stm32/gpio: expose all functionality as inherent methods.

2 files changed, 165 insertions, 77 deletions

diff --git a/embassy-stm32/src/exti.rs b/embassy-stm32/src/exti.rs
index 552433b87..eded6ba71 100644
--- a/embassy-stm32/src/exti.rs
+++ b/embassy-stm32/src/exti.rs
@@ -94,17 +94,25 @@ impl<'d, T: GpioPin> ExtiInput<'d, T> {
     pub fn new(pin: Input<'d, T>, _ch: impl Unborrow<Target = T::ExtiChannel> + 'd) -> Self {
         Self { pin }
     }
+
+    pub fn is_high(&self) -> bool {
+        self.pin.is_high()
+    }
+
+    pub fn is_low(&self) -> bool {
+        self.pin.is_low()
+    }
 }
 
 impl<'d, T: GpioPin> InputPin for ExtiInput<'d, T> {
     type Error = Infallible;
 
     fn is_high(&self) -> Result<bool, Self::Error> {
-        self.pin.is_high()
+        Ok(self.is_high())
     }
 
     fn is_low(&self) -> Result<bool, Self::Error> {
-        self.pin.is_low()
+        Ok(self.is_low())
     }
 }
 
diff --git a/embassy-stm32/src/gpio.rs b/embassy-stm32/src/gpio.rs
index 6b4a9285f..57b9ba6b7 100644
--- a/embassy-stm32/src/gpio.rs
+++ b/embassy-stm32/src/gpio.rs
@@ -3,7 +3,7 @@ use core::convert::Infallible;
 use core::marker::PhantomData;
 use embassy::util::Unborrow;
 use embassy_hal_common::{unborrow, unsafe_impl_unborrow};
-use embedded_hal::digital::v2::{toggleable, InputPin, OutputPin, StatefulOutputPin};
+use embedded_hal::digital::v2::{InputPin, OutputPin, StatefulOutputPin, ToggleableOutputPin};
 
 use crate::pac;
 use crate::pac::gpio::{self, vals};
@@ -113,6 +113,15 @@ 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 state = unsafe { self.pin.block().idr().read().idr(self.pin.pin() as _) };
+        state == vals::Idr::LOW
+    }
 }
 
 impl<'d, T: Pin> Drop for Input<'d, T> {
@@ -132,19 +141,6 @@ impl<'d, T: Pin> Drop for Input<'d, T> {
     }
 }
 
-impl<'d, T: Pin> InputPin for Input<'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> {
-        let state = unsafe { self.pin.block().idr().read().idr(self.pin.pin() as _) };
-        Ok(state == vals::Idr::LOW)
-    }
-}
-
 /// Digital input or output level.
 #[derive(Debug, Eq, PartialEq)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
@@ -191,6 +187,36 @@ impl<'d, T: Pin> Output<'d, T> {
             phantom: PhantomData,
         }
     }
+
+    /// Set the output as high.
+    pub fn set_high(&mut self) {
+        self.pin.set_high();
+    }
+
+    /// Set the output as low.
+    pub fn set_low(&mut self) {
+        self.pin.set_low();
+    }
+
+    /// 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 {
+        let state = unsafe { self.pin.block().odr().read().odr(self.pin.pin() as _) };
+        state == vals::Odr::LOW
+    }
+
+    /// Toggle pin output
+    pub fn toggle(&mut self) {
+        if self.is_set_low() {
+            self.set_high()
+        } else {
+            self.set_low()
+        }
+    }
 }
 
 impl<'d, T: Pin> Drop for Output<'d, T> {
@@ -214,37 +240,6 @@ impl<'d, T: Pin> Drop for Output<'d, T> {
     }
 }
 
