spi: make Operation::DelayNs with nanosecond granularity.

Author: Dirbaio

embedded-hal-async/CHANGELOG.md

@@ -12,6 +12,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 - delay: Rename `DelayUs` to `DelayNs`
 - delay: Add `DelayNs::delay_ns()`
 - delay: Add default impls of `delay_ms` and `delay_us` based on `delay_ns`.
+- spi: Rename `Operation::DelayUs` to `Operation::DelayNs`, with nanosecond precision.
 
 ## [v1.0.0-rc.1] - 2023-08-15
 

embedded-hal-bus/src/spi/critical_section.rs

@@ -37,7 +37,7 @@ impl<'a, BUS, CS> CriticalSectionDevice<'a, BUS, CS, super::NoDelay> {
     /// # Panics
     ///
     /// The returned device will panic if you try to execute a transaction
-    /// that contains any operations of type [`Operation::DelayUs`].
+    /// that contains any operations of type [`Operation::DelayNs`].
     #[inline]
     pub fn new_no_delay(bus: &'a Mutex<RefCell<BUS>>, cs: CS) -> Self {
         Self {

embedded-hal-bus/src/spi/exclusive.rs

@@ -5,10 +5,11 @@ use embedded_hal::digital::OutputPin;
 use embedded_hal::spi::{ErrorType, Operation, SpiBus, SpiDevice};
 #[cfg(feature = "async")]
 use embedded_hal_async::{
-    delay::DelayNs as AsyncDelayUs,
+    delay::DelayNs as AsyncDelayNs,
     spi::{SpiBus as AsyncSpiBus, SpiDevice as AsyncSpiDevice},
 };
 
+use super::shared::transaction;
 use super::DeviceError;
 
 /// [`SpiDevice`] implementation with exclusive access to the bus (not shared).
@@ -47,7 +48,7 @@ impl<BUS, CS> ExclusiveDevice<BUS, CS, super::NoDelay> {
     /// # Panics
     ///
     /// The returned device will panic if you try to execute a transaction
-    /// that contains any operations of type `Operation::DelayUs`.
+    /// that contains any operations of type [`Operation::DelayNs`].
     #[inline]
     pub fn new_no_delay(bus: BUS, cs: CS) -> Self {
         Self {
@@ -84,7 +85,7 @@ impl<Word: Copy + 'static, BUS, CS, D> AsyncSpiDevice<Word> for ExclusiveDevice<
 where
     BUS: AsyncSpiBus<Word>,
     CS: OutputPin,
-    D: AsyncDelayUs,
+    D: AsyncDelayNs,
 {
     #[inline]
     async fn transaction(
@@ -100,10 +101,10 @@ where
                     Operation::Write(buf) => self.bus.write(buf).await,
                     Operation::Transfer(read, write) => self.bus.transfer(read, write).await,
                     Operation::TransferInPlace(buf) => self.bus.transfer_in_place(buf).await,
-                    Operation::DelayUs(us) => match self.bus.flush().await {
+                    Operation::DelayNs(ns) => match self.bus.flush().await {
                         Err(e) => Err(e),
                         Ok(()) => {
-                            self.delay.delay_us(*us).await;
+                            self.delay.delay_ns(*ns).await;
                             Ok(())
                         }
                     },

embedded-hal-bus/src/spi/mod.rs

@@ -43,14 +43,14 @@ where
     }
 }
 
-/// Dummy `DelayUs` implementation that panics on use.
+/// Dummy [`DelayNs`](embedded_hal::delay::DelayNs) implementation that panics on use.
 #[derive(Copy, Clone, Eq, PartialEq, Debug)]
 #[cfg_attr(feature = "defmt-03", derive(defmt::Format))]
 pub struct NoDelay;
 
 #[cold]
 fn no_delay_panic() {
-    panic!("You've tried to execute a SPI transaction containing a `Operation::Delay` in a `SpiDevice` created with `new_no_delay()`. Create it with `new()` instead, passing a `DelayUs` implementation.");
+    panic!("You've tried to execute a SPI transaction containing a `Operation::DelayNs` in a `SpiDevice` created with `new_no_delay()`. Create it with `new()` instead, passing a `DelayNs` implementation.");
 }
 
 impl embedded_hal::delay::DelayNs for NoDelay {

embedded-hal-bus/src/spi/mutex.rs

@@ -35,7 +35,7 @@ impl<'a, BUS, CS> MutexDevice<'a, BUS, CS, super::NoDelay> {
     /// # Panics
     ///
     /// The returned device will panic if you try to execute a transaction
-    /// that contains any operations of type `Operation::DelayUs`.
+    /// that contains any operations of type [`Operation::DelayNs`].
     #[inline]
     pub fn new_no_delay(bus: &'a Mutex<BUS>, cs: CS) -> Self {
         Self {

embedded-hal-bus/src/spi/refcell.rs

@@ -34,7 +34,7 @@ impl<'a, BUS, CS> RefCellDevice<'a, BUS, CS, super::NoDelay> {
     /// # Panics
     ///
     /// The returned device will panic if you try to execute a transaction
-    /// that contains any operations of type `Operation::DelayUs`.
+    /// that contains any operations of type [`Operation::DelayNs`].
     #[inline]
     pub fn new_no_delay(bus: &'a RefCell<BUS>, cs: CS) -> Self {
         Self {

embedded-hal-bus/src/spi/shared.rs

@@ -25,9 +25,9 @@ where
         Operation::Write(buf) => bus.write(buf),
         Operation::Transfer(read, write) => bus.transfer(read, write),
         Operation::TransferInPlace(buf) => bus.transfer_in_place(buf),
-        Operation::DelayUs(us) => {
+        Operation::DelayNs(ns) => {
             bus.flush()?;
-            delay.delay_us(*us);
+            delay.delay_ns(*ns);
             Ok(())
         }
     });

embedded-hal/CHANGELOG.md

@@ -14,6 +14,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 - delay: Add `DelayNs::delay_ns()`
 - delay: Add default impls of `delay_ms` and `delay_us` based on `delay_ns`.
 - delay: Make the default impl of `delay_ms` more efficient, it now does less calls to the underlying `delay_ns` (previously `delay_us`).
+- spi: Rename `Operation::DelayUs` to `Operation::DelayNs`, with nanosecond precision.
 
 ## [v1.0.0-rc.1] - 2023-08-15
 

embedded-hal/src/spi.rs

@@ -324,8 +324,8 @@ pub enum Operation<'a, Word: 'static> {
     ///
     /// Equivalent to [`SpiBus::transfer_in_place`].
     TransferInPlace(&'a mut [Word]),
-    /// Delay for at least the specified number of microseconds.
-    DelayUs(u32),
+    /// Delay for at least the specified number of nanoseconds.
+    DelayNs(u32),
 }
 
 /// SPI device trait.