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Support latest version of embedded-sensors-hal & embedded-sensors-hal-async #32

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931554c
Support latest version of embedded-sensors-hal
douglascgh Jan 29, 2026
3093053
Fix formatting
douglascgh Jan 29, 2026
185dad8
Update src/lib.rs
douglascgh Jan 29, 2026
9130bc0
Run embedded-sensors-hal test as part of workflow
douglascgh Jan 29, 2026
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3 changes: 3 additions & 0 deletions .github/workflows/check.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -209,6 +209,9 @@ jobs:
- name: cargo test (blocking)
run: cargo test --locked

- name: cargo test (embedded-sensors-hal)
run: cargo test --locked -F embedded-sensors-hal

- name: cargo test (async)
run: cargo test --locked -F async

Expand Down
11 changes: 7 additions & 4 deletions Cargo.lock
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4 changes: 2 additions & 2 deletions Cargo.toml
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Expand Up @@ -23,8 +23,8 @@ rust-version = "1.85.0"
device-driver = { version = "1.0.7", default-features = false, features = ["toml"] }
embedded-hal = "1.0.0"
embedded-hal-async = { version = "1.0.0", optional = true }
embedded-sensors-hal = { version = "0.1.0", optional = true }
embedded-sensors-hal-async = { version = "0.3.0", optional = true }
embedded-sensors-hal = { version = "0.1.1", optional = true }
embedded-sensors-hal-async = { version = "0.4.0", optional = true }
maybe-async-cfg = "0.2.5"

[features]
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236 changes: 236 additions & 0 deletions src/lib.rs
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Expand Up @@ -518,6 +518,51 @@ impl<I2C: embedded_hal::i2c::I2c> embedded_sensors_hal::temperature::Temperature
}
}

#[cfg(all(feature = "embedded-sensors-hal", not(feature = "async")))]
impl<I2C: embedded_hal::i2c::I2c> embedded_sensors_hal::temperature::TemperatureThresholdSet for Tmp108<I2C> {
fn set_temperature_threshold_low(
&mut self,
threshold: embedded_sensors_hal::temperature::DegreesCelsius,
) -> Result<(), Self::Error> {
self.set_low_limit(threshold).map_err(Error::Bus)
}

fn set_temperature_threshold_high(
&mut self,
threshold: embedded_sensors_hal::temperature::DegreesCelsius,
) -> Result<(), Self::Error> {
self.set_high_limit(threshold).map_err(Error::Bus)
}
}
Comment on lines +521 to +536
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@felipebalbi felipebalbi Jan 29, 2026

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It doesn't really make sense to have threshold set on blocking. Threshold is used to assert the interrupt line on the GPIO, will you dedicate a task to block polling for that GPIO to be asserted? Not sure that's a good idea. Glad to hear your thoughts.

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@douglascgh douglascgh Jan 29, 2026

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I agree, especially looking into how our current thermal service is implemented and in Embassy in general. This is more meant for an environment that does not support async but still has the ability to adopt a rust based driver. In that environment the GPIO assert is initially handled outside of the driver and eventually routed to an application/service. So adding blocking function is not useful for ODP service but would be useful for a non async rtos. Hoping this allows tmp108 to be adopted as is.


#[cfg(all(feature = "embedded-sensors-hal", not(feature = "async")))]
impl<I2C: embedded_hal::i2c::I2c> embedded_sensors_hal::temperature::TemperatureHysteresis for Tmp108<I2C> {
fn set_temperature_threshold_hysteresis(
&mut self,
hysteresis: embedded_sensors_hal::temperature::DegreesCelsius,
) -> Result<(), Self::Error> {
// Trait method takes a continuous range of f32 values as argument, but internally driver
// only accepts 4 discrete values for hysteresis.
//
// We ensure only a correct value for hysteresis is passed in, and return error otherwise.
let hysteresis = if (hysteresis - 0.0).abs() < f32::EPSILON {
Hysteresis::_0C
} else if (hysteresis - 1.0).abs() < f32::EPSILON {
Hysteresis::_1C
} else if (hysteresis - 2.0).abs() < f32::EPSILON {
Hysteresis::_2C
} else if (hysteresis - 4.0).abs() < f32::EPSILON {
Hysteresis::_4C
} else {
return Err(Error::InvalidInput);
};

let mut config = self.read_configuration().map_err(|_| Error::Other)?;
config.hysteresis = hysteresis;
self.configure(config).map_err(Error::Bus)
}
}

