Optionally type-erased GPIO drivers (#2075)

* Remove type erased gpio structs

* Implement Peripheral for ErasedPin

* Simpler type erasing, accept ErasedPin in pin drivers, remove type erased drivers

* Reformulate pin drivers using Flex

* Erase gpio types by default

* Accept any pin in AnyPin

* Add changelog and migration guide

* Fix tests and examples

* Undo rename of clone_unchecked

esp-hal/CHANGELOG.md

@@ -11,6 +11,9 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 - Implement `embedded-hal` output pin traits for `DummyPin` (#2019)
 - Added `esp_hal::init` to simplify HAL initialisation (#1970, #1999)
+- Added GpioPin::degrade to create ErasePins easily. Same for AnyPin by accident. (#2075)
+- 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)
 
 ### Changed
@@ -18,6 +21,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 - `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)
 
 ### Fixed
 - SHA driver can now be safely used in multiple contexts concurrently (#2049)

esp-hal/MIGRATING-0.20.md

@@ -41,3 +41,13 @@ Instead of manually grabbing peripherals and setting up clocks, you should now c
  - The `GpioN` type aliasses are no longer available. You can use `GpioPin<N>` instead.
  - The `AnyInputOnlyPin` has been removed. Replace any use with `AnyPin`.
  - The `NoPinType` has been removed. You can use `DummyPin` in its place.
+
+### Type-erased GPIO drivers
+
+You no longer have to spell out the GPIO pin type for `Input`, `Output`, `OutputOpenDrain` or `Flex`.
+However, if you want to, you can keep using their typed form!
+
+```rust
+let pin = Input::new(io.gpio0); // pin will have the type `Input<'some>` (or `Input<'some, ErasedPin>` if you want to be explicit about it)
+let pin = Input::new_typed(io.gpio0); // pin will have the type `Input<'some, GpioPin<0>>`
+```

esp-hal/src/gpio/any_pin.rs

@@ -13,9 +13,12 @@ pub struct AnyPin<'d> {
 impl<'d> AnyPin<'d> {
     /// Create wrapper for the given pin.
     #[inline]
-    pub fn new<P: CreateErasedPin>(pin: impl crate::peripheral::Peripheral<P = P> + 'd) -> Self {
+    pub fn new<P>(pin: impl crate::peripheral::Peripheral<P = P> + 'd) -> Self
+    where
+        P: Pin,
+    {
         crate::into_ref!(pin);
-        let pin = pin.erased_pin(private::Internal);
+        let pin = pin.degrade_internal(private::Internal);
 
         Self {
             pin,
@@ -27,11 +30,12 @@ impl<'d> AnyPin<'d> {
     /// Create wrapper for the given pin. The peripheral signal will be
     /// inverted.
     #[inline]
-    pub fn new_inverted<P: OutputPin + InputPin + CreateErasedPin>(
-        pin: impl crate::peripheral::Peripheral<P = P> + 'd,
-    ) -> Self {
+    pub fn new_inverted<P>(pin: impl crate::peripheral::Peripheral<P = P> + 'd) -> Self
+    where
+        P: Pin,
+    {
         crate::into_ref!(pin);
-        let pin = pin.erased_pin(private::Internal);
+        let pin = pin.degrade_internal(private::Internal);
 
         Self {
             pin,
@@ -59,6 +63,7 @@ impl<'d> Pin for AnyPin<'d> {
     delegate::delegate! {
         to self.pin {
             fn number(&self, _internal: private::Internal) -> u8;
+            fn degrade_internal(&self, _internal: private::Internal) -> ErasedPin;
             fn sleep_mode(&mut self, on: bool, _internal: private::Internal);
             fn set_alternate_function(&mut self, alternate: AlternateFunction, _internal: private::Internal);
             fn is_listening(&self, _internal: private::Internal) -> bool;

esp-hal/src/gpio/dummy_pin.rs

@@ -32,6 +32,10 @@ impl Pin for DummyPin {
         panic!("DummyPin not supported here!");
     }
 
