Random additional GPIO cleanups, implement Peripheral for drivers (#2094)

* Reuse enable_iomux_clk_gate

* Remove public functions

* Remove set_to_input

* Deduplicate constructor

* Deduplicate is_listening

* Hide PinFuture better

* Deduplicate set_int_enable

* Align macro indentation

* Typo

* Slightly simplify the touch_into macro

* Implement the AnalogPin trait directly

* Provide default impls for simple forwarding methods

* Newtype ErasedPin

* Merge rtc_pin macros

* Fmt

* Changelog

* Fix migration guide

* Fix example

* Fix ETM

esp-hal/CHANGELOG.md

@@ -15,31 +15,36 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 - Added missing functions to `Flex`: `unlisten`, `is_interrupt_set`, `wakeup_enable`, `wait_for_high`, `wait_for_low`, `wait_for_rising_edge`, `wait_for_falling_edge`, `wait_for_any_edge`. (#2075)
 - `Flex` now implements `Wait`. (#2075)
 - Added sleep and wakeup support for esp32c2 (#1922)
+- `Input`, `Output`, `OutputOpenDrain` and `Flex` now implement `Peripheral`. (#2094)
 
 ### Changed
+
 - Make saving and restoring SHA digest state an explicit operation (#2049)
 - Reordered RX-TX pairs in all APIs to be consistent (#2074)
-
+- Make saving and restoring SHA digest state an explicit operation (#2049)
 - `Delay::new()` is now a `const` function (#1999)
 - You can now create an `AnyPin` out of an `ErasedPin`. (#2072)
 - `Input`, `Output`, `OutputOpenDrain` and `Flex` are now type-erased by default. Use the new `new_typed` constructor to keep using the ZST pin types. (#2075)
 - To avoid confusion with the `Rtc::current_time` wall clock time APIs, we've renamed `esp_hal::time::current_time` to `esp_hal::time::now`. (#2091)
+- Renamed `touch::Continous` to `touch::Continuous`. (#2094)
+- The (previously undocumented) `ErasedPin` enum has been replaced with the `ErasedPin` struct. (#2094)
 
 ### Fixed
-- SHA driver can now be safely used in multiple contexts concurrently (#2049)
 
+- SHA driver can now be safely used in multiple contexts concurrently (#2049)
 - Fixed an issue with DMA transfers potentially not waking up the correct async task (#2065)
 - Fixed an issue with LCD_CAM i8080 where it would send double the clocks in 16bit mode (#2085)
 - Fix i2c embedded-hal transaction (#2028)
 
 ### Removed
-- Removed `digest::Digest` implementation from SHA (#2049)
 
+- Removed `digest::Digest` implementation from SHA (#2049)
 - Removed `NoPinType` in favour of `DummyPin`. (#2068)
 - Removed the `async`, `embedded-hal-02`, `embedded-hal`, `embedded-io`, `embedded-io-async`, and `ufmt` features (#2070)
 - Removed the `GpioN` type aliasses. Use `GpioPin<N>` instead. (#2073)
 - Removed `Peripherals::take`. Use `esp_hal::init` to obtain `Peripherals` (#1999)
 - Removed `AnyInputOnlyPin` in favour of `AnyPin`. (#2071)
+- Removed the following functions from `GpioPin`: `is_high`, `is_low`, `set_high`, `set_low`, `set_state`, `is_set_high`, `is_set_low`, `toggle`. (#2094)
 
 ## [0.20.1] - 2024-08-30
 

esp-hal/src/gpio/any_pin.rs

@@ -78,7 +78,6 @@ impl<'d> Pin for AnyPin<'d> {
             fn unlisten(&mut self, _internal: private::Internal);
             fn is_interrupt_set(&self, _internal: private::Internal) -> bool;
             fn clear_interrupt(&mut self, _internal: private::Internal);
-            fn wakeup_enable(&mut self, enable: bool, event: WakeEvent, _internal: private::Internal);
         }
     }
 }
@@ -102,17 +101,6 @@ impl<'d> OutputPin for AnyPin<'d> {
         }
     }
 
-    fn connect_peripheral_to_output(&mut self, signal: OutputSignal, _internal: private::Internal) {
-        self.pin.connect_peripheral_to_output_with_options(
-            signal,
-            self.is_inverted,
-            false,
-            false,
-            self.is_inverted,
-            private::Internal,
-        );
-    }
-
     fn connect_peripheral_to_output_with_options(
         &mut self,
         signal: OutputSignal,
@@ -148,7 +136,6 @@ impl<'d> InputPin for AnyPin<'d> {
     delegate::delegate! {
         to self.pin {
             fn init_input(&self, pull_down: bool, pull_up: bool, _internal: private::Internal);
-            fn set_to_input(&mut self, _internal: private::Internal);
             fn enable_input(&mut self, on: bool, _internal: private::Internal);
             fn enable_input_in_sleep_mode(&mut self, on: bool, _internal: private::Internal);
             fn is_input_high(&self, _internal: private::Internal) -> bool;
@@ -156,15 +143,6 @@ impl<'d> InputPin for AnyPin<'d> {
         }
     }
 
-    fn connect_input_to_peripheral(&mut self, signal: InputSignal, _internal: private::Internal) {
-        self.pin.connect_input_to_peripheral_with_options(
-            signal,
-            self.is_inverted,
-            self.is_inverted,
-            private::Internal,
-        );
-    }
-
     fn connect_input_to_peripheral_with_options(
         &mut self,
         signal: InputSignal,

esp-hal/src/gpio/dummy_pin.rs

@@ -113,8 +113,6 @@ impl OutputPin for DummyPin {
 impl InputPin for DummyPin {
     fn init_input(&self, _pull_down: bool, _pull_up: bool, _: private::Internal) {}
 
