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//! General Purpose Input / Output
//!
//! The GPIO pins are organised into groups of 16 pins which can be accessed through the
//! `gpioa`, `gpiob`... modules. To get access to the pins, you first need to convert them into a
//! HAL designed struct from the `pac` struct using the [split](trait.GpioExt.html#tymethod.split) function.
//! ```rust
//! // Acquire the GPIOC peripheral
//! // NOTE: `dp` is the device peripherals from the `PAC` crate
//! let mut gpioa = dp.GPIOA.split();
//! ```
//!
//! This gives you a struct containing all the pins `px0..px15`.
//! By default pins are in floating input mode. You can change their modes.
//! For example, to set `pa5` high, you would call
//!
//! ```rust
//! let output = gpioa.pa5.into_push_pull_output();
//! output.set_high();
//! ```
//!
//! ## Modes
//!
//! Each GPIO pin can be set to various modes:
//!
//! - **Alternate**: Pin mode required when the pin is driven by other peripherals
//! - **Analog**: Analog input to be used with ADC.
//! - **Dynamic**: Pin mode is selected at runtime. See changing configurations for more details
//! - Input
//! - **PullUp**: Input connected to high with a weak pull up resistor. Will be high when nothing
//! is connected
//! - **PullDown**: Input connected to high with a weak pull up resistor. Will be low when nothing
//! is connected
//! - **Floating**: Input not pulled to high or low. Will be undefined when nothing is connected
//! - Output
//! - **PushPull**: Output which either drives the pin high or low
//! - **OpenDrain**: Output which leaves the gate floating, or pulls it do ground in drain
//! mode. Can be used as an input in the `open` configuration
//!
//! ## Changing modes
//! The simplest way to change the pin mode is to use the `into_<mode>` functions. These return a
//! new struct with the correct mode that you can use the input or output functions on.
//!
//! If you need a more temporary mode change, and can not use the `into_<mode>` functions for
//! ownership reasons, you can use the closure based `with_<mode>` functions to temporarily change the pin type, do
//! some output or input, and then have it change back once done.
//!
//! ### Dynamic Mode Change
//! The above mode change methods guarantee that you can only call input functions when the pin is
//! in input mode, and output when in output modes, but can lead to some issues. Therefore, there
//! is also a mode where the state is kept track of at runtime, allowing you to change the mode
//! often, and without problems with ownership, or references, at the cost of some performance and
//! the risk of runtime errors.
//!
//! To make a pin dynamic, use the `into_dynamic` function, and then use the `make_<mode>` functions to
//! change the mode
use core::marker::PhantomData;
pub mod alt;
mod convert;
pub use convert::PinMode;
mod partially_erased;
pub use partially_erased::{PEPin, PartiallyErasedPin};
mod erased;
pub use erased::{EPin, ErasedPin};
mod exti;
pub use exti::ExtiPin;
mod dynamic;
pub use dynamic::{Dynamic, DynamicPin};
mod hal_02;
mod hal_1;
pub mod outport;
pub use embedded_hal_02::digital::v2::PinState;
use core::fmt;
/// A filler pin type
#[derive(Debug, Default)]
#[cfg_attr(feature = "defmt", derive(defmt::Format))]
pub struct NoPin<Otype = PushPull>(PhantomData<Otype>);
impl<Otype> NoPin<Otype> {
pub fn new() -> Self {
Self(PhantomData)
}
}
/// Extension trait to split a GPIO peripheral in independent pins and registers
pub trait GpioExt {
/// The parts to split the GPIO into
type Parts;
/// Splits the GPIO block into independent pins and registers
fn split(self) -> Self::Parts;
}
/// Id, port and mode for any pin
pub trait PinExt {
/// Current pin mode
type Mode;
/// Pin number
fn pin_id(&self) -> u8;
/// Port number starting from 0
fn port_id(&self) -> u8;
}
/// Some alternate mode (type state)
#[derive(Debug, Default)]
#[cfg_attr(feature = "defmt", derive(defmt::Format))]
pub struct Alternate<const A: u8, Otype = PushPull>(PhantomData<Otype>);
/// Input mode (type state)
#[derive(Debug, Default)]
#[cfg_attr(feature = "defmt", derive(defmt::Format))]
pub struct Input;
/// Pull setting for an input.
