migrate rp2040-hal from embedded_time to fugit

boards/adafruit-feather-rp2040/CHANGELOG.md

@@ -13,7 +13,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ### Changed
 
-- None
+- Migrate from `embedded-time` to `fugit`
 
 ## 0.3.0 - 2022-06-13
 

boards/adafruit-feather-rp2040/Cargo.toml

@@ -15,11 +15,11 @@ cortex-m = "0.7.2"
 rp2040-boot2 = { version = "0.2.0", optional = true }
 rp2040-hal = { path = "../../rp2040-hal", version = "0.5.0" }
 cortex-m-rt = { version = "0.7", optional = true }
-embedded-time = "0.12.0"
 
 [dev-dependencies]
 panic-halt= "0.2.0"
 embedded-hal ="0.2.5"
+fugit = "0.3.5"
 nb = "1.0.0"
 smart-leds = "0.3.0"
 ws2812-pio = "0.3.0"

boards/adafruit-feather-rp2040/examples/adafruit_feather_blinky.rs

@@ -15,7 +15,6 @@ use adafruit_feather_rp2040::{
     Pins, XOSC_CRYSTAL_FREQ,
 };
 use embedded_hal::digital::v2::OutputPin;
-use embedded_time::rate::*;
 use panic_halt as _;
 
 #[entry]
@@ -37,7 +36,7 @@ fn main() -> ! {
     .ok()
     .unwrap();
 
-    let mut delay = cortex_m::delay::Delay::new(core.SYST, clocks.system_clock.freq().integer());
+    let mut delay = cortex_m::delay::Delay::new(core.SYST, clocks.system_clock.freq().to_Hz());
 
     let sio = Sio::new(pac.SIO);
     let pins = Pins::new(

boards/adafruit-feather-rp2040/examples/adafruit_feather_neopixel_rainbow.rs

@@ -20,7 +20,7 @@ use adafruit_feather_rp2040::{
 };
 use core::iter::once;
 use embedded_hal::timer::CountDown;
-use embedded_time::duration::Extensions;
+use fugit::ExtU32;
 use panic_halt as _;
 use smart_leds::{brightness, SmartLedsWrite, RGB8};
 use ws2812_pio::Ws2812;
@@ -71,7 +71,7 @@ fn main() -> ! {
         ws.write(brightness(once(wheel(n)), 32)).unwrap();
         n = n.wrapping_add(1);
 
-        delay.start(25.milliseconds());
+        delay.start(25.millis());
         let _ = nb::block!(delay.wait());
     }
 }

boards/adafruit-itsy-bitsy-rp2040/CHANGELOG.md

@@ -13,7 +13,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ### Changed
 
-- None
+- Migrate from `embedded-time` to `fugit`
 
 ## 0.3.0 - 2022-06-13
 

boards/adafruit-itsy-bitsy-rp2040/Cargo.toml

@@ -15,7 +15,6 @@ cortex-m = "0.7.2"
 rp2040-boot2 = { version = "0.2.0", optional = true }
 rp2040-hal = { path = "../../rp2040-hal", version = "0.5.0" }
 cortex-m-rt = { version = "0.7", optional = true }
-embedded-time = "0.12.0"
 
 [dev-dependencies]
 panic-halt= "0.2.0"
@@ -23,6 +22,7 @@ embedded-hal ="0.2.5"
 smart-leds = "0.3"
 nb = "1.0.0"
 ws2812-pio = "0.3.0"
+fugit = "0.3.5"
 
 [features]
 default = ["rt", "boot2"]

boards/adafruit-itsy-bitsy-rp2040/examples/adafruit_itsy_bitsy_blinky.rs

@@ -18,7 +18,6 @@ use panic_halt as _;
 
 // Some traits we need
 use embedded_hal::digital::v2::OutputPin;
-use embedded_time::fixed_point::FixedPoint;
 
 use adafruit_itsy_bitsy_rp2040::{
     hal::{
@@ -61,7 +60,7 @@ fn main() -> ! {
     .ok()
     .unwrap();
 
-    let mut delay = Delay::new(core.SYST, clocks.system_clock.freq().integer());
+    let mut delay = Delay::new(core.SYST, clocks.system_clock.freq().to_Hz());
 
     // The single-cycle I/O block controls our GPIO pins
     let sio = Sio::new(pac.SIO);

boards/adafruit-itsy-bitsy-rp2040/examples/adafruit_itsy_bitsy_rainbow.rs

@@ -6,7 +6,7 @@ use adafruit_itsy_bitsy_rp2040::entry;
 use core::iter::once;
 use embedded_hal::digital::v2::OutputPin;
 use embedded_hal::timer::CountDown;
-use embedded_time::duration::Extensions;
+use fugit::ExtU32;
 use panic_halt as _;
 use smart_leds::{brightness, SmartLedsWrite, RGB8};
 use ws2812_pio::Ws2812;
@@ -72,7 +72,7 @@ fn main() -> ! {
         ws.write(brightness(once(wheel(n)), 32)).unwrap();
         n = n.wrapping_add(1);
 
-        delay.start(25.milliseconds());
+        delay.start(25.millis());
         let _ = nb::block!(delay.wait());
     }
 }

boards/adafruit-kb2040/CHANGELOG.md

@@ -13,7 +13,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ### Changed
 
-- None
+- Migrate from `embedded-time` to `fugit`
 
 ## 0.3.0 - 2022-06-13
 

boards/adafruit-kb2040/Cargo.toml

@@ -26,6 +26,6 @@ rt = ["cortex-m-rt","rp2040-hal/rt"]
 panic-halt = "0.2.0"
 rp2040-boot2 = "0.2"
 smart-leds = "0.3.0"
-embedded-time = "0.12.0"
+fugit = "0.3.5"
 nb = "1.0.0"
 ws2812-pio = "0.3.0"

boards/adafruit-kb2040/examples/adafruit_kb2040_rainbow.rs

@@ -11,7 +11,7 @@
 use adafruit_kb2040::entry;
 use core::iter::once;
 use embedded_hal::timer::CountDown;
-use embedded_time::duration::Extensions;
+use fugit::ExtU32;
 use panic_halt as _;
 
 use adafruit_kb2040::{
@@ -84,7 +84,7 @@ fn main() -> ! {
         ws.write(brightness(once(wheel(n)), 32)).unwrap();
         n = n.wrapping_add(1);
 
-        delay.start(25.milliseconds());
+        delay.start(25.millis());
         let _ = nb::block!(delay.wait());
     }
 }

boards/adafruit-macropad/CHANGELOG.md

@@ -14,6 +14,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 ### Changed
 
 - Use `rp2040-hal`'s entry function.
+- Migrate from `embedded-time` to `fugit`
 
 ## 0.3.0 - 2022-06-13
 

boards/adafruit-macropad/Cargo.toml

@@ -15,8 +15,8 @@ cortex-m = "0.7.2"
 rp2040-boot2 = { version = "0.2.0", optional = true }
 rp2040-hal = { path = "../../rp2040-hal", version = "0.5.0" }
 cortex-m-rt = { version = "0.7", optional = true }
+
 [dev-dependencies]
-embedded-time = "0.12.0"
 panic-halt= "0.2.0"
 embedded-hal ="0.2.5"
 

boards/adafruit-macropad/examples/adafruit-macropad_blinky.rs

@@ -14,7 +14,6 @@ use adafruit_macropad::{
     Pins, XOSC_CRYSTAL_FREQ,
 };
 use embedded_hal::digital::v2::OutputPin;
-use embedded_time::rate::*;
 use panic_halt as _;
 
 /// Entry point to our bare-metal application.
@@ -40,7 +39,7 @@ fn main() -> ! {
     .ok()
     .unwrap();
 
-    let mut delay = cortex_m::delay::Delay::new(core.SYST, clocks.system_clock.freq().integer());
+    let mut delay = cortex_m::delay::Delay::new(core.SYST, clocks.system_clock.freq().to_Hz());
 
     let sio = Sio::new(pac.SIO);
     let pins = Pins::new(

boards/adafruit-qt-py-rp2040/CHANGELOG.md

@@ -13,7 +13,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ### Changed
 
-- None
+- Migrate from `embedded-time` to `fugit`
 
 ## 0.3.0 - 2022-06-13
 

boards/adafruit-qt-py-rp2040/Cargo.toml

@@ -14,7 +14,6 @@ repository = "https://github.com/rp-rs/rp-hal.git"
 cortex-m = "0.7.2"
 rp2040-hal = { path = "../../rp2040-hal", version = "0.5.0" }
 cortex-m-rt = { version = "0.7", optional = true }
-embedded-time = "0.12.0"
 rp2040-boot2 = { version = "0.2.0", optional = true }
 
 [dev-dependencies]
@@ -23,6 +22,7 @@ embedded-hal ="0.2.5"
 smart-leds = "0.3"
 nb = "1.0.0"
 ws2812-pio = "0.3.0"
+fugit = "0.3.5"
 
 [features]
 default = ["boot2", "rt"]

boards/adafruit-qt-py-rp2040/examples/adafruit_qt_py_rp2040_rainbow.rs

@@ -6,7 +6,7 @@ use adafruit_qt_py_rp2040::entry;
 use core::iter::once;
 use embedded_hal::digital::v2::OutputPin;
 use embedded_hal::timer::CountDown;
-use embedded_time::duration::Extensions;
+use fugit::ExtU32;
 use panic_halt as _;
 use smart_leds::{brightness, SmartLedsWrite, RGB8};
 use ws2812_pio::Ws2812;
@@ -72,7 +72,7 @@ fn main() -> ! {
         ws.write(brightness(once(wheel(n)), 32)).unwrap();
         n = n.wrapping_add(1);
 
-        delay.start(25.milliseconds());
+        delay.start(25u32.millis());
         let _ = nb::block!(delay.wait());
     }
 }

boards/adafruit-trinkey-qt2040/CHANGELOG.md

@@ -0,0 +1,13 @@
+# Changelog
+
+All notable changes to this project will be documented in this file.
+
+The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/),
+and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0.html).
+
+## Unreleased
+
+### Changed
+
+- Migrate from `embedded-time` to `fugit`
+

boards/adafruit-trinkey-qt2040/Cargo.toml

@@ -18,10 +18,10 @@ rp2040-boot2 = { version = "0.2.0", optional = true }
 [dev-dependencies]
 panic-halt= "0.2.0"
 embedded-hal ="0.2.5"
-embedded-time = "0.12.0"
 smart-leds = "0.3"
 nb = "1.0.0"
 ws2812-pio = "0.3.0"
+fugit = "0.3.5"
 
 [features]
 default = ["boot2", "rt"]

boards/adafruit-trinkey-qt2040/examples/adafruit_trinkey_qt2040_rainbow.rs

@@ -11,7 +11,7 @@
 use adafruit_trinkey_qt2040::entry;
 use core::iter::once;
 use embedded_hal::timer::CountDown;
-use embedded_time::duration::Extensions;
+use fugit::ExtU32;
 use panic_halt as _;
 
 use adafruit_trinkey_qt2040::{
@@ -84,7 +84,7 @@ fn main() -> ! {
         ws.write(brightness(once(wheel(n)), 32)).unwrap();
         n = n.wrapping_add(1);
 
-        delay.start(25.milliseconds());
+        delay.start(25.millis());
         let _ = nb::block!(delay.wait());
     }
 }

boards/arduino_nano_connect/CHANGELOG.md

@@ -10,4 +10,5 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 ### Changed
 
 - Use `rp2040-hal`'s entry function.
+- Migrate from `embedded-time` to `fugit`
 

boards/arduino_nano_connect/Cargo.toml

@@ -17,12 +17,12 @@ rp2040-hal = { path = "../../rp2040-hal", version = "0.5.0" }
 cortex-m-rt = { version = "0.7.0", optional = true }
 embedded-hal = { version = "0.2.4", features = ["unproven"] }
 panic-probe = { version = "0.3.0", features = ["print-defmt"] }
-embedded-time = "0.12.0"
 
 [dev-dependencies]
 panic-halt= "0.2.0"
 embedded-hal ="0.2.5"
 nb = "1.0"
+fugit = "0.3.5"
 
 [features]
 default = ["boot2", "rt"]

boards/arduino_nano_connect/examples/nano_blinky.rs

@@ -11,8 +11,6 @@
 #![no_main]
 
 use embedded_hal::digital::v2::OutputPin;
-// // Time handling traits
-use embedded_time::rate::*;
 
