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//! Digital IO implementations for the `PORT#` peripherals
//!
//! Please take a look at the documentation for [`Pin`] for a detailed explanation.
use core::marker::PhantomData;
use embedded_hal::digital::{ErrorType, InputPin, OutputPin, StatefulOutputPin};
use embedded_hal_v0::digital::v2::{InputPin as InputPinV0, OutputPin as OutputPinV0};
pub trait PinMode: crate::Sealed {}
/// GPIO pin modes
pub mod mode {
use core::marker::PhantomData;
pub trait Io: crate::Sealed + super::PinMode {}
/// Pin is configured as a digital output.
pub struct Output;
impl super::PinMode for Output {}
impl Io for Output {}
impl crate::Sealed for Output {}
/// Pin is configured as a digital output with open drain behaviour
pub struct OpenDrain;
impl super::PinMode for OpenDrain {}
impl Io for OpenDrain {}
impl crate::Sealed for OpenDrain {}
pub struct PwmOutput<TC> {
pub(crate) _timer: PhantomData<TC>,
}
impl<TC> super::PinMode for PwmOutput<TC> {}
impl<TC> crate::Sealed for PwmOutput<TC> {}
pub trait InputMode: crate::Sealed {}
/// Pin is configured as digital input (floating or pulled-up).
pub struct Input<IMODE = AnyInput> {
pub(crate) _imode: PhantomData<IMODE>,
}
impl<IMODE: InputMode> super::PinMode for Input<IMODE> {}
impl<IMODE: InputMode> Io for Input<IMODE> {}
impl<IMODE: InputMode> crate::Sealed for Input<IMODE> {}
/// Floating input, used like `Input<Floating>`.
pub struct Floating;
impl InputMode for Floating {}
impl crate::Sealed for Floating {}
/// Pulled-up input, used like `Input<PullUp>`.
pub struct PullUp;
impl InputMode for PullUp {}
impl crate::Sealed for PullUp {}
/// Any input (floating or pulled-up), used like `Input<AnyInput>`.
pub struct AnyInput;
impl InputMode for AnyInput {}
impl crate::Sealed for AnyInput {}
/// Pin is configured as an analog input (for the ADC).
pub struct Analog;
}
pub trait PinOps {
type Dynamic;
fn into_dynamic(self) -> Self::Dynamic;
unsafe fn out_set(&mut self);
unsafe fn out_clear(&mut self);
unsafe fn out_toggle(&mut self);
unsafe fn out_get(&self) -> bool;
unsafe fn in_get(&self) -> bool;
unsafe fn make_output(&mut self);
unsafe fn make_input(&mut self, pull_up: bool);
}
/// Representation of an MCU pin.
///
/// # Design Rationale
/// We want individual types per pin to model constraints which depend on a specific pin. For
/// example, some peripherals are internally hard-wired to certain pins of the MCU.
///
/// Additionally, the mode of a pin should also be a part of the type to model enforcement of pins
/// being in a certain mode and preventing misuse like for example calling `set_high()` on a pin
/// configured as input.
///
/// To do this, the [`Pin`] type is generic over the `MODE` (input, output, ...) and the `PIN`
/// (pd0, pb5, pc6, ...).
///
/// Of course, in some applications one does not care about the specific pin used. For these
/// situations, the specific pin types can be "downgraded" into a dynamic type that can represent
/// any pin. See [Downgrading](#downgrading) for more details.
///
/// # Instantiation
/// The `Peripherals` struct in HAL and board-support crates usually contains a `.pins` field which
/// is of type `Pins`. This `Pins` struct in turn has fields for each individual pin, in its
/// default mode. You can then move the pin out of this struct to reconfigure it (examples in this
/// documentation are for `atmega-hal`):
///
/// ```ignore
/// use atmega_hal::port::{Pin, mode, self};
///
/// let dp = atmega_hal::Peripherals::take().unwrap();
/// let pins = atmega_hal::pins!(dp);
///
/// let output: Pin<mode::Output, port::PD3> = pins.pd3.into_output();
/// ```
pub struct Pin<MODE, PIN> {
pub(crate) pin: PIN,
pub(crate) _mode: PhantomData<MODE>,
}
impl<PIN: PinOps> Pin<mode::Input<mode::Floating>, PIN> {
#[doc(hidden)]
pub fn new(pin: PIN) -> Self {
Pin {
pin,
_mode: PhantomData,
}
}
}
/// # Configuration
/// To change the mode of a pin, use one of the following conversion functions. They consume the
/// original [`Pin`] and return one with the desired mode. Only when a pin is in the correct mode,
/// does it have the mode-relevant methods availailable (e.g. `set_high()` is only available for
/// `Output` pins).
