japaric · tkeksa · Jun 27, 2019 · Jul 24, 2019 · Aug 30, 2019 · Sep 2, 2019
diff --git a/Cargo.toml b/Cargo.toml
@@ -8,42 +8,42 @@ keywords = ["arm", "cortex-m", "stm32"]
 license = "MIT OR Apache-2.0"
 name = "f3"
 repository = "https://github.com/japaric/f3"
-version = "0.6.1"
+version = "0.6.2"
 
 [dependencies]
+embedded-hal = "0.2.3"
 l3gd20 = "0.2.0"
 lsm303dlhc = "0.2.0"
-stm32f30x-hal = "0.2.0"
+
+[dependencies.stm32f3xx-hal]
+version = "0.4.0"
+features = ["stm32f303xc"]
 
 [dev-dependencies]
-aligned = "0.2.0"
-cortex-m = "0.5.0"
-cortex-m-rt = "0.6.5"
-cortex-m-semihosting = "0.3.2"
+aligned = "0.3.2"
+cortex-m = "0.6.1"
+cortex-m-rt = "0.6.11"
+cortex-m-semihosting = "0.3.5"
 madgwick = "0.1.1"
-panic-semihosting = "0.5.1"
+panic-semihosting = "0.5.3"
 
 [dev-dependencies.byteorder]
 default-features = false
-version = "1.2.1"
+version = "1.3.2"
 
 [dev-dependencies.cast]
 default-features = false
-version = "0.2.2"
+version = "0.2.3"
 
 [dev-dependencies.cobs]
 default-features = false
-version = "0.1.3"
+version = "0.1.4"
 
 [dev-dependencies.nb]
 version = "0.1.1"
 
-[dev-dependencies.stm32f30x-hal]
-version = "0.2.0"
-features = ["rt"]
-
 [features]
-rt = ["stm32f30x-hal/rt"]
+rt = ["stm32f3xx-hal/rt"]
 
 [profile.release]
 codegen-units = 1

diff --git a/examples/blinky.rs b/examples/blinky.rs
@@ -9,14 +9,14 @@ extern crate panic_semihosting;
 
 use cortex_m_rt::entry;
 use f3::{
-    hal::{delay::Delay, prelude::*, stm32f30x},
+    hal::{delay::Delay, prelude::*, stm32},
     led::Led,
 };
 
 #[entry]
 fn main() -> ! {
     let cp = cortex_m::Peripherals::take().unwrap();
-    let dp = stm32f30x::Peripherals::take().unwrap();
+    let dp = stm32::Peripherals::take().unwrap();
 
     let mut flash = dp.FLASH.constrain();
     let mut rcc = dp.RCC.constrain();

diff --git a/examples/l3gd20.rs b/examples/l3gd20.rs
@@ -8,14 +8,16 @@ extern crate panic_semihosting;
 
 use cortex_m::asm;
 use cortex_m_rt::entry;
+use embedded_hal::digital::v1_compat::OldOutputPin;
+use embedded_hal::digital::v2::OutputPin;
 use f3::{
-    hal::{prelude::*, spi::Spi, stm32f30x},
+    hal::{prelude::*, spi::Spi, stm32},
     l3gd20, L3gd20,
 };
 
 #[entry]
 fn main() -> ! {
-    let p = stm32f30x::Peripherals::take().unwrap();
+    let p = stm32::Peripherals::take().unwrap();
 
     let mut flash = p.FLASH.constrain();
     let mut rcc = p.RCC.constrain();
@@ -30,7 +32,7 @@ fn main() -> ! {
     let mut nss = gpioe
         .pe3
         .into_push_pull_output(&mut gpioe.moder, &mut gpioe.otyper);
-    nss.set_high();
+    nss.set_high().unwrap();
 
     // The `L3gd20` abstraction exposed by the `f3` crate requires a specific pin configuration to
     // be used and won't accept any configuration other than the one used here. Trying to use a
@@ -48,7 +50,7 @@ fn main() -> ! {
         &mut rcc.apb2,
     );
 
-    let mut l3gd20 = L3gd20::new(spi, nss).unwrap();
+    let mut l3gd20 = L3gd20::new(spi, OldOutputPin::from(nss)).unwrap();
 
