = "https://github.com/embassy-rs/embassy", rev = "047ea9066f0d946fd4d706577b21df38fd3b1647" }
-embassy-sync = { git = "https://github.com/embassy-rs/embassy", rev = "047ea9066f0d946fd4d706577b21df38fd3b1647" }
-embassy-embedded-hal = { git = "https://github.com/embassy-rs/embassy", rev = "047ea9066f0d946fd4d706577b21df38fd3b1647" }
-embassy-net = { git = "https://github.com/embassy-rs/embassy", rev = "047ea9066f0d946fd4d706577b21df38fd3b1647" }
-embassy-net-driver = { git = "https://github.com/embassy-rs/embassy", rev = "047ea9066f0d946fd4d706577b21df38fd3b1647" }
-embassy-net-driver-channel = { git = "https://github.com/embassy-rs/embassy", rev = "047ea9066f0d946fd4d706577b21df38fd3b1647" }
-embassy-nrf = { git = "https://github.com/embassy-rs/embassy", rev = "047ea9066f0d946fd4d706577b21df38fd3b1647" }
-embassy-stm32 = { git = "https://github.com/embassy-rs/embassy", rev = "047ea9066f0d946fd4d706577b21df38fd3b1647" }
-embassy-rp = { git = "https://github.com/embassy-rs/embassy", rev = "047ea9066f0d946fd4d706577b21df38fd3b1647" }
-
 #---------------------------------------------------------------------------------------------------------------------
 #----- Package ------------------------
 #---------------------------------------------------------------------------------------------------------------------

examples/ads1256/.cargo/config.toml

@@ -1,6 +1,6 @@
 [target.'cfg(all(target_arch = "arm", target_os = "none"))']
-# replace STM32F429ZITx with your chip as listed in `probe-run --list-chips`
+# replace STM32F429ZITx with your chip as listed in `probe-rs chip list`
-runner = "probe-rs-cli run --chip STM32F429ZITx"
+runner = "probe-rs run --chip STM32F411CEUx"
 
 [build]
 target = "thumbv7em-none-eabi"

examples/ads1256/Cargo.toml

@@ -16,6 +16,8 @@ features = ["embassy-sync"]
 [dependencies.physical-ads1256]
 path = "../../peripheral-components/ads1256/node"
 features = ["poll"]
+[dependencies.static_cell]
+workspace = true
 [dependencies.ads1256]
 workspace = true
 [dependencies.uom]
@@ -31,7 +33,7 @@ features = ["critical-section-single-core"]
 workspace = true
 [dependencies.embassy-stm32]
 workspace = true
-features = ["stm32f429zi", "memory-x", "time", "exti", "time-driver-any"]
+features = ["stm32f411ce", "memory-x", "time", "exti", "time-driver-any"]
 [dependencies.embassy-executor]
 workspace = true
 [dependencies.embassy-futures]

examples/ads1256/src/bin/multiplex.rs

@@ -1,6 +1,5 @@
 #![no_std]
 #![no_main]
-#![feature(type_alias_impl_trait, async_fn_in_trait)]
 
 use core::cell::Cell;
 use cortex_m::prelude::_embedded_hal_blocking_delay_DelayUs;
@@ -26,8 +25,8 @@ use uom::si::electric_potential::volt;
 use uom::si::f32;
 
 use defmt::{debug, error, info, trace, unwrap};
-use embassy_executor::_export::StaticCell;
+use static_cell::StaticCell;
-use embassy_stm32::peripherals::{PF6, PF7, SPI3};
+use embassy_stm32::peripherals::{PA1, PA3, SPI1};
 use embassy_sync::blocking_mutex::raw::NoopRawMutex;
 use embassy_sync::pubsub::PubSubChannel;
 use physical_node::transducer::{Publish, StatefulPublisher};
@@ -61,8 +60,8 @@ struct Inputs {
 
 // Inputs
 static ANALOG_INPUTS: StaticCell<Inputs> = StaticCell::new();
-static ADS_1256: StaticCell<Ads1256<Ads1256Delay, Output<PF7>, ExtiInput<PF6>>> = StaticCell::new();
+static ADS_1256: StaticCell<Ads1256<Ads1256Delay, Output<PA1>, ExtiInput<PA3>>> = StaticCell::new();
-static SPI: StaticCell<Spi<SPI3, NoDma, NoDma>> = StaticCell::new();
+static SPI: StaticCell<Spi<SPI1, NoDma, NoDma>> = StaticCell::new();
 