impl<PIN: PinOps, MODE: mode::Io> Pin<MODE, PIN> {
/// Convert this pin into an output pin, setting the state to low.
/// See [Digital Output](#digital-output).
pub fn into_output(mut self) -> Pin<mode::Output, PIN> {
unsafe { self.pin.out_clear() };
unsafe { self.pin.make_output() };
Pin {
pin: self.pin,
_mode: PhantomData,
}
}
/// Convert this pin into an output pin, setting the state to high.
/// See [Digital Output](#digital-output).
pub fn into_output_high(mut self) -> Pin<mode::Output, PIN> {
unsafe { self.pin.out_set() };
unsafe { self.pin.make_output() };
Pin {
pin: self.pin,
_mode: PhantomData,
}
}
/// Convert this pin into an open-drain output pin, setting the state to low.
/// See [Digital Output Open Drain](#digital-output-open-drain)
pub fn into_opendrain(mut self) -> Pin<mode::OpenDrain, PIN> {
unsafe { self.pin.out_clear() };
unsafe { self.pin.make_output() };
Pin {
pin: self.pin,
_mode: PhantomData,
}
}
/// Convert this pin into an open-drain output pin, setting the state to high.
/// See [Digital Output Open Drain](#digital-output-open-drain)
pub fn into_opendrain_high(mut self) -> Pin<mode::OpenDrain, PIN> {
unsafe { self.pin.make_input(false) };
Pin {
pin: self.pin,
_mode: PhantomData,
}
}
/// Convert this pin into a floating input pin. See [Digital Input](#digital-input).
///
/// *Note*: To read deterministic values from the pin, it must be externally pulled to a
/// defined level (either VCC or GND).
pub fn into_floating_input(mut self) -> Pin<mode::Input<mode::Floating>, PIN> {
unsafe { self.pin.make_input(false) };
Pin {
pin: self.pin,
_mode: PhantomData,
}
}
/// Convert this pin into a pulled-up input pin. See [Digital Input](#digital-input).
///
/// With no external circuit pulling the pin low, it will be read high.
pub fn into_pull_up_input(mut self) -> Pin<mode::Input<mode::PullUp>, PIN> {
unsafe { self.pin.make_input(true) };
Pin {
pin: self.pin,
_mode: PhantomData,
}
}
/// Convert this pin into an analog input (ADC channel). See [Analog Input](#analog-input).
///
/// Some pins can be repurposed as ADC channels. For those pins, the `into_analog_input()`
/// method is available.
pub fn into_analog_input<H, ADC, CLOCK>(
self,
adc: &mut crate::adc::Adc<H, ADC, CLOCK>,
) -> Pin<mode::Analog, PIN>
where
Pin<mode::Analog, PIN>: crate::adc::AdcChannel<H, ADC>,
ADC: crate::adc::AdcOps<H>,
CLOCK: crate::clock::Clock,
{
let mut new = Pin {
pin: self.pin,
_mode: PhantomData,
};
adc.enable_pin(&new);
unsafe { new.pin.make_input(false) };
new
}
}
/// # Downgrading
/// For applications where the exact pin is irrelevant, a specific pin can be downgraded to a
/// "dynamic pin" which can represent any pin:
///
/// ```ignore
/// use atmega_hal::port::{Pin, mode};
///
/// let dp = atmega_hal::Peripherals::take().unwrap();
/// let pins = atmega_hal::pins!(dp);
///
/// let any_output_pin1: Pin<mode::Output> = pins.pd0.into_output().downgrade();
/// let any_output_pin2: Pin<mode::Output> = pins.pd1.into_output().downgrade();
///
/// // Because they now have the same type, you can, for example, stuff them into an array:
/// let pins: [Pin<mode::Output>; 2] = [any_output_pin1, any_output_pin2];
/// ```
impl<PIN: PinOps, MODE: mode::Io> Pin<MODE, PIN> {
/// "Erase" type-level information about which specific pin is represented.