-    fn set_to_input(&mut self, _: private::Internal) {}
-
     fn enable_input(&mut self, _on: bool, _: private::Internal) {}
 
     fn enable_input_in_sleep_mode(&mut self, _on: bool, _: private::Internal) {}

esp-hal/src/i2s.rs

@@ -999,7 +999,7 @@ mod private {
             P: InputPin,
         {
             into_ref!(pin);
-            pin.set_to_input(crate::private::Internal);
+            pin.init_input(false, false, crate::private::Internal);
             pin.connect_input_to_peripheral(T::din_signal(), crate::private::Internal);
             self
         }

esp-hal/src/lcd_cam/cam.rs

@@ -311,7 +311,7 @@ impl<'d, CH: DmaChannel> Camera<'d, CH> {
     pub fn with_pixel_clock<PCLK: InputPin>(self, pclk: impl Peripheral<P = PCLK> + 'd) -> Self {
         crate::into_ref!(pclk);
 
-        pclk.set_to_input(crate::private::Internal);
+        pclk.init_input(false, false, crate::private::Internal);
         pclk.connect_input_to_peripheral(InputSignal::CAM_PCLK, crate::private::Internal);
 
         self
@@ -327,9 +327,9 @@ impl<'d, CH: DmaChannel> Camera<'d, CH> {
         crate::into_ref!(vsync);
         crate::into_ref!(h_enable);
 
-        vsync.set_to_input(crate::private::Internal);
+        vsync.init_input(false, false, crate::private::Internal);
         vsync.connect_input_to_peripheral(InputSignal::CAM_V_SYNC, crate::private::Internal);
-        h_enable.set_to_input(crate::private::Internal);
+        h_enable.init_input(false, false, crate::private::Internal);
         h_enable.connect_input_to_peripheral(InputSignal::CAM_H_ENABLE, crate::private::Internal);
 
         self.lcd_cam
@@ -351,11 +351,11 @@ impl<'d, CH: DmaChannel> Camera<'d, CH> {
         crate::into_ref!(hsync);
         crate::into_ref!(h_enable);
 
-        vsync.set_to_input(crate::private::Internal);
+        vsync.init_input(false, false, crate::private::Internal);
         vsync.connect_input_to_peripheral(InputSignal::CAM_V_SYNC, crate::private::Internal);
-        hsync.set_to_input(crate::private::Internal);
+        hsync.init_input(false, false, crate::private::Internal);
         hsync.connect_input_to_peripheral(InputSignal::CAM_H_SYNC, crate::private::Internal);
-        h_enable.set_to_input(crate::private::Internal);
+        h_enable.init_input(false, false, crate::private::Internal);
         h_enable.connect_input_to_peripheral(InputSignal::CAM_H_ENABLE, crate::private::Internal);
 
         self.lcd_cam
@@ -475,21 +475,21 @@ impl RxEightBits {
         crate::into_ref!(pin_6);
         crate::into_ref!(pin_7);
 
-        pin_0.set_to_input(crate::private::Internal);
+        pin_0.init_input(false, false, crate::private::Internal);
         pin_0.connect_input_to_peripheral(InputSignal::CAM_DATA_0, crate::private::Internal);
-        pin_1.set_to_input(crate::private::Internal);
+        pin_1.init_input(false, false, crate::private::Internal);
         pin_1.connect_input_to_peripheral(InputSignal::CAM_DATA_1, crate::private::Internal);
-        pin_2.set_to_input(crate::private::Internal);
+        pin_2.init_input(false, false, crate::private::Internal);
         pin_2.connect_input_to_peripheral(InputSignal::CAM_DATA_2, crate::private::Internal);
-        pin_3.set_to_input(crate::private::Internal);
+        pin_3.init_input(false, false, crate::private::Internal);
         pin_3.connect_input_to_peripheral(InputSignal::CAM_DATA_3, crate::private::Internal);
-        pin_4.set_to_input(crate::private::Internal);
+        pin_4.init_input(false, false, crate::private::Internal);
         pin_4.connect_input_to_peripheral(InputSignal::CAM_DATA_4, crate::private::Internal);
-        pin_5.set_to_input(crate::private::Internal);
+        pin_5.init_input(false, false, crate::private::Internal);
         pin_5.connect_input_to_peripheral(InputSignal::CAM_DATA_5, crate::private::Internal);
-        pin_6.set_to_input(crate::private::Internal);
+        pin_6.init_input(false, false, crate::private::Internal);
         pin_6.connect_input_to_peripheral(InputSignal::CAM_DATA_6, crate::private::Internal);
-        pin_7.set_to_input(crate::private::Internal);
+        pin_7.init_input(false, false, crate::private::Internal);
         pin_7.connect_input_to_peripheral(InputSignal::CAM_DATA_7, crate::private::Internal);
 
         Self { _pins: () }
@@ -563,37 +563,37 @@ impl RxSixteenBits {
         crate::into_ref!(pin_14);
         crate::into_ref!(pin_15);
 
