align with head of maint-v0.4 branch

align with head of maint-v0.4 branch

Delete interrupt.rs

fix implementation of `embedded_hal` `receive` function for Can trait

Fix to `embedded_hal` trait

imxrt-hal/README.md

@@ -1,18 +1,22 @@
-# imxrt1060-hal
+# imxrt-hal
 
-`imxrt1060-hal` is a Rust hardware abstraction layer that's specific to i.MX
-RT 1060 processors. This includes some of the following processor parts:
+This project provides a Rust HAL (hardware abstraction layer) for all NXP i.MX RT
+microcontrollers based on the imxrt-ral crate.
 
-- i.MX RT 1061
-- i.MX RT 1062
+A feature flag needs to be set for any of the supported i.MX RT SoC.
 
-It is the successor to `imxrt-hal`, version 0.4, with `feature = "imxrt1062"`.
+## What is it?
 
-## Features
+imxrt-hal is an experiment into a lightweight hardware abstraction layer. It
+provides access to some of the peripherals of the i.MX RT series processors
+from NXP using embedded-hal and other community driven hardware APIs.
 
-The table below describes the optional features supported by `imxrt1060-hal`.
+The main aims are fast compilation, compactness, and simplicity.
 
-| Feature  | Description                        |
-| -------- | ---------------------------------- |
-| `"rt"`   | Runtime support with `cortex-m-rt` |
-| `"rtic"` | Support for RTIC                   |
+Please consider trying it out and contributing or leaving feedback!
+
+## Goals
+
+* Simple to use and hard to use incorrectly
+* All peripherals and busses supported
+* Support the entire i.MX RT Series with a single crate to maximize code reuse

imxrt-hal/src/can/embedded_hal.rs

@@ -1,6 +1,6 @@
 //! `embedded_hal` trait impls.
 
-use super::{Data, ExtendedId, Frame, Id, OverrunError, StandardId, CAN};
+use super::{Data, ExtendedId, Frame, Id, NoDataError, StandardId, CAN};
 
 use crate::iomuxc::consts::Unsigned;
 use embedded_hal::can;
@@ -11,7 +11,7 @@ where
 {
     type Frame = Frame;
 
-    type Error = OverrunError;
+    type Error = NoDataError;
 
     fn transmit(&mut self, frame: &Self::Frame) -> nb::Result<Option<Self::Frame>, Self::Error> {
         match self.transmit(frame) {
@@ -22,14 +22,14 @@ where
     }
 
     fn receive(&mut self) -> nb::Result<Self::Frame, Self::Error> {
-        let data: [u8; 8] = [255, 255, 255, 255, 255, 255, 255, 255];
-        let id = StandardId::new(0).unwrap();
-
-        Ok(Frame::new_data(id, Data::new(&data).unwrap()))
+        match self.read_mailboxes() {
+            Some(d) => Ok(d.frame),
+            None => Err(nb::Error::Other(NoDataError { _priv: () })),
+        }
     }
 }
 
-impl can::Error for OverrunError {
+impl can::Error for NoDataError {
     fn kind(&self) -> can::ErrorKind {
         can::ErrorKind::Overrun
     }

imxrt-hal/src/can/mod.rs

@@ -15,9 +15,10 @@ use crate::ral;
 use core::convert::Infallible;
 use core::marker::PhantomData;
 
-/// Error that indicates that an incoming message has been lost due to buffer overrun.
+/// Error that indicates that no received frames are available
+/// in the FlexCAN mailboxes
 #[derive(Debug, Clone, Copy, PartialEq, Eq)]
-pub struct OverrunError {
+pub struct NoDataError {
     _priv: (),
 }
 
@@ -911,7 +912,7 @@ where
         return;
     }
 
-    pub fn read_mailboxes(&mut self) -> Option<()> {
+    pub fn read_mailboxes(&mut self) -> Option<MailboxData> {
         let mut iflag: u64;
         let mut cycle_limit: u8 = 3;
         let offset = self.mailbox_offset();
@@ -946,7 +947,7 @@ where
             }
             match self.read_mailbox(self._mailbox_reader_index) {
                 Some(mailbox_data) => {
-                    log::info!("RX Data: {:?}", &mailbox_data,);
+                    return Some(mailbox_data);
                 }
                 _ => {}
             }

imxrt-hal/src/ccm.rs

@@ -57,6 +57,10 @@ impl PLL1 {
         PLL1(())
     }
 
+    #[cfg(any(feature = "imxrt1011", feature = "imxrt1015"))]
+    pub const ARM_HZ: u32 = 500_000_000;
+
+    #[cfg(any(feature = "imxrt1064", feature = "imxrt1062", feature = "imxrt1061"))]
     pub const ARM_HZ: u32 = 600_000_000;
 
     /// Set the clock speed for the ARM core. This represents the base processor frequency.
@@ -921,6 +925,30 @@ pub mod spi {
         LPSPI_PODF_6 = ccm::CBCMR::LPSPI_PODF::RW::LPSPI_PODF_6,
         /// 0b0111: divide by 8
         LPSPI_PODF_7 = ccm::CBCMR::LPSPI_PODF::RW::LPSPI_PODF_7,
+        /// 0b1000: divide by 9
+        #[cfg(features = "imxrt1011")]
+        LPSPI_PODF_8 = ccm::CBCMR::LPSPI_PODF::RW::LPSPI_PODF_8,
+        /// 0b1001: divide by 10
+        #[cfg(features = "imxrt1011")]
+        LPSPI_PODF_9 = ccm::CBCMR::LPSPI_PODF::RW::LPSPI_PODF_9,
+        /// 0b1010: divide by 11
+        #[cfg(features = "imxrt1011")]
+        LPSPI_PODF_10 = ccm::CBCMR::LPSPI_PODF::RW::LPSPI_PODF_10,
+        /// 0b1011: divide by 12
+        #[cfg(features = "imxrt1011")]
+        LPSPI_PODF_11 = ccm::CBCMR::LPSPI_PODF::RW::LPSPI_PODF_11,
+        /// 0b1100: divide by 13
+        #[cfg(features = "imxrt1011")]
+        LPSPI_PODF_12 = ccm::CBCMR::LPSPI_PODF::RW::LPSPI_PODF_12,
+        /// 0b1101: divide by 14
+        #[cfg(features = "imxrt1011")]
+        LPSPI_PODF_13 = ccm::CBCMR::LPSPI_PODF::RW::LPSPI_PODF_13,
+        /// 0b1110: divide by 15
+        #[cfg(features = "imxrt1011")]
+        LPSPI_PODF_14 = ccm::CBCMR::LPSPI_PODF::RW::LPSPI_PODF_14,
+        /// 0b1111: divide by 16
+        #[cfg(features = "imxrt1011")]
+        LPSPI_PODF_15 = ccm::CBCMR::LPSPI_PODF::RW::LPSPI_PODF_15,
     }
 
     impl From<ClockSelect> for Frequency {