     // sanity check: the WHO_AM_I register always contains this value
     assert_eq!(l3gd20.who_am_i().unwrap(), 0xD4);

diff --git a/examples/leds.rs b/examples/leds.rs
@@ -8,13 +8,13 @@ extern crate panic_semihosting;
 
 use cortex_m_rt::entry;
 use f3::{
-    hal::{prelude::*, stm32f30x},
+    hal::{prelude::*, stm32},
     led::Leds,
 };
 
 #[entry]
 fn main() -> ! {
-    let p = stm32f30x::Peripherals::take().unwrap();
+    let p = stm32::Peripherals::take().unwrap();
 
     let mut rcc = p.RCC.constrain();
     let gpioe = p.GPIOE.split(&mut rcc.ahb);

diff --git a/examples/log-sensors.rs b/examples/log-sensors.rs
@@ -35,14 +35,17 @@
 
 extern crate panic_semihosting;
 
+use core::ops::DerefMut;
 use core::ptr;
 
-use aligned::Aligned;
+use aligned::{Aligned, A4};
 use byteorder::{ByteOrder, LE};
 use cortex_m::{asm, itm};
 use cortex_m_rt::entry;
+use embedded_hal::digital::v1_compat::OldOutputPin;
+use embedded_hal::digital::v2::OutputPin;
 use f3::{
-    hal::{i2c::I2c, prelude::*, spi::Spi, stm32f30x, timer::Timer},
+    hal::{i2c::I2c, prelude::*, spi::Spi, stm32, timer::Timer},
     l3gd20::{self, Odr},
     lsm303dlhc::{AccelOdr, MagOdr},
     L3gd20, Lsm303dlhc,
@@ -57,7 +60,7 @@ const NSAMPLES: u32 = 32 * FREQUENCY; // = 32 seconds
 #[entry]
 fn main() -> ! {
     let mut cp = cortex_m::Peripherals::take().unwrap();
-    let dp = stm32f30x::Peripherals::take().unwrap();
+    let dp = stm32::Peripherals::take().unwrap();
 
     let mut flash = dp.FLASH.constrain();
     let mut rcc = dp.RCC.constrain();
@@ -120,7 +123,7 @@ fn main() -> ! {
     let mut nss = gpioe
         .pe3
         .into_push_pull_output(&mut gpioe.moder, &mut gpioe.otyper);
-    nss.set_high();
+    nss.set_high().unwrap();
     let sck = gpioa.pa5.into_af5(&mut gpioa.moder, &mut gpioa.afrl);
     let miso = gpioa.pa6.into_af5(&mut gpioa.moder, &mut gpioa.afrl);
     let mosi = gpioa.pa7.into_af5(&mut gpioa.moder, &mut gpioa.afrl);
@@ -135,7 +138,7 @@ fn main() -> ! {
     );
 
     // L3GD20
-    let mut l3gd20 = L3gd20::new(spi, nss).unwrap();
+    let mut l3gd20 = L3gd20::new(spi, OldOutputPin::from(nss)).unwrap();
     l3gd20.set_odr(Odr::Hz380).unwrap();
 
     // TIMER
@@ -145,7 +148,7 @@ fn main() -> ! {
     itm::write_all(&mut cp.ITM.stim[0], &[0]);
 
     // Capture N samples
-    let mut tx_buf: Aligned<u32, [u8; 20]> = Aligned([0; 20]);
+    let mut tx_buf: Aligned<A4, [u8; 20]> = Aligned([0; 20]);
     for _ in 0..NSAMPLES {
         block!(timer.wait()).unwrap();
 
@@ -179,7 +182,7 @@ fn main() -> ! {
         LE::write_i16(&mut buf[start..start + 2], g.z);
 
         // Log data
-        cobs::encode(&buf, &mut tx_buf);
+        cobs::encode(&buf, tx_buf.deref_mut());
 
         itm::write_aligned(&mut cp.ITM.stim[0], &tx_buf);
     }

diff --git a/examples/lsm303dlhc.rs b/examples/lsm303dlhc.rs
@@ -9,13 +9,13 @@ extern crate panic_semihosting;
 use cortex_m::asm;
 use cortex_m_rt::entry;
 use f3::{
-    hal::{i2c::I2c, prelude::*, stm32f30x},
+    hal::{i2c::I2c, prelude::*, stm32},
     Lsm303dlhc,
 };
 