-        pin_0.set_to_input(crate::private::Internal);
+        pin_0.init_input(false, false, crate::private::Internal);
         pin_0.connect_input_to_peripheral(InputSignal::CAM_DATA_0, crate::private::Internal);
-        pin_1.set_to_input(crate::private::Internal);
+        pin_1.init_input(false, false, crate::private::Internal);
         pin_1.connect_input_to_peripheral(InputSignal::CAM_DATA_1, crate::private::Internal);
-        pin_2.set_to_input(crate::private::Internal);
+        pin_2.init_input(false, false, crate::private::Internal);
         pin_2.connect_input_to_peripheral(InputSignal::CAM_DATA_2, crate::private::Internal);
-        pin_3.set_to_input(crate::private::Internal);
+        pin_3.init_input(false, false, crate::private::Internal);
         pin_3.connect_input_to_peripheral(InputSignal::CAM_DATA_3, crate::private::Internal);
-        pin_4.set_to_input(crate::private::Internal);
+        pin_4.init_input(false, false, crate::private::Internal);
         pin_4.connect_input_to_peripheral(InputSignal::CAM_DATA_4, crate::private::Internal);
-        pin_5.set_to_input(crate::private::Internal);
+        pin_5.init_input(false, false, crate::private::Internal);
         pin_5.connect_input_to_peripheral(InputSignal::CAM_DATA_5, crate::private::Internal);
-        pin_6.set_to_input(crate::private::Internal);
+        pin_6.init_input(false, false, crate::private::Internal);
         pin_6.connect_input_to_peripheral(InputSignal::CAM_DATA_6, crate::private::Internal);
-        pin_7.set_to_input(crate::private::Internal);
+        pin_7.init_input(false, false, crate::private::Internal);
         pin_7.connect_input_to_peripheral(InputSignal::CAM_DATA_7, crate::private::Internal);
-        pin_8.set_to_input(crate::private::Internal);
+        pin_8.init_input(false, false, crate::private::Internal);
         pin_8.connect_input_to_peripheral(InputSignal::CAM_DATA_8, crate::private::Internal);
-        pin_9.set_to_input(crate::private::Internal);
+        pin_9.init_input(false, false, crate::private::Internal);
         pin_9.connect_input_to_peripheral(InputSignal::CAM_DATA_9, crate::private::Internal);
-        pin_10.set_to_input(crate::private::Internal);
+        pin_10.init_input(false, false, crate::private::Internal);
         pin_10.connect_input_to_peripheral(InputSignal::CAM_DATA_10, crate::private::Internal);
-        pin_11.set_to_input(crate::private::Internal);
+        pin_11.init_input(false, false, crate::private::Internal);
         pin_11.connect_input_to_peripheral(InputSignal::CAM_DATA_11, crate::private::Internal);
-        pin_12.set_to_input(crate::private::Internal);
+        pin_12.init_input(false, false, crate::private::Internal);
         pin_12.connect_input_to_peripheral(InputSignal::CAM_DATA_12, crate::private::Internal);
-        pin_13.set_to_input(crate::private::Internal);
+        pin_13.init_input(false, false, crate::private::Internal);
         pin_13.connect_input_to_peripheral(InputSignal::CAM_DATA_13, crate::private::Internal);
-        pin_14.set_to_input(crate::private::Internal);
+        pin_14.init_input(false, false, crate::private::Internal);
         pin_14.connect_input_to_peripheral(InputSignal::CAM_DATA_14, crate::private::Internal);
-        pin_15.set_to_input(crate::private::Internal);
+        pin_15.init_input(false, false, crate::private::Internal);
         pin_15.connect_input_to_peripheral(InputSignal::CAM_DATA_15, crate::private::Internal);
 
         Self { _pins: () }

esp-hal/src/parl_io.rs

@@ -332,7 +332,7 @@ where
         pcr.parl_clk_tx_conf()
             .modify(|_, w| unsafe { w.parl_clk_tx_sel().bits(3).parl_clk_tx_div_num().bits(0) }); // PAD_CLK_TX, no divider
 
-        self.pin.set_to_input(crate::private::Internal);
+        self.pin.init_input(false, false, crate::private::Internal);
         self.pin.connect_input_to_peripheral(
             crate::gpio::InputSignal::PARL_TX_CLK,
             crate::private::Internal,
@@ -367,7 +367,7 @@ where
         pcr.parl_clk_rx_conf()
             .modify(|_, w| unsafe { w.parl_clk_rx_sel().bits(3).parl_clk_rx_div_num().bits(0) }); // PAD_CLK_TX, no divider
 
-        self.pin.set_to_input(crate::private::Internal);
+        self.pin.init_input(false, false, crate::private::Internal);
         self.pin.connect_input_to_peripheral(
             crate::gpio::InputSignal::PARL_RX_CLK,
             crate::private::Internal,
@@ -634,7 +634,8 @@ where
 {
     fn configure(&mut self) -> Result<(), Error> {
         self.rx_pins.configure()?;
-        self.valid_pin.set_to_input(crate::private::Internal);
+        self.valid_pin
+            .init_input(false, false, crate::private::Internal);
         self.valid_pin
             .connect_input_to_peripheral(Instance::rx_valid_pin_signal(), crate::private::Internal);
         Instance::set_rx_sw_en(false);
@@ -738,7 +739,7 @@ macro_rules! rx_pins {
             {
                 fn configure(&mut self)  -> Result<(), Error> {
                     $(
-                        self.[< pin_ $pin:lower >].set_to_input($crate::private::Internal);
+                        self.[< pin_ $pin:lower >].init_input(false, false, $crate::private::Internal);
                         self.[< pin_ $pin:lower >].connect_input_to_peripheral(crate::gpio::InputSignal::$signal, $crate::private::Internal);
                     )+
 

esp-hal/src/peripheral.rs

@@ -194,11 +194,11 @@ pub trait Peripheral: Sized + crate::private::Sealed {
     }
 }
 
-impl<T> Peripheral for &mut T
+impl<T, P> Peripheral for &mut T
 where
-    T: Peripheral<P = T>,
+    T: Peripheral<P = P>,
 {
-    type P = T;
+    type P = P;
 
     unsafe fn clone_unchecked(&mut self) -> Self::P {
         T::clone_unchecked(self)

esp-hal/src/rmt.rs

@@ -387,7 +387,7 @@ where
         }
 
         crate::into_ref!(pin);
-        pin.set_to_input(crate::private::Internal);
+        pin.init_input(false, false, crate::private::Internal);
         pin.connect_input_to_peripheral(T::input_signal(), crate::private::Internal);
         T::set_divider(config.clk_divider);
         T::set_carrier(
@@ -433,7 +433,7 @@ where
         }
 
         crate::into_ref!(pin);
-        pin.set_to_input(crate::private::Internal);
+        pin.init_input(false, false, crate::private::Internal);
         pin.connect_input_to_peripheral(T::input_signal(), crate::private::Internal);
         T::set_divider(config.clk_divider);
         T::set_carrier(