#[derive(Debug, Eq, PartialEq)]
#[cfg_attr(feature = "defmt", derive(defmt::Format))]
pub enum Pull {
/// Floating
None = 0,
/// Pulled up
Up = 1,
/// Pulled down
Down = 2,
}
/// Open drain input or output (type state)
#[derive(Debug, Default)]
#[cfg_attr(feature = "defmt", derive(defmt::Format))]
pub struct OpenDrain;
/// Output mode (type state)
#[derive(Debug, Default)]
#[cfg_attr(feature = "defmt", derive(defmt::Format))]
pub struct Output<MODE = PushPull> {
_mode: PhantomData<MODE>,
}
/// Push pull output (type state)
#[derive(Debug, Default)]
#[cfg_attr(feature = "defmt", derive(defmt::Format))]
pub struct PushPull;
/// Analog mode (type state)
#[derive(Debug, Default)]
#[cfg_attr(feature = "defmt", derive(defmt::Format))]
pub struct Analog;
/// JTAG/SWD mote (type state)
pub type Debugger = Alternate<0, PushPull>;
pub(crate) mod marker {
/// Marker trait that show if `ExtiPin` can be implemented
pub trait Interruptible {}
/// Marker trait for readable pin modes
pub trait Readable {}
/// Marker trait for slew rate configurable pin modes
pub trait OutputSpeed {}
/// Marker trait for active pin modes
pub trait Active {}
/// Marker trait for all pin modes except alternate
pub trait NotAlt {}
/// Marker trait for pins with alternate function `A` mapping
pub trait IntoAf<const A: u8> {}
}
impl<MODE> marker::Interruptible for Output<MODE> {}
impl marker::Interruptible for Input {}
impl marker::Readable for Input {}
impl marker::Readable for Output<OpenDrain> {}
impl<const A: u8, Otype> marker::Interruptible for Alternate<A, Otype> {}
impl<const A: u8, Otype> marker::Readable for Alternate<A, Otype> {}
impl marker::Active for Input {}
impl<Otype> marker::OutputSpeed for Output<Otype> {}
impl<const A: u8, Otype> marker::OutputSpeed for Alternate<A, Otype> {}
impl<Otype> marker::Active for Output<Otype> {}
impl<const A: u8, Otype> marker::Active for Alternate<A, Otype> {}
impl marker::NotAlt for Input {}
impl<Otype> marker::NotAlt for Output<Otype> {}
impl marker::NotAlt for Analog {}
/// GPIO Pin speed selection
#[cfg_attr(feature = "defmt", derive(defmt::Format))]
#[derive(Debug, PartialEq, Eq, Clone, Copy)]
pub enum Speed {
/// Low speed
Low = 0,
/// Medium speed
Medium = 1,
/// High speed
High = 2,
/// Very high speed
VeryHigh = 3,
}
/// GPIO interrupt trigger edge selection
#[cfg_attr(feature = "defmt", derive(defmt::Format))]
#[derive(Debug, PartialEq, Eq, Clone, Copy)]
pub enum Edge {
/// Rising edge of voltage
Rising,
/// Falling edge of voltage
Falling,
/// Rising and falling edge of voltage
RisingFalling,
}
macro_rules! af {
($($i:literal: $AFi:ident),+) => {
$(
#[doc = concat!("Alternate function ", $i, " (type state)" )]
pub type $AFi<Otype = PushPull> = Alternate<$i, Otype>;
)+
};
}
af!(
0: AF0,
1: AF1,
2: AF2,
3: AF3,
4: AF4,
5: AF5,
6: AF6,
7: AF7,
8: AF8,
9: AF9,
10: AF10,
11: AF11,
12: AF12,
13: AF13,
14: AF14,
15: AF15
);
/// Generic pin type
///
/// - `MODE` is one of the pin modes (see [Modes](crate::gpio#modes) section).
/// - `P` is port name: `A` for GPIOA, `B` for GPIOB, etc.
/// - `N` is pin number: from `0` to `15`.
