rp/gpio: add infallible inherent methods

3 files changed, 47 insertions, 20 deletions

diff --git a/embassy-rp/src/gpio.rs b/embassy-rp/src/gpio.rs
index ee263fdb2..1eddce184 100644
--- a/embassy-rp/src/gpio.rs
+++ b/embassy-rp/src/gpio.rs
@@ -7,7 +7,7 @@ use crate::peripherals;
 
 use embassy::util::Unborrow;
 use embassy_extras::{unborrow, unsafe_impl_unborrow};
-use embedded_hal::digital::v2::{InputPin, OutputPin, StatefulOutputPin};
+use embedded_hal::digital::v2 as digital;
 
 /// Represents a digital input or output level.
 #[derive(Debug, Eq, PartialEq)]
@@ -63,6 +63,15 @@ impl<'d, T: Pin> Input<'d, T> {
             phantom: PhantomData,
         }
     }
+
+    pub fn is_high(&self) -> bool {
+        !self.is_low()
+    }
+
+    pub fn is_low(&self) -> bool {
+        let val = 1 << self.pin.pin();
+        unsafe { self.pin.sio_in().read() & val == 0 }
+    }
 }
 
 impl<'d, T: Pin> Drop for Input<'d, T> {
@@ -71,16 +80,15 @@ impl<'d, T: Pin> Drop for Input<'d, T> {
     }
 }
 
-impl<'d, T: Pin> InputPin for Input<'d, T> {
+impl<'d, T: Pin> digital::InputPin for Input<'d, T> {
     type Error = !;
 
     fn is_high(&self) -> Result<bool, Self::Error> {
-        self.is_low().map(|v| !v)
+        Ok(self.is_high())
     }
 
     fn is_low(&self) -> Result<bool, Self::Error> {
-        let val = 1 << self.pin.pin();
-        Ok(unsafe { self.pin.sio_in().read() } & val == 0)
+        Ok(self.is_low())
     }
 }
 
@@ -111,6 +119,29 @@ impl<'d, T: Pin> Output<'d, T> {
             phantom: PhantomData,
         }
     }
+
+    /// Set the output as high.
+    pub fn set_high(&mut self) {
+        let val = 1 << self.pin.pin();
+        unsafe { self.pin.sio_out().value_set().write_value(val) };
+    }
+
+    /// Set the output as low.
+    pub fn set_low(&mut self) {
+        let val = 1 << self.pin.pin();
+        unsafe { self.pin.sio_out().value_clr().write_value(val) };
+    }
+
+    /// Is the output pin set as high?
+    pub fn is_set_high(&self) -> bool {
+        !self.is_set_low()
+    }
+
+    /// Is the output pin set as low?
+    pub fn is_set_low(&self) -> bool {
+        // todo
+        true
+    }
 }
 
 impl<'d, T: Pin> Drop for Output<'d, T> {
@@ -119,34 +150,31 @@ impl<'d, T: Pin> Drop for Output<'d, T> {
     }
 }
 
-impl<'d, T: Pin> OutputPin for Output<'d, T> {
+impl<'d, T: Pin> digital::OutputPin for Output<'d, T> {
     type Error = !;
 
     /// Set the output as high.
     fn set_high(&mut self) -> Result<(), Self::Error> {
-        let val = 1 << self.pin.pin();
-        unsafe { self.pin.sio_out().value_set().write_value(val) };
+        self.set_high();
         Ok(())
     }
 
     /// Set the output as low.
     fn set_low(&mut self) -> Result<(), Self::Error> {
-        let val = 1 << self.pin.pin();
-        unsafe { self.pin.sio_out().value_clr().write_value(val) };
+        self.set_low();
         Ok(())
     }
 }
 
-impl<'d, T: Pin> StatefulOutputPin for Output<'d, T> {
+impl<'d, T: Pin> digital::StatefulOutputPin for Output<'d, T> {
     /// Is the output pin set as high?
     fn is_set_high(&self) -> Result<bool, Self::Error> {
-        self.is_set_low().map(|v| !v)
+        Ok(self.is_set_high())
     }
 
     /// Is the output pin set as low?
     fn is_set_low(&self) -> Result<bool, Self::Error> {
-        // todo
-        Ok(true)
+        Ok(self.is_set_low())
     }
 }
 
diff --git a/examples/rp/src/bin/blinky.rs b/examples/rp/src/bin/blinky.rs
index e42999912..a162ed2f7 100644
--- a/examples/rp/src/bin/blinky.rs
+++ b/examples/rp/src/bin/blinky.rs
@@ -12,7 +12,6 @@ mod example_common;
 use defmt::*;
 use embassy::executor::Spawner;
 use embassy_rp::{gpio, Peripherals};
-use embedded_hal::digital::v2::OutputPin;
 use gpio::{Level, Output};
 
 #[embassy::main]
@@ -21,11 +20,11 @@ async fn main(_spawner: Spawner, p: Peripherals) {
 
     loop {
         info!("led on!");
-        led.set_high().unwrap();
+        led.set_high();
         cortex_m::asm::delay(1_000_000);
 
         info!("led off!");
-        led.set_low().unwrap();
+        led.set_low();
         cortex_m::asm::delay(1_000_000);
     }
 }
diff --git a/examples/rp/src/bin/button.rs b/examples/rp/src/bin/button.rs
index c4d942ff5..12bc0e0d9 100644
--- a/examples/rp/src/bin/button.rs
+++ b/examples/rp/src/bin/button.rs
@@ -20,10 +20,10 @@ async fn main(_spawner: Spawner, p: Peripherals) {
     let mut led = Output::new(p.PIN_25, Level::Low);
 
     loop {
-        if button.is_high().unwrap() {
-            led.set_high().unwrap();
+        if button.is_high() {
+            led.set_high();
         } else {
-            led.set_low().unwrap();
+            led.set_low();
         }
     }
 }