 // Ensure we halt the program on panic (if we don't mention this crate it won't
 // be linked)
@@ -64,7 +62,7 @@ fn main() -> ! {
 
     // The delay object lets us wait for specified amounts of time (in
     // milliseconds)
-    let mut delay = cortex_m::delay::Delay::new(core.SYST, clocks.system_clock.freq().integer());
+    let mut delay = cortex_m::delay::Delay::new(core.SYST, clocks.system_clock.freq().to_Hz());
 
     // The single-cycle I/O block controls our GPIO pins
     let sio = hal::Sio::new(pac.SIO);

boards/pimoroni-badger2040/CHANGELOG.md

@@ -10,4 +10,5 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 ### Changed
 
 - Use `rp2040-hal`'s entry function.
+- Migrate from `embedded-time` to `fugit`
 

boards/pimoroni-badger2040/Cargo.toml

@@ -15,7 +15,7 @@ cortex-m = "0.7.2"
 rp2040-boot2 = { version = "0.2.0", optional = true }
 rp2040-hal = { path = "../../rp2040-hal", version = "0.5.0"}
 cortex-m-rt = { version = "0.7", optional = true }
-embedded-time = "0.12.0"
+fugit = "0.3.5"
 embedded-hal ="0.2.5"
 
 [dev-dependencies]

boards/pimoroni-badger2040/examples/badger_blinky.rs

@@ -28,7 +28,7 @@ use pimoroni_badger2040::hal;
 
 // A few traits required for using the CountDown timer
 use embedded_hal::timer::CountDown;
-use embedded_time::duration::Extensions;
+use fugit::ExtU32;
 
 #[entry]
 fn main() -> ! {
@@ -75,12 +75,12 @@ fn main() -> ! {
     loop {
         // LED on, and wait for 500ms
         led_pin.set_high().unwrap();
-        delay.start(500.milliseconds());
+        delay.start(500.millis());
         let _ = nb::block!(delay.wait());
 
         // LED off, and wait for 500ms
         led_pin.set_low().unwrap();
-        delay.start(500.milliseconds());
+        delay.start(500.millis());
         let _ = nb::block!(delay.wait());
     }
 }

boards/pimoroni-pico-explorer/CHANGELOG.md

@@ -13,7 +13,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ### Changed
 
-- None
+- Migrate from `embedded-time` to `fugit`
 
 ## 0.3.0 - 2022-06-13
 

boards/pimoroni-pico-explorer/Cargo.toml

@@ -17,7 +17,7 @@ cortex-m-rt = { version = "0.7", optional = true }
 embedded-hal = { version = "0.2.4", features = ["unproven"] }
 st7789 = "0.6.1"
 display-interface-spi = "0.4.1"
-embedded-time = "0.12.0"
+fugit = "0.3.5"
 embedded-graphics = "0.7.1"
 rp2040-boot2 = { version = "0.2.0", optional = true }
 

boards/pimoroni-pico-explorer/examples/pimoroni_pico_explorer_showcase.rs

@@ -10,7 +10,6 @@ use embedded_graphics::{
     text::{Alignment, Text},
 };
 use embedded_hal::digital::v2::OutputPin;
-use embedded_time::rate::*;
 use hal::{adc::Adc, clocks::*, watchdog::Watchdog, Sio};
 use panic_halt as _;
 use pimoroni_pico_explorer::entry;
@@ -41,7 +40,7 @@ fn main() -> ! {
     .ok()
     .unwrap();
 
-    let mut delay = cortex_m::delay::Delay::new(cp.SYST, clocks.system_clock.get_freq().integer());
+    let mut delay = cortex_m::delay::Delay::new(cp.SYST, clocks.system_clock.get_freq().to_Hz());
 
     // Enable adc
     let mut adc = Adc::new(p.ADC, &mut p.RESETS);

boards/pimoroni-pico-explorer/src/lib.rs

@@ -30,7 +30,7 @@ use embedded_hal::{
     digital::v2::{InputPin, OutputPin},
     spi::MODE_0,
 };
-use embedded_time::rate::*;
+use fugit::RateExtU32;
 pub use hal::pac;
 use hal::{
     adc::Adc,
@@ -211,12 +211,7 @@ impl PicoExplorer {
         let spi_sclk = internal_pins.spi_sclk.into_mode::<FunctionSpi>();
         let spi_mosi = internal_pins.spi_mosi.into_mode::<FunctionSpi>();
 
-        let spi_screen = Spi::<_, _, 8>::new(spi0).init(
+        let spi_screen = Spi::<_, _, 8>::new(spi0).init(resets, 125u32.MHz(), 16u32.MHz(), &MODE_0);
-            resets,
-            125_000_000u32.Hz(),
-            16_000_000u32.Hz(),
-            &MODE_0,
-        );
 
         let spii_screen = SPIInterface::new(spi_screen, dc, cs);
 

boards/pimoroni-pico-lipo-16mb/CHANGELOG.md

@@ -13,7 +13,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ### Changed
 
-- None
+- Migrate from `embedded-time` to `fugit`
 
 ## 0.3.0 - 2022-06-13
 

boards/pimoroni-pico-lipo-16mb/Cargo.toml

@@ -17,7 +17,6 @@ cortex-m-rt = { version = "0.7", optional = true }
 rp2040-boot2 = { version = "0.2.0", optional = true }
 
 [dev-dependencies]
-embedded-time = "0.12.0"
 panic-halt= "0.2.0"
 embedded-hal ="0.2.5"
 nb = "1.0"

boards/pimoroni-pico-lipo-16mb/examples/pimoroni_pico_lipo_16mb_blinky.rs

@@ -16,9 +16,6 @@ use pimoroni_pico_lipo_16mb::entry;
 // GPIO traits
 use embedded_hal::digital::v2::OutputPin;
 
-// Time handling traits
-use embedded_time::rate::*;
-
 // Ensure we halt the program on panic (if we don't mention this crate it won't
 // be linked)
 use panic_halt as _;
@@ -67,7 +64,7 @@ fn main() -> ! {
 
     // The delay object lets us wait for specified amounts of time (in
     // milliseconds)
-    let mut delay = cortex_m::delay::Delay::new(core.SYST, clocks.system_clock.freq().integer());
+    let mut delay = cortex_m::delay::Delay::new(core.SYST, clocks.system_clock.freq().to_Hz());
 
     // The single-cycle I/O block controls our GPIO pins
     let sio = hal::Sio::new(pac.SIO);

boards/pimoroni-plasma-2040/CHANGELOG.md

@@ -10,4 +10,5 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 ### Changed
 
 - Use `rp2040-hal`'s entry function.
+- Migrate from `embedded-time` to `fugit`
 

boards/pimoroni-plasma-2040/Cargo.toml

@@ -15,7 +15,6 @@ cortex-m = "0.7.2"
 rp2040-boot2 = { version = "0.2.0", optional = true }
 rp2040-hal = { path = "../../rp2040-hal", version = "0.5.0" }
 cortex-m-rt = { version = "0.7", optional = true }
-embedded-time = "0.12.0"
 
 [dev-dependencies]
 rp2040-hal = { path = "../../rp2040-hal", version = "0.5.0", features = [ "defmt" ] }
@@ -23,6 +22,7 @@ panic-halt= "0.2.0"
 embedded-hal ="0.2.5"
 smart-leds = "0.3.0"
 ws2812-pio = "0.3.0"
+fugit = "0.3.5"
 
 defmt = "0.3.0"
 defmt-rtt = "0.3.0"

boards/pimoroni-plasma-2040/examples/pimoroni_plasma_2040_blinky.rs

@@ -5,7 +5,6 @@
 use defmt::*;
 use defmt_rtt as _;
 use embedded_hal::digital::v2::OutputPin;
-use embedded_time::fixed_point::FixedPoint;
 use panic_halt as _;
 
 use pimoroni_plasma_2040 as bsp;
@@ -41,7 +40,7 @@ fn main() -> ! {
     .ok()
     .unwrap();
 
-    let mut delay = cortex_m::delay::Delay::new(core.SYST, clocks.system_clock.freq().integer());
+    let mut delay = cortex_m::delay::Delay::new(core.SYST, clocks.system_clock.freq().to_Hz());
 
     let pins = bsp::Pins::new(
         pac.IO_BANK0,

boards/pimoroni-plasma-2040/examples/pimoroni_plasma_2040_ws2812_led.rs

@@ -13,9 +13,6 @@ use panic_halt as _;
 // Pull in any important traits
 use pimoroni_plasma_2040::hal::prelude::*;
 
-// Embed the `Hz` function/trait:
-use embedded_time::rate::*;
-
 // A shorter alias for the Peripheral Access Crate, which provides low-level
 // register access
 use pimoroni_plasma_2040::hal::pac;
@@ -82,7 +79,7 @@ fn main() -> ! {
 
     // Setup a delay for the LED blink signals:
     let mut frame_delay =
-        cortex_m::delay::Delay::new(core.SYST, clocks.system_clock.freq().integer());
+        cortex_m::delay::Delay::new(core.SYST, clocks.system_clock.freq().to_Hz());
 
     // Import the `sin` function for a smooth hue animation from the
     // Pico rp2040 ROM:

boards/pimoroni-tiny2040/CHANGELOG.md

@@ -0,0 +1,13 @@
+# Changelog
+
+All notable changes to this project will be documented in this file.
+
+The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/),
+and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0.html).
+
+## Unreleased
+
+### Changed
+
+- Migrate from `embedded-time` to `fugit`
+

boards/pimoroni-tiny2040/Cargo.toml

@@ -15,12 +15,12 @@ cortex-m = "0.7.2"
 rp2040-boot2 = { version = "0.2.0", optional = true }
 rp2040-hal = { path = "../../rp2040-hal", version = "0.5.0" }
 cortex-m-rt = { version = "0.7", optional = true }
-embedded-time = "0.12.0"
 
 [dev-dependencies]
 rp2040-hal = { path = "../../rp2040-hal", version = "0.5.0", features = [ "defmt" ] }
 panic-halt= "0.2.0"
 embedded-hal ="0.2.5"
+fugit = "0.3.5"
 
 defmt = "0.3.0"
 defmt-rtt = "0.3.0"

boards/pimoroni-tiny2040/examples/tiny2040_blinky.rs

@@ -6,7 +6,6 @@ use bsp::entry;
 use defmt::*;
 use defmt_rtt as _;
 use embedded_hal::digital::v2::OutputPin;
-use embedded_time::fixed_point::FixedPoint;
 use panic_halt as _;
 
 use pimoroni_tiny2040 as bsp;
@@ -38,7 +37,7 @@ fn main() -> ! {
     .ok()
     .unwrap();
 
-    let mut delay = cortex_m::delay::Delay::new(core.SYST, clocks.system_clock.freq().integer());
+    let mut delay = cortex_m::delay::Delay::new(core.SYST, clocks.system_clock.freq().to_Hz());
 
     let pins = bsp::Pins::new(
         pac.IO_BANK0,

boards/rp-pico/CHANGELOG.md

@@ -15,6 +15,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 ### Changed
 
 - Use `rp2040-hal`'s entry function.
+- Migrate from `embedded-time` to `fugit`
 
 ## 0.4.0 - 2022-06-13
 

boards/rp-pico/Cargo.toml

@@ -15,7 +15,7 @@ cortex-m = "0.7.2"
 rp2040-boot2 = { version = "0.2.0", optional = true }
 rp2040-hal = { path = "../../rp2040-hal", version = "0.5.0" }
 cortex-m-rt = { version = "0.7", optional = true }
-embedded-time = "0.12.0"
+fugit = "0.3.5"
 usb-device= "0.2.9"
 usbd-serial = "0.1.1"
 usbd-hid = "0.5.1"

boards/rp-pico/examples/pico_blinky.rs

@@ -16,9 +16,6 @@ use rp_pico::entry;
 // GPIO traits
 use embedded_hal::digital::v2::OutputPin;
 
-// Time handling traits
-use embedded_time::rate::*;
-
 // Ensure we halt the program on panic (if we don't mention this crate it won't
 // be linked)
 use panic_halt as _;
@@ -67,7 +64,7 @@ fn main() -> ! {
 