-impl<'d, T: Pin> OutputPin for Output<'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> 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)
-    }
-
-    /// Is the output pin set as low?
-    fn is_set_low(&self) -> Result<bool, Self::Error> {
-        let state = unsafe { self.pin.block().odr().read().odr(self.pin.pin() as _) };
-        Ok(state == vals::Odr::LOW)
-    }
-}
-
-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,
@@ -294,6 +289,45 @@ impl<'d, T: Pin> OutputOpenDrain<'d, T> {
             phantom: PhantomData,
         }
     }
+
+    pub fn is_high(&self) -> bool {
+        !self.is_low()
+    }
+
+    pub fn is_low(&self) -> bool {
+        let state = unsafe { self.pin.block().idr().read().idr(self.pin.pin() as _) };
+        state == vals::Idr::LOW
+    }
+
+    /// Set the output as high.
+    pub fn set_high(&mut self) {
+        self.pin.set_high();
+    }
+
+    /// Set the output as low.
+    pub fn set_low(&mut self) {
+        self.pin.set_low();
+    }
+
+    /// 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 {
+        let state = unsafe { self.pin.block().odr().read().odr(self.pin.pin() as _) };
+        state == vals::Odr::LOW
+    }
+
+    /// Toggle pin output
+    pub fn toggle(&mut self) {
+        if self.is_set_low() {
+            self.set_high()
+        } else {
+            self.set_low()
+        }
+    }
 }
 
 impl<'d, T: Pin> Drop for OutputOpenDrain<'d, T> {
@@ -317,36 +351,6 @@ impl<'d, T: Pin> Drop for OutputOpenDrain<'d, T> {
     }
 }
 
-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::*;
 
@@ -612,3 +616,79 @@ pub(crate) unsafe fn init() {
         };
     }
 }
+
+mod eh02 {
+    use super::*;
+
+    impl<'d, T: Pin> InputPin for Input<'d, T> {
+        type Error = Infallible;
+
+        fn is_high(&self) -> Result<bool, Self::Error> {
+            Ok(self.is_high())
+        }
+
+        fn is_low(&self) -> Result<bool, Self::Error> {
+            Ok(self.is_low())
+        }
+    }
+
+    impl<'d, T: Pin> OutputPin for Output<'d, T> {
+        type Error = Infallible;
+
+        fn set_high(&mut self) -> Result<(), Self::Error> {
+            Ok(self.set_high())
+        }
+
+        fn set_low(&mut self) -> Result<(), Self::Error> {
+            Ok(self.set_low())
+        }
+    }
+
+    impl<'d, T: Pin> StatefulOutputPin for Output<'d, T> {
+        fn is_set_high(&self) -> Result<bool, Self::Error> {
+            Ok(self.is_set_high())
+        }
+
+        /// Is the output pin set as low?
+        fn is_set_low(&self) -> Result<bool, Self::Error> {
+            Ok(self.is_set_low())
+        }
+    }
+
+    impl<'d, T: Pin> ToggleableOutputPin for Output<'d, T> {
+        type Error = Infallible;
+        fn toggle(&mut self) -> Result<(), Self::Error> {
+            Ok(self.toggle())
+        }
+    }
+
+    impl<'d, T: Pin> OutputPin for OutputOpenDrain<'d, T> {
+        type Error = Infallible;
+
+        fn set_high(&mut self) -> Result<(), Self::Error> {
+            Ok(self.set_high())
+        }
+
+        fn set_low(&mut self) -> Result<(), Self::Error> {
+            Ok(self.set_low())
+        }
+    }
+
+    impl<'d, T: Pin> StatefulOutputPin for OutputOpenDrain<'d, T> {
+        fn is_set_high(&self) -> Result<bool, Self::Error> {
+            Ok(self.is_set_high())
+        }
+
+        /// Is the output pin set as low?
+        fn is_set_low(&self) -> Result<bool, Self::Error> {
+            Ok(self.is_set_low())
+        }
+    }
+
+    impl<'d, T: Pin> ToggleableOutputPin for OutputOpenDrain<'d, T> {
+        type Error = Infallible;
+        fn toggle(&mut self) -> Result<(), Self::Error> {
+            Ok(self.toggle())
+        }
+    }
+}