Implement IoPin

Cargo.toml

@@ -25,7 +25,7 @@ features = ["stm32h743v", "rt", "quadspi", "sdmmc", "fmc", "usb_hs", "rtc", "eth
 targets = ["thumbv7em-none-eabihf"]
 
 [dependencies]
-embedded-hal = "0.2.4"
+embedded-hal = "0.2.6"
 embedded-dma = "0.1.2"
 cortex-m = "^0.7.1"
 stm32h7 = "^0.14.0"

src/gpio.rs

@@ -151,7 +151,7 @@ macro_rules! gpio {
         pub mod $gpiox {
             use core::marker::PhantomData;
 
-            use embedded_hal::digital::v2::{InputPin, OutputPin,
+            use embedded_hal::digital::v2::{InputPin, OutputPin, IoPin, PinState,
                                             StatefulOutputPin, toggleable};
 
             use crate::rcc::{rec, ResetEnable};
@@ -767,6 +767,46 @@ macro_rules! gpio {
                     }
                 }
 
+                impl IoPin<Self, Self>
+                for $PXi<Output<OpenDrain>>
+                {
+                    type Error = Never;
+                    fn into_input_pin(self) -> Result<Self, Never> {
+                        Ok(self)
+                    }
+                    fn into_output_pin(mut self, state: PinState) -> Result<Self, Never> {
+                        self.set_state(state).unwrap(); // Infallible
+                        Ok(self)
+                    }
+                }
+
+                impl IoPin<$PXi<Input<Floating>>, Self>
+                    for $PXi<Output<PushPull>>
+                {
+                    type Error = Never;
+                    fn into_input_pin(self) -> Result<$PXi<Input<Floating>>, Never> {
+                        Ok(self.into_floating_input())
+                    }
+                    fn into_output_pin(mut self, state: PinState) -> Result<Self, Never> {
+                        self.set_state(state).unwrap(); // Infallible
+                        Ok(self)
+                    }
+                }
+
+                impl IoPin<Self, $PXi<Output<PushPull>>>
+                    for $PXi<Input<Floating>>
+                {
+                    type Error = Never;
+                    fn into_input_pin(self) -> Result<Self, Never> {
+                        Ok(self)
+                    }
+                    fn into_output_pin(self, state: PinState) -> Result<$PXi<Output<PushPull>>, Never> {
+                        let mut pin = self.into_push_pull_output();
+                        pin.set_state(state).unwrap(); // Infallible
+                        Ok(pin)
+                    }
+                }
+
                 impl<MODE> ExtiPin for $PXi<Input<MODE>> {
                     /// Configure EXTI Line $i to trigger from this pin.
                     fn make_interrupt_source(&mut self, syscfg: &mut SYSCFG) {