stm32/gpio: expose all functionality as inherent methods.

34 files changed, 266 insertions, 210 deletions

diff --git a/embassy-lora/src/stm32wl/mod.rs b/embassy-lora/src/stm32wl/mod.rs
index 8cac46f7..783140cb 100644
--- a/embassy-lora/src/stm32wl/mod.rs
+++ b/embassy-lora/src/stm32wl/mod.rs
@@ -16,7 +16,6 @@ use embassy_stm32::{
         TxParams,
     },
 };
-use embedded_hal::digital::v2::OutputPin;
 use lorawan_device::async_device::{
     radio::{Bandwidth, PhyRxTx, RfConfig, RxQuality, SpreadingFactor, TxConfig},
     Timings,
@@ -329,22 +328,22 @@ impl<'a> RadioSwitch<'a> {
     }
 
     pub(crate) fn set_rx(&mut self) {
-        self.ctrl1.set_high().unwrap();
-        self.ctrl2.set_low().unwrap();
-        self.ctrl3.set_high().unwrap();
+        self.ctrl1.set_high();
+        self.ctrl2.set_low();
+        self.ctrl3.set_high();
     }
 
     pub(crate) fn set_tx_lp(&mut self) {
-        self.ctrl1.set_high().unwrap();
-        self.ctrl2.set_high().unwrap();
-        self.ctrl3.set_high().unwrap();
+        self.ctrl1.set_high();
+        self.ctrl2.set_high();
+        self.ctrl3.set_high();
     }
 
     #[allow(dead_code)]
     pub(crate) fn set_tx_hp(&mut self) {
-        self.ctrl2.set_high().unwrap();
-        self.ctrl1.set_low().unwrap();
-        self.ctrl3.set_high().unwrap();
+        self.ctrl2.set_high();
+        self.ctrl1.set_low();
+        self.ctrl3.set_high();
     }
 }
 
diff --git a/embassy-stm32/src/exti.rs b/embassy-stm32/src/exti.rs
index 552433b8..eded6ba7 100644
--- a/embassy-stm32/src/exti.rs
+++ b/embassy-stm32/src/exti.rs
@@ -94,17 +94,25 @@ impl<'d, T: GpioPin> ExtiInput<'d, T> {
     pub fn new(pin: Input<'d, T>, _ch: impl Unborrow<Target = T::ExtiChannel> + 'd) -> Self {
         Self { pin }
     }
+
+    pub fn is_high(&self) -> bool {
+        self.pin.is_high()
+    }
+
+    pub fn is_low(&self) -> bool {
+        self.pin.is_low()
+    }
 }
 
 impl<'d, T: GpioPin> InputPin for ExtiInput<'d, T> {
     type Error = Infallible;
 
     fn is_high(&self) -> Result<bool, Self::Error> {
-        self.pin.is_high()
+        Ok(self.is_high())
     }
 
     fn is_low(&self) -> Result<bool, Self::Error> {
-        self.pin.is_low()
+        Ok(self.is_low())
     }
 }
 
diff --git a/embassy-stm32/src/gpio.rs b/embassy-stm32/src/gpio.rs
index 6b4a9285..57b9ba6b 100644
--- a/embassy-stm32/src/gpio.rs
+++ b/embassy-stm32/src/gpio.rs
@@ -3,7 +3,7 @@ use core::convert::Infallible;
 use core::marker::PhantomData;
 use embassy::util::Unborrow;
 use embassy_hal_common::{unborrow, unsafe_impl_unborrow};
-use embedded_hal::digital::v2::{toggleable, InputPin, OutputPin, StatefulOutputPin};
+use embedded_hal::digital::v2::{InputPin, OutputPin, StatefulOutputPin, ToggleableOutputPin};
 
 use crate::pac;
 use crate::pac::gpio::{self, vals};
@@ -113,6 +113,15 @@ impl<'d, T: Pin> Input<'d, T> {
             phantom: PhantomData,
         }
     }
+
+    pub fn is_high(&self) -> bool {
+        !self.is_low()
+    }
+
+    pub fn is_low(&self) -> bool {
+        let state = unsafe { self.pin.block().idr().read().idr(self.pin.pin() as _) };
+        state == vals::Idr::LOW
+    }
 }
 
 impl<'d, T: Pin> Drop for Input<'d, T> {
@@ -132,19 +141,6 @@ impl<'d, T: Pin> Drop for Input<'d, T> {
     }
 }
 
-impl<'d, T: Pin> InputPin for Input<'d, T> {
-    type Error = Infallible;
-
-    fn is_high(&self) -> Result<bool, Self::Error> {
-        self.is_low().map(|v| !v)
-    }
-
-    fn is_low(&self) -> Result<bool, Self::Error> {
-        let state = unsafe { self.pin.block().idr().read().idr(self.pin.pin() as _) };
-        Ok(state == vals::Idr::LOW)
-    }
-}
-
 /// Digital input or output level.
 #[derive(Debug, Eq, PartialEq)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
@@ -191,6 +187,36 @@ impl<'d, T: Pin> Output<'d, T> {
             phantom: PhantomData,
         }
     }
+
+    /// Set the output as high.
+    pub fn set_high(&mut self) {
+        self.pin.set_high();
+    }
+
+    /// Set the output as low.
+    pub fn set_low(&mut self) {
+        self.pin.set_low();
+    }
+
+    /// Is the output pin set as high?
+    pub fn is_set_high(&self) -> bool {
+        !self.is_set_low()
+    }
+
+    /// Is the output pin set as low?
+    pub fn is_set_low(&self) -> bool {
+        let state = unsafe { self.pin.block().odr().read().odr(self.pin.pin() as _) };
+        state == vals::Odr::LOW
+    }
+
+    /// Toggle pin output
+    pub fn toggle(&mut self) {
+        if self.is_set_low() {
+            self.set_high()
+        } else {
+            self.set_low()
+        }
+    }
 }
 
 impl<'d, T: Pin> Drop for Output<'d, T> {
@@ -214,37 +240,6 @@ impl<'d, T: Pin> Drop for Output<'d, T> {
     }
 }
 
