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Changelog

Unreleased

BREAKING Remove type states from the following drivers:

  • FlexPWM
  • GPT
  • PIT
  • LPI2C
  • LPUART
  • LPSPI
  • ADC (10xx)
  • SAI
  • GPIO, RGPIO

After construction, the type no longer tracks its pins or peripheral instances. To type check peripheral instances against pins, construct types using with_pins.

BREAKING The FlexPWM refactor removes dedicated types for Submodules and Outputs. Users should program directly against the Pwm type.

BREAKING The PIT driver no longer models channels as dedicated objects. Users should program directly against the Pit type.

BREAKING The ADC driver no longer supports unproven embedded-hal 0.2 traits.

BREAKING Remove the dependency on imxrt-usbd and the usbd module. Users should select their preferred versions of imxrt-usbd, usb-device, and other class packages.

BREAKING Update imxrt-rs dependencies that affect the public API:

  • imxrt-ral 0.6
  • iomxrt-iomuxc 0.3
  • imxrt-dma 0.2

Additionally, update third-party dependencies in the public API:

  • bitflags 2.11

BREAKING Remove deprecated APIs

  • clko2::Selection::TracClk
  • timer::*PitChan
  • lpspi::Disabled::{set_mode, set_watermark}

BREAKING Change the LPSPI driver:

  • LpspiError::{Busy, NoData} are removed as possible LPSPI errors.
  • There is no more PCS0 type state associated with the LPSPI bus.
  • FifoStatus has public members for TX and RX FIFO capacities.

Introduce a hardware chip select and SPI mode into each LPSPI transaction. Add an LPSPI configuration for hardware chip selects.

BREAKING The following peripherals are not available on the 1180. Therefore, they are no longer considered common. However, their APIs are unchanged, and they are still exposed when building with a chip feature.

  • gpio
  • pit
  • snvs
  • timer

BREAKING Remove the timer module, including most embedded-hal 0.2 blocking delay implementations.

BREAKING Upgrade to Rust 2024.

Introduce an imxrt1180 feature to support the RT1180 series.

Add a defmt feature targeting version 0.3. When enabled, select imxrt-hal types can be formatted with defmt.

Export the SAI driver for 1170 MCUs. Fix SAI FPACK enumerated values. Ensure SAI tracks configured pins, even if users prefer without_pins.

Add SAI DMA support. DMA targets the lowest-numbered enabled data line for each direction; multiple data lines are not supported by DMA.

0.5.13 2026-03-15

Add OCOTP driver for reading and writing fuses.

Add FlexSPI clock gate locator(s) for 10xx MCUs.

0.5.12 2025-12-10

Add uSDHC clock gates for 10xx and 11xx MCUs.

0.5.11 2025-07-07

Add receive functions to the SAI driver.

The SAI driver would overwrite other configurations in an IOMUXC_GPR register, and it would fail to configure clock directions for SAI instances other than SAI1. This release removes this IOMUXC_GPR interaction. Users should directly use the IOMUXC_GPR to configure their own clocks.

0.5.10 2025-06-14

Add SAI driver, supporting audio transmit, for 1000 series MCUs. 1170 support is unavailable without an imxrt-ral breaking change. Additionally, there are no SAI clock gates implemented for the 1020.

0.5.9 2024-11-24

Correct LPSPI receive operations. Previously, u8 and u16 elements received by the driver were returned out of order to the user. This release fixes the ordering. If you were correcting this behavior in application code, you'll need to remove that behavior before adopting this fix.

Add core::fmt::Debug implementation for TempMon.

0.5.8 2024-11-01

Fix LPUART baud rate computation, ensuring updates to SBR when evaluating other best baud rates. Change how larger LPUART baud rates can be computed.

0.5.7 2024-08-05

Add PLL7 (USB2 PLL) for 1060 MCUs.

0.5.6 2024-07-05

  • Add LPSPI low-level clock configuration APIs.
  • Add LPSPI set_peripheral_enable to configure the driver as a SPI peripheral.

When the LPI2C driver concludes a transaction, it ensures that the controller is idle before returning.

0.5.5 2024-05-27

Add embedded-hal 1 implementations for the following drivers:

  • GPIO
  • LPUART
  • LPI2C

Introduce LPSPI improvements:

  • Add additional checks for LPSPI frame sizes.
  • Rework LPSPI clock settings, initialization, and disable.
  • Add flush() method.
  • Add soft_reset() method.
  • Allow users to change the mode while enabled. Deprecate the corresponding method on the Disabled helper.
  • Allow users to change the watermark while enabled. Deprecate the corresponding method on the Disabled helper.