///
/// *Note*: The returned "dynamic" pin has runtime overhead compared to a specific pin.
pub fn downgrade(self) -> Pin<MODE, PIN::Dynamic> {
Pin {
pin: self.pin.into_dynamic(),
_mode: PhantomData,
}
}
}
/// # Input-Mode Downgrading
/// There is a second kind of downgrading: In some cases it is not important whether an input pin
/// is configured as [`mode::PullUp`] or [`mode::Floating`]. For this, you can "forget" the
/// concrete input mode, leaving you with a type that is the same for pull-up or floating inputs:
///
/// ```ignore
/// use atmega_hal::port::{Pin, mode};
///
/// let dp = atmega_hal::Peripherals::take().unwrap();
/// let pins = atmega_hal::pins!(dp);
///
/// // This demo uses downgraded pins, but it works just as well
/// // with non-downgraded ones!
/// let input_pin1: Pin<mode::Input<mode::Floating>> = pins.pd0
/// .into_floating_input()
/// .downgrade();
/// let input_pin2: Pin<mode::Input<mode::Floating>> = pins.pd1
/// .into_pull_up_input()
/// .downgrade();
///
/// // With the input mode "forgotten", they have the same type now,
/// // even if electically different.
/// let any_inputs: [Pin<mode::Input>; 2] = [
/// input_pin1.forget_imode(),
/// input_pin2.forget_imode(),
/// ];
/// ```
impl<PIN: PinOps, IMODE> Pin<mode::Input<IMODE>, PIN> {
/// "Erase" type-level information about whether the pin is currently a pull-up or a floating
/// input.
pub fn forget_imode(self) -> Pin<mode::Input, PIN> {
Pin {
pin: self.pin,
_mode: PhantomData,
}
}
}
/// # Digital Output
impl<PIN: PinOps> Pin<mode::Output, PIN> {
/// Set pin high (pull it to supply voltage).
#[inline]
pub fn set_high(&mut self) {
unsafe { self.pin.out_set() }
}
/// Set pin low (pull it to GND).
#[inline]
pub fn set_low(&mut self) {
unsafe { self.pin.out_clear() }
}
/// Toggle a high pin to low and a low pin to high.
#[inline]
pub fn toggle(&mut self) {
unsafe { self.pin.out_toggle() }
}
/// Check whether the pin is set high.
///
/// *Note*: The electrical state of the pin might differ due to external circuitry.
#[inline]
pub fn is_set_high(&self) -> bool {
unsafe { self.pin.out_get() }
}
/// Check whether the pin is set low.
///
/// *Note*: The electrical state of the pin might differ due to external circuitry.
#[inline]
pub fn is_set_low(&self) -> bool {
!unsafe { self.pin.out_get() }
}
}
// Implements OutputPinV0 from embedded-hal to make sure external libraries work
impl<PIN: PinOps> OutputPinV0 for Pin<mode::Output, PIN> {
type Error = core::convert::Infallible;
fn set_high(&mut self) -> Result<(), Self::Error> {
self.set_high();
Ok(())
}
fn set_low(&mut self) -> Result<(), Self::Error> {
self.set_low();
Ok(())
}
}
impl<PIN: PinOps> ErrorType for Pin<mode::Output, PIN> {
type Error = core::convert::Infallible;
}
impl<PIN: PinOps> OutputPin for Pin<mode::Output, PIN> {
fn set_low(&mut self) -> Result<(), Self::Error> {
self.set_low();
Ok(())
}
fn set_high(&mut self) -> Result<(), Self::Error> {
self.set_high();
Ok(())
}
}
impl<PIN: PinOps> StatefulOutputPin for Pin<mode::Output, PIN> {
fn is_set_high(&mut self) -> Result<bool, Self::Error> {
Ok((*self).is_set_high())
}
fn is_set_low(&mut self) -> Result<bool, Self::Error> {
Ok((*self).is_set_low())
}
}
/// # Digital Output Open Drain
impl<PIN: PinOps> Pin<mode::OpenDrain, PIN> {
/// Set the pin high (Input without PullUp so it is floating)
#[inline]
pub fn set_high(&mut self) {
unsafe { self.pin.make_input(false) }
}
/// Set pin low (pull it to GND, Output to low).