 #[entry]
 fn main() -> ! {
-    let p = stm32f30x::Peripherals::take().unwrap();
+    let p = stm32::Peripherals::take().unwrap();
 
     let mut flash = p.FLASH.constrain();
     let mut rcc = p.RCC.constrain();

diff --git a/examples/madgwick.rs b/examples/madgwick.rs
@@ -36,15 +36,18 @@
 
 extern crate panic_semihosting;
 
+use core::ops::DerefMut;
 use core::{f32::consts::PI, ptr};
 
-use aligned::Aligned;
+use aligned::{Aligned, A4};
 use byteorder::{ByteOrder, LE};
 use cast::{f32, i32};
 use cortex_m::itm;
 use cortex_m_rt::entry;
+use embedded_hal::digital::v1_compat::OldOutputPin;
+use embedded_hal::digital::v2::OutputPin;
 use f3::{
-    hal::{i2c::I2c, prelude::*, spi::Spi, stm32f30x, timer::Timer},
+    hal::{i2c::I2c, prelude::*, spi::Spi, stm32, timer::Timer},
     l3gd20::{self, Odr},
     lsm303dlhc::{AccelOdr, MagOdr},
     L3gd20, Lsm303dlhc,
@@ -79,7 +82,7 @@ const BETA: f32 = 1e-3;
 #[entry]
 fn main() -> ! {
     let mut cp = cortex_m::Peripherals::take().unwrap();
-    let dp = stm32f30x::Peripherals::take().unwrap();
+    let dp = stm32::Peripherals::take().unwrap();
 
     let mut flash = dp.FLASH.constrain();
     let mut rcc = dp.RCC.constrain();
@@ -130,7 +133,7 @@ fn main() -> ! {
     let mut nss = gpioe
         .pe3
         .into_push_pull_output(&mut gpioe.moder, &mut gpioe.otyper);
-    nss.set_high();
+    nss.set_high().unwrap();
     let mut led = gpioe
         .pe9
         .into_push_pull_output(&mut gpioe.moder, &mut gpioe.otyper);
@@ -148,7 +151,7 @@ fn main() -> ! {
         &mut rcc.apb2,
     );
 
-    let mut l3gd20 = L3gd20::new(spi, nss).unwrap();
+    let mut l3gd20 = L3gd20::new(spi, OldOutputPin::from(nss)).unwrap();
 
     l3gd20.set_odr(Odr::Hz380).unwrap();
 
@@ -182,12 +185,12 @@ fn main() -> ! {
     let ar_bias_z = (ar_bias_z / NSAMPLES) as i16;
 
     // Turn on the LED after calibrating the gyroscope
-    led.set_high();
+    led.set_high().unwrap();
 
     let mut marg = Marg::new(BETA, 1. / f32(SAMPLE_FREQ));
-    let mut timer = Timer::tim2(timer.free(), SAMPLE_FREQ.hz(), clocks, &mut rcc.apb1);
+    let mut timer = Timer::tim2(timer.release(), SAMPLE_FREQ.hz(), clocks, &mut rcc.apb1);
 
-    let mut tx_buf: Aligned<u32, [u8; 18]> = Aligned([0; 18]);
+    let mut tx_buf: Aligned<A4, [u8; 18]> = Aligned([0; 18]);
     loop {
         block!(timer.wait()).unwrap();
 
@@ -241,7 +244,7 @@ fn main() -> ! {
         // start += 4;
 
         // Log data
-        cobs::encode(&buf, &mut tx_buf.array);
+        cobs::encode(&buf, tx_buf.deref_mut());
 
         itm::write_aligned(&mut cp.ITM.stim[0], &tx_buf);
     }

diff --git a/examples/roulette.rs b/examples/roulette.rs
@@ -8,14 +8,14 @@ extern crate panic_semihosting;
 
 use cortex_m_rt::entry;
 use f3::{
-    hal::{delay::Delay, prelude::*, stm32f30x},
+    hal::{delay::Delay, prelude::*, stm32},
     led::Leds,
 };
 
 #[entry]
 fn main() -> ! {
     let cp = cortex_m::Peripherals::take().unwrap();
-    let dp = stm32f30x::Peripherals::take().unwrap();
+    let dp = stm32::Peripherals::take().unwrap();
 
     let mut flash = dp.FLASH.constrain();
     let mut rcc = dp.RCC.constrain();

diff --git a/examples/serial-echo.rs b/examples/serial-echo.rs
@@ -10,12 +10,12 @@
 extern crate panic_semihosting;
 
 use cortex_m_rt::entry;
-use f3::hal::{prelude::*, serial::Serial, stm32f30x};
+use f3::hal::{prelude::*, serial::Serial, stm32};
 use nb::block;
 
