Merge pull request #255 from thalesfragoso/od-pin

stm32: Allow for open drain configuration for output pin

12 files changed, 153 insertions, 37 deletions

diff --git a/embassy-stm32/src/gpio.rs b/embassy-stm32/src/gpio.rs
index 873c73b4e..bf8400ca9 100644
--- a/embassy-stm32/src/gpio.rs
+++ b/embassy-stm32/src/gpio.rs
@@ -18,6 +18,43 @@ pub enum Pull {
     Down,
 }
 
+impl From<Pull> for vals::Pupdr {
+    fn from(pull: Pull) -> Self {
+        use Pull::*;
+
+        match pull {
+            None => vals::Pupdr::FLOATING,
+            Up => vals::Pupdr::PULLUP,
+            Down => vals::Pupdr::PULLDOWN,
+        }
+    }
+}
+
+/// Speed settings
+#[derive(Debug)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub enum Speed {
+    Low,
+    Medium,
+    #[cfg(not(syscfg_f0))]
+    High,
+    VeryHigh,
+}
+
+impl From<Speed> for vals::Ospeedr {
+    fn from(speed: Speed) -> Self {
+        use Speed::*;
+
+        match speed {
+            Low => vals::Ospeedr::LOWSPEED,
+            Medium => vals::Ospeedr::MEDIUMSPEED,
+            #[cfg(not(syscfg_f0))]
+            High => vals::Ospeedr::HIGHSPEED,
+            VeryHigh => vals::Ospeedr::VERYHIGHSPEED,
+        }
+    }
+}
+
 /// GPIO input driver.
 pub struct Input<'d, T: Pin> {
     pub(crate) pin: T,
@@ -31,12 +68,7 @@ impl<'d, T: Pin> Input<'d, T> {
         cortex_m::interrupt::free(|_| unsafe {
             let r = pin.block();
             let n = pin.pin() as usize;
-            let val = match pull {
-                Pull::None => vals::Pupdr::FLOATING,
-                Pull::Up => vals::Pupdr::PULLUP,
-                Pull::Down => vals::Pupdr::PULLDOWN,
-            };
-            r.pupdr().modify(|w| w.set_pupdr(n, val));
+            r.pupdr().modify(|w| w.set_pupdr(n, pull.into()));
             r.otyper().modify(|w| w.set_ot(n, vals::Ot::PUSHPULL));
             r.moder().modify(|w| w.set_moder(n, vals::Moder::INPUT));
         });
@@ -86,7 +118,7 @@ pub struct Output<'d, T: Pin> {
 }
 
 impl<'d, T: Pin> Output<'d, T> {
-    pub fn new(pin: impl Unborrow<Target = T> + 'd, initial_output: Level) -> Self {
+    pub fn new(pin: impl Unborrow<Target = T> + 'd, initial_output: Level, speed: Speed) -> Self {
         unborrow!(pin);
 
         match initial_output {
@@ -99,6 +131,8 @@ impl<'d, T: Pin> Output<'d, T> {
             let n = pin.pin() as usize;
             r.pupdr().modify(|w| w.set_pupdr(n, vals::Pupdr::FLOATING));
             r.moder().modify(|w| w.set_moder(n, vals::Moder::OUTPUT));
+            r.otyper().modify(|w| w.set_ot(n, vals::Ot::PUSHPULL));
+            pin.set_speed(speed);
         });
 
         Self {
@@ -150,6 +184,83 @@ impl<'d, T: Pin> StatefulOutputPin for Output<'d, T> {
 