-impl<'d, T: Pin> OutputPin for Output<'d, T> {
-    type Error = Infallible;
-
-    /// Set the output as high.
-    fn set_high(&mut self) -> Result<(), Self::Error> {
-        self.pin.set_high();
-        Ok(())
-    }
-
-    /// Set the output as low.
-    fn set_low(&mut self) -> Result<(), Self::Error> {
-        self.pin.set_low();
-        Ok(())
-    }
-}
-
-impl<'d, T: Pin> StatefulOutputPin for Output<'d, T> {
-    /// Is the output pin set as high?
-    fn is_set_high(&self) -> Result<bool, Self::Error> {
-        self.is_set_low().map(|v| !v)
-    }
-
-    /// Is the output pin set as low?
-    fn is_set_low(&self) -> Result<bool, Self::Error> {
-        let state = unsafe { self.pin.block().odr().read().odr(self.pin.pin() as _) };
-        Ok(state == vals::Odr::LOW)
-    }
-}
-
-impl<'d, T: Pin> toggleable::Default for Output<'d, T> {}
-
 /// GPIO output open-drain driver.
 pub struct OutputOpenDrain<'d, T: Pin> {
     pub(crate) pin: T,
@@ -294,6 +289,45 @@ impl<'d, T: Pin> OutputOpenDrain<'d, T> {
             phantom: PhantomData,
         }
     }
+
+    pub fn is_high(&self) -> bool {
+        !self.is_low()
+    }
+
+    pub fn is_low(&self) -> bool {
+        let state = unsafe { self.pin.block().idr().read().idr(self.pin.pin() as _) };
+        state == vals::Idr::LOW
+    }
+
+    /// Set the output as high.
+    pub fn set_high(&mut self) {
+        self.pin.set_high();
+    }
+
+    /// Set the output as low.
+    pub fn set_low(&mut self) {
+        self.pin.set_low();
+    }
+
+    /// Is the output pin set as high?
+    pub fn is_set_high(&self) -> bool {
+        !self.is_set_low()
+    }
+
+    /// Is the output pin set as low?
+    pub fn is_set_low(&self) -> bool {
+        let state = unsafe { self.pin.block().odr().read().odr(self.pin.pin() as _) };
+        state == vals::Odr::LOW
+    }
+
+    /// Toggle pin output
+    pub fn toggle(&mut self) {
+        if self.is_set_low() {
+            self.set_high()
+        } else {
+            self.set_low()
+        }
+    }
 }
 
 impl<'d, T: Pin> Drop for OutputOpenDrain<'d, T> {
@@ -317,36 +351,6 @@ impl<'d, T: Pin> Drop for OutputOpenDrain<'d, T> {
     }
 }
 
-impl<'d, T: Pin> OutputPin for OutputOpenDrain<'d, T> {
-    type Error = Infallible;
-
-    /// Set the output as high.
-    fn set_high(&mut self) -> Result<(), Self::Error> {
-        self.pin.set_high();
-        Ok(())
-    }
-
-    /// Set the output as low.
-    fn set_low(&mut self) -> Result<(), Self::Error> {
-        self.pin.set_low();
-        Ok(())
-    }
-}
-
-impl<'d, T: Pin> InputPin for OutputOpenDrain<'d, T> {
-    type Error = Infallible;
-
-    fn is_high(&self) -> Result<bool, Self::Error> {
-        self.is_low().map(|v| !v)
-    }
-
-    fn is_low(&self) -> Result<bool, Self::Error> {
-        // NOTE(safety) Atomic read
-        let state = unsafe { self.pin.block().idr().read().idr(self.pin.pin() as usize) };
-        Ok(state == vals::Idr::LOW)
-    }
-}
-
 pub(crate) mod sealed {
     use super::*;
 
@@ -612,3 +616,79 @@ pub(crate) unsafe fn init() {
         };
     }
 }
+
+mod eh02 {
+    use super::*;
+
+    impl<'d, T: Pin> InputPin for Input<'d, T> {
+        type Error = 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<'d, T: Pin> OutputPin for Output<'d, T> {
+        type Error = Infallible;
+
+        fn set_high(&mut self) -> Result<(), Self::Error> {
+            Ok(self.set_high())
+        }
+
+        fn set_low(&mut self) -> Result<(), Self::Error> {
+            Ok(self.set_low())
+        }
+    }
+
+    impl<'d, T: Pin> StatefulOutputPin for Output<'d, T> {
+        fn is_set_high(&self) -> Result<bool, Self::Error> {
+            Ok(self.is_set_high())
+        }
+
+        /// Is the output pin set as low?
+        fn is_set_low(&self) -> Result<bool, Self::Error> {
+            Ok(self.is_set_low())
+        }
+    }
+
+    impl<'d, T: Pin> ToggleableOutputPin for Output<'d, T> {
+        type Error = Infallible;
+        fn toggle(&mut self) -> Result<(), Self::Error> {
+            Ok(self.toggle())
+        }
+    }
+
+    impl<'d, T: Pin> OutputPin for OutputOpenDrain<'d, T> {
+        type Error = Infallible;
+
+        fn set_high(&mut self) -> Result<(), Self::Error> {
+            Ok(self.set_high())
+        }
+
+        fn set_low(&mut self) -> Result<(), Self::Error> {
+            Ok(self.set_low())
+        }
+    }
+
+    impl<'d, T: Pin> StatefulOutputPin for OutputOpenDrain<'d, T> {
+        fn is_set_high(&self) -> Result<bool, Self::Error> {
+            Ok(self.is_set_high())
+        }
+
+        /// Is the output pin set as low?
+        fn is_set_low(&self) -> Result<bool, Self::Error> {
+            Ok(self.is_set_low())
+        }
+    }
+
+    impl<'d, T: Pin> ToggleableOutputPin for OutputOpenDrain<'d, T> {
+        type Error = Infallible;
+        fn toggle(&mut self) -> Result<(), Self::Error> {
+            Ok(self.toggle())
+        }
+    }
+}
diff --git a/examples/stm32f1/src/bin/blinky.rs b/examples/stm32f1/src/bin/blinky.rs
index 1e4f2dee..0d953745 100644
--- a/examples/stm32f1/src/bin/blinky.rs
+++ b/examples/stm32f1/src/bin/blinky.rs
@@ -8,7 +8,6 @@ use embassy::executor::Spawner;
 use embassy::time::{Duration, Timer};
 use embassy_stm32::gpio::{Level, Output, Speed};
 use embassy_stm32::Peripherals;
-use embedded_hal::digital::v2::OutputPin;
 use example_common::*;
 
