!feat/async and !feat/interrupts (breaking changes)

.github/workflows/rust.yml

@@ -2,9 +2,9 @@ name: Rust
 
 on:
   push:
-    branches: [ master ]
+    branches: [master]
   pull_request:
-    branches: [ master ]
+    branches: [master]
 
 env:
   CARGO_TERM_COLOR: always
@@ -19,7 +19,7 @@ jobs:
           submodules: true
       - uses: dtolnay/rust-toolchain@nightly
         with:
-            components: rustfmt, clippy, rust-docs
+          components: rustfmt, clippy, rust-docs
 
       - name: Rustfmt lints
         run: cargo fmt --all -- --check
@@ -28,7 +28,7 @@ jobs:
         run: cargo clippy --no-deps -- -D warnings
 
       - name: Build docs
-        run: RUSTDOCFLAGS="--cfg docsrs" cargo +nightly doc --all-features --no-deps
+        run: RUSTDOCFLAGS="--cfg docsrs" cargo +nightly doc --features std,serde,async,defmt --no-deps
 
   build:
     runs-on: ubuntu-latest
@@ -38,11 +38,11 @@ jobs:
           - stable
           - beta
           - nightly
-          - "1.65" # MSRV
+          - "1.80" # MSRV
 
     steps:
       - name: Checkout Sources
-        uses: actions/checkout@v4
+        uses: actions/checkout@v5
       - name: Install Rust (thumbv7em)
         uses: dtolnay/rust-toolchain@master
         with:
@@ -54,17 +54,16 @@ jobs:
         run: cargo build --features "std"
       - name: Build - serde
         run: cargo build --features "serde"
-      - name: Build - defmt-03
-        run: cargo build --features "defmt-03"
-      - name: Build - examples
-        run: cargo build --examples
+      - name: Build - defmt
+        run: cargo build --features "defmt"
+      - name: Build - examples (blocking)
+        run: cargo build --examples --no-default-features -F blocking
       - name: Run tests
         run: cargo test
+      # Cargo binstall currently installs musl binary and requires additional setup.
       - name: Install cargo-fuzz
-        # pre-build binaries
-        uses: taiki-e/install-action@v2
-        with:
-          tool: cargo-fuzz
+        if: ${{ matrix.rust == 'nightly' }}
+        run: cargo +nightly install cargo-fuzz
       - name: Fuzz (nightly only)
         if: ${{ matrix.rust == 'nightly' }}
         run: |

Cargo.toml

@@ -18,7 +18,7 @@ license-file = "LICENSE"
 readme = "README.md"
 
 # linux-embedded-hal requires 1.65 because of nix
-rust-version = "1.65"
+rust-version = "1.80"
 
 [dependencies]
 byteorder = { version = "1", default-features = false }
@@ -28,16 +28,26 @@ bitflags = "2"
 num-traits = { version = "0.2.15", default-features = false, features = ["libm"] }
 num-derive = "0.4.1"
 
-defmt = { version = "0.3", optional = true }
+defmt = { version = "1", optional = true }
 
 embedded-hal = { version = "1.0" }
+embedded-hal-async = { version = "1.0", optional = true }
+
+maybe-async = "0.2"
 
 [features]
-default = []
+default = ["async"]
 std = []
 
-defmt-03 = ["dep:defmt", "embedded-hal/defmt-03"]
+async = ["dep:embedded-hal-async"]
+blocking = ["maybe-async/is_sync"]
+
+defmt = ["dep:defmt", "embedded-hal/defmt-03"]
 serde = ["dep:serde", "mint/serde"]
 
 [dev-dependencies]
-linux-embedded-hal = "0.4"
+linux-embedded-hal = { version = "0.4", features = ["async-tokio"] }
+
+[[example]]
+name = "calibrate"
+required-features = ["blocking"]

README.md

@@ -40,13 +40,24 @@ If your microcontroller is faster in starting up you might have to delay before
 By default, this crate is `no_std` compatible. However, you can enable `std` features by enabling the `std` feature flag.
 At the moment this only adds `std::error::Error` trait implementation for the `Error` type.
 
+### `blocking`
+Enables the blocking API but cannot enable it with the `async` features.
+Use `default-features = false` to disable `async`.
+
+### `async` (default)
+Enables the async API based on `embedded-hal-async@1` and cannot be enabled if `blocking` is enabled as well.
+
 ### `serde`
 
 The `serde` flag adds implementation of `Serialize` / `Deserialize` to `BNO055Calibration`.
 
 **Note:** `serde` itself is `no_std` compatible, however not all serializers are (e.g. `serde-json` is not but `serde-json-core` is),
 so be careful that you're not enabling `serde`'s `std` feature by accident (see [here](https://serde.rs/no-std.html#no-std-support) for a complete explanation).
 
+## `defmt`
+The `defmt` flag adds implementation of `defmt::Format` to most structures and enums.
+
+
 ## Usage
 
 1. Add a dependency to `Cargo.toml`:

examples/calibrate.rs

@@ -1,7 +1,17 @@
+//! Run calibration using linux i2c-0 device.
+//! `linux_embedded_hal::I2cdev` doesn't support `async`.
+//!
+//! `cargo run --example calibrate --no-default-features -F blocking`
+//!
+//! Make sure to run the necessary steps to allow the IMU to auto-calibrate.
+//! See Datasheet section 3.11 Page 51, https://www.bosch-sensortec.com/media/boschsensortec/downloads/datasheets/bst-bno055-ds000.pdf (As of 2021-07-02)
 use bno055::{BNO055OperationMode, Bno055};
 use linux_embedded_hal::{Delay, I2cdev};
 use mint::{EulerAngles, Quaternion};
 
+#[cfg(not(feature = "blocking"))]
+compile_error!("You must disable default features and enable 'blocking' to run the example: 'cargo run --example calibrate --no-default-features -F blocking'");
+
 fn main() {
     let dev = I2cdev::new("/dev/i2c-0").unwrap();
     let mut delay = Delay {};

fuzz/Cargo.toml

@@ -15,6 +15,8 @@ embedded-hal = "1.0"
 
 [dependencies.bno055]
 path = ".."
+default-features = false
+features = ["blocking"]
 
 # Prevent this from interfering with workspaces
 [workspace]