 impl<'d, T: Pin> toggleable::Default for Output<'d, T> {}
 
+/// GPIO output open-drain driver.
+pub struct OutputOpenDrain<'d, T: Pin> {
+    pub(crate) pin: T,
+    phantom: PhantomData<&'d mut T>,
+}
+
+impl<'d, T: Pin> OutputOpenDrain<'d, T> {
+    pub fn new(
+        pin: impl Unborrow<Target = T> + 'd,
+        initial_output: Level,
+        speed: Speed,
+        pull: Pull,
+    ) -> Self {
+        unborrow!(pin);
+
+        match initial_output {
+            Level::High => pin.set_high(),
+            Level::Low => pin.set_low(),
+        }
+
+        cortex_m::interrupt::free(|_| unsafe {
+            let r = pin.block();
+            let n = pin.pin() as usize;
+            r.pupdr().modify(|w| w.set_pupdr(n, pull.into()));
+            r.moder().modify(|w| w.set_moder(n, vals::Moder::OUTPUT));
+            r.otyper().modify(|w| w.set_ot(n, vals::Ot::OPENDRAIN));
+            pin.set_speed(speed);
+        });
+
+        Self {
+            pin,
+            phantom: PhantomData,
+        }
+    }
+}
+
+impl<'d, T: Pin> Drop for OutputOpenDrain<'d, T> {
+    fn drop(&mut self) {
+        cortex_m::interrupt::free(|_| unsafe {
+            let r = self.pin.block();
+            let n = self.pin.pin() as usize;
+            r.pupdr().modify(|w| w.set_pupdr(n, vals::Pupdr::FLOATING));
+            r.moder().modify(|w| w.set_moder(n, vals::Moder::INPUT));
+        });
+    }
+}
+
+impl<'d, T: Pin> OutputPin for OutputOpenDrain<'d, T> {
+    type Error = Infallible;
+
+    /// Set the output as high.
+    fn set_high(&mut self) -> Result<(), Self::Error> {
+        self.pin.set_high();
+        Ok(())
+    }
+
+    /// Set the output as low.
+    fn set_low(&mut self) -> Result<(), Self::Error> {
+        self.pin.set_low();
+        Ok(())
+    }
+}
+
+impl<'d, T: Pin> InputPin for OutputOpenDrain<'d, T> {
+    type Error = Infallible;
+
+    fn is_high(&self) -> Result<bool, Self::Error> {
+        self.is_low().map(|v| !v)
+    }
+
+    fn is_low(&self) -> Result<bool, Self::Error> {
+        // NOTE(safety) Atomic read
+        let state = unsafe { self.pin.block().idr().read().idr(self.pin.pin() as usize) };
+        Ok(state == vals::Idr::LOW)
+    }
+}
+
 pub(crate) mod sealed {
     use super::*;
 
@@ -206,6 +317,13 @@ pub(crate) mod sealed {
                 .moder()
                 .modify(|w| w.set_moder(pin, vals::Moder::ANALOG));
         }
+
+        unsafe fn set_speed(&self, speed: Speed) {
+            let pin = self._pin() as usize;
+            self.block()
+                .ospeedr()
+                .modify(|w| w.set_ospeedr(pin, speed.into()));
+        }
     }
 
     pub trait OptionalPin {}
diff --git a/examples/stm32f4/src/bin/blinky.rs b/examples/stm32f4/src/bin/blinky.rs
index 7590764d8..d2b607c2c 100644
--- a/examples/stm32f4/src/bin/blinky.rs
+++ b/examples/stm32f4/src/bin/blinky.rs
@@ -8,7 +8,7 @@
 
 #[path = "../example_common.rs"]
 mod example_common;
-use embassy_stm32::gpio::{Level, Output};
+use embassy_stm32::gpio::{Level, Output, Speed};
 use embedded_hal::digital::v2::OutputPin;
 use example_common::*;
 
@@ -40,7 +40,7 @@ fn main() -> ! {
 
     let p = embassy_stm32::init(Default::default());
 
-    let mut led = Output::new(p.PB7, Level::High);
+    let mut led = Output::new(p.PB7, Level::High, Speed::Low);
 
     loop {
         info!("high");
diff --git a/examples/stm32f4/src/bin/button.rs b/examples/stm32f4/src/bin/button.rs
index 1ee99f527..c7160d219 100644
--- a/examples/stm32f4/src/bin/button.rs
+++ b/examples/stm32f4/src/bin/button.rs
@@ -8,7 +8,7 @@
 
 #[path = "../example_common.rs"]
 mod example_common;
-use embassy_stm32::gpio::{Input, Level, Output, Pull};
+use embassy_stm32::gpio::{Input, Level, Output, Pull, Speed};
 use embedded_hal::digital::v2::{InputPin, OutputPin};
 use example_common::*;
 
@@ -41,9 +41,9 @@ fn main() -> ! {
     let p = embassy_stm32::init(Default::default());
 
     let button = Input::new(p.PC13, Pull::Down);
-    let mut led1 = Output::new(p.PB0, Level::High);
-    let _led2 = Output::new(p.PB7, Level::High);
-    let mut led3 = Output::new(p.PB14, Level::High);
+    let mut led1 = Output::new(p.PB0, Level::High, Speed::Low);
+    let _led2 = Output::new(p.PB7, Level::High, Speed::Low);
+    let mut led3 = Output::new(p.PB14, Level::High, Speed::Low);
 
     loop {
         if button.is_high().unwrap() {
diff --git a/examples/stm32f4/src/bin/spi.rs b/examples/stm32f4/src/bin/spi.rs
index 610bb64e9..dda0ee4ed 100644
--- a/examples/stm32f4/src/bin/spi.rs
+++ b/examples/stm32f4/src/bin/spi.rs
@@ -9,7 +9,7 @@
 #[path = "../example_common.rs"]
 mod example_common;
 