     // The delay object lets us wait for specified amounts of time (in
     // milliseconds)
-    let mut delay = cortex_m::delay::Delay::new(core.SYST, clocks.system_clock.freq().integer());
+    let mut delay = cortex_m::delay::Delay::new(core.SYST, clocks.system_clock.freq().to_Hz());
 
     // The single-cycle I/O block controls our GPIO pins
     let sio = hal::Sio::new(pac.SIO);

boards/rp-pico/examples/pico_countdown_blinky.rs

@@ -19,7 +19,7 @@ use cortex_m::prelude::*;
 use embedded_hal::digital::v2::OutputPin;
 
 // Traits for converting integers to amounts of time
-use embedded_time::duration::Extensions;
+use fugit::ExtU32;
 
 // Ensure we halt the program on panic (if we don't mention this crate it won't
 // be linked)
@@ -77,12 +77,12 @@ fn main() -> ! {
     loop {
         // LED on, and wait for 500ms
         led_pin.set_high().unwrap();
-        count_down.start(500.milliseconds());
+        count_down.start(500.millis());
         let _ = nb::block!(count_down.wait());
 
         // LED off, and wait for 500ms
         led_pin.set_low().unwrap();
-        count_down.start(500.milliseconds());
+        count_down.start(500.millis());
         let _ = nb::block!(count_down.wait());
     }
 }

boards/rp-pico/examples/pico_hd44780_display.rs

@@ -48,9 +48,6 @@ use rp_pico::hal::prelude::*;
 // GPIO traits
 use embedded_hal::digital::v2::OutputPin;
 
-// Time handling traits
-use embedded_time::rate::*;
-
 // For LCD display
 use hd44780_driver::HD44780;
 
@@ -95,7 +92,7 @@ fn main() -> ! {
     let mut led_pin = pins.led.into_push_pull_output();
 
     // The delay object lets us wait for specified amounts of time
-    let mut delay = cortex_m::delay::Delay::new(core.SYST, clocks.system_clock.freq().integer());
+    let mut delay = cortex_m::delay::Delay::new(core.SYST, clocks.system_clock.freq().to_Hz());
 
     // Init pins
     let rs = pins.gpio7.into_push_pull_output();

boards/rp-pico/examples/pico_i2c_oled_display_ssd1306.rs

@@ -48,8 +48,7 @@ use core::fmt::Write;
 use rp_pico::entry;
 
 // Time handling traits:
-use embedded_time::duration::*;
+use fugit::{ExtU32, RateExtU32};
-use embedded_time::rate::Extensions;
 
 // CountDown timer for the counter on the display:
 use embedded_hal::timer::CountDown;
@@ -182,7 +181,7 @@ fn main() -> ! {
         display.flush().unwrap();
 
         // Wait a bit:
-        delay.start(500.milliseconds());
+        delay.start(500.millis());
         let _ = nb::block!(delay.wait());
     }
 }

boards/rp-pico/examples/pico_i2c_pio.rs

@@ -21,7 +21,7 @@ use rp_pico::entry;
 use embedded_hal::blocking::i2c::{Operation, Read, Transactional, Write};
 
 // Time handling traits
-use embedded_time::rate::*;
+use fugit::RateExtU32;
 
 // Ensure we halt the program on panic (if we don't mention this crate it won't
 // be linked)
@@ -109,7 +109,7 @@ fn main() -> ! {
         pins.gpio20,
         pins.gpio21,
         sm0,
-        100_000.Hz(),
+        100.kHz(),
         clocks.system_clock.freq(),
     );
 

boards/rp-pico/examples/pico_pio_pwm.rs

@@ -17,9 +17,6 @@ use defmt_rtt as _;
 // The macro for our start-up function
 use rp_pico::entry;
 
-// Time handling traits
-use embedded_time::rate::*;
-
 // Ensure we halt the program on panic (if we don't mention this crate it won't
 // be linked)
 use panic_halt as _;
@@ -125,7 +122,7 @@ fn main() -> ! {
 
     // The delay object lets us wait for specified amounts of time (in
     // milliseconds)
-    let mut delay = cortex_m::delay::Delay::new(core.SYST, clocks.system_clock.freq().integer());
+    let mut delay = cortex_m::delay::Delay::new(core.SYST, clocks.system_clock.freq().to_Hz());
 
     let (mut pio0, sm0, _, _, _) = pac.PIO0.split(&mut pac.RESETS);
 

boards/rp-pico/examples/pico_pwm_blink.rs

@@ -16,9 +16,6 @@ use rp_pico::entry;
 // GPIO traits
 use embedded_hal::PwmPin;
 
-// Time handling traits
-use embedded_time::rate::*;
-
 // Ensure we halt the program on panic (if we don't mention this crate it won't
 // be linked)
 use panic_halt as _;
@@ -84,7 +81,7 @@ fn main() -> ! {
 
     // The delay object lets us wait for specified amounts of time (in
     // milliseconds)
-    let mut delay = cortex_m::delay::Delay::new(core.SYST, clocks.system_clock.freq().integer());
+    let mut delay = cortex_m::delay::Delay::new(core.SYST, clocks.system_clock.freq().to_Hz());
 
     // Init PWMs
     let mut pwm_slices = hal::pwm::Slices::new(pac.PWM, &mut pac.RESETS);

boards/rp-pico/examples/pico_pwm_servo.rs

@@ -15,7 +15,7 @@ use cortex_m::prelude::*;
 use embedded_hal::PwmPin;
 
 // Traits for converting integers to amounts of time
-use embedded_time::duration::Extensions;
+use fugit::ExtU32;
 
 // Ensure we halt the program on panic (if we don't mention this crate it won't
 // be linked)
@@ -93,22 +93,22 @@ fn main() -> ! {
     loop {
         // move to 0°
         channel.set_duty(2500);
-        count_down.start(400.milliseconds());
+        count_down.start(400.millis());
         let _ = nb::block!(count_down.wait());
 
         // 0° to 90°
         channel.set_duty(3930);
-        count_down.start(400.milliseconds());
+        count_down.start(400.millis());
         let _ = nb::block!(count_down.wait());
 
         // 90° to 180°
         channel.set_duty(7860);
-        count_down.start(400.milliseconds());
+        count_down.start(400.millis());
         let _ = nb::block!(count_down.wait());
 
         // 180° to 90°
         channel.set_duty(3930);
-        count_down.start(400.milliseconds());
+        count_down.start(400.millis());
         let _ = nb::block!(count_down.wait());
     }
 }

boards/rp-pico/examples/pico_rtic.rs

@@ -7,13 +7,13 @@ use panic_halt as _;
 mod app {
 
     use embedded_hal::digital::v2::OutputPin;
-    use embedded_time::duration::Extensions;
+    use fugit::SecsDurationU32;
     use rp_pico::{
         hal::{self, clocks::init_clocks_and_plls, timer::Alarm, watchdog::Watchdog, Sio},
         XOSC_CRYSTAL_FREQ,
     };
 
-    const SCAN_TIME_US: u32 = 1000000;
+    const SCAN_TIME_US: SecsDurationU32 = SecsDurationU32::secs(1);
 
     #[shared]
     struct Shared {
@@ -58,7 +58,7 @@ mod app {
 
         let mut timer = hal::Timer::new(c.device.TIMER, &mut resets);
         let mut alarm = timer.alarm_0().unwrap();
-        let _ = alarm.schedule(SCAN_TIME_US.microseconds());
+        let _ = alarm.schedule(SCAN_TIME_US);
         alarm.enable_interrupt();
 
         (Shared { timer, alarm, led }, Local {}, init::Monotonics())
@@ -81,7 +81,7 @@ mod app {
         let mut alarm = c.shared.alarm;
         (alarm).lock(|a| {
             a.clear_interrupt();
-            let _ = a.schedule(SCAN_TIME_US.microseconds());
+            let _ = a.schedule(SCAN_TIME_US);
         });
     }
 }

boards/rp-pico/examples/pico_spi_sd_card.rs

@@ -107,7 +107,7 @@ use panic_halt as _;
 use rp_pico::hal::prelude::*;
 
 // Embed the `Hz` function/trait:
-use embedded_time::rate::*;
+use fugit::RateExtU32;
 
 // A shorter alias for the Peripheral Access Crate, which provides low-level
 // register access
@@ -236,7 +236,7 @@ fn main() -> ! {
     let mut led_pin = pins.led.into_push_pull_output();
 
     // Setup a delay for the LED blink signals:
-    let mut delay = cortex_m::delay::Delay::new(core.SYST, clocks.system_clock.freq().integer());
+    let mut delay = cortex_m::delay::Delay::new(core.SYST, clocks.system_clock.freq().to_Hz());
 
     // These are implicitly used by the spi driver if they are in the correct mode
     let _spi_sclk = pins.gpio2.into_mode::<gpio::FunctionSpi>();

boards/rp-pico/examples/pico_uart_irq_buffer.rs

@@ -21,9 +21,6 @@
 // objects as generic embedded devices.
 use embedded_hal::{digital::v2::OutputPin, serial::Write as UartWrite};
 
-// We need this for the 'Delay' object to work.
-use embedded_time::fixed_point::FixedPoint;
-
 // The writeln! trait.
 use core::fmt::Write;
 
@@ -114,7 +111,7 @@ fn main() -> ! {
     .unwrap();
 
     // Lets us wait for fixed periods of time
-    let mut delay = cortex_m::delay::Delay::new(core.SYST, clocks.system_clock.freq().integer());
+    let mut delay = cortex_m::delay::Delay::new(core.SYST, clocks.system_clock.freq().to_Hz());
 
     // The single-cycle I/O block controls our GPIO pins
     let sio = hal::Sio::new(pac.SIO);

boards/rp-pico/examples/pico_uart_irq_echo.rs

@@ -22,9 +22,6 @@ use embedded_hal::{
     serial::{Read, Write},
 };
 
-// We need this for the 'Delay' object to work.
-use embedded_time::fixed_point::FixedPoint;
-
 // We also need this for the 'Delay' object to work.
 use rp2040_hal::Clock;
 
@@ -98,7 +95,7 @@ fn main() -> ! {
     .unwrap();
 
     // Lets us wait for fixed periods of time
-    let mut delay = cortex_m::delay::Delay::new(core.SYST, clocks.system_clock.freq().integer());
+    let mut delay = cortex_m::delay::Delay::new(core.SYST, clocks.system_clock.freq().to_Hz());
 
     // The single-cycle I/O block controls our GPIO pins
     let sio = hal::Sio::new(pac.SIO);

boards/rp-pico/examples/pico_usb_serial_interrupt.rs

@@ -21,9 +21,6 @@ use rp_pico::hal::pac::interrupt;
 // GPIO traits
 use embedded_hal::digital::v2::OutputPin;
 
-// Time handling traits
-use embedded_time::rate::*;
-
 // Ensure we halt the program on panic (if we don't mention this crate it won't
 // be linked)
 use panic_halt as _;
@@ -131,7 +128,7 @@ fn main() -> ! {
 
     // The delay object lets us wait for specified amounts of time (in
     // milliseconds)
-    let mut delay = cortex_m::delay::Delay::new(core.SYST, clocks.system_clock.freq().integer());
+    let mut delay = cortex_m::delay::Delay::new(core.SYST, clocks.system_clock.freq().to_Hz());
 
     // The single-cycle I/O block controls our GPIO pins
     let sio = hal::Sio::new(pac.SIO);

boards/rp-pico/examples/pico_usb_twitchy_mouse.rs

@@ -25,7 +25,6 @@ use rp_pico::hal::pac::interrupt;
 use panic_halt as _;
 
 // Pull in any important traits
-use embedded_time::fixed_point::FixedPoint;
 use rp_pico::hal::prelude::*;
 
 // A shorter alias for the Peripheral Access Crate, which provides low-level
@@ -136,7 +135,7 @@ fn main() -> ! {
         pac::NVIC::unmask(hal::pac::Interrupt::USBCTRL_IRQ);
     };
     let core = pac::CorePeripherals::take().unwrap();
-    let mut delay = cortex_m::delay::Delay::new(core.SYST, clocks.system_clock.freq().integer());
+    let mut delay = cortex_m::delay::Delay::new(core.SYST, clocks.system_clock.freq().to_Hz());
 