+    fn degrade_internal(&self, _: private::Internal) -> ErasedPin {
+        panic!("Can not type erase the DummyPin!");
+    }
+
     fn sleep_mode(&mut self, _on: bool, _: private::Internal) {}
 
     fn set_alternate_function(&mut self, _alternate: AlternateFunction, _: private::Internal) {}

examples/src/bin/blinky_erased_pins.rs

@@ -14,7 +14,7 @@
 use esp_backtrace as _;
 use esp_hal::{
     delay::Delay,
-    gpio::{AnyInput, AnyOutput, Io, Level, Pull},
+    gpio::{ErasedPin, Input, Io, Level, Output, Pin, Pull},
     prelude::*,
 };
 
@@ -25,17 +25,17 @@ fn main() -> ! {
     let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
 
     // Set LED GPIOs as an output:
-    let led1 = AnyOutput::new(io.pins.gpio2, Level::Low);
-    let led2 = AnyOutput::new(io.pins.gpio4, Level::Low);
-    let led3 = AnyOutput::new(io.pins.gpio5, Level::Low);
+    let led1 = Output::new(io.pins.gpio2.degrade(), Level::Low);
+    let led2 = Output::new(io.pins.gpio4.degrade(), Level::Low);
+    let led3 = Output::new(io.pins.gpio5.degrade(), Level::Low);
 
     // Use boot button as an input:
     #[cfg(any(feature = "esp32", feature = "esp32s2", feature = "esp32s3"))]
-    let button = io.pins.gpio0;
+    let button = io.pins.gpio0.degrade();
     #[cfg(not(any(feature = "esp32", feature = "esp32s2", feature = "esp32s3")))]
-    let button = io.pins.gpio9;
+    let button = io.pins.gpio9.degrade();
 
-    let button = AnyInput::new(button, Pull::Up);
+    let button = Input::new(button, Pull::Up);
 
     let mut pins = [led1, led2, led3];
 
@@ -47,7 +47,7 @@ fn main() -> ! {
     }
 }
 
-fn toggle_pins(leds: &mut [AnyOutput], button: &AnyInput) {
+fn toggle_pins(leds: &mut [Output<ErasedPin>], button: &Input<ErasedPin>) {
     for pin in leds.iter_mut() {
         pin.toggle();
     }

examples/src/bin/embassy_multicore.rs

@@ -21,7 +21,7 @@ use esp_backtrace as _;
 use esp_hal::{
     cpu_control::{CpuControl, Stack},
     get_core,
-    gpio::{AnyOutput, Io, Level},
+    gpio::{ErasedPin, Io, Level, Output, Pin},
     timer::{timg::TimerGroup, ErasedTimer},
 };
 use esp_hal_embassy::Executor;
@@ -34,7 +34,7 @@ static mut APP_CORE_STACK: Stack<8192> = Stack::new();
 /// duration of time.
 #[embassy_executor::task]
 async fn control_led(
-    mut led: AnyOutput<'static>,
+    mut led: Output<'static, ErasedPin>,
     control: &'static Signal<CriticalSectionRawMutex, bool>,
 ) {
     println!("Starting control_led() on core {}", get_core() as usize);
@@ -65,7 +65,7 @@ async fn main(_spawner: Spawner) {
     static LED_CTRL: StaticCell<Signal<CriticalSectionRawMutex, bool>> = StaticCell::new();
     let led_ctrl_signal = &*LED_CTRL.init(Signal::new());
 
-    let led = AnyOutput::new(io.pins.gpio0, Level::Low);
+    let led = Output::new(io.pins.gpio0.degrade(), Level::Low);
 
     let _guard = cpu_control
         .start_app_core(unsafe { &mut *addr_of_mut!(APP_CORE_STACK) }, move || {