#[cfg(all(feature = "embedded-sensors-hal-async", feature = "async"))]
impl<E: embedded_hal_async::i2c::Error> embedded_sensors_hal_async::sensor::Error for Error<E> {
fn kind(&self) -> embedded_sensors_hal_async::sensor::ErrorKind {
Expand Down Expand Up @@ -951,6 +996,128 @@ mod tests {
let mut mock = tmp108.destroy();
mock.done();
}

#[cfg(feature = "embedded-sensors-hal")]
#[test]
fn handle_threshold_settings() {
use embedded_sensors_hal::temperature::TemperatureThresholdSet;

// I2C transaction expectations
// Temperature Register = 0x00
// Configuration Register = 0x01
// Low Limit Register = 0x02
// High Limit Register = 0x03
let expectations = vec![
// Configure: Read current config
Transaction::write_read(0x48, vec![0x01], vec![0x22, 0x10]),
// Configure: Write new config (Interrupt mode, Active Low)
Transaction::write(0x48, vec![0x01, 0x26, 0x10]),
// Set low threshold to 25.0 C
Transaction::write(0x48, vec![0x02, 0x19, 0x00]),
// Set high threshold to 80.0 C
Transaction::write(0x48, vec![0x03, 0x50, 0x00]),
// Set low threshold to 20.0 C (0x1400)
Transaction::write(0x48, vec![0x02, 0x14, 0x00]),
// Set high threshold to 85.0 C (0x5500)
Transaction::write(0x48, vec![0x03, 0x55, 0x00]),
];

let mock = Mock::new(&expectations);
let mut tmp108 = Tmp108::new_with_a0_gnd(mock);

// Configure as active-low interrupt mode
let cfg = Config {
thermostat_mode: Thermostat::Interrupt,
alert_polarity: Polarity::ActiveLow,
..Default::default()
};

let result = tmp108.configure(cfg);
assert!(result.is_ok());

let result = tmp108.set_temperature_threshold_low(25.0);
assert!(result.is_ok());
let result = tmp108.set_temperature_threshold_high(80.0);
assert!(result.is_ok());

// Set thresholds again with different values
let result = tmp108.set_temperature_threshold_low(20.0);
assert!(result.is_ok());
let result = tmp108.set_temperature_threshold_high(85.0);
assert!(result.is_ok());

let mut mock = tmp108.destroy();
mock.done();
}

#[cfg(feature = "embedded-sensors-hal")]
#[test]
fn handle_hysteresis_settings() {
use embedded_sensors_hal::temperature::TemperatureHysteresis;

// Test all valid hysteresis values: 0.0, 1.0, 2.0, 4.0
// Setting hysteresis involves reading current config, modifying HYS bits (Byte 2 : Bit 4 and 5), writing back.
let expectations = vec![
// Set hysteresis to 0.0 C
Transaction::write_read(0x48, vec![0x01], vec![0x22, 0x10]), // read_configuration
Transaction::write_read(0x48, vec![0x01], vec![0x22, 0x10]), // configure: read
Transaction::write(0x48, vec![0x01, 0x22, 0x00]), // configure: write with Hysteresis::_0C (0x2200)
// Set hysteresis to 1.0 C
Transaction::write_read(0x48, vec![0x01], vec![0x22, 0x00]), // read_configuration
Transaction::write_read(0x48, vec![0x01], vec![0x22, 0x00]), // configure: read
Transaction::write(0x48, vec![0x01, 0x22, 0x10]), // configure: write with Hysteresis::_1C (0x2210)
// Set hysteresis to 2.0 C
Transaction::write_read(0x48, vec![0x01], vec![0x22, 0x10]), // read_configuration
Transaction::write_read(0x48, vec![0x01], vec![0x22, 0x10]), // configure: read
Transaction::write(0x48, vec![0x01, 0x22, 0x20]), // configure: write with Hysteresis::_2C (0x2220)
// Set hysteresis to 4.0 C
Transaction::write_read(0x48, vec![0x01], vec![0x22, 0x20]), // read_configuration
Transaction::write_read(0x48, vec![0x01], vec![0x22, 0x20]), // configure: read
Transaction::write(0x48, vec![0x01, 0x22, 0x30]), // configure: write with Hysteresis::_4C (0x2230)
];

let mock = Mock::new(&expectations);
let mut tmp108 = Tmp108::new_with_a0_gnd(mock);

// Test valid hysteresis values, sensor only supports 0.0, 1.0, 2.0, 4.0 Celsius.
let result = tmp108.set_temperature_threshold_hysteresis(0.0);
assert!(result.is_ok());

let result = tmp108.set_temperature_threshold_hysteresis(1.0);
assert!(result.is_ok());

let result = tmp108.set_temperature_threshold_hysteresis(2.0);
assert!(result.is_ok());

let result = tmp108.set_temperature_threshold_hysteresis(4.0);
assert!(result.is_ok());

let mut mock = tmp108.destroy();
mock.done();