     // Move the cursor up and down every 200ms
     loop {

boards/rp-pico/examples/pico_ws2812_led.rs

@@ -50,9 +50,6 @@ use panic_halt as _;
 // Pull in any important traits
 use rp_pico::hal::prelude::*;
 
-// Embed the `Hz` function/trait:
-use embedded_time::rate::*;
-
 // A shorter alias for the Peripheral Access Crate, which provides low-level
 // register access
 use rp_pico::hal::pac;
@@ -115,7 +112,7 @@ fn main() -> ! {
 
     // Setup a delay for the LED blink signals:
     let mut frame_delay =
-        cortex_m::delay::Delay::new(core.SYST, clocks.system_clock.freq().integer());
+        cortex_m::delay::Delay::new(core.SYST, clocks.system_clock.freq().to_Hz());
 
     // Import the `sin` function for a smooth hue animation from the
     // Pico rp2040 ROM:

boards/seeeduino-xiao-rp2040/CHANGELOG.md

@@ -13,7 +13,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ### Changed
 
-- None
+- Migrate from `embedded-time` to `fugit`
 
 ## 0.1.0 - 2022-06-26
 

boards/seeeduino-xiao-rp2040/Cargo.toml

@@ -17,7 +17,7 @@ cortex-m-rt = { version = "0.7", optional = true }
 rp2040-boot2 = { version = "0.2.0", optional = true }
 
 [dev-dependencies]
-embedded-time = "0.12.0"
+fugit = "0.3.5"
 panic-halt= "0.2.0"
 embedded-hal ="0.2.5"
 nb = "1.0"

boards/seeeduino-xiao-rp2040/examples/seeeduino_xiao_rp2040_blinky.rs

@@ -17,9 +17,6 @@ use seeeduino_xiao_rp2040::entry;
 use embedded_hal::digital::v2::OutputPin;
 use embedded_hal::PwmPin;
 
-// Time handling traits
-use embedded_time::rate::*;
-
 // Ensure we halt the program on panic (if we don't mention this crate it won't
 // be linked)
 use panic_halt as _;
@@ -85,7 +82,7 @@ fn main() -> ! {
 
     // The delay object lets us wait for specified amounts of time (in
     // milliseconds)
-    let mut delay = cortex_m::delay::Delay::new(core.SYST, clocks.system_clock.freq().integer());
+    let mut delay = cortex_m::delay::Delay::new(core.SYST, clocks.system_clock.freq().to_Hz());
 
     // Init PWMs
     let mut pwm_slices = hal::pwm::Slices::new(pac.PWM, &mut pac.RESETS);

boards/solderparty-rp2040-stamp/CHANGELOG.md

@@ -0,0 +1,13 @@
+# Changelog
+
+All notable changes to this project will be documented in this file.
+
+The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/),
+and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0.html).
+
+## Unreleased
+
+### Changed
+
+- Migrate from `embedded-time` to `fugit`
+

boards/solderparty-rp2040-stamp/Cargo.toml

@@ -28,4 +28,4 @@ nb = "1.0.0"
 smart-leds = "0.3.0"
 pio = "0.1.0"
 ws2812-pio = "0.3.0"
-embedded-time = "0.12.0"
+fugit = "0.3.5"

boards/solderparty-rp2040-stamp/examples/solderparty_stamp_neopixel_rainbow.rs

@@ -8,7 +8,7 @@
 
 use core::iter::once;
 use embedded_hal::timer::CountDown;
-use embedded_time::duration::Extensions;
+use fugit::ExtU32;
 use panic_halt as _;
 use smart_leds::{brightness, SmartLedsWrite, RGB8};
 use solderparty_rp2040_stamp::entry;
@@ -71,7 +71,7 @@ fn main() -> ! {
         ws.write(brightness(once(wheel(n)), 32)).unwrap();
         n = n.wrapping_add(1);
 
-        delay.start(25.milliseconds());
+        delay.start(25u32.millis());
         let _ = nb::block!(delay.wait());
     }
 }

boards/sparkfun-pro-micro-rp2040/CHANGELOG.md

@@ -13,7 +13,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ### Changed
 
-- None
+- Migrate from `embedded-time` to `fugit`
 
 ## 0.3.0 - 2022-06-13
 

boards/sparkfun-pro-micro-rp2040/Cargo.toml

@@ -20,10 +20,10 @@ rp2040-boot2 = { version = "0.2.0", optional = true }
 [dev-dependencies]
 panic-halt = "0.2.0"
 smart-leds = "0.3.0"
-embedded-time = "0.12.0"
 nb = "1.0.0"
 pio = "0.1.0"
 ws2812-pio = "0.3.0"
+fugit = "0.3.5"
 
 [features]
 default = ["boot2", "rt"]

boards/sparkfun-pro-micro-rp2040/examples/sparkfun_pro_micro_rainbow.rs

@@ -10,7 +10,7 @@
 
 use core::iter::once;
 use embedded_hal::timer::CountDown;
-use embedded_time::duration::Extensions;
+use fugit::ExtU32;
 use panic_halt as _;
 use sparkfun_pro_micro_rp2040::entry;
 
@@ -83,7 +83,7 @@ fn main() -> ! {
         ws.write(brightness(once(wheel(n)), 32)).unwrap();
         n = n.wrapping_add(1);
 
-        delay.start(25.milliseconds());
+        delay.start(25.millis());
         let _ = nb::block!(delay.wait());
     }
 }

boards/sparkfun-thing-plus-rp2040/CHANGELOG.md

@@ -14,6 +14,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 ### Changed
 
 - Use `rp2040-hal`'s entry function.
+- Migrate from `embedded-time` to `fugit`
 
 ## 0.2.0 - 2022-06-13
 

boards/sparkfun-thing-plus-rp2040/Cargo.toml

@@ -20,10 +20,10 @@ rp2040-boot2 = { version = "0.2.0", optional = true }
 [dev-dependencies]
 panic-halt = "0.2.0"
 smart-leds = "0.3.0"
-embedded-time = "0.12.0"
 nb = "1.0.0"
 pio = "0.1.0"
 ws2812-pio = "0.3.0"
+fugit = "0.3.5"
 
 [features]
 default = ["boot2", "rt"]

boards/sparkfun-thing-plus-rp2040/examples/sparkfun_thing_plus_rainbow.rs

@@ -10,7 +10,7 @@
 
 use core::iter::once;
 use embedded_hal::timer::CountDown;
-use embedded_time::duration::Extensions;
+use fugit::ExtU32;
 use panic_halt as _;
 
 use smart_leds::{brightness, SmartLedsWrite, RGB8};
@@ -82,7 +82,7 @@ fn main() -> ! {
         ws.write(brightness(once(wheel(n)), 32)).unwrap();
         n = n.wrapping_add(1);
 
-        delay.start(25.milliseconds());
+        delay.start(25.millis());
         let _ = nb::block!(delay.wait());
     }
 }

boards/vcc-gnd-yd-rp2040/CHANGELOG.md

@@ -13,7 +13,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ### Changed
 
-- None
+- Migrate from `embedded-time` to `fugit`
 
 ## 0.1.0 - 2022-07-17
 

boards/vcc-gnd-yd-rp2040/Cargo.toml

@@ -15,7 +15,7 @@ cortex-m = "0.7.2"
 rp2040-boot2 = { version = "0.2.0", optional = true }
 rp2040-hal = { path = "../../rp2040-hal", version = "0.5.0" }
 cortex-m-rt = { version = "0.7", optional = true }
-embedded-time = "0.12.0"
+fugit = "0.3.5"
 usb-device= "0.2.9"
 usbd-serial = "0.1.1"
 usbd-hid = "0.5.1"

boards/vcc-gnd-yd-rp2040/examples/yd_rp2040_blinky.rs

@@ -5,7 +5,6 @@
 #![no_main]
 
 use embedded_hal::digital::v2::OutputPin;
-use embedded_time::rate::*;
 use panic_halt as _;
 use vcc_gnd_yd_rp2040::entry;
 use vcc_gnd_yd_rp2040::{
@@ -37,7 +36,7 @@ fn main() -> ! {
     .ok()
     .unwrap();
 
-    let mut delay = cortex_m::delay::Delay::new(core.SYST, clocks.system_clock.freq().integer());
+    let mut delay = cortex_m::delay::Delay::new(core.SYST, clocks.system_clock.freq().to_Hz());
 
     let sio = Sio::new(pac.SIO);
     let pins = Pins::new(

boards/vcc-gnd-yd-rp2040/examples/yd_rp2040_neopixel_rainbow.rs

@@ -8,7 +8,7 @@
 
 use core::iter::once;
 use embedded_hal::timer::CountDown;
-use embedded_time::duration::Extensions;
+use fugit::ExtU32;
 use panic_halt as _;
 use smart_leds::{brightness, SmartLedsWrite, RGB8};
 use vcc_gnd_yd_rp2040::entry;
@@ -71,7 +71,7 @@ fn main() -> ! {
         ws.write(brightness(once(wheel(n)), 32)).unwrap();
         n = n.wrapping_add(1);
 
-        delay.start(25.milliseconds());
+        delay.start(25.millis());
         let _ = nb::block!(delay.wait());
     }
 }

rp2040-hal/CHANGELOG.md

@@ -21,6 +21,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 - Implement `From<&SomeClock> for Hertz` instead of `From<SomeClock> for Hertz`
   for the clocks in `rp2040_hal::clocks`.
 - Use `rp2040-hal`'s entry function.
+- Migrate from `embedded-time` to `fugit`
 
 ## [0.5.0] - 2022-06-13
 

rp2040-hal/Cargo.toml

@@ -14,7 +14,7 @@ cortex-m = "0.7.2"
 cortex-m-rt = ">=0.6.15,<0.8"
 embedded-hal = { version = "0.2.5", features = ["unproven"] }
 eh1_0_alpha = { package = "embedded-hal", version = "=1.0.0-alpha.8",  optional = true }
-embedded-time = "0.12.0"
+fugit = "0.3.6"
 itertools = { version = "0.10.1", default-features = false }
 nb = "1.0"
 rp2040-pac = "0.3.0"

rp2040-hal/examples/adc.rs

@@ -20,7 +20,6 @@ use rp2040_hal as hal;
 // Some traits we need
 use core::fmt::Write;
 use embedded_hal::adc::OneShot;
-use embedded_time::fixed_point::FixedPoint;
 use rp2040_hal::Clock;
 
 // A shorter alias for the Peripheral Access Crate, which provides low-level
@@ -68,7 +67,7 @@ fn main() -> ! {
 
     // The delay object lets us wait for specified amounts of time (in
     // milliseconds)
-    let mut delay = cortex_m::delay::Delay::new(core.SYST, clocks.system_clock.freq().integer());
+    let mut delay = cortex_m::delay::Delay::new(core.SYST, clocks.system_clock.freq().to_Hz());
 
     // The single-cycle I/O block controls our GPIO pins
     let sio = hal::Sio::new(pac.SIO);

rp2040-hal/examples/blinky.rs

@@ -22,7 +22,6 @@ use hal::pac;
 
 // Some traits we need
 use embedded_hal::digital::v2::OutputPin;
-use embedded_time::fixed_point::FixedPoint;
 use rp2040_hal::clocks::Clock;
 
 /// The linker will place this boot block at the start of our program image. We
@@ -64,7 +63,7 @@ fn main() -> ! {
     .ok()
     .unwrap();
 
-    let mut delay = cortex_m::delay::Delay::new(core.SYST, clocks.system_clock.freq().integer());
+    let mut delay = cortex_m::delay::Delay::new(core.SYST, clocks.system_clock.freq().to_Hz());
 
     // The single-cycle I/O block controls our GPIO pins
     let sio = hal::Sio::new(pac.SIO);

rp2040-hal/examples/dht11.rs

@@ -26,7 +26,6 @@ use hal::pac;
 // Some traits we need
 use embedded_hal::digital::v2::InputPin;
 use embedded_hal::digital::v2::OutputPin;
-use embedded_time::fixed_point::FixedPoint;
 use hal::gpio::dynpin::DynPin;
 use hal::Clock;
 
@@ -124,7 +123,7 @@ fn main() -> ! {
         &mut pac.RESETS,
     );
 
-    let mut delay = cortex_m::delay::Delay::new(core.SYST, clocks.system_clock.freq().integer());
+    let mut delay = cortex_m::delay::Delay::new(core.SYST, clocks.system_clock.freq().to_Hz());
 
