Changed to rp2040hal v0.11 and embedded_hal v1.0

rp2040/.cargo/config.toml

@@ -1,13 +1,9 @@
 #
 # Cargo Configuration for the https://github.com/rp-rs/rp-hal.git repository.
 #
-# Copyright (c) The RP-RS Developers, 2021
-#
 # You might want to make a similar file in your own repository if you are
 # writing programs for Raspberry Silicon microcontrollers.
 #
-# This file is MIT or Apache-2.0 as per the repository README.md file
-#
 
 [build]
 # Set the default target to match the Cortex-M0+ in the RP2040
@@ -23,13 +19,12 @@ target = "thumbv6m-none-eabi"
 #   script. This is usually provided by the cortex-m-rt crate, and by default
 #   the version in that crate will include a file called `memory.x` which
 #   describes the particular memory layout for your specific chip. 
-# * inline-threshold=5 makes the compiler more aggressive and inlining functions
 # * no-vectorize-loops turns off the loop vectorizer (seeing as the M0+ doesn't
 #   have SIMD)
 rustflags = [
     "-C", "link-arg=--nmagic",
     "-C", "link-arg=-Tlink.x",
-    "-C", "inline-threshold=5",
+    "-C", "link-arg=-Tdefmt.x",
     "-C", "no-vectorize-loops",
 ]
 
@@ -39,4 +34,4 @@ runner = "elf2uf2-rs -d"
 
 # This runner will find a supported SWD debug probe and flash your RP2040 over
 # SWD:
-# runner = "probe-run --chip RP2040"
+# runner = "probe-rs run --chip RP2040"

rp2040/Cargo.toml

@@ -1,58 +1,68 @@
 [package]
 name = "rp2040"
-version = "0.1.0"
+version = "0.2.0"
-edition = "2021"
+edition = "2024"
 
 [dependencies]
+# rp2040_hal dependencies copied from v0.11
 cortex-m = "0.7.2"
-waveshare-rp2040-zero = "0.6.0"
+cortex-m-rt = "0.7"
-rp2040-boot2 = { version = "0.2.0", optional = true }
+cortex-m-rtic = "1.1.4"
-rp2040-hal = { version = "0.8.0" }
+critical-section = {version = "1.2.0"}
-cortex-m-rt = { version = "0.7", optional = true }
+defmt = {version = "0.3", optional=true}
-panic-halt= "0.2.0"
+defmt-rtt = "0.4.0"
-embedded-hal ="0.2.5"
+dht-sensor = "0.2.1"
-log = { version = "0.4", optional = true }
+embedded-alloc = "0.5.1"
-fugit = "0.3.5"
+embedded-hal = "1.0.0"
-nb = "1.0.0"
+embedded-hal-async = "1.0.0"
-smart-leds = "0.3.0"
+embedded-hal-bus = {version = "0.2.0", features = ["defmt-03"]}
-smart-leds-trait = "0.2.1"
+embedded-io = "0.6.1"
-ws2812-pio = "0.6.0"
+embedded_hal_0_2 = {package = "embedded-hal", version = "0.2.5", features = ["unproven"]}
-usbd-human-interface-device = "0.4.2"
+fugit = "0.3.6"
-usb-device = "0.2"
+futures = {version = "0.3.30", default-features = false, features = ["async-await"]}
+hd44780-driver = "0.4.0"
+nb = "1.0"
+panic-halt = "0.2.0"
+panic-probe = {version = "0.3.1", features = ["print-defmt"]}
 pio = "0.2.0"
-defmt = { version = "0.3", optional = true }
+pio-proc = "0.2.0"
-libm = "0.2.7"
+portable-atomic = {version = "1.7.0", features = ["critical-section"]}
+rp2040-boot2 = "0.3.0"
+rp2040-hal = {version = "0.11.0", features = ["binary-info", "critical-section-impl", "rt", "defmt"]} 
+static_cell = "2.1.0"
+
+# USB hid dependencies
+#usbd-human-interface-device = {version = "0.5.1", features = ["defmt"]}
+usbd-human-interface-device = {version = "0.5.1"}
+usb-device = "0.3"
+packed_struct = { version = "0.10", default-features = false }
+heapless = "0.8"
+
+# Other dependencies
+eeprom24x = "0.7.2"
+ws2812-pio = "0.9.0"
 dyn-smooth = "0.2.0"
-eeprom24x = "0.6.0"
+libm = "0.2.7"
+smart-leds = "0.4.0"
 