 #[embassy_executor::main]
 async fn main(spawner: Spawner) {
@@ -79,18 +78,18 @@ async fn main(spawner: Spawner) {
     let mut spi_conf = spi::Config::default();
     spi_conf.mode = spi::MODE_1;
     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.PF6, Pull::Up), p.EXTI6);
+    let ads1256_data_ready = ExtiInput::new(Input::new(p.PA3, Pull::Up), p.EXTI3);
-    let select_ads1256 = Output::new(p.PF7, Level::High, Speed::VeryHigh);
+    let select_ads1256 = Output::new(p.PA1, Level::High, Speed::VeryHigh);
 
     let spi = SPI.init(Spi::new(
-        p.SPI3,
+        p.SPI1,
-        p.PC10,
+        p.PA5,
-        p.PC12,
+        p.PA7,
-        p.PC11,
+        p.PA6,
         NoDma,
         NoDma,
-        Hertz(ads1256::defaults::SPI_CLK_HZ),
         spi_conf,
     ));
 
@@ -120,8 +119,8 @@ async fn main(spawner: Spawner) {
 
 #[embassy_executor::task]
 async fn drive_inputs_task(
-    ads_1256: &'static mut Ads1256<Ads1256Delay, Output<'static, PF7>, ExtiInput<'static, PF6>>,
+    ads_1256: &'static mut Ads1256<Ads1256Delay, Output<'static, PA1>, ExtiInput<'static, PA3>>,
-    spi: &'static mut Spi<'static, SPI3, NoDma, NoDma>,
+    spi: &'static mut Spi<'static, SPI1, NoDma, NoDma>,
     inputs: &'static Inputs,
 ) {
     let Inputs { ai0, ai1, ai2 } = inputs;

examples/ads1256/src/bin/poll.rs

@@ -1,6 +1,5 @@
 #![no_std]
 #![no_main]
-#![feature(type_alias_impl_trait, async_fn_in_trait)]
 
 use core::cell::Cell;
 
@@ -27,8 +26,8 @@ use uom::si::electric_potential::volt;
 use uom::si::f32;
 
 use defmt::info;
-use embassy_executor::_export::StaticCell;
+use static_cell::StaticCell;
-use embassy_stm32::peripherals::{EXTI6, PF6, PF7, SPI3};
+use embassy_stm32::peripherals::{PA1, PA3, SPI1};
 use embassy_sync::blocking_mutex::raw::NoopRawMutex;
 use embassy_sync::mutex::Mutex;
 use embassy_sync::pubsub::PubSubChannel;
@@ -65,9 +64,9 @@ type ExampleInput = AutocalPollStatePub<
     NoopRawMutex,
     ModInputOnly,
     Ads1256Delay,
-    Output<'static, PF7>,
+    Output<'static, PA1>,
-    ExtiInput<'static, PF6>,
+    ExtiInput<'static, PA3>,
-    Spi<'static, SPI3, NoDma, NoDma>,
+    Spi<'static, SPI1, NoDma, NoDma>,
     10,
     1,
 >;
@@ -81,9 +80,9 @@ struct Inputs {
 // Inputs
 static ANALOG_INPUTS: StaticCell<Inputs> = StaticCell::new();
 static ADS_1256: StaticCell<
-    Mutex<NoopRawMutex, Ads1256<Ads1256Delay, Output<PF7>, ExtiInput<PF6>>>,
+    Mutex<NoopRawMutex, Ads1256<Ads1256Delay, Output<PA1>, ExtiInput<PA3>>>,
 > = StaticCell::new();
-static SPI: StaticCell<Mutex<NoopRawMutex, Spi<SPI3, NoDma, NoDma>>> = StaticCell::new();
+static SPI: StaticCell<Mutex<NoopRawMutex, Spi<SPI1, NoDma, NoDma>>> = StaticCell::new();
 
 #[embassy_executor::main]
 async fn main(spawner: Spawner) {
@@ -100,20 +99,22 @@ async fn main(spawner: Spawner) {
     let mut spi_conf = spi::Config::default();
     spi_conf.mode = spi::MODE_1;
     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.PF6, Pull::Up), p.EXTI6);
+    let ads1256_data_ready = ExtiInput::new(Input::new(p.PA3, Pull::Up), p.EXTI3);
-    let select_ads1256 = Output::new(p.PF7, Level::High, Speed::VeryHigh);
+    let select_ads1256 = Output::new(p.PA1, Level::High, Speed::VeryHigh);
 