     // Use GPIO 28 as an InOutPin
     let mut pin = InOutPin::new(pins.gpio28.into());

rp2040-hal/examples/i2c.rs

@@ -15,7 +15,7 @@ use panic_halt as _;
 
 // Some traits we need
 use embedded_hal::blocking::i2c::Write;
-use embedded_time::rate::Extensions;
+use fugit::RateExtU32;
 
 // Alias for our HAL crate
 use rp2040_hal as hal;

rp2040-hal/examples/lcd_display.rs

@@ -23,7 +23,6 @@ use rp2040_hal as hal;
 use hd44780_driver as hd44780;
 
 // Some traits we need
-use embedded_time::fixed_point::FixedPoint;
 use rp2040_hal::clocks::Clock;
 
 // A shorter alias for the Peripheral Access Crate, which provides low-level
@@ -71,7 +70,7 @@ fn main() -> ! {
 
     // The delay object lets us wait for specified amounts of time (in
     // milliseconds)
-    let mut delay = cortex_m::delay::Delay::new(core.SYST, clocks.system_clock.freq().integer());
+    let mut delay = cortex_m::delay::Delay::new(core.SYST, clocks.system_clock.freq().to_Hz());
 
     // The single-cycle I/O block controls our GPIO pins
     let sio = hal::Sio::new(pac.SIO);

rp2040-hal/examples/multicore_fifo_blink.rs

@@ -12,7 +12,6 @@
 #![no_std]
 #![no_main]
 
-use embedded_time::fixed_point::FixedPoint;
 use hal::clocks::Clock;
 use hal::multicore::{Multicore, Stack};
 use hal::sio::Sio;
@@ -107,7 +106,7 @@ fn main() -> ! {
     .ok()
     .unwrap();
 
-    let sys_freq = clocks.system_clock.freq().integer();
+    let sys_freq = clocks.system_clock.freq().to_Hz();
 
     // The single-cycle I/O block controls our GPIO pins
     let mut sio = hal::sio::Sio::new(pac.SIO);

rp2040-hal/examples/multicore_polyblink.rs

@@ -10,7 +10,6 @@
 
 use cortex_m::delay::Delay;
 
-use embedded_time::fixed_point::FixedPoint;
 use hal::clocks::Clock;
 use hal::gpio::Pins;
 use hal::multicore::{Multicore, Stack};
@@ -98,7 +97,7 @@ fn main() -> ! {
     let mut led2 = pins.gpio3.into_push_pull_output();
 
     // Set up the delay for the first core.
-    let sys_freq = clocks.system_clock.freq().integer();
+    let sys_freq = clocks.system_clock.freq().to_Hz();
     let mut delay = Delay::new(core.SYST, sys_freq);
 
     // Start up the second core to blink the second LED

rp2040-hal/examples/pwm_blink.rs

@@ -19,7 +19,6 @@ use rp2040_hal as hal;
 
 // Some traits we need
 use embedded_hal::PwmPin;
-use embedded_time::rate::*;
 use rp2040_hal::clocks::Clock;
 
 // A shorter alias for the Peripheral Access Crate, which provides low-level
@@ -86,7 +85,7 @@ fn main() -> ! {
 
     // The delay object lets us wait for specified amounts of time (in
     // milliseconds)
-    let mut delay = cortex_m::delay::Delay::new(core.SYST, clocks.system_clock.freq().integer());
+    let mut delay = cortex_m::delay::Delay::new(core.SYST, clocks.system_clock.freq().to_Hz());
 
     // Init PWMs
     let mut pwm_slices = hal::pwm::Slices::new(pac.PWM, &mut pac.RESETS);

rp2040-hal/examples/spi.rs

@@ -21,7 +21,7 @@ use rp2040_hal as hal;
 
 // Some traits we need
 use cortex_m::prelude::*;
-use embedded_time::rate::Extensions;
+use fugit::RateExtU32;
 use rp2040_hal::clocks::Clock;
 
 // A shorter alias for the Peripheral Access Crate, which provides low-level
@@ -87,7 +87,7 @@ fn main() -> ! {
     let mut spi = spi.init(
         &mut pac.RESETS,
         clocks.peripheral_clock.freq(),
-        16_000_000u32.Hz(),
+        16.MHz(),
         &embedded_hal::spi::MODE_0,
     );
 

rp2040-hal/examples/uart.rs

@@ -24,7 +24,6 @@ use hal::pac;
 
 // Some traits we need
 use core::fmt::Write;
-use embedded_time::fixed_point::FixedPoint;
 use rp2040_hal::clocks::Clock;
 
 /// The linker will place this boot block at the start of our program image. We
@@ -66,7 +65,7 @@ fn main() -> ! {
     .ok()
     .unwrap();
 
-    let mut delay = cortex_m::delay::Delay::new(core.SYST, clocks.system_clock.freq().integer());
+    let mut delay = cortex_m::delay::Delay::new(core.SYST, clocks.system_clock.freq().to_Hz());
 
     // The single-cycle I/O block controls our GPIO pins
     let sio = hal::Sio::new(pac.SIO);

rp2040-hal/examples/vector_table.rs

@@ -22,8 +22,7 @@ use hal::pac;
 use core::cell::RefCell;
 use critical_section::Mutex;
 use embedded_hal::digital::v2::ToggleableOutputPin;
-use embedded_time::duration::Microseconds;
+use fugit::MicrosDurationU32;
-use embedded_time::fixed_point::FixedPoint;
 use pac::interrupt;
 use rp2040_hal::clocks::Clock;
 use rp2040_hal::timer::Alarm;
@@ -42,8 +41,8 @@ type LedAndAlarm = (
 static mut LED_AND_ALARM: Mutex<RefCell<Option<LedAndAlarm>>> = Mutex::new(RefCell::new(None));
 
 // Period that each of the alarms will be set for - 1 second and 300ms respectively
-const SLOW_BLINK_INTERVAL_US: u32 = 1_000_000;
+const SLOW_BLINK_INTERVAL_US: MicrosDurationU32 = MicrosDurationU32::secs(1);
-const FAST_BLINK_INTERVAL_US: u32 = 300_000;
+const FAST_BLINK_INTERVAL_US: MicrosDurationU32 = MicrosDurationU32::millis(300);
 
 /// The linker will place this boot block at the start of our program image. We
 /// need this to help the ROM bootloader get our code up and running.
@@ -96,7 +95,7 @@ fn main() -> ! {
     .unwrap();
 
     // Create simple delay
-    let mut delay = cortex_m::delay::Delay::new(core.SYST, clocks.system_clock.freq().integer());
+    let mut delay = cortex_m::delay::Delay::new(core.SYST, clocks.system_clock.freq().to_Hz());
 
     // Set the pins to their default state
     let pins = hal::gpio::Pins::new(
@@ -113,7 +112,7 @@ fn main() -> ! {
     critical_section::with(|cs| {
         let mut alarm = timer.alarm_0().unwrap();
         // Schedule an alarm in 1 second
-        let _ = alarm.schedule(Microseconds(SLOW_BLINK_INTERVAL_US));
+        let _ = alarm.schedule(SLOW_BLINK_INTERVAL_US);
         // Enable generating an interrupt on alarm
         alarm.enable_interrupt();
         // Move alarm into ALARM, so that it can be accessed from interrupts
@@ -151,7 +150,7 @@ fn TIMER_IRQ_0() {
             // Clear the alarm interrupt or this interrupt service routine will keep firing
             alarm.clear_interrupt();
             // Schedule a new alarm after SLOW_BLINK_INTERVAL_US have passed (1 second)
-            let _ = alarm.schedule(Microseconds(SLOW_BLINK_INTERVAL_US));
+            let _ = alarm.schedule(SLOW_BLINK_INTERVAL_US);
             // Blink the LED so we know we hit this interrupt
             led.toggle().unwrap();
             // Return LED_AND_ALARM into our static variable
@@ -172,7 +171,7 @@ extern "C" fn timer_irq0_replacement() {
             // Clear the alarm interrupt or this interrupt service routine will keep firing
             alarm.clear_interrupt();
             // Schedule a new alarm after FAST_BLINK_INTERVAL_US have passed (300 milliseconds)
-            let _ = alarm.schedule(Microseconds(FAST_BLINK_INTERVAL_US));
+            let _ = alarm.schedule(FAST_BLINK_INTERVAL_US);
             led.toggle().unwrap();
             // Return LED_AND_ALARM into our static variable
             unsafe {

rp2040-hal/examples/watchdog.rs

@@ -23,8 +23,7 @@ use hal::pac;
 // Some traits we need
 use embedded_hal::digital::v2::OutputPin;
 use embedded_hal::watchdog::{Watchdog, WatchdogEnable};
-use embedded_time::duration::Extensions;
+use fugit::ExtU32;
-use embedded_time::fixed_point::FixedPoint;
 use rp2040_hal::clocks::Clock;
 
 /// The linker will place this boot block at the start of our program image. We
@@ -67,7 +66,7 @@ fn main() -> ! {
     .ok()
     .unwrap();
 
-    let mut delay = cortex_m::delay::Delay::new(core.SYST, clocks.system_clock.freq().integer());
+    let mut delay = cortex_m::delay::Delay::new(core.SYST, clocks.system_clock.freq().to_Hz());
 
     // The single-cycle I/O block controls our GPIO pins
     let sio = hal::Sio::new(pac.SIO);
@@ -88,7 +87,7 @@ fn main() -> ! {
     delay.delay_ms(2000);
 
     // Set to watchdog to reset if it's not reloaded within 1.05 seconds, and start it
-    watchdog.start(1_050_000u32.microseconds());
+    watchdog.start(1_050.millis());
 
     // Blink once a second for 5 seconds, refreshing the watchdog timer once a second to avoid a reset
     for _ in 1..=5 {

rp2040-hal/src/clocks/clock_sources.rs

@@ -16,7 +16,7 @@ use pac::{PLL_SYS, PLL_USB};
 pub(crate) type PllSys = PhaseLockedLoop<Locked, PLL_SYS>;
 impl Sealed for PllSys {}
 impl ClockSource for PllSys {
-    fn get_freq(&self) -> Hertz {
+    fn get_freq(&self) -> HertzU32 {
         self.operating_frequency()
     }
 }
@@ -24,37 +24,37 @@ impl ClockSource for PllSys {
 pub(crate) type PllUsb = PhaseLockedLoop<Locked, PLL_USB>;
 impl Sealed for PllUsb {}
 impl ClockSource for PllUsb {
-    fn get_freq(&self) -> Hertz {
+    fn get_freq(&self) -> HertzU32 {
         self.operating_frequency()
     }
 }
 
 impl ClockSource for UsbClock {
-    fn get_freq(&self) -> Hertz {
+    fn get_freq(&self) -> HertzU32 {
         self.frequency
     }
 }
 
 impl ClockSource for AdcClock {
-    fn get_freq(&self) -> Hertz {
+    fn get_freq(&self) -> HertzU32 {
         self.frequency
     }
 }
 
 impl ClockSource for RtcClock {
-    fn get_freq(&self) -> Hertz {
+    fn get_freq(&self) -> HertzU32 {
         self.frequency
     }
 }
 
 impl ClockSource for SystemClock {
-    fn get_freq(&self) -> Hertz {
+    fn get_freq(&self) -> HertzU32 {
         self.frequency
     }
 }
 
 impl ClockSource for ReferenceClock {
-    fn get_freq(&self) -> Hertz {
+    fn get_freq(&self) -> HertzU32 {
         self.frequency
     }
 }
@@ -62,7 +62,7 @@ impl ClockSource for ReferenceClock {
 pub(crate) type Xosc = CrystalOscillator<Stable>;
 impl Sealed for Xosc {}
 impl ClockSource for Xosc {
-    fn get_freq(&self) -> Hertz {
+    fn get_freq(&self) -> HertzU32 {
         self.operating_frequency()
     }
 }
@@ -71,7 +71,7 @@ pub(crate) type Rosc = RingOscillator<Enabled>;
 impl Sealed for Rosc {}
 // We are assuming the second output is never phase shifted (see 2.17.4)
 impl ClockSource for RingOscillator<Enabled> {
-    fn get_freq(&self) -> Hertz {
+    fn get_freq(&self) -> HertzU32 {
         self.operating_frequency()
     }
 }
@@ -79,7 +79,7 @@ impl ClockSource for RingOscillator<Enabled> {
 // GPIN0
 pub(crate) type GPin0 = Pin<Gpio20, FunctionClock>;
 impl ClockSource for GPin0 {
-    fn get_freq(&self) -> Hertz {
+    fn get_freq(&self) -> HertzU32 {
         todo!()
     }
 }
@@ -87,7 +87,7 @@ impl ClockSource for GPin0 {
 // GPIN1
 pub(crate) type GPin1 = Pin<Gpio22, FunctionClock>;
 impl ClockSource for Pin<Gpio22, FunctionClock> {
-    fn get_freq(&self) -> Hertz {
+    fn get_freq(&self) -> HertzU32 {
         todo!()
     }
 }

rp2040-hal/src/clocks/macros.rs

@@ -140,7 +140,8 @@ macro_rules! clock {
                         w.src().variant(self.get_default_clock_source())
                     });
 