 [features]
-# This is the set of features we enable by default
-default = ["boot2", "rt", "critical-section-impl", "rom-func-cache"]
-
-# critical section that is safe for multicore use
-critical-section-impl = ["rp2040-hal/critical-section-impl"]
-
-# 2nd stage bootloaders for rp2040
-boot2 = ["rp2040-boot2"]
-
-# Minimal startup / runtime for Cortex-M microcontrollers
-rt = ["cortex-m-rt","rp2040-hal/rt"]
-
-# This enables a fix for USB errata 5: USB device fails to exit RESET state on busy USB bus.
-# Only required for RP2040 B0 and RP2040 B1, but it doesn't hurt to enable it
-rp2040-e5 = ["rp2040-hal/rp2040-e5"]
-
-# Memoize(cache) ROM function pointers on first use to improve performance
-rom-func-cache = ["rp2040-hal/rom-func-cache"]
-
-# Disable automatic mapping of language features (like floating point math) to ROM functions
-disable-intrinsics = ["rp2040-hal/disable-intrinsics"]
-
-# This enables ROM functions for f64 math that were not present in the earliest RP2040s
-rom-v2-intrinsics = ["rp2040-hal/rom-v2-intrinsics"]
-
 defmt = ["dep:defmt", "usb-device/defmt"]
 
+# [target.'cfg( target_arch = "arm" )'.dependencies]
+# embassy-executor = {version = "0.5", features = ["arch-cortex-m", "executor-thread"]}
+
+[lints.clippy]
+too_long_first_doc_paragraph = "allow"
+
+[profile.release]
+codegen-units = 1
+debug = 2
+debug-assertions = false
+incremental = false
+lto = 'fat'
+opt-level = 3
+overflow-checks = false
+
 [[bin]]
 name = "rp2040"
 test = false

rp2040/src/button_matrix.rs

@@ -6,7 +6,7 @@
 
 use core::convert::Infallible;
 use cortex_m::delay::Delay;
-use embedded_hal::digital::v2::*;
+use embedded_hal::digital::{InputPin, OutputPin};
 
 /// Button matrix driver
 ///
@@ -15,7 +15,7 @@ use embedded_hal::digital::v2::*;
 /// let button_matrix: ButtonMatrix<4, 6, 48> = ButtonMatrix::new(row_pins, col_pins, 5);
 /// ```
 pub struct ButtonMatrix<'a, const R: usize, const C: usize, const N: usize> {
-    rows: &'a [&'a dyn InputPin<Error = Infallible>; R],
+    rows: &'a mut [&'a mut dyn InputPin<Error = Infallible>; R],
     cols: &'a mut [&'a mut dyn OutputPin<Error = Infallible>; C],
     pressed: [bool; N],
     debounce: u8,
@@ -31,7 +31,7 @@ impl<'a, const R: usize, const C: usize, const N: usize> ButtonMatrix<'a, R, C,
     /// * `cols` - An array of references to the column pins.
     /// * `debounce` - The debounce time in number of scans.
     pub fn new(
-        rows: &'a [&'a dyn InputPin<Error = Infallible>; R],
+        rows: &'a mut [&'a mut dyn InputPin<Error = Infallible>; R],
         cols: &'a mut [&'a mut dyn OutputPin<Error = Infallible>; C],
         debounce: u8,
     ) -> Self {