-    let spi = SPI.init(Mutex::new(Spi::new(
+    let spi = SPI.init(Mutex::new(
-        p.SPI3,
+        Spi::new(
-        p.PC10,
+            p.SPI1,
-        p.PC12,
+            p.PA5,
-        p.PC11,
+            p.PA7,
+            p.PA6,
             NoDma,
             NoDma,
-        Hertz(ads1256::defaults::SPI_CLK_HZ),
             spi_conf,
-    )));
+        )
+    ));
 
     let ads_1256 =
         ADS_1256.init(Mutex::new(Ads1256::new(Ads1256Delay, select_ads1256, ads1256_data_ready)));

examples/ads1256/src/bin/thermocouple.rs

@@ -1,6 +1,5 @@
 #![no_std]
 #![no_main]
-#![feature(type_alias_impl_trait, async_fn_in_trait)]
 
 use cortex_m::prelude::_embedded_hal_blocking_delay_DelayUs;
 // Necessary unused import.
@@ -64,18 +63,18 @@ async fn main(spawner: Spawner) {
     let mut spi_conf = spi::Config::default();
     spi_conf.mode = spi::MODE_1;
     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.PF6, Pull::Up), p.EXTI6);
+    let ads1256_data_ready = ExtiInput::new(Input::new(p.PA3, Pull::Up), p.EXTI3);
-    let select_ads1256 = Output::new(p.PF7, Level::High, Speed::VeryHigh);
+    let select_ads1256 = Output::new(p.PA1, Level::High, Speed::VeryHigh);
 
     let mut spi = Spi::new(
-        p.SPI3,
+        p.SPI1,
-        p.PC10,
+        p.PA5,
-        p.PC12,
+        p.PA7,
-        p.PC11,
+        p.PA6,
         NoDma,
         NoDma,
-        Hertz(ads1256::defaults::SPI_CLK_HZ),
         spi_conf,
     );
 

node/src/lib.rs

@@ -1,5 +1,4 @@
 #![no_std]
-#![feature(async_fn_in_trait)]
 
 pub mod transducer;
 

peripheral-components/ads1256/node/src/lib.rs

@@ -1,4 +1,3 @@
 #![no_std]
-#![feature(async_fn_in_trait, impl_trait_projections)]
 
 pub mod standard;

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 = "nightly-2023-04-18"
+channel = "1.75"
-components = [ "rust-src", "rustfmt", "llvm-tools-preview" ]
+components = [ "rust-src", "rustfmt", "llvm-tools" ]
 targets = [
     "thumbv7em-none-eabi",
     "thumbv7m-none-eabi",

src/error.rs

@@ -15,7 +15,8 @@ pub enum CriticalError {
 }
 
 impl CriticalError {
-    pub fn emergency_procedure(self, procedure: impl FnOnce(CriticalError) -> !) -> ! {
+    //TODO: Switch to using ! as the return type for the FnOnce and the entire function when the ! feature is stabilized
+    pub fn emergency_procedure(self, procedure: impl FnOnce(CriticalError)) {
         procedure(self);
     }
 }
@@ -24,18 +25,24 @@ impl CriticalError {
 pub trait CriticalErrResult: Copy {
     type Value: Copy;
 
+    //TODO: Switch to using ! as the return type for the FnOnce when the ! feature is stabilized
     /// Execute emergency procedure in the event of a critical, the emergency procedure cannot
     /// return. It should usually terminate the program, potentially rebooting the device in some sort of recovery mode.
-    fn err_emproc(self, procedure: impl FnOnce(CriticalError) -> !) -> Self::Value;
+    fn err_emproc(self, procedure: impl FnOnce(CriticalError)) -> Self::Value;
 }
 
 impl<T: Copy> CriticalErrResult for Result<T, CriticalError> {
     type Value = T;
 
-    fn err_emproc(self, procedure: impl FnOnce(CriticalError) -> !) -> Self::Value {
+    //TODO: Switch to using ! as the return type for the FnOnce when the ! feature is stabilized
+    fn err_emproc(self, procedure: impl FnOnce(CriticalError)) -> Self::Value {
         match self {
             Ok(val) => val,
-            Err(error) => error.emergency_procedure(procedure),
+            Err(error) => {
+                error.emergency_procedure(procedure);
+                //TODO: Remove this panic when we switch to ! return type
+                panic!()
+            },
         }
     }
 }

src/lib.rs

@@ -1,5 +1,4 @@
 #![no_std]
-#![feature(async_fn_in_trait, never_type)]
 
 pub mod transducer;
 pub mod cell;