pub struct Pin<const P: char, const N: u8, MODE = DefaultMode> {
_mode: PhantomData<MODE>,
}
impl<const P: char, const N: u8, MODE> Pin<P, N, MODE> {
const fn new() -> Self {
Self { _mode: PhantomData }
}
}
impl<const P: char, const N: u8, MODE> fmt::Debug for Pin<P, N, MODE> {
fn fmt(&self, formatter: &mut fmt::Formatter) -> fmt::Result {
formatter.write_fmt(format_args!(
"P{}{}<{}>",
P,
N,
crate::stripped_type_name::<MODE>()
))
}
}
#[cfg(feature = "defmt")]
impl<const P: char, const N: u8, MODE> defmt::Format for Pin<P, N, MODE> {
fn format(&self, f: defmt::Formatter) {
defmt::write!(f, "P{}{}<{}>", P, N, crate::stripped_type_name::<MODE>());
}
}
impl<const P: char, const N: u8, MODE> PinExt for Pin<P, N, MODE> {
type Mode = MODE;
#[inline(always)]
fn pin_id(&self) -> u8 {
N
}
#[inline(always)]
fn port_id(&self) -> u8 {
P as u8 - b'A'
}
}
pub trait PinSpeed: Sized {
/// Set pin speed
fn set_speed(&mut self, speed: Speed);
#[inline(always)]
fn speed(mut self, speed: Speed) -> Self {
self.set_speed(speed);
self
}
}
pub trait PinPull: Sized {
/// Set the internal pull-up and pull-down resistor
fn set_internal_resistor(&mut self, resistor: Pull);
#[inline(always)]
fn internal_resistor(mut self, resistor: Pull) -> Self {
self.set_internal_resistor(resistor);
self
}
}
impl<const P: char, const N: u8, MODE> PinSpeed for Pin<P, N, MODE>
where
MODE: marker::OutputSpeed,
{
#[inline(always)]
fn set_speed(&mut self, speed: Speed) {
self.set_speed(speed)
}
}
impl<const P: char, const N: u8, MODE> Pin<P, N, MODE>
where
MODE: marker::OutputSpeed,
{
/// Set pin speed
pub fn set_speed(&mut self, speed: Speed) {
let offset = 2 * { N };
unsafe {
(*gpiox::<P>())
.ospeedr
.modify(|r, w| w.bits((r.bits() & !(0b11 << offset)) | ((speed as u32) << offset)));
}
}
/// Set pin speed
pub fn speed(mut self, speed: Speed) -> Self {
self.set_speed(speed);
self
}
}
impl<const P: char, const N: u8, MODE> PinPull for Pin<P, N, MODE>
where
MODE: marker::Active,
{
#[inline(always)]
fn set_internal_resistor(&mut self, resistor: Pull) {
self.set_internal_resistor(resistor)
}
}
impl<const P: char, const N: u8, MODE> Pin<P, N, MODE>
where
MODE: marker::Active,
{
/// Set the internal pull-up and pull-down resistor
pub fn set_internal_resistor(&mut self, resistor: Pull) {
let offset = 2 * { N };
let value = resistor as u32;
unsafe {
(*gpiox::<P>())
.pupdr
.modify(|r, w| w.bits((r.bits() & !(0b11 << offset)) | (value << offset)));
}
}
/// Set the internal pull-up and pull-down resistor
pub fn internal_resistor(mut self, resistor: Pull) -> Self {
self.set_internal_resistor(resistor);
self
}
/// Enables / disables the internal pull up
pub fn internal_pull_up(self, on: bool) -> Self {
if on {
self.internal_resistor(Pull::Up)
} else {
self.internal_resistor(Pull::None)
}
}
/// Enables / disables the internal pull down
pub fn internal_pull_down(self, on: bool) -> Self {
if on {
self.internal_resistor(Pull::Down)
} else {
self.internal_resistor(Pull::None)
}
}
}
impl<const P: char, const N: u8, MODE> Pin<P, N, MODE> {
/// Erases the pin number from the type
///
/// This is useful when you want to collect the pins into an array where you
/// need all the elements to have the same type
pub fn erase_number(self) -> PartiallyErasedPin<P, MODE> {
PartiallyErasedPin::new(N)
}
/// Erases the pin number and the port from the type
///
/// This is useful when you want to collect the pins into an array where you
/// need all the elements to have the same type
pub fn erase(self) -> ErasedPin<MODE> {
ErasedPin::new(P as u8 - b'A', N)
}
}
impl<const P: char, const N: u8, MODE> From<Pin<P, N, MODE>> for PartiallyErasedPin<P, MODE> {
/// Pin-to-partially erased pin conversion using the [`From`] trait.
///
/// Note that [`From`] is the reciprocal of [`Into`].
fn from(p: Pin<P, N, MODE>) -> Self {
p.erase_number()
}
}
impl<const P: char, const N: u8, MODE> From<Pin<P, N, MODE>> for ErasedPin<MODE> {
/// Pin-to-erased pin conversion using the [`From`] trait.
///
/// Note that [`From`] is the reciprocal of [`Into`].
fn from(p: Pin<P, N, MODE>) -> Self {
p.erase()
}
}
impl<const P: char, const N: u8, MODE> Pin<P, N, MODE> {
/// Set the output of the pin regardless of its mode.
/// Primarily used to set the output value of the pin
/// before changing its mode to an output to avoid
/// a short spike of an incorrect value
#[inline(always)]
fn _set_state(&mut self, state: PinState) {
match state {
PinState::High => self._set_high(),
PinState::Low => self._set_low(),
}
}
#[inline(always)]
fn _set_high(&mut self) {
// NOTE(unsafe) atomic write to a stateless register
unsafe { (*gpiox::<P>()).bsrr.write(|w| w.bits(1 << N)) }
}
#[inline(always)]
fn _set_low(&mut self) {
// NOTE(unsafe) atomic write to a stateless register
unsafe { (*gpiox::<P>()).bsrr.write(|w| w.bits(1 << (16 + N))) }
}
#[inline(always)]
fn _is_set_low(&self) -> bool {
// NOTE(unsafe) atomic read with no side effects
unsafe { (*gpiox::<P>()).odr.read().bits() & (1 << N) == 0 }
}
#[inline(always)]
fn _is_low(&self) -> bool {
// NOTE(unsafe) atomic read with no side effects
unsafe { (*gpiox::<P>()).idr.read().bits() & (1 << N) == 0 }
}
}
impl<const P: char, const N: u8, MODE> Pin<P, N, Output<MODE>> {
/// Drives the pin high
#[inline(always)]
pub fn set_high(&mut self) {
self._set_high()
}
/// Drives the pin low
#[inline(always)]
pub fn set_low(&mut self) {
self._set_low()
}
/// Is the pin in drive high or low mode?