Change how the LPSPI driver manages the FIFOs. As a result of this change, the driver never returns the Busy or NoData errors through the embedded-hal interfaces. Instead of returning Busy, the driver blocks until there's space in the FIFO. If the caller provides an empty buffer, then the result is OK.

The LPSPI embedded-hal (0.2) implementations will implicitly flush after blocking I/O. Users can rely on this behavior to synchronize external components.

0.5.4 2023-11-26

Add CCM APIs for configuring FlexIO clocks on 1000 targets.

0.5.3 2023-07-03

Add FlexIO clock gates for all supported 1000 and 1100 targets.

0.5.2 2023-04-26

Add LPSPI API to configure the sample point.

Fix a bug in the LPSPI driver that prevented transfers from reading data back into the caller's buffer. The LPSPI transfer now waits for all data before returning to the caller.

0.5.1 2023-03-07

Add support for i.MX RT 1020 processors. Enable support with the "imxrt1020" imxrt-hal feature, and separately select your imxrt-ral feature.

Deprecate the clko2::Selection::TracClk item. Prefer the correctly-spelled variant, clko2::Selection::TraceClk.

Deprecate the following items in the timer module:

  • timer::BlockingPitChan and constructor from_pit_channel.
  • timer::RawCountDownPitChanand constructor from_pit_channel.

The type names differ from *PitChain by one letter. Prefer the spellings without *Chan and *_channel.

0.5.0 2022-01-05

imxrt-hal provides common peripherals for all chips supported by imxrt-ral, including multi-core 1176 chips. There are about 12 common peripherals that are expected to work across 10 supported i.MX RT processors.

imxrt-hal now includes extra APIs for the following i.MX RT processors:

  • 1010
  • 1060
  • 1064
  • 1170

Note that these extra APIs may not be portable across all i.MX RT processors.

Many drivers are re-written with new interfaces; see the API documentation and examples for specifics. All drivers maintain their embedded-hal 0.2 implementations, which should help those who are migrating generic firmware from older imxrt-hal releases.

In order to support more i.MX RT processors, imxrt-hal has new build requirements. These requirements differ from the 0.4 release. Study the API documentation to understand how to build and use 0.5 of imxrt-hal.

If you want to try out imxrt-hal on development hardware, the project now maintains in-tree hardware examples. Consult the repository documentation for more information on supported hardware, and how to build and flash examples.

Fixed

This release includes a fix for the LPSPI spurious chip select toggling (#111). The new LPSPI driver will assert chip select until all data from a u8/u16/u32 buffer is sent out / received from the device.

Maintenance

The previous master branch, from which other releases were cut, is renamed to pre-v0.5 in the primary repository. The main branch now represents the default branch, and it contains the tag for this release.

0.4.5 2021-12-02

Added

You can now configure GPIO inputs to trigger interrupts. See the GPIO documentation for the new API.

Fixed

The TRNG signals a rand_core custom error code.

0.4.4 2021-04-23

Fixed

Added calls to set pin muxing in the PWM driver. This fixes a regression in the PWM driver that was introduced in the 0.4 HAL release.

0.4.3 2021-04-12

Added

Two new HAL features, "imxrt1061" and "imxrt1064", let you build the HAL for iMXRT1061 and iMXRT1064 MCUs, respectively. The features enable the relevant features in the imxrt-ral register access layer. Use these features to ensure the best compatibility with your iMXRT processor.

ADC pins may be used as DMA peripherals. Use the AdcSource API to receive analog data with a DMA transfer.

0.4.2 2020-11-23

Added

  • Basic support for the secure real time clock (SRTC) peripheral, which continues to track time while the SNVS low-power domain remains powered.
  • Add ADC channels. The channels implement the embedded-hal::adc::Oneshot trait.
  • Preliminary support for the TRNG, with an implementation of embedded_hal's rng::Read trait. Includes support for rand_core::RngCore behind the optional "rand_core" feature.

Fixed

  • Ensure that I2C and SPI errors can only be created by the HAL crate, and not by end users.

0.4.1 2020-09-23

Fix

  • Maintain GPIO input/output configuration when enabling or disabling high-speed mode.

0.4.0 2020-08-29

This release contains numerous breaking HAL changes. See the "Changed" section for more information. The release includes 0.3.1 fixes.

Added

  • steal() the top-level Peripherals object. The steal() method lets users use the imxrt_hal as an RTIC device.
  • DMA Memcpy may support interrupt handling
  • A new interface for pad configuration, supported by the imxrt-iomuxc crate family. See the Changed section for migration information.

