Module atsamd_hal::gpio::pin
source · [−]Expand description
Type-level module for GPIO pins
This module provides a type-level API for GPIO pins. It uses the type system
to track the state of pins at compile-time. Representing GPIO pins in this
manner incurs no run-time overhead. Each Pin struct is zero-sized, so
there is no data to copy around. Instead, real code is generated as a side
effect of type transformations, and the resulting assembly is nearly
identical to the equivalent, hand-written C.
To track the state of pins at compile-time, this module uses traits to
represent type classes and types as instances of those type classes. For
example, the trait InputConfig acts as a type-level enum of the
available input configurations, and the types Floating, PullDown and
PullUp are its type-level variants.
Type-level Pins are parameterized by two type-level enums, PinId and
PinMode.
pub struct Pin<I, M>
where
I: PinId,
M: PinMode,
{
// ...
}A PinId identifies a pin by it’s group (A, B, C or D) and pin number. Each
PinId instance is named according to its datasheet identifier, e.g.
PA02.
A PinMode represents the various pin modes. The available PinMode
variants are Disabled, Input, Interrupt, Output and
Alternate, each with its own corresponding configurations.
It is not possible for users to create new instances of a Pin. Singleton
instances of each pin are made available to users through the Pins
struct.
To create the Pins struct, users must supply the PAC
PORT peripheral. The Pins struct takes
ownership of the PORT and provides the corresponding pins. Each Pin
within the Pins struct can be moved out and used individually.
let mut peripherals = Peripherals::take().unwrap();
let pins = Pins::new(peripherals.PORT);Pins can be converted between modes using several different methods.
// Use one of the literal function names
let pa27 = pins.pa27.into_floating_input();
// Use a generic method and one of the `PinMode` variant types
let pa27 = pins.pa27.into_mode::<FloatingInput>();
// Specify the target type and use `From`/`Into`
let pa27: Pin<PA27, FloatingInput> = pins.pa27.into();Embedded HAL traits
This module implements all of the embedded HAL GPIO traits for each Pin
in the corresponding PinModes, namely: InputPin, OutputPin,
ToggleableOutputPin and StatefulOutputPin.
For example, you can control the logic level of an OutputPin like so
use atsamd_hal::pac::Peripherals;
use atsamd_hal::gpio::Pins;
use embedded_hal::digital::v2::OutputPin;
let mut peripherals = Peripherals::take().unwrap();
let mut pins = Pins::new(peripherals.PORT);
pins.pa27.set_high();Type-level features
This module also provides additional, type-level tools to work with GPIO pins.
The OptionalPinId and OptionalPin traits use the OptionalKind
pattern to act as type-level versions of Option for PinId and Pin
respectively. And the AnyPin trait defines an AnyKind type class
for all Pin types.
Structs
Enums
AlternateConfig for alternate peripheral function BAlternateConfig for alternate peripheral function CAlternateConfig for alternate peripheral function DAlternateConfig for alternate peripheral function EAlternateConfig for alternate peripheral function FDisabledConfig and InputConfigAlternateConfig for alternate peripheral function GDisabledConfig and InputConfigDisabledConfig and InputConfigOutputConfig for a push-pull configurationOutputConfig for a readable push-pull
configurationTraits
enum for Interrupt configurationsOption<PinId>Option<PinId>Some(PinId)Some(PinId)Type Definitions
PinMode for floating disabled modePinMode for floating input modePinMode for floating Interrupt modePinMode for pull-down disabled modePinMode for pull-down input modePinMode for pull-down Interrupt modePinMode for pull-up disabled modePinMode for pull-up input modePinMode for pull-up Interrupt modePinMode for push-pull output modePinMode for readable push-pull output mode