From 32604cc16c6a604fd0a4a35bf66bd9df800da18e Mon Sep 17 00:00:00 2001
From: Andy Killorin <37423245+Speedy6451@users.noreply.github.com>
Date: Sat, 4 Jan 2025 16:33:33 -0500
Subject: [PATCH] bump embedded_hal to 1.0

---
 Cargo.toml |  2 +-
 src/lib.rs | 18 +++++++++---------
 2 files changed, 10 insertions(+), 10 deletions(-)

diff --git a/Cargo.toml b/Cargo.toml
index 101166d..2b4486a 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -11,7 +11,7 @@ keywords = ["mpu6050", "imu", "embedded"]
 license = "MIT"
 
 [dependencies]
-embedded-hal = "0.2.4"
+embedded-hal = "1"
 libm = "0.2.1"
 
 [dependencies.nalgebra]
diff --git a/src/lib.rs b/src/lib.rs
index de1524f..2e4b6f1 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -12,7 +12,7 @@
 //! **More Examples** can be found [here](https://github.com/juliangaal/mpu6050/tree/master/examples).
 //! ```no_run
 //! use mpu6050::*;
-//! use linux_embedded_hal::{I2cdev, Delay};
+//! use linux_embedded_hal::{I2cdev, DelayNs};
 //! use i2cdev::linux::LinuxI2CError;
 //!
 //! fn main() -> Result<(), Mpu6050Error<LinuxI2CError>> {
@@ -53,9 +53,9 @@ use crate::device::*;
 use libm::{powf, atan2f, sqrtf};
 use nalgebra::{Vector3, Vector2};
 use embedded_hal::{
-    blocking::delay::DelayMs,
-    blocking::i2c::{Write, WriteRead},
+    i2c::I2c
 };
+use embedded_hal::delay::DelayNs;
 
 /// PI, f32
 pub const PI: f32 = core::f32::consts::PI;
@@ -83,7 +83,7 @@ pub struct Mpu6050<I> {
 
 impl<I, E> Mpu6050<I>
 where
-    I: Write<Error = E> + WriteRead<Error = E>, 
+    I: I2c<Error = E>,
 {
     /// Side effect free constructor with default sensitivies, no calibration
     pub fn new(i2c: I) -> Self {
@@ -126,11 +126,11 @@ where
     }
 
     /// Wakes MPU6050 with all sensors enabled (default)
-    fn wake<D: DelayMs<u8>>(&mut self, delay: &mut D) -> Result<(), Mpu6050Error<E>> {
+    fn wake<D: DelayNs>(&mut self, delay: &mut D) -> Result<(), Mpu6050Error<E>> {
         // MPU6050 has sleep enabled by default -> set bit 0 to wake
         // Set clock source to be PLL with x-axis gyroscope reference, bits 2:0 = 001 (See Register Map )
         self.write_byte(PWR_MGMT_1::ADDR, 0x01)?;
-        delay.delay_ms(100u8);
+        delay.delay_ms(100);
         Ok(())
     }
 
@@ -154,7 +154,7 @@ where
     }
 
     /// Init wakes MPU6050 and verifies register addr, e.g. in i2c
-    pub fn init<D: DelayMs<u8>>(&mut self, delay: &mut D) -> Result<(), Mpu6050Error<E>> {
+    pub fn init<D: DelayNs>(&mut self, delay: &mut D) -> Result<(), Mpu6050Error<E>> {
         self.wake(delay)?;
         self.verify()?;
         self.set_accel_range(AccelRange::G2)?;
@@ -253,9 +253,9 @@ where
     }
 
     /// reset device
-    pub fn reset_device<D: DelayMs<u8>>(&mut self, delay: &mut D) -> Result<(), Mpu6050Error<E>> {
+    pub fn reset_device<D: DelayNs>(&mut self, delay: &mut D) -> Result<(), Mpu6050Error<E>> {
         self.write_bit(PWR_MGMT_1::ADDR, PWR_MGMT_1::DEVICE_RESET, true)?;
-        delay.delay_ms(100u8);
+        delay.delay_ms(100);
         // Note: Reset sets sleep to true! Section register map: resets PWR_MGMT to 0x40
         Ok(())
     }