Changed

  • BREAKING The pad configuration interface has simplified. Users will use the interface exposed by the imxrt-iomuxc crate family. This section describes how you might update your 0.3 (and earlier) code for the new interface.

    • Naming: the IOMUXC instance exposes pads with a new naming convention. Previously, member accessed resembled

      let peripherals = imxrt_hal::Peripherals::take().unwrap();
peripherals.iomuxc.gpio_ad_b1_02;

      Now, IOMUXC member access resembles

      peripherals.iomuxc.ad_b1.p02

      Generally, remove the "gpio_" prefix, and replace the second underscore with member access and a "p" symbol.

    • Pad Types: The interface simplifies the pad types, removing the alternate type state. Usages resembling

      use imxrt_hal as hal;

type MyPin = hal::iomuxc::gpio::GPIO_AD_B0_12<hal::iomuxc::Alt5>;

      can be simply expressed as

      type MyPin = hal::iomuxc::ad_b0::AD_B0_12;

      Note the stuttering convention of pad_group::pad_group_offset to reference pad types.

    • No alternate transition: there are no altX() methods. Usage resembling

      let mut uart = uarts.uart2.init(
    peripherals.iomuxc.gpio_ad_b1_02.alt2(),
    peripherals.iomuxc.gpio_ad_b1_03.alt2(),
    BAUD,
).unwrap()

      should drop the altX() calls (after renaming the pads).

      let mut uart = uarts.uart2.init(
    peripherals.iomuxc.ad_b1.p02,
    peripherals.iomuxc.ad_b1.p03,
    BAUD,
).unwrap();

    • Type Tags: all custom type-level constants, like imxrt_hal::uart::module::_1 are now typenum constants. There are no peripheral-specific constants. Usage resembling

      use imxrt_hal::uart;

type MyTX = uart::Tx<uart::module::_3>;

      should update to

      use imxrt_hal::uart;
use imxrt_hal::iomuxc;

type MyTX = uart::Tx<iomuxc::consts::U3>;

    • GPIO: the new IOMUXC driver results in a simpler GPIO interface. There is now a single GPIO type that wraps an IOMUXC pad. Any GPIO type, like

      use imxrt_hal as hal;

type HardwareFlag = hal::gpio::GPIO1IO26<hal::gpio::GPIO1, hal::gpio::Output>;

      should change to

      type HardwareFlag = hal::gpio::GPIO<hal::iomuxc::ad_b1::AD_B1_10, hal::gpio::Output>;

      The new GPIO types expose a no-return toggle() method, which shadows an embedded_hal trait method. If you notice compilation issues surrounding toggle(), try removing unwrap() calls:

      led.toggle().unwrap() // Old
led.toggle()          // New

      Or, qualify that the ToggleableOutputPin trait method should be called.

  • BREAKING The HAL's "rtfm" feature is changed to "rtic", reflecting the framework's new name. Users who are relying on the "rtfm" feature should now use the "rtic" feature.

  • BREAKING The dma::{Config, ConfigBuilder} types are gone. This affects the dma::Peripheral interface. To configure interrupt on completion / half settings, use dma::Channel::set_interrupt_on_completion() / dma::Channel::set_interrupt_on_half() to perform the same configurations before suppling the channel to dma::Peripheral.

0.3.1 2020-08-29

Fixed

  • The StatefulOutputPin implementation was reading from the wrong GPIO register. The interface would indicate that the GPIO was always low, even when it was driven high. The implementation now reads from the data register, which represents the driven GPIO value.

0.3.0 - 2020-06-18

Added

  • uart::ReadError implements Clone, Debug, PartialEq, and Eq
  • UART peripherals may be split() into Tx and Rx halves
  • UART peripherals implement the blocking embedded_hal traits
  • General purpose timers (GPT)
  • Introducing the DMA module
    • Peripheral-to-memory transfers, supporting both SPI and UART
    • Memory-to-memory copies
    • Statically-allocated linear and circular buffers
  • Documentation
    • Getting Started
    • Contributing
    • Rustdoc-checked code examples

Changed

  • imxrt_hal::pit::Unclocked::clock now takes a &mut imxrt_hal::ccm::perclk::Configured mutable reference, rather than a value. Users need to add a &mut qualifier to the clock() argument, and qualify the Configured object as mut to migrate their code. The object may now be shared between PIT and GPT clocking methods.

Prior releases were not tracked with a changelog entry.
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