use GPIO pac fields instead of raw write

Author: burrbull

CHANGELOG.md

@@ -19,6 +19,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 ### Changed
 
  - Use `stm32f4-staging` until `stm32f4` is released [#706]
+ - use GPIO pac fields instead of raw write
  - RTIC2 monotonics fix: CC1 instead of CC3
  - Allow different lengths of buffers in hal_1 SpiBus impl [#566]
  - Clean SPI write impls

src/gpio.rs

@@ -56,6 +56,7 @@
 
 use core::marker::PhantomData;
 
+use crate::pac;
 pub mod alt;
 mod convert;
 pub use convert::PinMode;
@@ -115,7 +116,7 @@ pub struct Alternate<const A: u8, Otype = PushPull>(PhantomData<Otype>);
 pub struct Input;
 
 /// Pull setting for an input.
-#[derive(Debug, Eq, PartialEq)]
+#[derive(Clone, Copy, Debug, Eq, PartialEq)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum Pull {
     /// Floating
@@ -126,6 +127,16 @@ pub enum Pull {
     Down = 2,
 }
 
+impl From<Pull> for pac::gpioa::pupdr::PUPDR0 {
+    fn from(value: Pull) -> Self {
+        match value {
+            Pull::Down => Self::PullDown,
+            Pull::Up => Self::PullUp,
+            Pull::None => Self::Floating,
+        }
+    }
+}
+
 /// Open drain input or output (type state)
 #[derive(Debug, Default)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
@@ -195,6 +206,17 @@ pub enum Speed {
     VeryHigh = 3,
 }
 
+impl From<Speed> for pac::gpioa::ospeedr::OSPEEDR0 {
+    fn from(value: Speed) -> Self {
+        match value {
+            Speed::Low => Self::LowSpeed,
+            Speed::Medium => Self::MediumSpeed,
+            Speed::High => Self::HighSpeed,
+            Speed::VeryHigh => Self::VeryHighSpeed,
+        }
+    }
+}
+
 /// GPIO interrupt trigger edge selection
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 #[derive(Debug, PartialEq, Eq, Clone, Copy)]
@@ -318,13 +340,9 @@ where
 {
     /// 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)));
-        }
+        unsafe { &(*gpiox::<P>()) }
+            .ospeedr()
+            .modify(|_, w| w.ospeedr(N).variant(speed.into()));
     }
 
     /// Set pin speed
@@ -350,13 +368,9 @@ where
 {
     /// 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)));
-        }
+        unsafe { &(*gpiox::<P>()) }
+            .pupdr()
+            .modify(|_, w| w.pupdr(N).variant(resistor.into()));
     }
 
     /// Set the internal pull-up and pull-down resistor
@@ -435,22 +449,26 @@ impl<const P: char, const N: u8, MODE> Pin<P, N, MODE> {
     #[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)) }
+        let gpio = unsafe { &(*gpiox::<P>()) };
+        gpio.bsrr().write(|w| w.bs(N).set_bit())
     }
     #[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))) }
+        let gpio = unsafe { &(*gpiox::<P>()) };
+        gpio.bsrr().write(|w| w.br(N).set_bit())
     }
     #[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 }
+        let gpio = unsafe { &(*gpiox::<P>()) };
+        gpio.odr().read().odr(N).bit_is_clear()
     }
     #[inline(always)]
     fn _is_low(&self) -> bool {
         // NOTE(unsafe) atomic read with no side effects
-        unsafe { (*gpiox::<P>()).idr().read().bits() & (1 << N) == 0 }
+        let gpio = unsafe { &(*gpiox::<P>()) };
+        gpio.idr().read().idr(N).bit_is_clear()
     }
 }
 

src/gpio/convert.rs

@@ -1,4 +1,5 @@
 use super::*;
+use crate::pac::gpioa::{moder::MODER0 as Mode, otyper::OT0 as OutputType};
 
 impl<const P: char, const N: u8, const A: u8> Pin<P, N, Alternate<A, PushPull>> {
     /// Turns pin alternate configuration pin into open drain
@@ -110,36 +111,27 @@ impl<const P: char, const N: u8, MODE: PinMode> Pin<P, N, MODE> {
 