#[inline(always)]
pub fn get_state(&self) -> PinState {
if self.is_set_low() {
PinState::Low
} else {
PinState::High
}
}
/// Drives the pin high or low depending on the provided value
#[inline(always)]
pub fn set_state(&mut self, state: PinState) {
match state {
PinState::Low => self.set_low(),
PinState::High => self.set_high(),
}
}
/// Is the pin in drive high mode?
#[inline(always)]
pub fn is_set_high(&self) -> bool {
!self.is_set_low()
}
/// Is the pin in drive low mode?
#[inline(always)]
pub fn is_set_low(&self) -> bool {
self._is_set_low()
}
/// Toggle pin output
#[inline(always)]
pub fn toggle(&mut self) {
if self.is_set_low() {
self.set_high()
} else {
self.set_low()
}
}
}
pub trait ReadPin {
#[inline(always)]
fn is_high(&self) -> bool {
!self.is_low()
}
fn is_low(&self) -> bool;
}
impl<const P: char, const N: u8, MODE> ReadPin for Pin<P, N, MODE>
where
MODE: marker::Readable,
{
#[inline(always)]
fn is_low(&self) -> bool {
self.is_low()
}
}
impl<const P: char, const N: u8, MODE> Pin<P, N, MODE>
where
MODE: marker::Readable,
{
/// Is the input pin high?
#[inline(always)]
pub fn is_high(&self) -> bool {
!self.is_low()
}
/// Is the input pin low?
#[inline(always)]
pub fn is_low(&self) -> bool {
self._is_low()
}
}
macro_rules! gpio {
($GPIOX:ident, $gpiox:ident, $PEPin:ident, $port_id:expr, $PXn:ident, [
$($PXi:ident: ($pxi:ident, $i:expr, [$($A:literal),*] $(, $MODE:ty)?),)+
]) => {
/// GPIO
pub mod $gpiox {
use crate::pac::$GPIOX;
use crate::rcc::{Enable, Reset};
/// GPIO parts
pub struct Parts {
$(
/// Pin
pub $pxi: $PXi $(<$MODE>)?,
)+
}
impl super::GpioExt for $GPIOX {
type Parts = Parts;
fn split(self) -> Parts {
unsafe {
// Enable clock.
$GPIOX::enable_unchecked();
$GPIOX::reset_unchecked();
}
Parts {
$(
$pxi: $PXi::new(),
)+
}
}
}
#[doc="Common type for "]
#[doc=stringify!($GPIOX)]
#[doc=" related pins"]
pub type $PXn<MODE> = super::PartiallyErasedPin<$port_id, MODE>;
$(
#[doc=stringify!($PXi)]
#[doc=" pin"]
pub type $PXi<MODE = super::DefaultMode> = super::Pin<$port_id, $i, MODE>;
$(
impl<MODE> super::marker::IntoAf<$A> for $PXi<MODE> { }
)*
)+
}
pub use $gpiox::{ $($PXi,)+ };
}
}
use gpio;
mod f4;
pub use f4::*;
const fn gpiox<const P: char>() -> *const crate::pac::gpioa::RegisterBlock {
match P {
'A' => crate::pac::GPIOA::ptr(),
'B' => crate::pac::GPIOB::ptr() as _,
'C' => crate::pac::GPIOC::ptr() as _,
#[cfg(feature = "gpiod")]
'D' => crate::pac::GPIOD::ptr() as _,
#[cfg(feature = "gpioe")]
'E' => crate::pac::GPIOE::ptr() as _,
#[cfg(feature = "gpiof")]
'F' => crate::pac::GPIOF::ptr() as _,
#[cfg(feature = "gpiog")]
'G' => crate::pac::GPIOG::ptr() as _,
'H' => crate::pac::GPIOH::ptr() as _,
#[cfg(feature = "gpioi")]
'I' => crate::pac::GPIOI::ptr() as _,
#[cfg(feature = "gpioj")]
'J' => crate::pac::GPIOJ::ptr() as _,
#[cfg(feature = "gpiok")]
'K' => crate::pac::GPIOK::ptr() as _,
_ => panic!("Unknown GPIO port"),
}
}