rp2040/src/main.rs

@@ -72,35 +72,38 @@ use core::convert::Infallible;
 use cortex_m::delay::Delay;
 use dyn_smooth::{DynamicSmootherEcoI32, I32_FRAC_BITS};
 use eeprom24x::{Eeprom24x, SlaveAddr};
-use embedded_hal::adc::OneShot;
+use embedded_hal::digital::{InputPin, OutputPin};
-use embedded_hal::digital::v2::*;
+use embedded_hal_0_2::adc::OneShot;
-use embedded_hal::timer::CountDown;
+use embedded_hal_0_2::timer::CountDown;
 use fugit::{ExtU32, RateExtU32};
 use libm::powf;
 use panic_halt as _;
 use rp2040_hal::{
+    Sio,
     adc::Adc,
-    gpio::{Function, FunctionConfig, PinId, ValidPinMode},
+    adc::AdcPin,
+    clocks::{Clock, init_clocks_and_plls},
+    gpio::{AnyPin, Pins},
     i2c::I2C,
-    pio::StateMachineIndex,
+    pac,
+    pio::{PIOExt, StateMachineIndex},
+    timer::Timer,
+    watchdog::Watchdog,
 };
 use status_led::{StatusMode, Ws2812StatusLed};
 use usb_device::class_prelude::*;
 use usb_device::prelude::*;
 use usb_joystick_device::{JoystickConfig, JoystickReport};
 use usbd_human_interface_device::prelude::*;
-use waveshare_rp2040_zero::entry;
+
-use waveshare_rp2040_zero::{
+// The linker will place this boot block at the start of our program image. We
-    hal::{
+/// need this to help the ROM bootloader get our code up and running.
-        clocks::{init_clocks_and_plls, Clock},
+#[unsafe(link_section = ".boot2")]
-        pac,
+#[unsafe(no_mangle)]
-        pio::PIOExt,
+#[used]
-        timer::Timer,
+pub static BOOT2_FIRMWARE: [u8; 256] = rp2040_boot2::BOOT_LOADER_W25Q080;
-        watchdog::Watchdog,
+
-        Sio,
+const XTAL_FREQ_HZ: u32 = 12_000_000u32;
-    },
-    Pins, XOSC_CRYSTAL_FREQ,
-};
 
 // Public constants
 pub const BUTTON_ROWS: usize = 5;
@@ -177,7 +180,7 @@ impl Default for GimbalAxis {
     }
 }
 
-#[entry]
+#[rp2040_hal::entry]
 fn main() -> ! {
     // Grab our singleton objects
     let mut pac = pac::Peripherals::take().unwrap();
@@ -187,7 +190,7 @@ fn main() -> ! {
 
     // Configure clocks and PLLs
     let clocks = init_clocks_and_plls(
-        XOSC_CRYSTAL_FREQ,
+        XTAL_FREQ_HZ,
         pac.XOSC,
         pac.CLOCKS,
         pac.PLL_SYS,
@@ -213,8 +216,8 @@ fn main() -> ! {
 
     let i2c = I2C::i2c1(
         pac.I2C1,
-        pins.gp14.into_mode(), // sda
+        pins.gpio14.reconfigure(), // sda
-        pins.gp15.into_mode(), // scl
+        pins.gpio15.reconfigure(), // scl
         400.kHz(),
         &mut pac.RESETS,
         125_000_000.Hz(),
@@ -229,27 +232,27 @@ fn main() -> ! {
     // Configure ADC input pins
     // Have not figured out hov to store the adc pins in an array yet
     // TODO: Find a way to store adc pins in an array
-    let mut adc_pin_left_x = pins.gp29.into_floating_input();
+    let mut adc_pin_left_x = AdcPin::new(pins.gpio29.into_floating_input()).unwrap();
-    let mut adc_pin_left_y = pins.gp28.into_floating_input();
+    let mut adc_pin_left_y = AdcPin::new(pins.gpio28.into_floating_input()).unwrap();
-    let mut adc_pin_right_x = pins.gp27.into_floating_input();
+    let mut adc_pin_right_x = AdcPin::new(pins.gpio27.into_floating_input()).unwrap();
-    let mut adc_pin_right_y = pins.gp26.into_floating_input();
+    let mut adc_pin_right_y = AdcPin::new(pins.gpio26.into_floating_input()).unwrap();
 
     // Setting up array with pins connected to button rows
-    let button_matrix_row_pins: &[&dyn InputPin<Error = Infallible>; BUTTON_ROWS] = &[
+    let button_matrix_row_pins: &mut [&mut dyn InputPin<Error = Infallible>; BUTTON_ROWS] = &mut [
-        &pins.gp6.into_pull_up_input(),
+        &mut pins.gpio6.into_pull_up_input(),
-        &pins.gp8.into_pull_up_input(),
+        &mut pins.gpio8.into_pull_up_input(),
-        &pins.gp4.into_pull_up_input(),
+        &mut pins.gpio4.into_pull_up_input(),
-        &pins.gp7.into_pull_up_input(),
+        &mut pins.gpio7.into_pull_up_input(),
-        &pins.gp5.into_pull_up_input(),
+        &mut pins.gpio5.into_pull_up_input(),
     ];
 