 #[embassy::main]
@@ -19,11 +18,11 @@ async fn main(_spawner: Spawner, p: Peripherals) {
 
     loop {
         info!("high");
-        unwrap!(led.set_high());
+        led.set_high();
         Timer::after(Duration::from_millis(300)).await;
 
         info!("low");
-        unwrap!(led.set_low());
+        led.set_low();
         Timer::after(Duration::from_millis(300)).await;
     }
 }
diff --git a/examples/stm32f3/src/bin/blinky.rs b/examples/stm32f3/src/bin/blinky.rs
index 32164355..e8b8dc23 100644
--- a/examples/stm32f3/src/bin/blinky.rs
+++ b/examples/stm32f3/src/bin/blinky.rs
@@ -9,7 +9,6 @@ use embassy::executor::Spawner;
 use embassy::time::{Duration, Timer};
 use embassy_stm32::gpio::{Level, Output, Speed};
 use embassy_stm32::Peripherals;
-use embedded_hal::digital::v2::OutputPin;
 use example_common::*;
 
 #[embassy::main]
@@ -20,11 +19,11 @@ async fn main(_spawner: Spawner, p: Peripherals) {
 
     loop {
         info!("high");
-        unwrap!(led.set_high());
+        led.set_high();
         Timer::after(Duration::from_millis(1000)).await;
 
         info!("low");
-        unwrap!(led.set_low());
+        led.set_low();
         Timer::after(Duration::from_millis(1000)).await;
     }
 }
diff --git a/examples/stm32f3/src/bin/button.rs b/examples/stm32f3/src/bin/button.rs
index c5fab138..131d4af4 100644
--- a/examples/stm32f3/src/bin/button.rs
+++ b/examples/stm32f3/src/bin/button.rs
@@ -6,7 +6,6 @@
 mod example_common;
 use cortex_m_rt::entry;
 use embassy_stm32::gpio::{Input, Level, Output, Pull, Speed};
-use embedded_hal::digital::v2::{InputPin, OutputPin};
 use example_common::*;
 
 #[entry]
@@ -20,14 +19,14 @@ fn main() -> ! {
     let mut led2 = Output::new(p.PE15, Level::High, Speed::Low);
 
     loop {
-        if unwrap!(button.is_high()) {
+        if button.is_high() {
             info!("high");
-            unwrap!(led1.set_high());
-            unwrap!(led2.set_low());
+            led1.set_high();
+            led2.set_low();
         } else {
             info!("low");
-            unwrap!(led1.set_low());
-            unwrap!(led2.set_high());
+            led1.set_low();
+            led2.set_high();
         }
     }
 }
diff --git a/examples/stm32f4/src/bin/blinky.rs b/examples/stm32f4/src/bin/blinky.rs
index c4857195..00d67dac 100644
--- a/examples/stm32f4/src/bin/blinky.rs
+++ b/examples/stm32f4/src/bin/blinky.rs
@@ -8,7 +8,6 @@ use embassy::executor::Spawner;
 use embassy::time::{Duration, Timer};
 use embassy_stm32::gpio::{Level, Output, Speed};
 use embassy_stm32::Peripherals;
-use embedded_hal::digital::v2::OutputPin;
 use example_common::*;
 
 #[embassy::main]
@@ -19,11 +18,11 @@ async fn main(_spawner: Spawner, p: Peripherals) {
 
     loop {
         info!("high");
-        unwrap!(led.set_high());
+        led.set_high();
         Timer::after(Duration::from_millis(300)).await;
 
         info!("low");
-        unwrap!(led.set_low());
+        led.set_low();
         Timer::after(Duration::from_millis(300)).await;
     }
 }
diff --git a/examples/stm32f4/src/bin/button.rs b/examples/stm32f4/src/bin/button.rs
index 95dee7c7..24eef75b 100644
--- a/examples/stm32f4/src/bin/button.rs
+++ b/examples/stm32f4/src/bin/button.rs
@@ -6,7 +6,6 @@
 mod example_common;
 use cortex_m_rt::entry;
 use embassy_stm32::gpio::{Input, Level, Output, Pull, Speed};
-use embedded_hal::digital::v2::{InputPin, OutputPin};
 use example_common::*;
 
 #[entry]
@@ -21,14 +20,14 @@ fn main() -> ! {
     let mut led3 = Output::new(p.PB14, Level::High, Speed::Low);
 
     loop {
-        if unwrap!(button.is_high()) {
+        if button.is_high() {
             info!("high");
-            unwrap!(led1.set_high());
-            unwrap!(led3.set_low());
+            led1.set_high();
+            led3.set_low();
         } else {
             info!("low");
-            unwrap!(led1.set_low());
-            unwrap!(led3.set_high());
+            led1.set_low();
+            led3.set_high();
         }
     }
 }
diff --git a/examples/stm32f4/src/bin/spi.rs b/examples/stm32f4/src/bin/spi.rs
index 0192e186..b66eb958 100644
--- a/examples/stm32f4/src/bin/spi.rs
+++ b/examples/stm32f4/src/bin/spi.rs
@@ -11,7 +11,6 @@ use embassy_stm32::gpio::{Level, Output, Speed};
 use embassy_stm32::spi::{Config, Spi};
 use embassy_stm32::time::Hertz;
 use embedded_hal::blocking::spi::Transfer;
-use embedded_hal::digital::v2::OutputPin;
 use example_common::*;
 