-                    self.frequency = 12_000_000.Hz(); //TODO Get actual clock source.. Most likely 12 MHz though
+                    use fugit::RateExtU32;
+                    self.frequency = 12.MHz(); //TODO Get actual clock source.. Most likely 12 MHz though
 
                     self.await_select(&ChangingClockToken{clock_nr:0, clock: PhantomData::<Self>})
                 }
@@ -174,19 +175,19 @@ macro_rules! clock {
                 type Variant = [<$reg:camel SrcType>];
 
                 #[doc = "Get operating frequency for `"$name"`"]
-                fn freq(&self) -> Hertz {
+                fn freq(&self) -> HertzU32 {
                     self.frequency
                 }
 
                 #[doc = "Configure `"$name"`"]
-                fn configure_clock<S: ValidSrc<$name>>(&mut self, src: &S, freq: Hertz) -> Result<(), ClockError>{
+                fn configure_clock<S: ValidSrc<$name>>(&mut self, src: &S, freq: HertzU32) -> Result<(), ClockError>{
-                    let src_freq: Hertz<u32> = src.get_freq().into();
+                    let src_freq: HertzU32 = src.get_freq().into();
 
                     if freq.gt(&src_freq){
                         return Err(ClockError::CantIncreaseFreq);
                     }
 
-                    let div = fractional_div(src_freq.integer(), freq.integer()).ok_or(ClockError::FrequencyTooLow)?;
+                    let div = fractional_div(src_freq.to_Hz(), freq.to_Hz()).ok_or(ClockError::FrequencyTooLow)?;
 
                     // If increasing divisor, set divisor before source. Otherwise set source
                     // before divisor. This avoids a momentary overspeed when e.g. switching
@@ -217,7 +218,8 @@ macro_rules! clock {
                     self.set_div(div);
 
                     // Store the configured frequency
-                    self.frequency = fractional_div(src_freq.integer(), div).ok_or(ClockError::FrequencyTooHigh)?.Hz();
+                    use fugit::RateExtU32;
+                    self.frequency = fractional_div(src_freq.to_Hz(), div).ok_or(ClockError::FrequencyTooHigh)?.Hz();
 
                     Ok(())
                 }
@@ -324,19 +326,19 @@ macro_rules! stoppable_clock {
                 type Variant = [<$reg:camel SrcType>];
 
                 #[doc = "Get operating frequency for `"$name"`"]
-                fn freq(&self) -> Hertz {
+                fn freq(&self) -> HertzU32 {
                     self.frequency
                 }
 
                 #[doc = "Configure `"$name"`"]
-                fn configure_clock<S: ValidSrc<$name>>(&mut self, src: &S, freq: Hertz) -> Result<(), ClockError>{
+                fn configure_clock<S: ValidSrc<$name>>(&mut self, src: &S, freq: HertzU32) -> Result<(), ClockError>{
-                    let src_freq: Hertz<u32> = src.get_freq().into();
+                    let src_freq: HertzU32 = src.get_freq().into();
 
                     if freq.gt(&src_freq){
                         return Err(ClockError::CantIncreaseFreq);
                     }
 
-                    let div = fractional_div(src_freq.integer(), freq.integer()).ok_or(ClockError::FrequencyTooLow)?;
+                    let div = fractional_div(src_freq.to_Hz(), freq.to_Hz()).ok_or(ClockError::FrequencyTooLow)?;
 
                     // If increasing divisor, set divisor before source. Otherwise set source
                     // before divisor. This avoids a momentary overspeed when e.g. switching
@@ -352,12 +354,12 @@ macro_rules! stoppable_clock {
                     // Disable clock. On clk_ref and clk_sys this does nothing,
                     // all other clocks have the ENABLE bit in the same position.
                     self.disable();
-                    if (self.frequency > 0u32.Hz()) {
+                    if self.frequency > HertzU32::Hz(0) {
                         // Delay for 3 cycles of the target clock, for ENABLE propagation.
                         // Note XOSC_COUNT is not helpful here because XOSC is not
                         // necessarily running, nor is timer... so, 3 cycles per loop:
                         let sys_freq = 125_000_000; // TODO get actual sys_clk frequency
-                        let delay_cyc = sys_freq / self.frequency.integer() + 1u32;
+                        let delay_cyc = sys_freq / self.frequency.to_Hz() + 1u32;
                         cortex_m::asm::delay(delay_cyc);
                     }
 
@@ -373,7 +375,8 @@ macro_rules! stoppable_clock {
                     self.set_div(div);
 
                     // Store the configured frequency
-                    self.frequency = fractional_div(src_freq.integer(), div).ok_or(ClockError::FrequencyTooHigh)?.Hz();
+                    use fugit::RateExtU32;
+                    self.frequency = fractional_div(src_freq.to_Hz(), div).ok_or(ClockError::FrequencyTooHigh)?.Hz();
 
                     Ok(())
                 }
@@ -402,7 +405,7 @@ macro_rules! base_clock {
             $(#[$attr])*
             pub struct $name {
                 shared_dev: ShareableClocks,
-                frequency: Hertz,
+                frequency: HertzU32,
             }
 
             impl $name {
@@ -417,9 +420,9 @@ macro_rules! base_clock {
 
             impl Sealed for $name {}
 
-            impl From<&$name> for Hertz
+            impl From<&$name> for HertzU32
              {
-                fn from(value: &$name) -> Hertz {
+                fn from(value: &$name) -> HertzU32 {
                     value.frequency
                 }
             }

rp2040-hal/src/clocks/mod.rs

@@ -14,7 +14,7 @@
 //!
 //! ## Usage extended
 //! ```no_run
-//! use embedded_time::rate::*;
+//! use fugit::RateExtU32;
 //! use rp2040_hal::{clocks::{Clock, ClocksManager, ClockSource, InitError}, gpio::Pins, pac, pll::{common_configs::{PLL_SYS_125MHZ, PLL_USB_48MHZ}, setup_pll_blocking}, Sio, watchdog::Watchdog, xosc::setup_xosc_blocking};
 //!
 //! # fn func() -> Result<(), InitError> {
@@ -72,7 +72,8 @@ use crate::{
     xosc::{setup_xosc_blocking, CrystalOscillator, Error as XoscError, Stable},
 };
 use core::{convert::Infallible, marker::PhantomData};
-use embedded_time::rate::*;
+use fugit::HertzU32;
+use fugit::RateExtU32;
 use pac::{CLOCKS, PLL_SYS, PLL_USB, RESETS, XOSC};
 
 #[macro_use]
@@ -117,13 +118,13 @@ pub trait Clock: Sealed + Sized {
     type Variant;
 
     /// Get operating frequency
-    fn freq(&self) -> Hertz;
+    fn freq(&self) -> HertzU32;
 
     /// Configure this clock based on a clock source and desired frequency
     fn configure_clock<S: ValidSrc<Self>>(
         &mut self,
         src: &S,
-        freq: Hertz,
+        freq: HertzU32,
     ) -> Result<(), ClockError>;
 }
 
@@ -170,7 +171,7 @@ pub trait ClockSource: Sealed {
     /// Get the operating frequency for this source
     ///
     /// Used to determine the divisor
-    fn get_freq(&self) -> Hertz;
+    fn get_freq(&self) -> HertzU32;
 }
 
 /// Trait to contrain which ClockSource is valid for which Clock
@@ -336,7 +337,7 @@ pub fn init_clocks_and_plls(
 
     let pll_sys = setup_pll_blocking(
         pll_sys_dev,
-        xosc.operating_frequency().into(),
+        xosc.operating_frequency(),
         PLL_SYS_125MHZ,
         &mut clocks,
         resets,
@@ -344,7 +345,7 @@ pub fn init_clocks_and_plls(
     .map_err(InitError::PllError)?;
     let pll_usb = setup_pll_blocking(
         pll_usb_dev,
-        xosc.operating_frequency().into(),
+        xosc.operating_frequency(),
         PLL_USB_48MHZ,
         &mut clocks,
         resets,

rp2040-hal/src/i2c.rs

@@ -4,7 +4,7 @@
 //!
 //! ## Usage
 //! ```no_run
-//! use embedded_time::rate::Extensions;
+//! use fugit::RateExtU32;
 //! use rp2040_hal::{i2c::I2C, gpio::Pins, pac, Sio};
 //! let mut peripherals = pac::Peripherals::take().unwrap();
 //! let sio = Sio::new(peripherals.SIO);
@@ -55,7 +55,7 @@ use crate::{
     resets::SubsystemReset,
     typelevel::Sealed,
 };
-use embedded_time::rate::Hertz;
+use fugit::HertzU32;
 use pac::{i2c0::RegisterBlock as I2CBlock, I2C0, I2C1, RESETS};
 
 /// Controller implementaion
@@ -294,12 +294,12 @@ macro_rules! hal {
                     resets: &mut RESETS,
                     system_clock: SystemF) -> Self
                 where
-                    F: Into<Hertz<u64>>,
+                    F: Into<HertzU32>,
                     Sda: SdaPin<$I2CX>,
                     Scl: SclPin<$I2CX>,
-                    SystemF: Into<Hertz<u32>>,
+                    SystemF: Into<HertzU32>,
                 {
-                    Self::new_controller(i2c, sda_pin, scl_pin, freq, resets, system_clock)
+                    Self::new_controller(i2c, sda_pin, scl_pin, freq.into(), resets, system_clock.into())
                 }
             }
         )+

rp2040-hal/src/i2c/controller.rs

@@ -5,7 +5,7 @@ use crate::{
     gpio::pin::{FunctionI2C, Pin, PinId},
     resets::SubsystemReset,
 };
-use embedded_time::rate::Hertz;
+use fugit::HertzU32;
 use hal::blocking::i2c::{Read, Write, WriteRead};
 use pac::{i2c0::RegisterBlock as Block, RESETS};
 
@@ -18,24 +18,21 @@ impl<T: SubsystemReset + Deref<Target = Block>, Sda: PinId + BankPinId, Scl: Pin
     I2C<T, (Pin<Sda, FunctionI2C>, Pin<Scl, FunctionI2C>), Controller>
 {
     /// Configures the I2C peripheral to work in controller mode
-    pub fn new_controller<F, SystemF>(
+    pub fn new_controller(
         i2c: T,
         sda_pin: Pin<Sda, FunctionI2C>,
         scl_pin: Pin<Scl, FunctionI2C>,
-        freq: F,
+        freq: HertzU32,
         resets: &mut RESETS,
-        system_clock: SystemF,
+        system_clock: HertzU32,
     ) -> Self
     where
-        F: Into<Hertz<u64>>,
         Sda: SdaPin<T>,
         Scl: SclPin<T>,
-        SystemF: Into<Hertz<u32>>,
     {
-        let freq = freq.into().0;
+        let freq = freq.to_Hz();
         assert!(freq <= 1_000_000);
         assert!(freq > 0);
-        let freq = freq as u32;
 
         i2c.reset_bring_down(resets);
         i2c.reset_bring_up(resets);
@@ -55,7 +52,7 @@ impl<T: SubsystemReset + Deref<Target = Block>, Sda: PinId + BankPinId, Scl: Pin
         i2c.ic_tx_tl.write(|w| unsafe { w.tx_tl().bits(0) });
         i2c.ic_rx_tl.write(|w| unsafe { w.rx_tl().bits(0) });
 