     // Setting up array with pins connected to button columns
     let button_matrix_col_pins: &mut [&mut dyn OutputPin<Error = Infallible>; BUTTON_COLS] = &mut [
-        &mut pins.gp9.into_push_pull_output(),
+        &mut pins.gpio9.into_push_pull_output(),
-        &mut pins.gp10.into_push_pull_output(),
+        &mut pins.gpio10.into_push_pull_output(),
-        &mut pins.gp11.into_push_pull_output(),
+        &mut pins.gpio11.into_push_pull_output(),
-        &mut pins.gp12.into_push_pull_output(),
+        &mut pins.gpio12.into_push_pull_output(),
-        &mut pins.gp13.into_push_pull_output(),
+        &mut pins.gpio13.into_push_pull_output(),
     ];
 
     // Create button matrix object that scans all buttons
@@ -260,13 +263,13 @@ fn main() -> ! {
     button_matrix.init_pins();
 
     // Setup extra buttons (connected to TX/RX pins)
-    let left_extra_button = pins.gp1.into_pull_up_input();
+    let mut left_extra_button = pins.gpio1.into_pull_up_input();
-    let right_extra_button = pins.gp0.into_pull_up_input();
+    let mut right_extra_button = pins.gpio0.into_pull_up_input();
 
     // Create status LED
     let (mut pio, sm0, _, _, _) = pac.PIO0.split(&mut pac.RESETS);
     let mut status_led = Ws2812StatusLed::new(
-        pins.neopixel.into_mode(),
+        pins.gpio16.into_function(),
         &mut pio,
         sm0,
         clocks.peripheral_clock.freq(),
@@ -290,7 +293,7 @@ fn main() -> ! {
     }
 
     // Create timers
-    let timer = Timer::new(pac.TIMER, &mut pac.RESETS);
+    let timer = Timer::new(pac.TIMER, &mut pac.RESETS, &clocks);
 
     let mut status_led_count_down = timer.count_down();
     status_led_count_down.start(250.millis());
@@ -393,7 +396,7 @@ fn main() -> ! {
     ];
 
     // Configure USB
-    let usb_bus = UsbBusAllocator::new(waveshare_rp2040_zero::hal::usb::UsbBus::new(
+    let usb_bus = UsbBusAllocator::new(rp2040_hal::usb::UsbBus::new(
         pac.USBCTRL_REGS,
         pac.USBCTRL_DPRAM,
         clocks.usb_clock,
@@ -406,9 +409,11 @@ fn main() -> ! {
         .build(&usb_bus);
 
     let mut usb_dev = UsbDeviceBuilder::new(&usb_bus, UsbVidPid(0x1209, 0x0002))
-        .manufacturer("CMtec")
+        .strings(&[StringDescriptors::default()
-        .product("CMDR Joystick 25")
+            .manufacturer("CMtec")
-        .serial_number("0001")
+            .product("CMDR Joystick 25")
+            .serial_number("0001")])
+        .unwrap()
         .build();
 
     // Read calibration data from eeprom
@@ -678,9 +683,8 @@ fn update_status_led<P, SM, I>(
     calibration_active: &bool,
     throttle_hold_enable: &bool,
 ) where
-    P: PIOExt + FunctionConfig,
+    I: AnyPin<Function = P::PinFunction>,
-    I: PinId,
+    P: PIOExt,
-    Function<P>: ValidPinMode<I>,
     SM: StateMachineIndex,
 {
     if *calibration_active {

rp2040/src/status_led.rs

@@ -5,10 +5,10 @@
 //! License: Please refer to LICENSE in root directory
 
 use rp2040_hal::{
-    gpio::{Function, FunctionConfig, Pin, PinId, ValidPinMode},
+    gpio::AnyPin,
-    pio::{PIOExt, StateMachineIndex, UninitStateMachine, PIO},
+    pio::{PIO, PIOExt, StateMachineIndex, UninitStateMachine},
 };
-use smart_leds::{SmartLedsWrite, RGB8};
+use smart_leds::{RGB8, SmartLedsWrite};
 use ws2812_pio::Ws2812Direct;
 