#[inline]
pub fn set_low(&mut self) {
unsafe { self.pin.make_output() }
}
/// Check whether the pin is set high.
///
/// *Note*: The electrical state of the pin might differ due to external circuitry.
#[inline]
pub fn is_high(&self) -> bool {
unsafe { self.pin.in_get() }
}
/// Check whether the pin is set low.
///
/// *Note*: The electrical state of the pin might differ due to external circuitry.
#[inline]
pub fn is_low(&self) -> bool {
!self.is_high()
}
}
// Implements OutputPinV0 from embedded-hal to make sure external libraries work
impl<PIN: PinOps> OutputPinV0 for Pin<mode::OpenDrain, PIN> {
type Error = core::convert::Infallible;
fn set_high(&mut self) -> Result<(), Self::Error> {
self.set_high();
Ok(())
}
fn set_low(&mut self) -> Result<(), Self::Error> {
self.set_low();
Ok(())
}
}
impl<PIN: PinOps> OutputPin for Pin<mode::OpenDrain, PIN> {
fn set_low(&mut self) -> Result<(), Self::Error> {
self.set_low();
Ok(())
}
fn set_high(&mut self) -> Result<(), Self::Error> {
self.set_high();
Ok(())
}
}
impl<PIN: PinOps> StatefulOutputPin for Pin<mode::OpenDrain, PIN> {
fn is_set_high(&mut self) -> Result<bool, Self::Error> {
Ok((*self).is_high())
}
fn is_set_low(&mut self) -> Result<bool, Self::Error> {
Ok((*self).is_low())
}
}
// Implements InputPinV0 from embedded-hal to make sure external libraries work
impl<PIN: PinOps> InputPinV0 for Pin<mode::OpenDrain, PIN> {
type Error = core::convert::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<PIN: PinOps> ErrorType for Pin<mode::OpenDrain, PIN> {
type Error = core::convert::Infallible;
}
impl<PIN: PinOps> InputPin for Pin<mode::OpenDrain, PIN> {
fn is_high(&mut self) -> Result<bool, Self::Error> {
Ok((*self).is_high())
}
fn is_low(&mut self) -> Result<bool, Self::Error> {
Ok((*self).is_low())
}
}
// Implements InputPinV0 from embedded-hal to make sure external libraries work
impl<PIN: PinOps, IMODE: mode::InputMode> InputPinV0 for Pin<mode::Input<IMODE>, PIN> {
type Error = core::convert::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<PIN: PinOps, IMODE: mode::InputMode> ErrorType for Pin<mode::Input<IMODE>, PIN> {
type Error = core::convert::Infallible;
}
impl<PIN: PinOps, IMODE: mode::InputMode> InputPin for Pin<mode::Input<IMODE>, PIN> {
fn is_high(&mut self) -> Result<bool, Self::Error> {
Ok((*self).is_high())
}
fn is_low(&mut self) -> Result<bool, Self::Error> {
Ok((*self).is_low())
}
}
/// # Digital Input
impl<PIN: PinOps, IMODE: mode::InputMode> Pin<mode::Input<IMODE>, PIN> {
/// Check whether the pin is driven high.
#[inline]
pub fn is_high(&self) -> bool {
unsafe { self.pin.in_get() }
}
/// Check whether the pin is driven low.