esp-hal/src/soc/esp32/gpio.rs

@@ -804,74 +804,74 @@ crate::gpio::gpio! {
 }
 
 crate::gpio::analog! {
-     (36, 0,  sensor_pads(),   sense1_mux_sel, sense1_fun_sel, sense1_fun_ie)
+    (36, 0,  sensor_pads(),   sense1_mux_sel, sense1_fun_sel, sense1_fun_ie)
-     (37, 1,  sensor_pads(),   sense2_mux_sel, sense2_fun_sel, sense2_fun_ie)
+    (37, 1,  sensor_pads(),   sense2_mux_sel, sense2_fun_sel, sense2_fun_ie)
-     (38, 2,  sensor_pads(),   sense3_mux_sel, sense3_fun_sel, sense3_fun_ie)
+    (38, 2,  sensor_pads(),   sense3_mux_sel, sense3_fun_sel, sense3_fun_ie)
-     (39, 3,  sensor_pads(),   sense4_mux_sel, sense4_fun_sel, sense4_fun_ie)
+    (39, 3,  sensor_pads(),   sense4_mux_sel, sense4_fun_sel, sense4_fun_ie)
-     (34, 4,  adc_pad(),         adc1_mux_sel,   adc1_fun_sel,   adc1_fun_ie)
+    (34, 4,  adc_pad(),         adc1_mux_sel,   adc1_fun_sel,   adc1_fun_ie)
-     (35, 5,  adc_pad(),         adc2_mux_sel,   adc2_fun_sel,   adc1_fun_ie)
+    (35, 5,  adc_pad(),         adc2_mux_sel,   adc2_fun_sel,   adc1_fun_ie)
-     (25, 6,  pad_dac1(),             mux_sel,        fun_sel,        fun_ie, rue,       rde)
+    (25, 6,  pad_dac1(),             mux_sel,        fun_sel,        fun_ie, rue,       rde)
-     (26, 7,  pad_dac2(),             mux_sel,        fun_sel,        fun_ie, rue,       rde)
+    (26, 7,  pad_dac2(),             mux_sel,        fun_sel,        fun_ie, rue,       rde)
-     (33, 8,  xtal_32k_pad(),    x32n_mux_sel,   x32n_fun_sel,   x32n_fun_ie, x32n_rue,  x32n_rde )
+    (33, 8,  xtal_32k_pad(),    x32n_mux_sel,   x32n_fun_sel,   x32n_fun_ie, x32n_rue,  x32n_rde )
-     (32, 9,  xtal_32k_pad(),    x32p_mux_sel,   x32p_fun_sel,   x32p_fun_ie, x32p_rue,  x32p_rde )
+    (32, 9,  xtal_32k_pad(),    x32p_mux_sel,   x32p_fun_sel,   x32p_fun_ie, x32p_rue,  x32p_rde )
-     (4,  10, touch_pad0(),           mux_sel,        fun_sel,        fun_ie, rue,       rde      )
+    (4,  10, touch_pad0(),           mux_sel,        fun_sel,        fun_ie, rue,       rde      )
-     (0,  11, touch_pad1(),           mux_sel,        fun_sel,        fun_ie, rue,       rde      )
+    (0,  11, touch_pad1(),           mux_sel,        fun_sel,        fun_ie, rue,       rde      )
-     (2,  12, touch_pad2(),           mux_sel,        fun_sel,        fun_ie, rue,       rde      )
+    (2,  12, touch_pad2(),           mux_sel,        fun_sel,        fun_ie, rue,       rde      )
-     (15, 13, touch_pad3(),           mux_sel,        fun_sel,        fun_ie, rue,       rde      )
+    (15, 13, touch_pad3(),           mux_sel,        fun_sel,        fun_ie, rue,       rde      )
-     (13, 14, touch_pad4(),           mux_sel,        fun_sel,        fun_ie, rue,       rde      )
+    (13, 14, touch_pad4(),           mux_sel,        fun_sel,        fun_ie, rue,       rde      )
-     (12, 15, touch_pad5(),           mux_sel,        fun_sel,        fun_ie, rue,       rde      )
+    (12, 15, touch_pad5(),           mux_sel,        fun_sel,        fun_ie, rue,       rde      )
-     (14, 16, touch_pad6(),           mux_sel,        fun_sel,        fun_ie, rue,       rde      )
+    (14, 16, touch_pad6(),           mux_sel,        fun_sel,        fun_ie, rue,       rde      )
-     (27, 17, touch_pad7(),           mux_sel,        fun_sel,        fun_ie, rue,       rde      )
+    (27, 17, touch_pad7(),           mux_sel,        fun_sel,        fun_ie, rue,       rde      )
 }
 
 crate::gpio::rtc_pins! {
-        (36, 0,  sensor_pads(),    sense1_, sense1_hold_force )
+    (36, 0,  sensor_pads(),    sense1_, sense1_hold_force )
-        (37, 1,  sensor_pads(),    sense2_, sense2_hold_force )
+    (37, 1,  sensor_pads(),    sense2_, sense2_hold_force )
-        (38, 2,  sensor_pads(),    sense3_, sense3_hold_force )
+    (38, 2,  sensor_pads(),    sense3_, sense3_hold_force )
-        (39, 3,  sensor_pads(),    sense4_, sense4_hold_force )
+    (39, 3,  sensor_pads(),    sense4_, sense4_hold_force )
-        (34, 4,  adc_pad(),        adc1_,   adc1_hold_force )
+    (34, 4,  adc_pad(),        adc1_,   adc1_hold_force )
-        (35, 5,  adc_pad(),        adc2_,   adc2_hold_force )
+    (35, 5,  adc_pad(),        adc2_,   adc2_hold_force )
-        (25, 6,  pad_dac1(),       "",      pdac1_hold_force,      rue,       rde )
+    (25, 6,  pad_dac1(),       "",      pdac1_hold_force,      rue,       rde )
-        (26, 7,  pad_dac2(),       "",      pdac2_hold_force,      rue,       rde )
+    (26, 7,  pad_dac2(),       "",      pdac2_hold_force,      rue,       rde )
-        (33, 8,  xtal_32k_pad(),   x32n_,   x32n_hold_force,       x32n_rue,  x32n_rde  )
+    (33, 8,  xtal_32k_pad(),   x32n_,   x32n_hold_force,       x32n_rue,  x32n_rde  )
-        (32, 9,  xtal_32k_pad(),   x32p_,   x32p_hold_force,       x32p_rue,  x32p_rde  )
+    (32, 9,  xtal_32k_pad(),   x32p_,   x32p_hold_force,       x32p_rue,  x32p_rde  )
-        (4,  10, touch_pad0(),     "",      touch_pad0_hold_force, rue,       rde       )
+    (4,  10, touch_pad0(),     "",      touch_pad0_hold_force, rue,       rde       )
-        (0,  11, touch_pad1(),     "",      touch_pad1_hold_force, rue,       rde       )
+    (0,  11, touch_pad1(),     "",      touch_pad1_hold_force, rue,       rde       )
-        (2,  12, touch_pad2(),     "",      touch_pad2_hold_force, rue,       rde       )
+    (2,  12, touch_pad2(),     "",      touch_pad2_hold_force, rue,       rde       )
-        (15, 13, touch_pad3(),     "",      touch_pad3_hold_force, rue,       rde       )
+    (15, 13, touch_pad3(),     "",      touch_pad3_hold_force, rue,       rde       )
-        (13, 14, touch_pad4(),     "",      touch_pad4_hold_force, rue,       rde       )
+    (13, 14, touch_pad4(),     "",      touch_pad4_hold_force, rue,       rde       )
-        (12, 15, touch_pad5(),     "",      touch_pad5_hold_force, rue,       rde       )
+    (12, 15, touch_pad5(),     "",      touch_pad5_hold_force, rue,       rde       )
-        (14, 16, touch_pad6(),     "",      touch_pad6_hold_force, rue,       rde       )
+    (14, 16, touch_pad6(),     "",      touch_pad6_hold_force, rue,       rde       )
-        (27, 17, touch_pad7(),     "",      touch_pad7_hold_force, rue,       rde       )
+    (27, 17, touch_pad7(),     "",      touch_pad7_hold_force, rue,       rde       )
 }
 