-        let freq_in = system_clock.into().0;
+        let freq_in = system_clock.to_Hz();
 
         // There are some subtleties to I2C timing which we are completely ignoring here
         // See: https://github.com/raspberrypi/pico-sdk/blob/bfcbefafc5d2a210551a4d9d80b4303d4ae0adf7/src/rp2_common/hardware_i2c/i2c.c#L69

rp2040-hal/src/pll.rs

@@ -2,15 +2,12 @@
 // See [Chapter 2 Section 18](https://datasheets.raspberrypi.org/rp2040/rp2040_datasheet.pdf) for more details
 
 use core::{
-    convert::{Infallible, TryFrom, TryInto},
+    convert::{Infallible, TryInto},
     marker::PhantomData,
     ops::{Deref, Range, RangeInclusive},
 };
 
-use embedded_time::{
+use fugit::{HertzU32, RateExtU32};
-    fixed_point::FixedPoint,
-    rate::{Generic, Hertz, Rate},
-};
 
 use nb::Error::WouldBlock;
 use pac::RESETS;
@@ -26,19 +23,19 @@ pub struct Disabled {
     fbdiv: u16,
     post_div1: u8,
     post_div2: u8,
-    frequency: Hertz,
+    frequency: HertzU32,
 }
 
 /// PLL is configured, started and locking into its designated frequency.
 pub struct Locking {
     post_div1: u8,
     post_div2: u8,
-    frequency: Hertz,
+    frequency: HertzU32,
 }
 
 /// PLL is locked : it delivers a steady frequency.
 pub struct Locked {
-    frequency: Hertz,
+    frequency: HertzU32,
 }
 
 impl State for Disabled {}
@@ -94,9 +91,9 @@ pub enum Error {
 }
 
 /// Parameters for a PLL.
-pub struct PLLConfig<R: Rate> {
+pub struct PLLConfig {
     /// Voltage Controlled Oscillator frequency.
-    pub vco_freq: R,
+    pub vco_freq: HertzU32,
 
     /// Reference divider
     pub refdiv: u8,
@@ -112,19 +109,19 @@ pub struct PLLConfig<R: Rate> {
 /// See Chapter 2, Section 18, §2
 pub mod common_configs {
     use super::PLLConfig;
-    use embedded_time::rate::Megahertz;
+    use fugit::HertzU32;
 
     /// Default, nominal configuration for PLL_SYS
-    pub const PLL_SYS_125MHZ: PLLConfig<Megahertz> = PLLConfig {
+    pub const PLL_SYS_125MHZ: PLLConfig = PLLConfig {
-        vco_freq: Megahertz(1500),
+        vco_freq: HertzU32::MHz(1500),
         refdiv: 1,
         post_div1: 6,
         post_div2: 2,
     };
 
     /// Default, nominal configuration for PLL_USB.
-    pub const PLL_USB_48MHZ: PLLConfig<Megahertz> = PLLConfig {
+    pub const PLL_USB_48MHZ: PLLConfig = PLLConfig {
-        vco_freq: Megahertz(480),
+        vco_freq: HertzU32::MHz(480),
         refdiv: 1,
         post_div1: 5,
         post_div2: 2,
@@ -133,24 +130,16 @@ pub mod common_configs {
 
 impl<D: PhaseLockedLoopDevice> PhaseLockedLoop<Disabled, D> {
     /// Instantiates a new Phase-Locked-Loop device.
-    pub fn new<R: Rate>(
+    pub fn new(
         dev: D,
-        xosc_frequency: Generic<u32>,
+        xosc_frequency: HertzU32,
-        config: PLLConfig<R>,
+        config: PLLConfig,
-    ) -> Result<PhaseLockedLoop<Disabled, D>, Error>
+    ) -> Result<PhaseLockedLoop<Disabled, D>, Error> {
-    where
+        const VCO_FREQ_RANGE: RangeInclusive<HertzU32> = HertzU32::MHz(400)..=HertzU32::MHz(1_600);
-        R: Into<Hertz<u64>>,
-    {
-        const VCO_FREQ_RANGE: RangeInclusive<Hertz<u32>> =
-            Hertz(400_000_000)..=Hertz(1_600_000_000);
         const POSTDIV_RANGE: Range<u8> = 1..7;
         const FBDIV_RANGE: Range<u16> = 16..320;
 
-        //First we convert our rate to Hertz<u64> as all other rates can be converted to that.
+        let vco_freq = config.vco_freq;
-        let vco_freq: Hertz<u64> = config.vco_freq.into();
-
-        //Then we try to downscale to u32.
-        let vco_freq: Hertz<u32> = vco_freq.try_into().map_err(|_| Error::BadArgument)?;
 
         if !VCO_FREQ_RANGE.contains(&vco_freq) {
             return Err(Error::VcoFreqOutOfRange);
@@ -161,24 +150,25 @@ impl<D: PhaseLockedLoopDevice> PhaseLockedLoop<Disabled, D> {
             return Err(Error::PostDivOutOfRage);
         }
 
-        let ref_freq_range: Range<Hertz<u32>> = Hertz(5_000_000)..vco_freq.div(16);
+        let ref_freq_max_vco = (vco_freq.to_Hz() / 16).Hz();
+        let ref_freq_range: Range<HertzU32> = HertzU32::MHz(5)..ref_freq_max_vco;
 
-        let ref_freq_hz = Hertz::<u32>::try_from(xosc_frequency)
+        let ref_freq_hz: HertzU32 = xosc_frequency
-            .map_err(|_| Error::BadArgument)?
+            .to_Hz()
-            .checked_div(&(config.refdiv as u32))
+            .checked_div(u32::from(config.refdiv))
-            .ok_or(Error::BadArgument)?;
+            .ok_or(Error::BadArgument)?
+            .Hz();
 
         if !ref_freq_range.contains(&ref_freq_hz) {
             return Err(Error::RefFreqOutOfRange);
         }
 
         let fbdiv = vco_freq
-            .checked_div(&ref_freq_hz.integer())
+            .to_Hz()
+            .checked_div(ref_freq_hz.to_Hz())
             .ok_or(Error::BadArgument)?;
 
-        let fbdiv: u16 = (fbdiv.integer())
+        let fbdiv: u16 = fbdiv.try_into().map_err(|_| Error::BadArgument)?;
-            .try_into()
-            .map_err(|_| Error::BadArgument)?;
 
         if !FBDIV_RANGE.contains(&fbdiv) {
             return Err(Error::FeedbackDivOutOfRange);
@@ -187,8 +177,8 @@ impl<D: PhaseLockedLoopDevice> PhaseLockedLoop<Disabled, D> {
         let refdiv = config.refdiv;
         let post_div1 = config.post_div1;
         let post_div2 = config.post_div2;
-        let frequency: Hertz =
+        let frequency: HertzU32 = ((ref_freq_hz / u32::from(refdiv)) * u32::from(fbdiv))
-            (ref_freq_hz / refdiv as u32) * fbdiv as u32 / (post_div1 as u32 * post_div2 as u32);
+            / (u32::from(post_div1) * u32::from(post_div2));
 
         Ok(PhaseLockedLoop {
             state: Disabled {
@@ -279,28 +269,26 @@ impl<D: PhaseLockedLoopDevice> PhaseLockedLoop<Locking, D> {
 
 impl<D: PhaseLockedLoopDevice> PhaseLockedLoop<Locked, D> {
     /// Get the operating frequency for the PLL
-    pub fn operating_frequency(&self) -> Hertz {
+    pub fn operating_frequency(&self) -> HertzU32 {
         self.state.frequency
     }
 }
 
 /// Blocking helper method to setup the PLL without going through all the steps.
-pub fn setup_pll_blocking<D: PhaseLockedLoopDevice, R: Rate>(
+pub fn setup_pll_blocking<D: PhaseLockedLoopDevice>(
     dev: D,
-    xosc_frequency: Generic<u32>,
+    xosc_frequency: HertzU32,
-    config: PLLConfig<R>,
+    config: PLLConfig,
     clocks: &mut ClocksManager,
     resets: &mut RESETS,
-) -> Result<PhaseLockedLoop<Locked, D>, Error>
+) -> Result<PhaseLockedLoop<Locked, D>, Error> {
-where
-    R: Into<Hertz<u64>>,
-{
     // Before we touch PLLs, switch sys and ref cleanly away from their aux sources.
     nb::block!(clocks.system_clock.reset_source_await()).unwrap();
 
     nb::block!(clocks.reference_clock.reset_source_await()).unwrap();
 
-    let initialized_pll = PhaseLockedLoop::new(dev, xosc_frequency, config)?.initialize(resets);
+    let initialized_pll =
+        PhaseLockedLoop::new(dev, xosc_frequency.convert(), config)?.initialize(resets);
 
     let locked_pll_token = nb::block!(initialized_pll.await_lock()).unwrap();
 

rp2040-hal/src/rosc.rs

@@ -1,8 +1,7 @@
 //! Ring Oscillator (ROSC)
 // See [Chapter 2 Section 17](https://datasheets.raspberrypi.org/rp2040/rp2040_datasheet.pdf) for more details
 
-use embedded_time::rate::Extensions;
+use fugit::HertzU32;
-use embedded_time::rate::Hertz;
 
 /// State of the Ring Oscillator (typestate trait)
 pub trait State {}
@@ -12,7 +11,7 @@ pub struct Disabled;
 
 /// ROSC is initialized, ie we've given parameters (typestate)
 pub struct Enabled {
-    freq_hz: Hertz,
+    freq_hz: HertzU32,
 }
 
 /// ROSC is in dormant mode (see Chapter 2, Section 17, §7)
@@ -56,6 +55,7 @@ impl RingOscillator<Disabled> {
     pub fn initialize(self) -> RingOscillator<Enabled> {
         self.device.ctrl.write(|w| w.enable().enable());
 
+        use fugit::RateExtU32;
         self.transition(Enabled {
             freq_hz: 6_500_000u32.Hz(),
         })
@@ -64,7 +64,7 @@ impl RingOscillator<Disabled> {
 
 impl RingOscillator<Enabled> {
     /// Approx operating frequency of the ROSC in hertz
-    pub fn operating_frequency(&self) -> Hertz {
+    pub fn operating_frequency(&self) -> HertzU32 {
         self.state.freq_hz
     }
 

rp2040-hal/src/rtc/mod.rs

@@ -23,7 +23,6 @@
 
 use crate::clocks::Clock;
 use crate::clocks::RtcClock;
-use embedded_time::fixed_point::FixedPoint;
 use rp2040_pac::{RESETS, RTC};
 
 mod filter;
@@ -66,7 +65,7 @@ impl RealTimeClock {
         }
 
         // Set the RTC divider
-        let freq = clock.freq().integer() - 1;
+        let freq = clock.freq().to_Hz() - 1;
         rtc.clkdiv_m1.write(|w| unsafe { w.bits(freq) });
 
         let mut result = Self { rtc };

rp2040-hal/src/spi.rs

@@ -6,7 +6,7 @@
 //!
 //! ```no_run
 //! use embedded_hal::spi::MODE_0;
-//! use embedded_time::rate::*;
+//! use fugit::RateExtU32;
 //! use rp2040_hal::{spi::Spi, gpio::{Pins, FunctionSpi}, pac, Sio};
 //!
 //! let mut peripherals = pac::Peripherals::take().unwrap();
@@ -25,7 +25,7 @@ use core::{convert::Infallible, marker::PhantomData, ops::Deref};
 use eh1_0_alpha::spi as eh1;
 use embedded_hal::blocking::spi;
 use embedded_hal::spi::{FullDuplex, Mode, Phase, Polarity};
-use embedded_time::rate::*;
+use fugit::HertzU32;
 use pac::RESETS;
 
 /// State of the SPI
@@ -78,13 +78,13 @@ impl<S: State, D: SpiDevice, const DS: u8> Spi<S, D, DS> {
     /// Set baudrate based on peripheral clock
     ///
     /// Typically the peripheral clock is set to 125_000_000
-    pub fn set_baudrate<F: Into<Hertz<u32>>, B: Into<Hertz<u32>>>(
+    pub fn set_baudrate<F: Into<HertzU32>, B: Into<HertzU32>>(
         &mut self,
         peri_frequency: F,
         baudrate: B,
-    ) -> Hertz {
+    ) -> HertzU32 {
-        let freq_in = peri_frequency.into().integer();
+        let freq_in = peri_frequency.into().to_Hz();
-        let baudrate = baudrate.into().integer();
+        let baudrate = baudrate.into().to_Hz();
         let mut prescale: u8 = u8::MAX;
         let mut postdiv: u8 = 0;
 
@@ -120,6 +120,7 @@ impl<S: State, D: SpiDevice, const DS: u8> Spi<S, D, DS> {
             .modify(|_, w| unsafe { w.scr().bits(postdiv) });
 
         // Return the frequency we were able to achieve
+        use fugit::RateExtU32;
         (freq_in / (prescale as u32 * (1 + postdiv as u32))).Hz()
     }
 }
@@ -146,7 +147,7 @@ impl<D: SpiDevice, const DS: u8> Spi<Disabled, D, DS> {
     }
 
     /// Initialize the SPI
-    pub fn init<F: Into<Hertz<u32>>, B: Into<Hertz<u32>>>(
+    pub fn init<F: Into<HertzU32>, B: Into<HertzU32>>(
         mut self,
         resets: &mut RESETS,
         peri_frequency: F,

rp2040-hal/src/timer.rs

@@ -8,7 +8,7 @@
 //!
 //! See [Chapter 4 Section 6](https://datasheets.raspberrypi.org/rp2040/rp2040_datasheet.pdf) of the datasheet for more details.
 
