add support for embedded-hal=1.0.0-alpha.10 - WIP

as this version of embedded-hal has added `SetDutyCycle` as the
equivalent / successor of the old `PwmPin` support for it can now be
added here.

open points:
* wait for a release of stm32f4xx-hal which includes the `SetDutyCycle`
  implementation (PR already merged)
* wait for a release of embedded-hal-mock which includes the
  `SetDutyCycle` implementation (PR currently open)

fixes #3
fixes #8

Author: rursprung

.github/workflows/CI.yml

@@ -11,7 +11,7 @@ jobs:
       fail-fast: false
       matrix:
         rust: [1.62.0, stable]
-        features: ['', '--all-features']
+        features: ['', '--features defmt', '--no-default-features --features hal_v1', '--no-default-features --features defmt,hal_v1']
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v3
@@ -34,6 +34,10 @@ jobs:
         run: cargo audit
 
   stm32f4-single-motor-example:
+    strategy:
+      fail-fast: false
+      matrix:
+        features: ['', '--no-default-features --features hal_v1']
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v3
@@ -45,17 +49,17 @@ jobs:
       - name: Install flip-link
         run: cargo install flip-link
       - name: build
-        run: cargo build
+        run: cargo build ${{ matrix.features }}
         working-directory: examples/stm32f4-single-motor-example
       - name: check
-        run: cargo check
+        run: cargo check ${{ matrix.features }}
         working-directory: examples/stm32f4-single-motor-example
       # no tests available for now => no test step as it'd fail otherwise
       - name: check formatting
         run: cargo fmt --all -- --check
         working-directory: examples/stm32f4-single-motor-example
       - name: clippy
-        run: cargo clippy
+        run: cargo clippy ${{ matrix.features }}
         working-directory: examples/stm32f4-single-motor-example
       - name: audit
         run: cargo audit

CHANGELOG.md

@@ -6,6 +6,9 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 <!-- next-header -->
 ## [Unreleased] - ReleaseDate
+### Added
+* Support for `embedded-hal` version `1.0.0-alpha.10`. To use this you must disable the default features and instead enable the `hal_v1` feature.
+
 ### Changed
 * Due to dependency updates the MSRV has been updated from 1.60 to 1.62. This should only be relevant if you use the `defmt` feature, but we now only test with 1.62 and not older releases, so it's not guaranteed to work otherwise.
 

Cargo.toml

@@ -11,9 +11,16 @@ keywords = ["tb6612fng", "driver", "motor", "controller", "embedded-hal-driver"]
 license = "MIT OR Apache-2.0"
 
 [dependencies]
-embedded-hal = "0.2"
+embedded-hal = { version = "0.2", optional = true }
+embedded-hal-one = { package = "embedded-hal", version = "=1.0.0-alpha.11", optional = true }
 
 defmt = { version = "0.3", optional = true }
 
 [dev-dependencies]
-embedded-hal-mock = "0.9"
+embedded-hal-mock = { version = "0.9" }
+embedded-hal-mock-one = { package = "embedded-hal-mock", git = "https://github.com/rursprung/embedded-hal-mock.git", branch = "add-SetDutyCycle-to-1-alpha-a11" }
+
+[features]
+default = ["hal_v02"]
+hal_v02 = ["dep:embedded-hal"]
+hal_v1 = ["dep:embedded-hal-one"]

README.md

@@ -20,6 +20,11 @@ See the documentation for usage examples.
 * You plan on using a single motor with the standby feature: use `Motor` and control the standby pin manually
 * You plan on using a single motor without the standby feature: use `Motor`
 
+## `embedded-hal`: `v0.2` vs. `v1.0.0-alpha.*`
+This crate can be used both with `embedded-hal` `v0.2` versions as well as `v1.0.0` pre-releases.
+By default, the `v0.2` support is being compiled, but you can switch to the `v1.0.0` pre-release by disabling the
+default features and instead enabling the optional `hal-v1`.
+
 ## Optional features
 * `defmt`: you can enable the [`defmt`](https://defmt.ferrous-systems.com/) feature to get a `defmt::debug!` call for every speed change.
 

examples/stm32f4-single-motor-example/Cargo.lock

@@ -4,18 +4,24 @@ version = "0.1.0"
 edition = "2021"
 license = "MIT OR Apache-2.0"
 
+[features]
+default = [ "hal_v02" ]
+hal_v02 = [ "tb6612fng/hal_v02" ]
+hal_v1 = [ "tb6612fng/hal_v1" ]
+
 [dependencies]
 cortex-m = { version = "0.7", features = ["critical-section-single-core"]}
 cortex-m-rtic = "1.1.4"
 panic-probe = { version = "0.3", features = ["print-defmt"] }
 
-stm32f4xx-hal = { version = "0.16.1", features = ["stm32f401", "rtic", "rtic-monotonic"] }
+# TODO: switch back to release version once it exists
+stm32f4xx-hal = { git = "https://github.com/stm32-rs/stm32f4xx-hal.git", rev = "552a9c5", features = ["stm32f401", "rtic", "rtic-monotonic"] }
 
 defmt = "0.3.5"
 defmt-rtt = "0.4"
 
 # use `tb6612fng = "0.1"` in reality; path used here to ensure that the example always compiles against the latest master
-tb6612fng = { path = "../.." }
+tb6612fng = { path = "../..", default-features = false, features = ["defmt"] }
 
 [profile.release]
 codegen-units = 1

examples/stm32f4-single-motor-example/Cargo.toml

@@ -29,3 +29,5 @@ to stop (coast, first press), actively brake (second press) and drive again (thi
 1. Connect the board via USB
 2. Run `cargo run` (the correct chip & target is already defined in `Cargo.toml` and `.cargo/config`)
 3. Enjoy your running program :)
+
+To instead compile & run this with `embedded-hal` v1.0.0 pre-release support you can build it with `cargo run --no-default-features --features hal_v1`.

examples/stm32f4-single-motor-example/README.md

@@ -51,6 +51,10 @@ mod app {
             .TIM2
             .pwm_hz(Channel3::new(gpiob.pb10), 100.kHz(), &clocks)
             .split();
+        #[cfg(feature = "hal_v1")]
+        let mut motor_pwm = motor_pwm;
+        #[cfg(feature = "hal_v1")]
+        motor_pwm.enable();
         let mut motor = Motor::new(motor_in1, motor_in2, motor_pwm);
         motor.drive_backwards(0).expect("");