 crate::gpio::touch_into! {
     // (touch_nr, pin_nr, rtc_pin, touch_comb_reg_nr, normal_pin)
-     (0, 4,  10, sar_touch_thres1, touch_out_th0, true )
+    (0, 4,  10, sar_touch_thres1, touch_out_th0, true )
-     (1, 0,  11, sar_touch_thres1, touch_out_th1, true )
+    (1, 0,  11, sar_touch_thres1, touch_out_th1, true )
-     (2, 2,  12, sar_touch_thres2, touch_out_th2, true )
+    (2, 2,  12, sar_touch_thres2, touch_out_th2, true )
-     (3, 15, 13, sar_touch_thres2, touch_out_th3, true )
+    (3, 15, 13, sar_touch_thres2, touch_out_th3, true )
-     (4, 13, 14, sar_touch_thres3, touch_out_th4, true )
+    (4, 13, 14, sar_touch_thres3, touch_out_th4, true )
-     (5, 12, 15, sar_touch_thres3, touch_out_th5, true )
+    (5, 12, 15, sar_touch_thres3, touch_out_th5, true )
-     (6, 14, 16, sar_touch_thres4, touch_out_th6, true )
+    (6, 14, 16, sar_touch_thres4, touch_out_th6, true )
-     (7, 27, 17, sar_touch_thres4, touch_out_th7, true )
+    (7, 27, 17, sar_touch_thres4, touch_out_th7, true )
-     ---
+    // ---
-     (8, 33, 8, sar_touch_thres5, touch_out_th8, false )
+    (8, 33, 8, sar_touch_thres5, touch_out_th8, false )
-     (9, 32, 9, sar_touch_thres5, touch_out_th9, false )
+    (9, 32, 9, sar_touch_thres5, touch_out_th9, false )
 }
 
 crate::gpio::touch_common! {
     // (touch_nr, pin_nr, touch_out_reg, touch_thres_reg )
-     (0, 4,  sar_touch_out1, touch_meas_out0, sar_touch_thres1, touch_out_th0)
+    (0, 4,  sar_touch_out1, touch_meas_out0, sar_touch_thres1, touch_out_th0)
-     (1, 0,  sar_touch_out1, touch_meas_out1, sar_touch_thres1, touch_out_th1)
+    (1, 0,  sar_touch_out1, touch_meas_out1, sar_touch_thres1, touch_out_th1)
-     (2, 2,  sar_touch_out2, touch_meas_out2, sar_touch_thres2, touch_out_th2)
+    (2, 2,  sar_touch_out2, touch_meas_out2, sar_touch_thres2, touch_out_th2)
-     (3, 15, sar_touch_out2, touch_meas_out3, sar_touch_thres2, touch_out_th3)
+    (3, 15, sar_touch_out2, touch_meas_out3, sar_touch_thres2, touch_out_th3)
-     (4, 13, sar_touch_out3, touch_meas_out4, sar_touch_thres3, touch_out_th4)
+    (4, 13, sar_touch_out3, touch_meas_out4, sar_touch_thres3, touch_out_th4)
-     (5, 12, sar_touch_out3, touch_meas_out5, sar_touch_thres3, touch_out_th5)
+    (5, 12, sar_touch_out3, touch_meas_out5, sar_touch_thres3, touch_out_th5)
-     (6, 14, sar_touch_out4, touch_meas_out6, sar_touch_thres4, touch_out_th6)
+    (6, 14, sar_touch_out4, touch_meas_out6, sar_touch_thres4, touch_out_th6)
-     (7, 27, sar_touch_out4, touch_meas_out7, sar_touch_thres4, touch_out_th7)
+    (7, 27, sar_touch_out4, touch_meas_out7, sar_touch_thres4, touch_out_th7)
-     (8, 33, sar_touch_out5, touch_meas_out8, sar_touch_thres5, touch_out_th8)
+    (8, 33, sar_touch_out5, touch_meas_out8, sar_touch_thres5, touch_out_th8)
-     (9, 32, sar_touch_out5, touch_meas_out9, sar_touch_thres5, touch_out_th9)
+    (9, 32, sar_touch_out5, touch_meas_out9, sar_touch_thres5, touch_out_th9)
 }
 