-use embedded_time::duration::Microseconds;
+use fugit::{Duration, MicrosDurationU64};
 
 use crate::atomic_register_access::{write_bitmask_clear, write_bitmask_set};
 use crate::pac::{RESETS, TIMER};
@@ -53,7 +53,7 @@ impl Timer {
     pub fn count_down(&self) -> CountDown<'_> {
         CountDown {
             timer: self,
-            period: Microseconds::new(0),
+            period: MicrosDurationU64::nanos(0),
             next_end: None,
         }
     }
@@ -104,43 +104,47 @@ impl Timer {
 /// ## Usage
 /// ```no_run
 /// use embedded_hal::timer::{CountDown, Cancel};
-/// use embedded_time::duration::Extensions;
+/// use fugit::ExtU32;
 /// use rp2040_hal;
 /// let mut pac = rp2040_hal::pac::Peripherals::take().unwrap();
 /// // Configure the Timer peripheral in count-down mode
 /// let timer = rp2040_hal::Timer::new(pac.TIMER, &mut pac.RESETS);
 /// let mut count_down = timer.count_down();
 /// // Create a count_down timer for 500 milliseconds
-/// count_down.start(500.milliseconds());
+/// count_down.start(500.millis());
 /// // Block until timer has elapsed
 /// let _ = nb::block!(count_down.wait());
 /// // Restart the count_down timer with a period of 100 milliseconds
-/// count_down.start(100.milliseconds());
+/// count_down.start(100.millis());
 /// // Cancel it immediately
 /// count_down.cancel();
 /// ```
 pub struct CountDown<'timer> {
     timer: &'timer Timer,
-    period: embedded_time::duration::Microseconds<u64>,
+    period: MicrosDurationU64,
     next_end: Option<u64>,
 }
 
 impl embedded_hal::timer::CountDown for CountDown<'_> {
-    type Time = embedded_time::duration::Microseconds<u64>;
+    type Time = MicrosDurationU64;
 
     fn start<T>(&mut self, count: T)
     where
         T: Into<Self::Time>,
     {
         self.period = count.into();
-        self.next_end = Some(self.timer.get_counter().wrapping_add(self.period.0));
+        self.next_end = Some(
+            self.timer
+                .get_counter()
+                .wrapping_add(self.period.to_micros()),
+        );
     }
 
     fn wait(&mut self) -> nb::Result<(), void::Void> {
         if let Some(end) = self.next_end {
             let ts = self.timer.get_counter();
             if ts >= end {
-                self.next_end = Some(end.wrapping_add(self.period.0));
+                self.next_end = Some(end.wrapping_add(self.period.to_micros()));
                 Ok(())
             } else {
                 Err(nb::Error::WouldBlock)
@@ -187,12 +191,12 @@ pub trait Alarm {
     /// this will trigger interrupt whenever this time elapses.
     ///
     /// The RP2040 has been observed to take a little while to schedule an alarm. For this
-    /// reason, the minimum time that this function accepts is `10.microseconds()`
+    /// reason, the minimum time that this function accepts is `10.micros()`
     ///
     /// [enable_interrupt]: #method.enable_interrupt
-    fn schedule<TIME: Into<Microseconds>>(
+    fn schedule<const NOM: u32, const DENOM: u32>(
         &mut self,
-        countdown: TIME,
+        countdown: Duration<u32, NOM, DENOM>,
     ) -> Result<(), ScheduleAlarmError>;
 
     /// Return true if this alarm is finished.
@@ -255,14 +259,14 @@ macro_rules! impl_alarm {
             #[doc = $int_name]
             /// ` whenever this time elapses.
             ///
-            /// The RP2040 has been observed to take a little while to schedule an alarm. For this reason, the minimum time that this function accepts is `10.microseconds()`
+            /// The RP2040 has been observed to take a little while to schedule an alarm. For this reason, the minimum time that this function accepts is `10.micros()`
             ///
             /// [enable_interrupt]: #method.enable_interrupt
-            fn schedule<TIME: Into<Microseconds>>(
+            fn schedule<const NOM: u32, const DENOM: u32>(
                 &mut self,
-                countdown: TIME,
+                countdown: Duration<u32, NOM, DENOM>,
             ) -> Result<(), ScheduleAlarmError> {
-                let duration = countdown.into().0;
+                let duration = countdown.to_micros();
 
                 const MIN_MICROSECONDS: u32 = 10;
                 if duration < MIN_MICROSECONDS {

rp2040-hal/src/uart/common_configs.rs

@@ -1,9 +1,10 @@
+use fugit::HertzU32;
+
 use super::{DataBits, StopBits, UartConfig};
-use embedded_time::rate::Baud;
 
 /// 9600 baud, 8 data bits, no parity, 1 stop bit
 pub const _9600_8_N_1: UartConfig = UartConfig {
-    baudrate: Baud(9600),
+    baudrate: HertzU32::from_raw(9600),
     data_bits: DataBits::Eight,
     stop_bits: StopBits::One,
     parity: None,
@@ -11,7 +12,7 @@ pub const _9600_8_N_1: UartConfig = UartConfig {
 
 /// 19200 baud, 8 data bits, no parity, 1 stop bit
 pub const _19200_8_N_1: UartConfig = UartConfig {
-    baudrate: Baud(19200),
+    baudrate: HertzU32::from_raw(19200),
     data_bits: DataBits::Eight,
     stop_bits: StopBits::One,
     parity: None,
@@ -19,7 +20,7 @@ pub const _19200_8_N_1: UartConfig = UartConfig {
 
 /// 38400 baud, 8 data bits, no parity, 1 stop bit
 pub const _38400_8_N_1: UartConfig = UartConfig {
-    baudrate: Baud(38400),
+    baudrate: HertzU32::from_raw(38400),
     data_bits: DataBits::Eight,
     stop_bits: StopBits::One,
     parity: None,
@@ -27,7 +28,7 @@ pub const _38400_8_N_1: UartConfig = UartConfig {
 
 /// 57600 baud, 8 data bits, no parity, 1 stop bit
 pub const _57600_8_N_1: UartConfig = UartConfig {
-    baudrate: Baud(57600),
+    baudrate: HertzU32::from_raw(57600),
     data_bits: DataBits::Eight,
     stop_bits: StopBits::One,
     parity: None,
@@ -35,7 +36,7 @@ pub const _57600_8_N_1: UartConfig = UartConfig {
 
 /// 115200 baud, 8 data bits, no parity, 1 stop bit
 pub const _115200_8_N_1: UartConfig = UartConfig {
-    baudrate: Baud(115200),
+    baudrate: HertzU32::from_raw(115200),
     data_bits: DataBits::Eight,
     stop_bits: StopBits::One,
     parity: None,

rp2040-hal/src/uart/peripheral.rs

@@ -8,9 +8,7 @@ use crate::pac::uart0::uartlcr_h::W as UART_LCR_H_Writer;
 use core::convert::Infallible;
 use core::fmt;
 use embedded_hal::serial::{Read, Write};
-use embedded_time::fixed_point::FixedPoint;
+use fugit::HertzU32;
-use embedded_time::rate::Baud;
-use embedded_time::rate::Hertz;
 use nb::Error::{Other, WouldBlock};
 use rp2040_pac::{UART0, UART1};
 
@@ -57,10 +55,10 @@ impl<D: UartDevice, P: ValidUartPinout<D>> UartPeripheral<Disabled, D, P> {
     pub fn enable(
         self,
         config: UartConfig,
-        frequency: Hertz,
+        frequency: HertzU32,
     ) -> Result<UartPeripheral<Enabled, D, P>, Error> {
         let (mut device, pins) = self.free();
-        configure_baudrate(&mut device, &config.baudrate, &frequency)?;
+        configure_baudrate(&mut device, config.baudrate, frequency)?;
 
         device.uartlcr_h.write(|w| {
             // FIFOs are enabled
@@ -229,15 +227,15 @@ impl<P: ValidUartPinout<UART1>> UartPeripheral<Enabled, UART1, P> {
 /// From the wanted baudrate, we calculate the divider's two parts: integer and fractional parts.
 /// Code inspired from the C SDK.
 fn calculate_baudrate_dividers(
-    wanted_baudrate: &Baud,
+    wanted_baudrate: HertzU32,
-    frequency: &Hertz,
+    frequency: HertzU32,
 ) -> Result<(u16, u16), Error> {
     // See Chapter 4, Section 2 §7.1 from the datasheet for an explanation of how baudrate is
     // calculated
     let baudrate_div = frequency
-        .integer()
+        .to_Hz()
         .checked_mul(8)
-        .and_then(|r| r.checked_div(wanted_baudrate.integer()))
+        .and_then(|r| r.checked_div(wanted_baudrate.to_Hz()))
         .ok_or(Error::BadArgument)?;
 
     Ok(match (baudrate_div >> 7, ((baudrate_div & 0x7F) + 1) / 2) {
@@ -252,9 +250,9 @@ fn calculate_baudrate_dividers(
 /// Baudrate configuration. Code loosely inspired from the C SDK.
 fn configure_baudrate(
     device: &mut dyn UartDevice,
-    wanted_baudrate: &Baud,
+    wanted_baudrate: HertzU32,
-    frequency: &Hertz,
+    frequency: HertzU32,
-) -> Result<Baud, Error> {
+) -> Result<HertzU32, Error> {
     let (baud_div_int, baud_div_frac) = calculate_baudrate_dividers(wanted_baudrate, frequency)?;
 
     // First we load the integer part of the divider.
@@ -273,8 +271,8 @@ fn configure_baudrate(
     // divisors. We don't want to actually change LCR contents here.
     device.uartlcr_h.modify(|_, w| w);
 
-    Ok(Baud(
+    Ok(HertzU32::from_raw(
-        (4 * frequency.integer()) / (64 * baud_div_int + baud_div_frac) as u32,
+        (4 * frequency.to_Hz()) / (64 * baud_div_int + baud_div_frac) as u32,
     ))
 }
 

rp2040-hal/src/uart/utils.rs

@@ -1,7 +1,8 @@
+use fugit::HertzU32;
+
 use crate::pac::{uart0::RegisterBlock, UART0, UART1};
 use crate::resets::SubsystemReset;
 use core::ops::Deref;
-use embedded_time::rate::Baud;
 
 /// Error type for UART operations.
 #[derive(Debug)]
@@ -73,7 +74,7 @@ pub enum Parity {
 #[non_exhaustive]
 pub struct UartConfig {
     /// The baudrate the uart will run at.
-    pub baudrate: Baud,
+    pub baudrate: HertzU32,
 
     /// The amount of data bits the uart should be configured to.
     pub data_bits: DataBits,
@@ -88,7 +89,7 @@ pub struct UartConfig {
 impl Default for UartConfig {
     fn default() -> Self {
         Self {
-            baudrate: Baud(115_200),
+            baudrate: HertzU32::from_raw(115_200),
             data_bits: DataBits::Eight,
             stop_bits: StopBits::One,
             parity: None,