 #[entry]
 fn main() -> ! {
-    let p = stm32f30x::Peripherals::take().unwrap();
+    let p = stm32::Peripherals::take().unwrap();
 
     let mut flash = p.FLASH.constrain();
     let mut rcc = p.RCC.constrain();

diff --git a/examples/serial.rs b/examples/serial.rs
@@ -10,12 +10,12 @@ extern crate panic_semihosting;
 
 use cortex_m::asm;
 use cortex_m_rt::entry;
-use f3::hal::{prelude::*, serial::Serial, stm32f30x};
+use f3::hal::{prelude::*, serial::Serial, stm32};
 use nb::block;
 
 #[entry]
 fn main() -> ! {
-    let p = stm32f30x::Peripherals::take().unwrap();
+    let p = stm32::Peripherals::take().unwrap();
 
     let mut flash = p.FLASH.constrain();
     let mut rcc = p.RCC.constrain();

diff --git a/openocd.cfg b/openocd.cfg
@@ -1,12 +1,5 @@
 # Sample OpenOCD configuration for the STM32F3DISCOVERY development board
 
-# Depending on the hardware revision you got you'll have to pick ONE of these
-# interfaces. At any time only one interface should be commented out.
-
-# Revision C (newer revision)
-source [find interface/stlink-v2-1.cfg]
-
-# Revision A and B (older revisions)
-# source [find interface/stlink-v2.cfg]
+source [find interface/stlink.cfg]
 
 source [find target/stm32f3x.cfg]
diff --git a/src/led.rs b/src/led.rs
@@ -2,7 +2,7 @@
 
 use core::ops;
 
-use hal::prelude::*;
+use hal::hal::digital::v2::OutputPin;
 
 use hal::gpio::gpioe::{self, PEx, PE10, PE11, PE12, PE13, PE14, PE15, PE8, PE9};
 use hal::gpio::{Output, PushPull};
@@ -165,11 +165,11 @@ ctor!(LD3, LD4, LD5, LD6, LD7, LD8, LD9, LD10);
 impl Led {
     /// Turns the LED off
     pub fn off(&mut self) {
-        self.pex.set_low()
+        self.pex.set_low().unwrap()
     }
 
     /// Turns the LED on
     pub fn on(&mut self) {
-        self.pex.set_high()
+        self.pex.set_high().unwrap()
     }
 }
diff --git a/src/lib.rs b/src/lib.rs
@@ -37,26 +37,28 @@
 //! [examples]: examples/index.html
 
 #![deny(missing_docs)]
-#![deny(warnings)]
+//#![deny(warnings)]
 #![no_std]
 
 pub extern crate l3gd20;
 pub extern crate lsm303dlhc;
-pub extern crate stm32f30x_hal as hal;
+pub extern crate stm32f3xx_hal as hal;
 
+use embedded_hal::digital::v1_compat::OldOutputPin;
 use hal::gpio::gpioa::{PA5, PA6, PA7};
 use hal::gpio::gpiob::{PB6, PB7};
 use hal::gpio::gpioe::PE3;
 use hal::gpio::{Output, PushPull, AF4, AF5};
 use hal::i2c::I2c;
 use hal::spi::Spi;
-use hal::stm32f30x::{I2C1, SPI1};
+use hal::stm32::{I2C1, SPI1};
 
 pub mod examples;
 pub mod led;
 
 /// On board L3GD20 connected to the SPI1 bus via the pins PA5, PA6, PA7 and PE3
-pub type L3gd20 = l3gd20::L3gd20<Spi<SPI1, (PA5<AF5>, PA6<AF5>, PA7<AF5>)>, PE3<Output<PushPull>>>;
+pub type L3gd20 =
+    l3gd20::L3gd20<Spi<SPI1, (PA5<AF5>, PA6<AF5>, PA7<AF5>)>, OldOutputPin<PE3<Output<PushPull>>>>;
 
 /// On board LSM303DLHC connected to the I2C1 bus via the PB6 and PB7 pins
 pub type Lsm303dlhc = lsm303dlhc::Lsm303dlhc<I2c<I2C1, (PB6<AF4>, PB7<AF4>)>>;