 impl InterruptStatusRegisterAccess for InterruptStatusRegisterAccessBank0 {

esp-hal/src/soc/esp32s3/gpio.rs

@@ -405,28 +405,28 @@ crate::gpio::gpio! {
 }
 
 crate::gpio::analog! {
-     ( 0,  0,  touch_pad(0),     mux_sel,      fun_sel,      fun_ie,              rue,       rde)
+    ( 0,  0,  touch_pad(0),     mux_sel,      fun_sel,      fun_ie,              rue,       rde)
-     ( 1,  1,  touch_pad(1),     mux_sel,      fun_sel,      fun_ie,              rue,       rde)
+    ( 1,  1,  touch_pad(1),     mux_sel,      fun_sel,      fun_ie,              rue,       rde)
-     ( 2,  2,  touch_pad(2),     mux_sel,      fun_sel,      fun_ie,              rue,       rde)
+    ( 2,  2,  touch_pad(2),     mux_sel,      fun_sel,      fun_ie,              rue,       rde)
-     ( 3,  3,  touch_pad(3),     mux_sel,      fun_sel,      fun_ie,              rue,       rde)
+    ( 3,  3,  touch_pad(3),     mux_sel,      fun_sel,      fun_ie,              rue,       rde)
-     ( 4,  4,  touch_pad(4),     mux_sel,      fun_sel,      fun_ie,              rue,       rde)
+    ( 4,  4,  touch_pad(4),     mux_sel,      fun_sel,      fun_ie,              rue,       rde)
-     ( 5,  5,  touch_pad(5),     mux_sel,      fun_sel,      fun_ie,              rue,       rde)
+    ( 5,  5,  touch_pad(5),     mux_sel,      fun_sel,      fun_ie,              rue,       rde)
-     ( 6,  6,  touch_pad(6),     mux_sel,      fun_sel,      fun_ie,              rue,       rde)
+    ( 6,  6,  touch_pad(6),     mux_sel,      fun_sel,      fun_ie,              rue,       rde)
-     ( 7,  7,  touch_pad(7),     mux_sel,      fun_sel,      fun_ie,              rue,       rde)
+    ( 7,  7,  touch_pad(7),     mux_sel,      fun_sel,      fun_ie,              rue,       rde)
-     ( 8,  8,  touch_pad(8),     mux_sel,      fun_sel,      fun_ie,              rue,       rde)
+    ( 8,  8,  touch_pad(8),     mux_sel,      fun_sel,      fun_ie,              rue,       rde)
-     ( 9,  9,  touch_pad(9),     mux_sel,      fun_sel,      fun_ie,              rue,       rde)
+    ( 9,  9,  touch_pad(9),     mux_sel,      fun_sel,      fun_ie,              rue,       rde)
-     (10, 10,  touch_pad(10),    mux_sel,      fun_sel,      fun_ie,              rue,       rde)
+    (10, 10,  touch_pad(10),    mux_sel,      fun_sel,      fun_ie,              rue,       rde)
-     (11, 11,  touch_pad(11),    mux_sel,      fun_sel,      fun_ie,              rue,       rde)
+    (11, 11,  touch_pad(11),    mux_sel,      fun_sel,      fun_ie,              rue,       rde)
-     (12, 12,  touch_pad(12),    mux_sel,      fun_sel,      fun_ie,              rue,       rde)
+    (12, 12,  touch_pad(12),    mux_sel,      fun_sel,      fun_ie,              rue,       rde)
-     (13, 13,  touch_pad(13),    mux_sel,      fun_sel,      fun_ie,              rue,       rde)
+    (13, 13,  touch_pad(13),    mux_sel,      fun_sel,      fun_ie,              rue,       rde)
-     (14, 14,  touch_pad(14),    mux_sel,      fun_sel,      fun_ie,              rue,       rde)
+    (14, 14,  touch_pad(14),    mux_sel,      fun_sel,      fun_ie,              rue,       rde)
-     (15, 15,  xtal_32p_pad(),   x32p_mux_sel, x32p_fun_sel, x32p_fun_ie,    x32p_rue,  x32p_rde)
+    (15, 15,  xtal_32p_pad(),   x32p_mux_sel, x32p_fun_sel, x32p_fun_ie,    x32p_rue,  x32p_rde)
-     (16, 16,  xtal_32n_pad(),   x32n_mux_sel, x32n_fun_sel, x32n_fun_ie,    x32n_rue,  x32n_rde)
+    (16, 16,  xtal_32n_pad(),   x32n_mux_sel, x32n_fun_sel, x32n_fun_ie,    x32n_rue,  x32n_rde)
-     (17, 17,  pad_dac1(),       pdac1_mux_sel,pdac1_fun_sel,pdac1_fun_ie,  pdac1_rue, pdac1_rde)
+    (17, 17,  pad_dac1(),       pdac1_mux_sel,pdac1_fun_sel,pdac1_fun_ie,  pdac1_rue, pdac1_rde)
-     (18, 18,  pad_dac2(),       pdac2_mux_sel,pdac2_fun_sel,pdac2_fun_ie,  pdac2_rue, pdac2_rde)
+    (18, 18,  pad_dac2(),       pdac2_mux_sel,pdac2_fun_sel,pdac2_fun_ie,  pdac2_rue, pdac2_rde)
-     (19, 19,  rtc_pad19(),      mux_sel,      fun_sel,      fun_ie,              rue,       rde)
+    (19, 19,  rtc_pad19(),      mux_sel,      fun_sel,      fun_ie,              rue,       rde)
-     (20, 20,  rtc_pad20(),      mux_sel,      fun_sel,      fun_ie,              rue,       rde)
+    (20, 20,  rtc_pad20(),      mux_sel,      fun_sel,      fun_ie,              rue,       rde)
-     (21, 21,  rtc_pad21(),      mux_sel,      fun_sel,      fun_ie,              rue,       rde)
+    (21, 21,  rtc_pad21(),      mux_sel,      fun_sel,      fun_ie,              rue,       rde)
 }
 
 crate::gpio::rtc_pins! {

esp-hal/src/spi/master.rs

@@ -542,7 +542,7 @@ where
     /// Sets the specified pin to input and connects it to the SPI MISO signal.
     pub fn with_miso<MISO: InputPin>(self, miso: impl Peripheral<P = MISO> + 'd) -> Self {
         crate::into_ref!(miso);
-        miso.set_to_input(private::Internal);
+        miso.init_input(false, false, private::Internal);
         miso.connect_input_to_peripheral(self.spi.miso_signal(), private::Internal);
 
         self
@@ -593,7 +593,7 @@ where
 
         if let Some(miso) = miso {
             crate::into_ref!(miso);
-            miso.set_to_input(private::Internal);
+            miso.init_input(false, false, private::Internal);
             miso.connect_input_to_peripheral(self.spi.miso_signal(), private::Internal);
         }
 

esp-hal/src/spi/slave.rs

@@ -115,16 +115,16 @@ where
         mode: SpiMode,
     ) -> Spi<'d, T, FullDuplexMode> {
         crate::into_ref!(spi, sck, mosi, miso, cs);
-        sck.set_to_input(private::Internal);
+        sck.init_input(false, false, private::Internal);
         sck.connect_input_to_peripheral(spi.sclk_signal(), private::Internal);
 