 #[entry]
@@ -35,9 +34,9 @@ fn main() -> ! {
 
     loop {
         let mut buf = [0x0Au8; 4];
-        unwrap!(cs.set_low());
+        cs.set_low();
         unwrap!(spi.transfer(&mut buf));
-        unwrap!(cs.set_high());
+        cs.set_high();
         info!("xfer {=[u8]:x}", buf);
     }
 }
diff --git a/examples/stm32f7/src/bin/blinky.rs b/examples/stm32f7/src/bin/blinky.rs
index c4857195..00d67dac 100644
--- a/examples/stm32f7/src/bin/blinky.rs
+++ b/examples/stm32f7/src/bin/blinky.rs
@@ -8,7 +8,6 @@ use embassy::executor::Spawner;
 use embassy::time::{Duration, Timer};
 use embassy_stm32::gpio::{Level, Output, Speed};
 use embassy_stm32::Peripherals;
-use embedded_hal::digital::v2::OutputPin;
 use example_common::*;
 
 #[embassy::main]
@@ -19,11 +18,11 @@ async fn main(_spawner: Spawner, p: Peripherals) {
 
     loop {
         info!("high");
-        unwrap!(led.set_high());
+        led.set_high();
         Timer::after(Duration::from_millis(300)).await;
 
         info!("low");
-        unwrap!(led.set_low());
+        led.set_low();
         Timer::after(Duration::from_millis(300)).await;
     }
 }
diff --git a/examples/stm32f7/src/bin/button.rs b/examples/stm32f7/src/bin/button.rs
index 95dee7c7..24eef75b 100644
--- a/examples/stm32f7/src/bin/button.rs
+++ b/examples/stm32f7/src/bin/button.rs
@@ -6,7 +6,6 @@
 mod example_common;
 use cortex_m_rt::entry;
 use embassy_stm32::gpio::{Input, Level, Output, Pull, Speed};
-use embedded_hal::digital::v2::{InputPin, OutputPin};
 use example_common::*;
 
 #[entry]
@@ -21,14 +20,14 @@ fn main() -> ! {
     let mut led3 = Output::new(p.PB14, Level::High, Speed::Low);
 
     loop {
-        if unwrap!(button.is_high()) {
+        if button.is_high() {
             info!("high");
-            unwrap!(led1.set_high());
-            unwrap!(led3.set_low());
+            led1.set_high();
+            led3.set_low();
         } else {
             info!("low");
-            unwrap!(led1.set_low());
-            unwrap!(led3.set_high());
+            led1.set_low();
+            led3.set_high();
         }
     }
 }
diff --git a/examples/stm32g0/src/bin/blinky.rs b/examples/stm32g0/src/bin/blinky.rs
index c4857195..00d67dac 100644
--- a/examples/stm32g0/src/bin/blinky.rs
+++ b/examples/stm32g0/src/bin/blinky.rs
@@ -8,7 +8,6 @@ use embassy::executor::Spawner;
 use embassy::time::{Duration, Timer};
 use embassy_stm32::gpio::{Level, Output, Speed};
 use embassy_stm32::Peripherals;
-use embedded_hal::digital::v2::OutputPin;
 use example_common::*;
 
 #[embassy::main]
@@ -19,11 +18,11 @@ async fn main(_spawner: Spawner, p: Peripherals) {
 
     loop {
         info!("high");
-        unwrap!(led.set_high());
+        led.set_high();
         Timer::after(Duration::from_millis(300)).await;
 
         info!("low");
-        unwrap!(led.set_low());
+        led.set_low();
         Timer::after(Duration::from_millis(300)).await;
     }
 }
diff --git a/examples/stm32g0/src/bin/button.rs b/examples/stm32g0/src/bin/button.rs
index 4ca2a43b..e901c575 100644
--- a/examples/stm32g0/src/bin/button.rs
+++ b/examples/stm32g0/src/bin/button.rs
@@ -6,7 +6,6 @@
 mod example_common;
 use cortex_m_rt::entry;
 use embassy_stm32::gpio::{Input, Pull};
-use embedded_hal::digital::v2::InputPin;
 use example_common::*;
 
 #[entry]
@@ -18,7 +17,7 @@ fn main() -> ! {
     let button = Input::new(p.PC13, Pull::Up);
 
     loop {
-        if unwrap!(button.is_high()) {
+        if button.is_high() {
             info!("high");
         } else {
             info!("low");
diff --git a/examples/stm32g4/src/bin/blinky.rs b/examples/stm32g4/src/bin/blinky.rs
index a43922a6..1dc67f99 100644
--- a/examples/stm32g4/src/bin/blinky.rs
+++ b/examples/stm32g4/src/bin/blinky.rs
@@ -8,7 +8,6 @@ use embassy::executor::Spawner;
 use embassy::time::{Duration, Timer};
 use embassy_stm32::gpio::{Level, Output, Speed};
 use embassy_stm32::Peripherals;
-use embedded_hal::digital::v2::OutputPin;
 use example_common::*;
 
 #[embassy::main]
@@ -19,11 +18,11 @@ async fn main(_spawner: Spawner, p: Peripherals) {
 
     loop {
         info!("high");
-        unwrap!(led.set_high());
+        led.set_high();
         Timer::after(Duration::from_millis(300)).await;
 
         info!("low");
-        unwrap!(led.set_low());
+        led.set_low();
         Timer::after(Duration::from_millis(300)).await;
     }
 }
diff --git a/examples/stm32g4/src/bin/button.rs b/examples/stm32g4/src/bin/button.rs
index f0a4c874..8c0d7d4f 100644
--- a/examples/stm32g4/src/bin/button.rs
+++ b/examples/stm32g4/src/bin/button.rs
@@ -6,7 +6,6 @@
 mod example_common;
 use cortex_m_rt::entry;
 use embassy_stm32::gpio::{Input, Pull};
-use embedded_hal::digital::v2::InputPin;
 use example_common::*;
 