 /// Status LED modes
@@ -35,8 +35,6 @@ pub enum StatusMode {
     Bootloader = 9,
 }
 #[warn(dead_code)]
-
-/// Status LED driver
 /// This driver uses the PIO state machine to drive a WS2812 LED
 ///
 ///  # Example
@@ -51,9 +49,8 @@ pub enum StatusMode {
 ///  ```
 pub struct Ws2812StatusLed<P, SM, I>
 where
-    I: PinId,
+    I: AnyPin<Function = P::PinFunction>,
-    P: PIOExt + FunctionConfig,
+    P: PIOExt,
-    Function<P>: ValidPinMode<I>,
     SM: StateMachineIndex,
 {
     ws2812_direct: Ws2812Direct<P, SM, I>,
@@ -63,9 +60,8 @@ where
 
 impl<P, SM, I> Ws2812StatusLed<P, SM, I>
 where
-    I: PinId,
+    I: AnyPin<Function = P::PinFunction>,
-    P: PIOExt + FunctionConfig,
+    P: PIOExt,
-    Function<P>: ValidPinMode<I>,
     SM: StateMachineIndex,
 {
     /// Creates a new instance of this driver.
@@ -77,7 +73,7 @@ where
     /// * `sm` - PIO state machine
     /// * `clock_freq` - PIO clock frequency
     pub fn new(
-        pin: Pin<I, Function<P>>,
+        pin: I,
         pio: &mut PIO<P>,
         sm: UninitStateMachine<(P, SM)>,
         clock_freq: fugit::HertzU32,
@@ -99,7 +95,6 @@ where
         self.mode
     }
     #[warn(dead_code)]
-
     /// Update status LED
     /// Depending on the mode, the LED will be set to a different colour
     ///

rp2040/src/usb_joystick_device.rs

@@ -6,11 +6,11 @@
 
 use core::default::Default;
 use fugit::ExtU32;
+// use packed_struct::prelude::*;
 use usb_device::bus::UsbBus;
 use usb_device::class_prelude::UsbBusAllocator;
 use usbd_human_interface_device::usb_class::prelude::*;
 
-// Fetched from https://github.com/embassy-rs/embassy/blob/e3efda2249640e0b4881289aa609c96a26a7479a/embassy-hal-common/src/fmt.rs
 #[cfg(feature = "defmt")]
 macro_rules! unwrap {
     ($($x:tt)*) => {
@@ -68,7 +68,7 @@ impl<T, E> Try for Result<T, E> {
 }
 
 // Based on example device from https://github.com/dlkj/usbd-human-interface-device/blob/main/src/device/joystick.rs
-// Updated to 6x 12bit axis, 25x buttons and 4x hat switches
+// Updated to 6x 12bit axis, 32x buttons and 4x hat switches
 #[rustfmt::skip]
 pub const JOYSTICK_DESCRIPTOR: &[u8] = &[
     0x05, 0x01,         // Usage Page (Generic Desktop) 
@@ -131,12 +131,11 @@ pub struct Joystick<'a, B: UsbBus> {
     interface: Interface<'a, B, InBytes16, OutNone, ReportSingle>,
 }
 
-impl<'a, B: UsbBus> Joystick<'a, B> {
+impl<B: UsbBus> Joystick<'_, B> {
     pub fn write_report(&mut self, report: &JoystickReport) -> Result<(), UsbHidError> {
         let mut data: [u8; 15] = [0; 15];
 
         // Did not make the packed struct work, so doing it manually
-        // TODO: make this work with packed struct
         data[0] = report.x as u8;
         data[1] = ((report.x >> 8) as u8) | ((report.y << 4) as u8);
         data[2] = (report.y >> 4) as u8;
@@ -178,14 +177,16 @@ pub struct JoystickConfig<'a> {
     interface: InterfaceConfig<'a, InBytes16, OutNone, ReportSingle>,
 }
 
-impl<'a> Default for JoystickConfig<'a> {
+impl Default for JoystickConfig<'_> {
     #[must_use]
     fn default() -> Self {
         Self::new(
-            unwrap!(unwrap!(InterfaceBuilder::new(JOYSTICK_DESCRIPTOR))
+            unwrap!(
-                .boot_device(InterfaceProtocol::None)
+                unwrap!(InterfaceBuilder::new(JOYSTICK_DESCRIPTOR))
-                .description("Joystick")
+                    .boot_device(InterfaceProtocol::None)
-                .in_endpoint(10.millis()))
+                    .description("Joystick")
+                    .in_endpoint(10.millis())
+            )
             .without_out_endpoint()
             .build(),
         )