-        mosi.set_to_input(private::Internal);
+        mosi.init_input(false, false, private::Internal);
         mosi.connect_input_to_peripheral(spi.mosi_signal(), private::Internal);
 
         miso.set_to_push_pull_output(private::Internal);
         miso.connect_peripheral_to_output(spi.miso_signal(), private::Internal);
 
-        cs.set_to_input(private::Internal);
+        cs.init_input(false, false, private::Internal);
         cs.connect_input_to_peripheral(spi.cs_signal(), private::Internal);
 
         Self::new_internal(spi, mode)

esp-hal/src/touch.rs

@@ -13,7 +13,7 @@
 //! # use esp_hal::gpio::Io;
 //! let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
 //! let touch_pin0 = io.pins.gpio2;
-//! let touch = Touch::continous_mode(peripherals.TOUCH, None);
+//! let touch = Touch::continuous_mode(peripherals.TOUCH, None);
 //! let mut touchpad = TouchPad::new(touch_pin0, &touch);
 //! // ... give the peripheral some time for the measurement
 //! let touch_val = touchpad.read();
@@ -50,16 +50,16 @@ pub trait TouchMode: Sealed {}
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub struct OneShot;
 
-/// Marker struct for the touch peripherals continous reading mode. In the
+/// Marker struct for the touch peripherals continuous reading mode. In the
 /// technical reference manual, this is referred to as "start FSM via timer".
 #[derive(Debug)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub struct Continous;
+pub struct Continuous;
 
 impl TouchMode for OneShot {}
-impl TouchMode for Continous {}
+impl TouchMode for Continuous {}
 impl Sealed for OneShot {}
-impl Sealed for Continous {}
+impl Sealed for Continuous {}
 
 /// Touchpad threshold type.
 #[derive(Debug, Copy, Clone)]
@@ -81,7 +81,7 @@ pub struct TouchConfig {
     /// Duration of a single measurement (in cycles of the 8 MHz touch clock).
     /// Defaults to `0x7fff`
     pub measurement_duration: Option<u16>,
-    /// Sleep cycles for the touch timer in [`Continous`]-mode. Defaults to
+    /// Sleep cycles for the touch timer in [`Continuous`]-mode. Defaults to
     /// `0x100`
     pub sleep_cycles: Option<u16>,
 }
@@ -147,8 +147,8 @@ impl<'d, TOUCHMODE: TouchMode, MODE: Mode> Touch<'d, TOUCHMODE, MODE> {
         });
     }
 
-    /// Common parts of the continous mode initialization.
+    /// Common parts of the continuous mode initialization.
-    fn initialize_common_continoous(config: Option<TouchConfig>) {
+    fn initialize_common_continuous(config: Option<TouchConfig>) {
         let rtccntl = unsafe { &*RTC_CNTL::ptr() };
         let sens = unsafe { &*SENS::ptr() };
 
@@ -241,8 +241,8 @@ impl<'d> Touch<'d, OneShot, Blocking> {
         }
     }
 }
-impl<'d> Touch<'d, Continous, Blocking> {
+impl<'d> Touch<'d, Continuous, Blocking> {
-    /// Initializes the touch peripheral in continous mode and returns this
+    /// Initializes the touch peripheral in continuous mode and returns this
     /// marker struct. Optionally accepts configuration options.
     ///
     /// ## Example
@@ -254,16 +254,16 @@ impl<'d> Touch<'d, Continous, Blocking> {
     ///     measurement_duration: Some(0x3000),
     ///     ..Default::default()
     /// });
-    /// let touch = Touch::continous_mode(peripherals.TOUCH, touch_cfg);
+    /// let touch = Touch::continuous_mode(peripherals.TOUCH, touch_cfg);
     /// # }
     /// ```
-    pub fn continous_mode(
+    pub fn continuous_mode(
         touch_peripheral: impl Peripheral<P = TOUCH> + 'd,
         config: Option<TouchConfig>,
     ) -> Self {
         crate::into_ref!(touch_peripheral);
 
-        Self::initialize_common_continoous(config);
+        Self::initialize_common_continuous(config);
 
         Self {
             _inner: touch_peripheral,
@@ -272,8 +272,8 @@ impl<'d> Touch<'d, Continous, Blocking> {
         }
     }
 }
-impl<'d> Touch<'d, Continous, Async> {
+impl<'d> Touch<'d, Continuous, Async> {
-    /// Initializes the touch peripheral in continous async mode and returns
+    /// Initializes the touch peripheral in continuous async mode and returns
     /// this marker struct.
     ///
     /// ## Warning:
@@ -307,7 +307,7 @@ impl<'d> Touch<'d, Continous, Async> {
     ) -> Self {
         crate::into_ref!(touch_peripheral);
 
-        Self::initialize_common_continoous(config);
+        Self::initialize_common_continuous(config);
 
         rtc.set_interrupt_handler(asynch::handle_touch_interrupt);
 

esp-hal/src/twai/mod.rs

@@ -741,7 +741,7 @@ where
         }
         tx_pin.set_to_push_pull_output(crate::private::Internal);
         tx_pin.connect_peripheral_to_output(T::OUTPUT_SIGNAL, crate::private::Internal);
-        rx_pin.set_to_input(crate::private::Internal);
+        rx_pin.init_input(false, false, crate::private::Internal);
         rx_pin.connect_input_to_peripheral(T::INPUT_SIGNAL, crate::private::Internal);
 