-use embassy_stm32::gpio::{Level, Output};
+use embassy_stm32::gpio::{Level, Output, Speed};
 use embedded_hal::digital::v2::OutputPin;
 use example_common::*;
 
@@ -58,7 +58,7 @@ fn main() -> ! {
         Config::default(),
     );
 
-    let mut cs = Output::new(p.PE0, Level::High);
+    let mut cs = Output::new(p.PE0, Level::High, Speed::VeryHigh);
 
     loop {
         let mut buf = [0x0A; 4];
diff --git a/examples/stm32h7/src/bin/blinky.rs b/examples/stm32h7/src/bin/blinky.rs
index c425b7f8e..d9f891e49 100644
--- a/examples/stm32h7/src/bin/blinky.rs
+++ b/examples/stm32h7/src/bin/blinky.rs
@@ -8,15 +8,15 @@
 
 #[path = "../example_common.rs"]
 mod example_common;
-use embassy_stm32::gpio::{Level, Output};
+use embassy_stm32::gpio::{Level, Output, Speed};
 use embedded_hal::digital::v2::OutputPin;
 use example_common::*;
 
 use cortex_m_rt::entry;
 use stm32h7::stm32h743 as pac;
 
-use stm32h7xx_hal as hal;
 use hal::prelude::*;
+use stm32h7xx_hal as hal;
 
 #[entry]
 fn main() -> ! {
@@ -24,8 +24,7 @@ fn main() -> ! {
 
     let pp = pac::Peripherals::take().unwrap();
 
-    let pwrcfg = pp.PWR.constrain()
-        .freeze();
+    let pwrcfg = pp.PWR.constrain().freeze();
 
     let rcc = pp.RCC.constrain();
 
@@ -60,7 +59,7 @@ fn main() -> ! {
 
     let p = embassy_stm32::init(Default::default());
 
-    let mut led = Output::new(p.PB14, Level::High);
+    let mut led = Output::new(p.PB14, Level::High, Speed::Low);
 
     loop {
         info!("high");
@@ -71,5 +70,4 @@ fn main() -> ! {
         led.set_low().unwrap();
         cortex_m::asm::delay(10_000_000);
     }
-
 }
diff --git a/examples/stm32l0/src/bin/blinky.rs b/examples/stm32l0/src/bin/blinky.rs
index ab0a2bdb2..833c14fbf 100644
--- a/examples/stm32l0/src/bin/blinky.rs
+++ b/examples/stm32l0/src/bin/blinky.rs
@@ -9,7 +9,7 @@
 #[path = "../example_common.rs"]
 mod example_common;
 use embassy_stm32::{
-    gpio::{Level, Output},
+    gpio::{Level, Output, Speed},
     rcc::*,
 };
 use embedded_hal::digital::v2::OutputPin;
@@ -25,7 +25,7 @@ fn main() -> ! {
 
     Rcc::new(p.RCC).enable_debug_wfe(&mut p.DBGMCU, true);
 
-    let mut led = Output::new(p.PB5, Level::High);
+    let mut led = Output::new(p.PB5, Level::High, Speed::Low);
 
     loop {
         info!("high");
diff --git a/examples/stm32l0/src/bin/button.rs b/examples/stm32l0/src/bin/button.rs
index 04c48112a..5f46ec794 100644
--- a/examples/stm32l0/src/bin/button.rs
+++ b/examples/stm32l0/src/bin/button.rs
@@ -9,7 +9,7 @@
 #[path = "../example_common.rs"]
 mod example_common;
 use embassy_stm32::{
-    gpio::{Input, Level, Output, Pull},
+    gpio::{Input, Level, Output, Pull, Speed},
     rcc::*,
 };
 use embedded_hal::digital::v2::{InputPin, OutputPin};
@@ -25,8 +25,8 @@ fn main() -> ! {
     Rcc::new(p.RCC).enable_debug_wfe(&mut p.DBGMCU, true);
 
     let button = Input::new(p.PB2, Pull::Up);
-    let mut led1 = Output::new(p.PA5, Level::High);
-    let mut led2 = Output::new(p.PB5, Level::High);
+    let mut led1 = Output::new(p.PA5, Level::High, Speed::Low);
+    let mut led2 = Output::new(p.PB5, Level::High, Speed::Low);
 
     loop {
         if button.is_high().unwrap() {
diff --git a/examples/stm32l0/src/bin/spi.rs b/examples/stm32l0/src/bin/spi.rs
index 0e828c436..9bb9b741e 100644
--- a/examples/stm32l0/src/bin/spi.rs
+++ b/examples/stm32l0/src/bin/spi.rs
@@ -9,7 +9,7 @@
 #[path = "../example_common.rs"]
 mod example_common;
 