// Test invalid hysteresis values (should return error)
let mock = Mock::new(&vec![]);
let mut tmp108 = Tmp108::new_with_a0_gnd(mock);

// Test positive invalid value
let result = tmp108.set_temperature_threshold_hysteresis(3.0);
assert!(result.is_err());
match result {
Err(Error::InvalidInput) => {} // Expected error
_ => panic!("Expected InvalidInput error for invalid hysteresis value"),
}

// Test negative invalid value
let result = tmp108.set_temperature_threshold_hysteresis(-1.0);
assert!(result.is_err());
match result {
Err(Error::InvalidInput) => {} // Expected error
_ => panic!("Expected InvalidInput error for negative hysteresis value"),
}

let mut mock = tmp108.destroy();
mock.done();
}
}

#[cfg(feature = "async")]
Expand Down Expand Up @@ -1201,5 +1368,74 @@ mod tests {
i2c_mock.done();
pin_mock.done();
}

#[cfg(feature = "embedded-sensors-hal-async")]
#[tokio::test]
async fn handle_hysteresis_settings() {
use embedded_sensors_hal_async::temperature::TemperatureHysteresis;

// Test all valid hysteresis values: 0.0, 1.0, 2.0, 4.0
// Setting hysteresis involves reading current config, modifying HYS bits, writing back.
let expectations = vec![
// Set hysteresis to 0.0 C
Transaction::write_read(0x48, vec![0x01], vec![0x22, 0x10]), // read_configuration
Transaction::write_read(0x48, vec![0x01], vec![0x22, 0x10]), // configure: read
Transaction::write(0x48, vec![0x01, 0x22, 0x00]), // configure: write with Hysteresis::_0C (0x0022)
// Set hysteresis to 1.0 C
Transaction::write_read(0x48, vec![0x01], vec![0x22, 0x00]), // read_configuration
Transaction::write_read(0x48, vec![0x01], vec![0x22, 0x00]), // configure: read
Transaction::write(0x48, vec![0x01, 0x22, 0x10]), // configure: write with Hysteresis::_1C (0x1022)
// Set hysteresis to 2.0 C
Transaction::write_read(0x48, vec![0x01], vec![0x22, 0x10]), // read_configuration
Transaction::write_read(0x48, vec![0x01], vec![0x22, 0x10]), // configure: read
Transaction::write(0x48, vec![0x01, 0x22, 0x20]), // configure: write with Hysteresis::_2C (0x2022)
// Set hysteresis to 4.0 C
Transaction::write_read(0x48, vec![0x01], vec![0x22, 0x20]), // read_configuration
Transaction::write_read(0x48, vec![0x01], vec![0x22, 0x20]), // configure: read
Transaction::write(0x48, vec![0x01, 0x22, 0x30]), // configure: write with Hysteresis::_4C (0x3022)
];

let mock = Mock::new(&expectations);
let mut tmp108 = Tmp108::new_with_a0_gnd(mock);

// Test valid hysteresis values, sensor only supports 0.0, 1.0, 2.0, 4.0 Celsius.
let result = tmp108.set_temperature_threshold_hysteresis(0.0).await;
assert!(result.is_ok());

let result = tmp108.set_temperature_threshold_hysteresis(1.0).await;
assert!(result.is_ok());

let result = tmp108.set_temperature_threshold_hysteresis(2.0).await;
assert!(result.is_ok());

let result = tmp108.set_temperature_threshold_hysteresis(4.0).await;
assert!(result.is_ok());

let mut mock = tmp108.destroy();
mock.done();

// Test invalid hysteresis values (should return error)
let mock = Mock::new(&vec![]);
let mut tmp108 = Tmp108::new_with_a0_gnd(mock);

// Test positive invalid value
let result = tmp108.set_temperature_threshold_hysteresis(3.0).await;
assert!(result.is_err());
match result {
Err(Error::InvalidInput) => {} // Expected error
_ => panic!("Expected InvalidInput error for invalid hysteresis value"),
}

// Test negative invalid value
let result = tmp108.set_temperature_threshold_hysteresis(-1.0).await;
assert!(result.is_err());
match result {
Err(Error::InvalidInput) => {} // Expected error
_ => panic!("Expected InvalidInput error for negative hysteresis value"),
}

let mut mock = tmp108.destroy();
mock.done();
}
}
}