         // Set the operating mode based on provided option

esp-hal/src/uart.rs

@@ -613,7 +613,7 @@ where
     /// Configure CTS pin
     pub fn with_cts<CTS: InputPin>(self, cts: impl Peripheral<P = CTS> + 'd) -> Self {
         crate::into_ref!(cts);
-        cts.set_to_input(Internal);
+        cts.init_input(false, false, Internal);
         cts.connect_input_to_peripheral(T::cts_signal(), Internal);
 
         self
@@ -791,7 +791,7 @@ where
         rx: impl Peripheral<P = RX> + 'd,
     ) -> Result<Self, Error> {
         crate::into_ref!(rx);
-        rx.set_to_input(Internal);
+        rx.init_input(false, false, Internal);
         rx.connect_input_to_peripheral(T::rx_signal(), Internal);
 
         let (uart_rx, _) = Uart::<'d, T, Blocking>::new_with_config_inner(uart, config)?.split();
@@ -817,7 +817,7 @@ where
         tx.set_to_push_pull_output(Internal);
         tx.connect_peripheral_to_output(T::tx_signal(), Internal);
 
-        rx.set_to_input(Internal);
+        rx.init_input(false, false, Internal);
         rx.connect_input_to_peripheral(T::rx_signal(), Internal);
         Self::new_with_config_inner(uart, config)
     }
@@ -833,7 +833,7 @@ where
         tx.set_to_push_pull_output(Internal);
         tx.connect_peripheral_to_output(T::tx_signal(), Internal);
 
-        rx.set_to_input(Internal);
+        rx.init_input(false, false, Internal);
         rx.connect_input_to_peripheral(T::rx_signal(), Internal);
         Self::new_inner(uart)
     }
@@ -848,7 +848,7 @@ where
         tx.set_to_push_pull_output(Internal);
         tx.connect_peripheral_to_output(T::tx_signal(), Internal);
 
-        rx.set_to_input(Internal);
+        rx.init_input(false, false, Internal);
         rx.connect_input_to_peripheral(T::rx_signal(), Internal);
         Self::new_inner(uart)
     }
@@ -916,7 +916,7 @@ where
     /// Configure CTS pin
     pub fn with_cts<CTS: InputPin>(self, cts: impl Peripheral<P = CTS> + 'd) -> Self {
         crate::into_ref!(cts);
-        cts.set_to_input(Internal);
+        cts.init_input(false, false, Internal);
         cts.connect_input_to_peripheral(T::cts_signal(), Internal);
 
         self
@@ -2141,7 +2141,7 @@ mod asynch {
             tx.set_to_push_pull_output(Internal);
             tx.connect_peripheral_to_output(T::tx_signal(), Internal);
 
-            rx.set_to_input(Internal);
+            rx.init_input(false, false, Internal);
             rx.connect_input_to_peripheral(T::rx_signal(), Internal);
             let mut this = Self::new_with_config_inner(uart, config)?;
 
@@ -2303,7 +2303,7 @@ mod asynch {
             rx: impl Peripheral<P = RX> + 'd,
         ) -> Result<Self, Error> {
             crate::into_ref!(rx);
-            rx.set_to_input(Internal);
+            rx.init_input(false, false, Internal);
             rx.connect_input_to_peripheral(T::rx_signal(), Internal);
 
             let mut uart = Uart::<'d, T, Async>::new_with_config_inner(uart, config)?;

examples/src/bin/etm_gpio.rs

@@ -15,6 +15,7 @@ use esp_hal::{
         etm::{GpioEtmChannels, GpioEtmInputConfig, GpioEtmOutputConfig},
         Io,
         Level,
+        Output,
         Pull,
     },
     prelude::*,
@@ -25,7 +26,7 @@ fn main() -> ! {
     let peripherals = esp_hal::init(esp_hal::Config::default());
 
     let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-    let mut led = io.pins.gpio1;
+    let mut led = Output::new(io.pins.gpio1, Level::Low);
     let button = io.pins.gpio9;
 
     led.set_high();

examples/src/bin/i2s_read.rs

@@ -1,4 +1,4 @@
-//! This shows how to continously receive data via I2S.
+//! This shows how to continuously receive data via I2S.
 //!
 //! Without an additional I2S source device you can connect 3V3 or GND to DIN
 //! to read 0 or 0xFF or connect DIN to WS to read two different values.

examples/src/bin/rmt_rx.rs

@@ -14,7 +14,7 @@
 use esp_backtrace as _;
 use esp_hal::{
     delay::Delay,
-    gpio::Io,
+    gpio::{Io, Level, Output},
     prelude::*,
     rmt::{PulseCode, Rmt, RxChannel, RxChannelConfig, RxChannelCreator},
 };
@@ -27,7 +27,7 @@ fn main() -> ! {
     let peripherals = esp_hal::init(esp_hal::Config::default());
 
     let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-    let mut out = io.pins.gpio5;
+    let mut out = Output::new(io.pins.gpio5, Level::Low);
 
     cfg_if::cfg_if! {
         if #[cfg(feature = "esp32h2")] {

examples/src/bin/touch.rs

@@ -21,12 +21,12 @@ use esp_hal::{
     macros::ram,
     prelude::*,
     rtc_cntl::Rtc,
-    touch::{Continous, Touch, TouchConfig, TouchPad},
+    touch::{Continuous, Touch, TouchConfig, TouchPad},
     Blocking,
 };
 use esp_println::println;
 
-static TOUCH1: Mutex<RefCell<Option<TouchPad<GpioPin<4>, Continous, Blocking>>>> =
+static TOUCH1: Mutex<RefCell<Option<TouchPad<GpioPin<4>, Continuous, Blocking>>>> =
     Mutex::new(RefCell::new(None));
 
 #[handler]
@@ -62,7 +62,7 @@ fn main() -> ! {
         ..Default::default()
     });
 
-    let touch = Touch::continous_mode(peripherals.TOUCH, touch_cfg);
+    let touch = Touch::continuous_mode(peripherals.TOUCH, touch_cfg);
     let mut touch0 = TouchPad::new(touch_pin0, &touch);
     let mut touch1 = TouchPad::new(touch_pin1, &touch);