#[inline]
pub fn is_low(&self) -> bool {
!unsafe { self.pin.in_get() }
}
}
/// # Analog Input
///
/// Some pins can be configured as ADC channels. For those pins, `analog_read()` can be used to
/// read the voltage. `analog_read()` corresponds to a blocking ADC read:
///
/// ```
/// let dp = atmega_hal::Peripherals::take().unwrap();
/// let pins = atmega_hal::pins!(dp);
/// let mut adc = atmega_hal::Adc::new(dp.ADC, Default::default());
///
/// let a0 = pins.pc0.into_analog_input(&mut adc);
///
/// let voltage = a0.analog_read(&mut adc);
/// // ^- this is equivalent to -v
/// let voltage = adc.read_blocking(&a0);
/// ```
impl<PIN: PinOps> Pin<mode::Analog, PIN> {
pub fn analog_read<H, ADC, CLOCK>(&self, adc: &mut crate::adc::Adc<H, ADC, CLOCK>) -> u16
where
Pin<mode::Analog, PIN>: crate::adc::AdcChannel<H, ADC>,
ADC: crate::adc::AdcOps<H>,
CLOCK: crate::clock::Clock,
{
adc.read_blocking(self)
}
/// Convert this pin into a generic [`Channel`][adc-channel] type.
///
/// The generic channel type can be used to store multiple channels in an array.
///
/// [adc-channel]: crate::adc::Channel
pub fn into_channel<H, ADC>(self) -> crate::adc::Channel<H, ADC>
where
Pin<mode::Analog, PIN>: crate::adc::AdcChannel<H, ADC>,
ADC: crate::adc::AdcOps<H>,
{
crate::adc::Channel::new(self)
}
/// Convert this pin to a floating digital input pin.
///
/// The pin is re-enabled in the digital input buffer and is no longer usable as an analog
/// input. You can get to other digital modes by calling one of the usual `into_...` methods
/// on the return value of this function.
pub fn into_digital<H, ADC, CLOCK>(
self,
adc: &mut crate::adc::Adc<H, ADC, CLOCK>,
) -> Pin<mode::Input<mode::Floating>, PIN>
where
Pin<mode::Analog, PIN>: crate::adc::AdcChannel<H, ADC>,
ADC: crate::adc::AdcOps<H>,
CLOCK: crate::clock::Clock,
{
adc.disable_pin(&self);
Pin {
pin: self.pin,
_mode: PhantomData,
}
}
}
#[macro_export]
macro_rules! impl_port_traditional {
(
$(#[$pins_attr:meta])*
enum Ports {
$($name:ident: $port:ty = [$($pin:literal),+],)+
}
) => {
/// Type-alias for a pin type which can represent any concrete pin.
///
/// Sometimes it is easier to handle pins if they are all of the same type. By default,
/// each pin gets its own distinct type in `avr-hal`, but by
/// [downgrading][avr_hal_generic::port::Pin#downgrading], you can cast them into this
/// "dynamic" type. Do note, however, that using this dynamic type has a runtime cost.
pub type Pin<MODE, PIN = Dynamic> = $crate::port::Pin<MODE, PIN>;
$crate::paste::paste! {
$(#[$pins_attr])*
pub struct Pins {
$($(pub [<p $name:lower $pin>]: Pin<
mode::Input<mode::Floating>,
[<P $name $pin>],
>,)+)+
}
impl Pins {
pub fn new(
$(_: $port,)+
) -> Self {
Self {
$($([<p $name:lower $pin>]: $crate::port::Pin::new(
[<P $name $pin>] { _private: (), }
),)+)+
}
}
}
}
$crate::paste::paste! {
#[repr(u8)]
pub enum DynamicPort {
$([<PORT $name>]),+
}
}
pub struct Dynamic {
port: DynamicPort,
// We'll store the mask instead of the pin number because this allows much less code to
// be generated for the trait method implementations.