 #[entry]
@@ -18,7 +17,7 @@ fn main() -> ! {
     let button = Input::new(p.PC13, Pull::Down);
 
     loop {
-        if unwrap!(button.is_high()) {
+        if button.is_high() {
             info!("high");
         } else {
             info!("low");
diff --git a/examples/stm32h7/src/bin/blinky.rs b/examples/stm32h7/src/bin/blinky.rs
index 78edb5e2..7e593423 100644
--- a/examples/stm32h7/src/bin/blinky.rs
+++ b/examples/stm32h7/src/bin/blinky.rs
@@ -8,7 +8,6 @@ use embassy::executor::Spawner;
 use embassy::time::{Duration, Timer};
 use embassy_stm32::gpio::{Level, Output, Speed};
 use embassy_stm32::Peripherals;
-use embedded_hal::digital::v2::OutputPin;
 use example_common::*;
 
 #[embassy::main]
@@ -19,11 +18,11 @@ async fn main(_spawner: Spawner, p: Peripherals) {
 
     loop {
         info!("high");
-        unwrap!(led.set_high());
+        led.set_high();
         Timer::after(Duration::from_millis(500)).await;
 
         info!("low");
-        unwrap!(led.set_low());
+        led.set_low();
         Timer::after(Duration::from_millis(500)).await;
     }
 }
diff --git a/examples/stm32h7/src/bin/camera.rs b/examples/stm32h7/src/bin/camera.rs
index d9459207..9e8071bb 100644
--- a/examples/stm32h7/src/bin/camera.rs
+++ b/examples/stm32h7/src/bin/camera.rs
@@ -11,7 +11,6 @@ use embassy_stm32::interrupt;
 use embassy_stm32::rcc::{Mco, Mco1Source, McoClock};
 use embassy_stm32::time::U32Ext;
 use embassy_stm32::Peripherals;
-use embedded_hal::digital::v2::OutputPin;
 
 use defmt_rtt as _; // global logger
 use panic_probe as _;
@@ -114,11 +113,11 @@ async fn main(_spawner: Spawner, p: Peripherals) {
     defmt::info!("main loop running");
     loop {
         defmt::info!("high");
-        defmt::unwrap!(led.set_high());
+        led.set_high();
         Timer::after(Duration::from_millis(500)).await;
 
         defmt::info!("low");
-        defmt::unwrap!(led.set_low());
+        led.set_low();
         Timer::after(Duration::from_millis(500)).await;
     }
 }
diff --git a/examples/stm32h7/src/bin/mco.rs b/examples/stm32h7/src/bin/mco.rs
index 4cecd9b0..f27bd8ef 100644
--- a/examples/stm32h7/src/bin/mco.rs
+++ b/examples/stm32h7/src/bin/mco.rs
@@ -9,7 +9,6 @@ use embassy::time::{Duration, Timer};
 use embassy_stm32::gpio::{Level, Output, Speed};
 use embassy_stm32::rcc::{Mco, Mco1Source, McoClock};
 use embassy_stm32::Peripherals;
-use embedded_hal::digital::v2::OutputPin;
 use example_common::*;
 
 #[embassy::main]
@@ -22,11 +21,11 @@ async fn main(_spawner: Spawner, p: Peripherals) {
 
     loop {
         info!("high");
-        unwrap!(led.set_high());
+        led.set_high();
         Timer::after(Duration::from_millis(500)).await;
 
         info!("low");
-        unwrap!(led.set_low());
+        led.set_low();
         Timer::after(Duration::from_millis(500)).await;
     }
 }
diff --git a/examples/stm32h7/src/bin/rng.rs b/examples/stm32h7/src/bin/rng.rs
index d64ad9bc..8e03861d 100644
--- a/examples/stm32h7/src/bin/rng.rs
+++ b/examples/stm32h7/src/bin/rng.rs
@@ -10,7 +10,6 @@ use embassy::traits::rng::Random;
 use embassy_stm32::gpio::{Level, Output, Speed};
 use embassy_stm32::rng::Rng;
 use embassy_stm32::Peripherals;
-use embedded_hal::digital::v2::OutputPin;
 use example_common::*;
 
 #[embassy::main]
@@ -23,11 +22,11 @@ async fn main(_spawner: Spawner, p: Peripherals) {
 
     loop {
         info!("high {}", unwrap!(rng.next_u8(16).await));
-        unwrap!(led.set_high());
+        led.set_high();
         Timer::after(Duration::from_millis(500)).await;
 
         info!("low {}", unwrap!(rng.next_u8(16).await));
-        unwrap!(led.set_low());
+        led.set_low();
         Timer::after(Duration::from_millis(500)).await;
     }
 }
diff --git a/examples/stm32l0/src/bin/blinky.rs b/examples/stm32l0/src/bin/blinky.rs
index 1198b29d..46e29a89 100644
--- a/examples/stm32l0/src/bin/blinky.rs
+++ b/examples/stm32l0/src/bin/blinky.rs
@@ -9,7 +9,6 @@ use embassy::executor::Spawner;
 use embassy::time::{Duration, Timer};
 use embassy_stm32::gpio::{Level, Output, Speed};
 use embassy_stm32::Peripherals;
-use embedded_hal::digital::v2::OutputPin;
 use example_common::*;
 
 #[embassy::main]
@@ -20,11 +19,11 @@ async fn main(_spawner: Spawner, p: Peripherals) {
 
     loop {
         info!("high");
-        unwrap!(led.set_high());
+        led.set_high();
         Timer::after(Duration::from_millis(300)).await;
 
         info!("low");
-        unwrap!(led.set_low());
+        led.set_low();
         Timer::after(Duration::from_millis(300)).await;
     }
 }
diff --git a/examples/stm32l0/src/bin/button.rs b/examples/stm32l0/src/bin/button.rs
index c2915530..046c43ca 100644
--- a/examples/stm32l0/src/bin/button.rs
+++ b/examples/stm32l0/src/bin/button.rs
@@ -7,7 +7,6 @@ mod example_common;
 use embassy::executor::Spawner;
 use embassy_stm32::gpio::{Input, Level, Output, Pull, Speed};
 use embassy_stm32::Peripherals;
-use embedded_hal::digital::v2::{InputPin, OutputPin};
 use example_common::*;
 