-use embassy_stm32::gpio::{Level, Output};
+use embassy_stm32::gpio::{Level, Output, Speed};
 use embedded_hal::digital::v2::OutputPin;
 use example_common::*;
 
@@ -36,7 +36,7 @@ fn main() -> ! {
         Config::default(),
     );
 
-    let mut cs = Output::new(p.PA15, Level::High);
+    let mut cs = Output::new(p.PA15, Level::High, Speed::VeryHigh);
 
     loop {
         let mut buf = [0x0A; 4];
diff --git a/examples/stm32l4/src/bin/blinky.rs b/examples/stm32l4/src/bin/blinky.rs
index 42c9333f4..ae4b3d1d1 100644
--- a/examples/stm32l4/src/bin/blinky.rs
+++ b/examples/stm32l4/src/bin/blinky.rs
@@ -8,7 +8,7 @@
 
 #[path = "../example_common.rs"]
 mod example_common;
-use embassy_stm32::gpio::{Level, Output};
+use embassy_stm32::gpio::{Level, Output, Speed};
 use embedded_hal::digital::v2::OutputPin;
 use example_common::*;
 
@@ -39,7 +39,7 @@ fn main() -> ! {
 
     let p = embassy_stm32::init(Default::default());
 
-    let mut led = Output::new(p.PB14, Level::High);
+    let mut led = Output::new(p.PB14, Level::High, Speed::Low);
 
     loop {
         info!("high");
diff --git a/examples/stm32l4/src/bin/button.rs b/examples/stm32l4/src/bin/button.rs
index 962d5aa75..3efeee20f 100644
--- a/examples/stm32l4/src/bin/button.rs
+++ b/examples/stm32l4/src/bin/button.rs
@@ -8,7 +8,7 @@
 
 #[path = "../example_common.rs"]
 mod example_common;
-use embassy_stm32::gpio::{Input, Level, Output, Pull};
+use embassy_stm32::gpio::{Input, Level, Output, Pull, Speed};
 use embedded_hal::digital::v2::{InputPin, OutputPin};
 use example_common::*;
 
@@ -40,8 +40,8 @@ fn main() -> ! {
     let p = embassy_stm32::init(Default::default());
 
     let button = Input::new(p.PC13, Pull::Up);
-    let mut led1 = Output::new(p.PA5, Level::High);
-    let mut led2 = Output::new(p.PB14, Level::High);
+    let mut led1 = Output::new(p.PA5, Level::High, Speed::Low);
+    let mut led2 = Output::new(p.PB14, Level::High, Speed::Low);
 
     loop {
         if button.is_high().unwrap() {
diff --git a/examples/stm32l4/src/bin/spi.rs b/examples/stm32l4/src/bin/spi.rs
index 7c672b70d..28c563c19 100644
--- a/examples/stm32l4/src/bin/spi.rs
+++ b/examples/stm32l4/src/bin/spi.rs
@@ -9,7 +9,7 @@
 #[path = "../example_common.rs"]
 mod example_common;
 
-use embassy_stm32::gpio::{Level, Output};
+use embassy_stm32::gpio::{Level, Output, Speed};
 use embedded_hal::digital::v2::OutputPin;
 use example_common::*;
 
@@ -52,7 +52,7 @@ fn main() -> ! {
         Config::default(),
     );
 
-    let mut cs = Output::new(p.PE0, Level::High);
+    let mut cs = Output::new(p.PE0, Level::High, Speed::VeryHigh);
 
     loop {
         let mut buf = [0x0A; 4];
diff --git a/examples/stm32wb55/src/bin/blinky.rs b/examples/stm32wb55/src/bin/blinky.rs
index 8ce78a3c3..d53ad611a 100644
--- a/examples/stm32wb55/src/bin/blinky.rs
+++ b/examples/stm32wb55/src/bin/blinky.rs
@@ -8,7 +8,7 @@
 
 #[path = "../example_common.rs"]
 mod example_common;
-use embassy_stm32::gpio::{Level, Output};
+use embassy_stm32::gpio::{Level, Output, Speed};
 use embedded_hal::digital::v2::OutputPin;
 use example_common::*;
 
@@ -28,7 +28,7 @@ fn main() -> ! {
 
     let p = embassy_stm32::init(Default::default());
 
-    let mut led = Output::new(p.PB0, Level::High);
+    let mut led = Output::new(p.PB0, Level::High, Speed::Low);
 
     loop {
         info!("high");