0.4.1

The imxrt-hal release 0.4.1 fixes a bug in the GPIO implementation.

Fixed

• Maintain GPIO input/output configuration when enabling or disabling high-speed mode.

0.4.0

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.

0.3.1 imxrt-hal

Fixed

The StatefulOutputPin implementation was reading from the wrong GPIO register. The interface would indicate that the GPIO was always low, even when it was driven high. The implementation now reads from the data register, which represents the driven GPIO value.

0.3.0

Added

• uart::ReadError implements Clone, Debug, PartialEq, and Eq
• UART peripherals may be split() into Tx and Rx halves
• UART peripherals implement the blocking embedded_hal traits
• General purpose timers (GPT)
• Introducing the DMA module
  • Peripheral-to-memory transfers, supporting both SPI and UART
  • Memory-to-memory copies
  • Statically-allocated linear and circular buffers
• Documentation
  • Getting Started
  • Contributing
  • Rustdoc-checked code examples

Changed

• imxrt_hal::pit::Unclocked::clock now takes a &mut imxrt_hal::ccm::perclk::Configured mutable reference, rather
  than a value. Users need to add a &mut qualifier to the clock() argument, and qualify the Configured
  object as mut to migrate their code. The object may now be shared between PIT and GPT clocking methods.