 #[embassy::main]
@@ -19,14 +18,14 @@ async fn main(_spawner: Spawner, p: Peripherals) {
     let mut led2 = Output::new(p.PB5, Level::High, Speed::Low);
 
     loop {
-        if unwrap!(button.is_high()) {
+        if button.is_high() {
             info!("high");
-            unwrap!(led1.set_high());
-            unwrap!(led2.set_low());
+            led1.set_high();
+            led2.set_low();
         } else {
             info!("low");
-            unwrap!(led1.set_low());
-            unwrap!(led2.set_high());
+            led1.set_low();
+            led2.set_high();
         }
     }
 }
diff --git a/examples/stm32l0/src/bin/spi.rs b/examples/stm32l0/src/bin/spi.rs
index f768a522..d30bb8d7 100644
--- a/examples/stm32l0/src/bin/spi.rs
+++ b/examples/stm32l0/src/bin/spi.rs
@@ -7,7 +7,6 @@ mod example_common;
 
 use embassy::executor::Spawner;
 use embassy_stm32::gpio::{Level, Output, Speed};
-use embedded_hal::digital::v2::OutputPin;
 use example_common::*;
 
 use embassy_stm32::dma::NoDma;
@@ -35,9 +34,9 @@ async fn main(_spawner: Spawner, p: Peripherals) {
 
     loop {
         let mut buf = [0x0Au8; 4];
-        unwrap!(cs.set_low());
+        cs.set_low();
         unwrap!(spi.transfer(&mut buf));
-        unwrap!(cs.set_high());
+        cs.set_high();
         info!("xfer {=[u8]:x}", buf);
     }
 }
diff --git a/examples/stm32l1/src/bin/blinky.rs b/examples/stm32l1/src/bin/blinky.rs
index deabdddb..07c804e9 100644
--- a/examples/stm32l1/src/bin/blinky.rs
+++ b/examples/stm32l1/src/bin/blinky.rs
@@ -9,7 +9,6 @@ use embassy::executor::Spawner;
 use embassy::time::{Duration, Timer};
 use embassy_stm32::gpio::{Level, Output, Speed};
 use embassy_stm32::Peripherals;
-use embedded_hal::digital::v2::OutputPin;
 use example_common::*;
 
 #[embassy::main]
@@ -20,11 +19,11 @@ async fn main(_spawner: Spawner, p: Peripherals) {
 
     loop {
         info!("high");
-        unwrap!(led.set_high());
+        led.set_high();
         Timer::after(Duration::from_millis(1000)).await;
 
         info!("low");
-        unwrap!(led.set_low());
+        led.set_low();
         Timer::after(Duration::from_millis(1000)).await;
     }
 }
diff --git a/examples/stm32l1/src/bin/spi.rs b/examples/stm32l1/src/bin/spi.rs
index 3cfbe3fc..9d1a2fc8 100644
--- a/examples/stm32l1/src/bin/spi.rs
+++ b/examples/stm32l1/src/bin/spi.rs
@@ -7,7 +7,6 @@ mod example_common;
 
 use embassy::executor::Spawner;
 use embassy_stm32::gpio::{Level, Output, Speed};
-use embedded_hal::digital::v2::OutputPin;
 use example_common::*;
 
 use embassy_stm32::dma::NoDma;
@@ -35,9 +34,9 @@ async fn main(_spawner: Spawner, p: Peripherals) {
 
     loop {
         let mut buf = [0x0Au8; 4];
-        unwrap!(cs.set_low());
+        cs.set_low();
         unwrap!(spi.transfer(&mut buf));
-        unwrap!(cs.set_high());
+        cs.set_high();
         info!("xfer {=[u8]:x}", buf);
     }
 }
diff --git a/examples/stm32l4/src/bin/blinky.rs b/examples/stm32l4/src/bin/blinky.rs
index 8a65858f..03028375 100644
--- a/examples/stm32l4/src/bin/blinky.rs
+++ b/examples/stm32l4/src/bin/blinky.rs
@@ -8,7 +8,6 @@ use embassy::executor::Spawner;
 use embassy::time::{Duration, Timer};
 use embassy_stm32::gpio::{Level, Output, Speed};
 use embassy_stm32::Peripherals;
-use embedded_hal::digital::v2::OutputPin;
 use example_common::*;
 
 #[embassy::main]
@@ -18,9 +17,9 @@ async fn main(_spawner: Spawner, p: Peripherals) {
     let mut led = Output::new(p.PB14, Level::High, Speed::Low);
 
     loop {
-        unwrap!(led.set_high());
+        led.set_high();
         Timer::after(Duration::from_millis(300)).await;
-        unwrap!(led.set_low());
+        led.set_low();
         Timer::after(Duration::from_millis(300)).await;
     }
 }
diff --git a/examples/stm32l4/src/bin/button.rs b/examples/stm32l4/src/bin/button.rs
index fd867454..6073c137 100644
--- a/examples/stm32l4/src/bin/button.rs
+++ b/examples/stm32l4/src/bin/button.rs
@@ -5,7 +5,6 @@
 #[path = "../example_common.rs"]
 mod example_common;
 use embassy_stm32::gpio::{Input, Pull};
-use embedded_hal::digital::v2::InputPin;
 use example_common::*;
 
