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@mciantyre mciantyre released this 29 Aug 11:25
0.4.0
bd1b2df

The 0.4.0 release has some new features, along with various breaking changes for both the HAL and RAL. See the notes below for more information.

The release introduces the imxrt-iomuxc crates, which provide a simpler interface for configuring processor pads. The imxrt-iomuxc API is re-exported through the imxrt_hal::iomuxc module. The changes below describe the breaking HAL changes, and suggest ways to migrate your HAL code.

RAL

  • BREAKING The RAL's "rtfm" feature is changed to "rtic", reflecting the framework's
    new name. Users who are relying on the "rtfm" feature should now use the "rtic" feature.

HAL

Added

  • steal() the top-level Peripherals object. The steal() method lets users use the imxrt_hal
    as an RTIC device.
  • DMA Memcpy may support interrupt handling
  • A new interface for pad configuration, supported by the imxrt-iomuxc crate family. See the Changed
    section for migration information.

Changed

  • BREAKING The pad configuration interface has simplified. Users will use the
    interface exposed by the imxrt-iomuxc crate family. This section describes how you might
    update your 0.3 (and earlier) code for the new interface.

    • Naming: the IOMUXC instance exposes pads with a new naming convention. Previously, member
      accessed resembled

      let peripherals = imxrt_hal::Peripherals::take().unwrap();
peripherals.iomuxc.gpio_ad_b1_02;

      Now, IOMUXC member access resembles

      peripherals.iomuxc.ad_b1.p02

      Generally, remove the "gpio_" prefix, and replace the second underscore with member access and
      a "p" symbol.

    • Pad Types: The interface simplifies the pad types, removing the alternate type state.
      Usages resembling

      use imxrt_hal as hal;

type MyPin = hal::iomuxc::gpio::GPIO_AD_B0_12<hal::iomuxc::Alt5>;

      can be simply expressed as

      type MyPin = hal::iomuxc::ad_b0::AD_B0_12;

      Note the stuttering convention of pad_group::pad_group_offset to reference pad types.

    • No alternate transition: there are no altX() methods. Usage resembling

      let mut uart = uarts.uart2.init(
    peripherals.iomuxc.gpio_ad_b1_02.alt2(),
    peripherals.iomuxc.gpio_ad_b1_03.alt2(),
    BAUD,
).unwrap()

      should drop the altX() calls (after renaming the pads).

      let mut uart = uarts.uart2.init(
    peripherals.iomuxc.ad_b1.p02,
    peripherals.iomuxc.ad_b1.p03,
    BAUD,
).unwrap();

    • Type Tags: all custom type-level constants, like imxrt_hal::uart::module::_1 are now
      typenum constants. There are no peripheral-specific constants. Usage resembling

      use imxrt_hal::uart;

type MyTX = uart::Tx<uart::module::_3>;

      should update to

      use imxrt_hal::uart;
use imxrt_hal::iomuxc;

type MyTX = uart::Tx<iomuxc::consts::U3>;

    • GPIO: the new IOMUXC driver results in a simpler GPIO interface. There is now a single GPIO
      type that wraps an IOMUXC pad. Any GPIO type, like

      use imxrt_hal as hal;

type HardwareFlag = hal::gpio::GPIO1IO26<hal::gpio::GPIO1, hal::gpio::Output>;

      should change to

      type HardwareFlag = hal::gpio::GPIO<hal::iomuxc::ad_b1::AD_B1_10, hal::gpio::Output>;

      The new GPIO types expose a no-return toggle() method, which shadows an embedded_hal
      trait method. If you notice compilation issues surrounding toggle(), try removing
      unwrap() calls:

      led.toggle().unwrap() // Old
led.toggle()          // New

      Or, qualify that the ToggleableOutputPin trait method should be called.

  • BREAKING The HAL's "rtfm" feature is changed to "rtic", reflecting the framework's
    new name. Users who are relying on the "rtfm" feature should now use the "rtic" feature.

  • BREAKING The dma::{Config, ConfigBuilder} types are gone. This affects the dma::Peripheral
    interface. To configure interrupt on completion / half settings, use dma::Channel::set_interrupt_on_completion()
    / dma::Channel::set_interrupt_on_half() to perform the same configurations before suppling the
    channel to dma::Peripheral.

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