mask: u8,
}
impl Dynamic {
fn new(port: DynamicPort, num: u8) -> Self {
Self {
port,
mask: 1u8 << num,
}
}
}
$crate::paste::paste! {
impl $crate::port::PinOps for Dynamic {
type Dynamic = Self;
#[inline]
fn into_dynamic(self) -> Self::Dynamic {
self
}
#[inline]
unsafe fn out_set(&mut self) {
match self.port {
$(DynamicPort::[<PORT $name>] => (*<$port>::ptr()).[<port $name:lower>].modify(|r, w| {
w.bits(r.bits() | self.mask)
}),)+
}
}
#[inline]
unsafe fn out_clear(&mut self) {
match self.port {
$(DynamicPort::[<PORT $name>] => (*<$port>::ptr()).[<port $name:lower>].modify(|r, w| {
w.bits(r.bits() & !self.mask)
}),)+
}
}
#[inline]
unsafe fn out_toggle(&mut self) {
match self.port {
$(DynamicPort::[<PORT $name>] => (*<$port>::ptr()).[<pin $name:lower>].write(|w| {
w.bits(self.mask)
}),)+
}
}
#[inline]
unsafe fn out_get(&self) -> bool {
match self.port {
$(DynamicPort::[<PORT $name>] => {
(*<$port>::ptr()).[<port $name:lower>].read().bits() & self.mask != 0
})+
}
}
#[inline]
unsafe fn in_get(&self) -> bool {
match self.port {
$(DynamicPort::[<PORT $name>] => {
(*<$port>::ptr()).[<pin $name:lower>].read().bits() & self.mask != 0
})+
}
}
#[inline]
unsafe fn make_output(&mut self) {
match self.port {
$(DynamicPort::[<PORT $name>] => (*<$port>::ptr()).[<ddr $name:lower>].modify(|r, w| {
w.bits(r.bits() | self.mask)
}),)+
}
}
#[inline]
unsafe fn make_input(&mut self, pull_up: bool) {
match self.port {
$(DynamicPort::[<PORT $name>] => (*<$port>::ptr()).[<ddr $name:lower>].modify(|r, w| {
w.bits(r.bits() & !self.mask)
}),)+
}
if pull_up {
self.out_set()
} else {
self.out_clear()
}
}
}
}
$crate::paste::paste! {
$($(
pub struct [<P $name $pin>] {
_private: ()
}
impl $crate::port::PinOps for [<P $name $pin>] {
type Dynamic = Dynamic;
#[inline]
fn into_dynamic(self) -> Self::Dynamic {
Dynamic::new(DynamicPort::[<PORT $name>], $pin)
}
#[inline]
unsafe fn out_set(&mut self) {
(*<$port>::ptr()).[<port $name:lower>].modify(|_, w| {
w.[<p $name:lower $pin>]().set_bit()
})
}
#[inline]
unsafe fn out_clear(&mut self) {
(*<$port>::ptr()).[<port $name:lower>].modify(|_, w| {
w.[<p $name:lower $pin>]().clear_bit()
})
}
#[inline]
unsafe fn out_toggle(&mut self) {
(*<$port>::ptr()).[<pin $name:lower>].write(|w| {
w.[<p $name:lower $pin>]().set_bit()
})
}
#[inline]
unsafe fn out_get(&self) -> bool {
(*<$port>::ptr()).[<port $name:lower>].read().[<p $name:lower $pin>]().bit()
}
#[inline]
unsafe fn in_get(&self) -> bool {
(*<$port>::ptr()).[<pin $name:lower>].read().[<p $name:lower $pin>]().bit()
}
#[inline]
unsafe fn make_output(&mut self) {
(*<$port>::ptr()).[<ddr $name:lower>].modify(|_, w| {
w.[<p $name:lower $pin>]().set_bit()
})
}
#[inline]
unsafe fn make_input(&mut self, pull_up: bool) {
(*<$port>::ptr()).[<ddr $name:lower>].modify(|_, w| {
w.[<p $name:lower $pin>]().clear_bit()
});
if pull_up {
self.out_set()
} else {
self.out_clear()
}
}
}
)+)+
}
};
}
#[macro_export]
macro_rules! renamed_pins {
(
$(#[$pins_attr:meta])*
pub struct Pins {
$($(#[$pin_attr:meta])* pub $pin_name:ident: $pin_type:ty = $pin_orig:ident,)+
}
impl Pins {
type Pin = $pin_wrapper:ident;
type McuPins = $mcu_pins:ty;
}
) => {
$crate::paste::paste! {
$(#[$pins_attr])*
pub struct Pins {
$(pub $pin_name: $pin_wrapper<
$crate::port::mode::Input<$crate::port::mode::Floating>,
[<$pin_name:upper>],
>,)+
}
}
$crate::paste::paste! {
$($(#[$pin_attr])* pub type [<$pin_name:upper>] = $pin_type;)+
}
impl Pins {
pub fn with_mcu_pins(pins: $mcu_pins) -> Self {
Self {
$($pin_name: pins.$pin_orig,)+
}
}
}
};
}