 #[cortex_m_rt::entry]
@@ -17,7 +16,7 @@ fn main() -> ! {
     let button = Input::new(p.PC13, Pull::Up);
 
     loop {
-        if unwrap!(button.is_high()) {
+        if button.is_high() {
             info!("high");
         } else {
             info!("low");
diff --git a/examples/stm32l4/src/bin/spi.rs b/examples/stm32l4/src/bin/spi.rs
index 5b9ae1ce..1b6e3946 100644
--- a/examples/stm32l4/src/bin/spi.rs
+++ b/examples/stm32l4/src/bin/spi.rs
@@ -10,7 +10,6 @@ use embassy_stm32::gpio::{Level, Output, Speed};
 use embassy_stm32::spi::{Config, Spi};
 use embassy_stm32::time::Hertz;
 use embedded_hal::blocking::spi::Transfer;
-use embedded_hal::digital::v2::OutputPin;
 use example_common::*;
 
 #[cortex_m_rt::entry]
@@ -34,9 +33,9 @@ fn main() -> ! {
 
     loop {
         let mut buf = [0x0Au8; 4];
-        unwrap!(cs.set_low());
+        cs.set_low();
         unwrap!(spi.transfer(&mut buf));
-        unwrap!(cs.set_high());
+        cs.set_high();
         info!("xfer {=[u8]:x}", buf);
     }
 }
diff --git a/examples/stm32l4/src/bin/spi_blocking_async.rs b/examples/stm32l4/src/bin/spi_blocking_async.rs
index f092706d..3be3f21c 100644
--- a/examples/stm32l4/src/bin/spi_blocking_async.rs
+++ b/examples/stm32l4/src/bin/spi_blocking_async.rs
@@ -12,7 +12,6 @@ use embassy_stm32::spi::{Config, Spi};
 use embassy_stm32::time::Hertz;
 use embassy_stm32::Peripherals;
 use embassy_traits::{adapter::BlockingAsync, spi::FullDuplex};
-use embedded_hal::digital::v2::{InputPin, OutputPin};
 use example_common::*;
 
 #[embassy::main]
@@ -41,17 +40,17 @@ async fn main(_spawner: Spawner, p: Peripherals) {
     let ready = Input::new(p.PE1, Pull::Up);
 
     cortex_m::asm::delay(100_000);
-    unwrap!(reset.set_high());
+    reset.set_high();
     cortex_m::asm::delay(100_000);
 
-    while unwrap!(ready.is_low()) {
+    while ready.is_low() {
         info!("waiting for ready");
     }
 
     let write = [0x0A; 10];
     let mut read = [0; 10];
-    unwrap!(cs.set_low());
+    cs.set_low();
     spi.read_write(&mut read, &write).await.ok();
-    unwrap!(cs.set_high());
+    cs.set_high();
     info!("xfer {=[u8]:x}", read);
 }
diff --git a/examples/stm32l4/src/bin/spi_dma.rs b/examples/stm32l4/src/bin/spi_dma.rs
index 4b74c7d7..d6464bbf 100644
--- a/examples/stm32l4/src/bin/spi_dma.rs
+++ b/examples/stm32l4/src/bin/spi_dma.rs
@@ -11,7 +11,6 @@ use embassy_stm32::spi::{Config, Spi};
 use embassy_stm32::time::Hertz;
 use embassy_stm32::Peripherals;
 use embassy_traits::spi::FullDuplex;
-use embedded_hal::digital::v2::{InputPin, OutputPin};
 use example_common::*;
 
 #[embassy::main]
@@ -38,17 +37,17 @@ async fn main(_spawner: Spawner, p: Peripherals) {
     let ready = Input::new(p.PE1, Pull::Up);
 
     cortex_m::asm::delay(100_000);
-    unwrap!(reset.set_high());
+    reset.set_high();
     cortex_m::asm::delay(100_000);
 
-    while unwrap!(ready.is_low()) {
+    while ready.is_low() {
         info!("waiting for ready");
     }
 
     let write = [0x0A; 10];
     let mut read = [0; 10];
-    unwrap!(cs.set_low());
+    cs.set_low();
     spi.read_write(&mut read, &write).await.ok();
-    unwrap!(cs.set_high());
+    cs.set_high();
     info!("xfer {=[u8]:x}", read);
 }
diff --git a/examples/stm32wb55/src/bin/blinky.rs b/examples/stm32wb55/src/bin/blinky.rs
index 42522fe9..e1dbb30d 100644
--- a/examples/stm32wb55/src/bin/blinky.rs
+++ b/examples/stm32wb55/src/bin/blinky.rs
@@ -8,7 +8,6 @@ use embassy::executor::Spawner;
 use embassy::time::{Duration, Timer};
 use embassy_stm32::gpio::{Level, Output, Speed};
 use embassy_stm32::Peripherals;
-use embedded_hal::digital::v2::OutputPin;
 use example_common::*;
 
 #[embassy::main]
@@ -19,11 +18,11 @@ async fn main(_spawner: Spawner, p: Peripherals) {
 
     loop {
         info!("high");
-        unwrap!(led.set_high());
+        led.set_high();
         Timer::after(Duration::from_millis(500)).await;
 
         info!("low");
-        unwrap!(led.set_low());
+        led.set_low();
         Timer::after(Duration::from_millis(500)).await;
     }
 }
diff --git a/examples/stm32wl55/src/bin/blinky.rs b/examples/stm32wl55/src/bin/blinky.rs
index 3c12a79d..9ec208c3 100644
--- a/examples/stm32wl55/src/bin/blinky.rs
+++ b/examples/stm32wl55/src/bin/blinky.rs
@@ -8,7 +8,6 @@ use embassy::executor::Spawner;
 use embassy::time::{Duration, Timer};
 use embassy_stm32::gpio::{Level, Output, Speed};
 use embassy_stm32::Peripherals;
-use embedded_hal::digital::v2::OutputPin;
 use example_common::*;
 