 macro_rules! change_mode {
     ($block:expr, $N:ident) => {
-        let offset = 2 * $N;
         unsafe {
             if MODE::OTYPER != M::OTYPER {
                 if let Some(otyper) = M::OTYPER {
-                    $block
-                        .otyper()
-                        .modify(|r, w| w.bits(r.bits() & !(0b1 << $N) | (otyper << $N)));
+                    $block.otyper().modify(|_, w| w.ot($N).variant(otyper));
                 }
             }
 
             if MODE::AFR != M::AFR {
                 if let Some(afr) = M::AFR {
                     if $N < 8 {
-                        let offset2 = 4 * { $N };
-                        $block.afrl().modify(|r, w| {
-                            w.bits((r.bits() & !(0b1111 << offset2)) | (afr << offset2))
-                        });
+                        $block.afrl().modify(|_, w| w.afr($N).bits(afr));
                     } else {
-                        let offset2 = 4 * { $N - 8 };
-                        $block.afrh().modify(|r, w| {
-                            w.bits((r.bits() & !(0b1111 << offset2)) | (afr << offset2))
-                        });
+                        $block.afrh().modify(|_, w| w.afr($N - 8).bits(afr));
                     }
                 }
             }
 
             if MODE::MODER != M::MODER {
-                $block
-                    .moder()
-                    .modify(|r, w| w.bits((r.bits() & !(0b11 << offset)) | (M::MODER << offset)));
+                if let Some(mode) = M::MODER {
+                    $block.moder().modify(|_, w| w.moder($N).variant(mode));
+                }
             }
         }
     };
@@ -300,43 +292,43 @@ pub trait PinMode: crate::Sealed {
     // They are not part of public API.
 
     #[doc(hidden)]
-    const MODER: u32 = u32::MAX;
+    const MODER: Option<Mode> = None;
     #[doc(hidden)]
-    const OTYPER: Option<u32> = None;
+    const OTYPER: Option<OutputType> = None;
     #[doc(hidden)]
-    const AFR: Option<u32> = None;
+    const AFR: Option<u8> = None;
 }
 
 impl crate::Sealed for Input {}
 impl PinMode for Input {
-    const MODER: u32 = 0b00;
+    const MODER: Option<Mode> = Some(Mode::Input);
 }
 
 impl crate::Sealed for Analog {}
 impl PinMode for Analog {
-    const MODER: u32 = 0b11;
+    const MODER: Option<Mode> = Some(Mode::Analog);
 }
 
 impl<Otype> crate::Sealed for Output<Otype> {}
 impl PinMode for Output<OpenDrain> {
-    const MODER: u32 = 0b01;
-    const OTYPER: Option<u32> = Some(0b1);
+    const MODER: Option<Mode> = Some(Mode::Output);
+    const OTYPER: Option<OutputType> = Some(OutputType::OpenDrain);
 }
 
 impl PinMode for Output<PushPull> {
-    const MODER: u32 = 0b01;
-    const OTYPER: Option<u32> = Some(0b0);
+    const MODER: Option<Mode> = Some(Mode::Output);
+    const OTYPER: Option<OutputType> = Some(OutputType::PushPull);
 }
 
 impl<const A: u8, Otype> crate::Sealed for Alternate<A, Otype> {}
 impl<const A: u8> PinMode for Alternate<A, OpenDrain> {
-    const MODER: u32 = 0b10;
-    const OTYPER: Option<u32> = Some(0b1);
-    const AFR: Option<u32> = Some(A as _);
+    const MODER: Option<Mode> = Some(Mode::Alternate);
+    const OTYPER: Option<OutputType> = Some(OutputType::OpenDrain);
+    const AFR: Option<u8> = Some(A);
 }
 
 impl<const A: u8> PinMode for Alternate<A, PushPull> {
-    const MODER: u32 = 0b10;
-    const OTYPER: Option<u32> = Some(0b0);
-    const AFR: Option<u32> = Some(A as _);
+    const MODER: Option<Mode> = Some(Mode::Alternate);
+    const OTYPER: Option<OutputType> = Some(OutputType::PushPull);
+    const AFR: Option<u8> = Some(A);
 }