 #[embassy::main]
@@ -19,11 +18,11 @@ async fn main(_spawner: Spawner, p: Peripherals) {
 
     loop {
         info!("high");
-        unwrap!(led.set_high());
+        led.set_high();
         Timer::after(Duration::from_millis(500)).await;
 
         info!("low");
-        unwrap!(led.set_low());
+        led.set_low();
         Timer::after(Duration::from_millis(500)).await;
     }
 }
diff --git a/examples/stm32wl55/src/bin/button.rs b/examples/stm32wl55/src/bin/button.rs
index 55b68866..be8f60e2 100644
--- a/examples/stm32wl55/src/bin/button.rs
+++ b/examples/stm32wl55/src/bin/button.rs
@@ -5,7 +5,6 @@
 #[path = "../example_common.rs"]
 mod example_common;
 use embassy_stm32::gpio::{Input, Level, Output, Pull, Speed};
-use embedded_hal::digital::v2::{InputPin, OutputPin};
 use example_common::*;
 
 use cortex_m_rt::entry;
@@ -21,12 +20,12 @@ fn main() -> ! {
     let mut led2 = Output::new(p.PB9, Level::High, Speed::Low);
 
     loop {
-        if button.is_high().unwrap() {
-            led1.set_high().unwrap();
-            led2.set_low().unwrap();
+        if button.is_high() {
+            led1.set_high();
+            led2.set_low();
         } else {
-            led1.set_low().unwrap();
-            led2.set_high().unwrap();
+            led1.set_low();
+            led2.set_high();
         }
     }
 }
diff --git a/examples/stm32wl55/src/bin/subghz.rs b/examples/stm32wl55/src/bin/subghz.rs
index 52fe6e9f..570bd980 100644
--- a/examples/stm32wl55/src/bin/subghz.rs
+++ b/examples/stm32wl55/src/bin/subghz.rs
@@ -17,7 +17,6 @@ use embassy_stm32::gpio::{Input, Level, Output, Pull, Speed};
 use embassy_stm32::interrupt;
 use embassy_stm32::subghz::*;
 use embassy_stm32::Peripherals;
-use embedded_hal::digital::v2::OutputPin;
 use example_common::unwrap;
 
 const PING_DATA: &str = "PING";
@@ -89,9 +88,9 @@ async fn main(_spawner: embassy::executor::Spawner, p: Peripherals) {
 
     defmt::info!("Radio ready for use");
 
-    unwrap!(led1.set_low());
+    led1.set_low();
 
-    unwrap!(led2.set_high());
+    led2.set_high();
 
     unwrap!(radio.set_standby(StandbyClk::Rc));
     unwrap!(radio.set_tcxo_mode(&TCXO_MODE));
@@ -110,11 +109,11 @@ async fn main(_spawner: embassy::executor::Spawner, p: Peripherals) {
 
     defmt::info!("Status: {:?}", unwrap!(radio.status()));
 
-    unwrap!(led2.set_low());
+    led2.set_low();
 
     loop {
         pin.wait_for_rising_edge().await;
-        unwrap!(led3.set_high());
+        led3.set_high();
         unwrap!(radio.set_irq_cfg(&CfgIrq::new().irq_enable_all(Irq::TxDone)));
         unwrap!(radio.write_buffer(TX_BUF_OFFSET, PING_DATA_BYTES));
         unwrap!(radio.set_tx(Timeout::DISABLED));
@@ -127,6 +126,6 @@ async fn main(_spawner: embassy::executor::Spawner, p: Peripherals) {
             defmt::info!("TX done");
         }
         unwrap!(radio.clear_irq_status(irq_status));
-        unwrap!(led3.set_low());
+        led3.set_low();
     }
 }
diff --git a/tests/stm32/src/bin/gpio.rs b/tests/stm32/src/bin/gpio.rs
index 51ede6ce..305da8d1 100644
--- a/tests/stm32/src/bin/gpio.rs
+++ b/tests/stm32/src/bin/gpio.rs
@@ -8,7 +8,6 @@ use defmt::assert;
 use embassy::executor::Spawner;
 use embassy_stm32::gpio::{Input, Level, Output, Pull, Speed};
 use embassy_stm32::Peripherals;
-use embedded_hal::digital::v2::{InputPin, OutputPin};
 use example_common::*;
 
 #[embassy::main(config = "config()")]
@@ -35,12 +34,12 @@ async fn main(_spawner: Spawner, p: Peripherals) {
         {
             let _a = Output::new(&mut a, Level::Low, Speed::Low);
             delay();
-            assert!(b.is_low().unwrap());
+            assert!(b.is_low());
         }
         {
             let _a = Output::new(&mut a, Level::High, Speed::Low);
             delay();
-            assert!(b.is_high().unwrap());
+            assert!(b.is_high());
         }
     }
 
@@ -51,38 +50,38 @@ async fn main(_spawner: Spawner, p: Peripherals) {
 
         let mut a = Output::new(&mut a, Level::Low, Speed::Low);
         delay();
-        assert!(b.is_low().unwrap());
-        a.set_high().unwrap();
+        assert!(b.is_low());
+        a.set_high();
         delay();
-        assert!(b.is_high().unwrap());
+        assert!(b.is_high());
     }
 
     // Test input pulldown
     {
         let b = Input::new(&mut b, Pull::Down);
         delay();
-        assert!(b.is_low().unwrap());
+        assert!(b.is_low());
 
         let mut a = Output::new(&mut a, Level::Low, Speed::Low);
         delay();
-        assert!(b.is_low().unwrap());
-        a.set_high().unwrap();
+        assert!(b.is_low());
+        a.set_high();
         delay();
-        assert!(b.is_high().unwrap());
+        assert!(b.is_high());
     }
 
     // Test input pullup
     {
         let b = Input::new(&mut b, Pull::Up);
         delay();
-        assert!(b.is_high().unwrap());
+        assert!(b.is_high());
 
         let mut a = Output::new(&mut a, Level::Low, Speed::Low);
         delay();
-        assert!(b.is_low().unwrap());
-        a.set_high().unwrap();
+        assert!(b.is_low());
+        a.set_high();
         delay();
-        assert!(b.is_high().unwrap());
+        assert!(b.is_high());
     }
 
     info!("Test OK");