examples/src/bin/embassy_multicore_interrupt.rs

@@ -20,7 +20,7 @@ use esp_backtrace as _;
 use esp_hal::{
     cpu_control::{CpuControl, Stack},
     get_core,
-    gpio::{AnyOutput, Io, Level},
+    gpio::{ErasedPin, Io, Level, Output, Pin},
     interrupt::{software::SoftwareInterruptControl, Priority},
     prelude::*,
     timer::{timg::TimerGroup, ErasedTimer},
@@ -35,7 +35,7 @@ static mut APP_CORE_STACK: Stack<8192> = Stack::new();
 /// duration of time.
 #[embassy_executor::task]
 async fn control_led(
-    mut led: AnyOutput<'static>,
+    mut led: Output<'static, ErasedPin>,
     control: &'static Signal<CriticalSectionRawMutex, bool>,
 ) {
     println!("Starting control_led() on core {}", get_core() as usize);
@@ -87,7 +87,7 @@ fn main() -> ! {
     static LED_CTRL: StaticCell<Signal<CriticalSectionRawMutex, bool>> = StaticCell::new();
     let led_ctrl_signal = &*LED_CTRL.init(Signal::new());
 
-    let led = AnyOutput::new(io.pins.gpio0, Level::Low);
+    let led = Output::new(io.pins.gpio0.degrade(), Level::Low);
 
     static EXECUTOR_CORE_1: StaticCell<InterruptExecutor<1>> = StaticCell::new();
     let executor_core1 = InterruptExecutor::new(sw_ints.software_interrupt1);

examples/src/bin/embassy_rmt_rx.rs

@@ -13,7 +13,7 @@ use embassy_executor::Spawner;
 use embassy_time::{Duration, Timer};
 use esp_backtrace as _;
 use esp_hal::{
-    gpio::{GpioPin, Io, Level, Output},
+    gpio::{Io, Level, Output},
     prelude::*,
     rmt::{asynch::RxChannelAsync, PulseCode, Rmt, RxChannelConfig, RxChannelCreatorAsync},
     timer::timg::TimerGroup,
@@ -26,7 +26,7 @@ const WIDTH: usize = 80;
 compile_error!("Run this example in release mode");
 
 #[embassy_executor::task]
-async fn signal_task(mut pin: Output<'static, GpioPin<5>>) {
+async fn signal_task(mut pin: Output<'static>) {
     loop {
         for _ in 0..10 {
             pin.toggle();

examples/src/bin/gpio_interrupt.rs

@@ -17,20 +17,12 @@ use critical_section::Mutex;
 use esp_backtrace as _;
 use esp_hal::{
     delay::Delay,
-    gpio::{Event, GpioPin, Input, Io, Level, Output, Pull},
+    gpio::{Event, Input, Io, Level, Output, Pull},
     macros::ram,
     prelude::*,
 };
 
-cfg_if::cfg_if! {
-    if #[cfg(any(feature = "esp32", feature = "esp32s2", feature = "esp32s3"))] {
-        const BUTTON_PIN: u8 = 0;
-    } else {
-        const BUTTON_PIN: u8 = 9;
-    }
-}
-
-static BUTTON: Mutex<RefCell<Option<Input<GpioPin<BUTTON_PIN>>>>> = Mutex::new(RefCell::new(None));
+static BUTTON: Mutex<RefCell<Option<Input>>> = Mutex::new(RefCell::new(None));
 
 #[entry]
 fn main() -> ! {

examples/src/bin/spi_slave_dma.rs

@@ -34,7 +34,7 @@ use esp_hal::{
     delay::Delay,
     dma::{Dma, DmaPriority},
     dma_buffers,
-    gpio::{GpioPin, Input, Io, Level, Output, Pull},
+    gpio::{Input, Io, Level, Output, Pull},
     prelude::*,
     spi::{
         slave::{prelude::*, Spi},
@@ -48,17 +48,16 @@ fn main() -> ! {
     let peripherals = esp_hal::init(esp_hal::Config::default());
 
     let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
-    let slave_sclk = io.pins.gpio0;
+
     let mut master_sclk = Output::new(io.pins.gpio4, Level::Low);
-    let slave_miso = io.pins.gpio1;
     let master_miso = Input::new(io.pins.gpio5, Pull::None);
-    let slave_mosi = io.pins.gpio2;
     let mut master_mosi = Output::new(io.pins.gpio8, Level::Low);
+    let mut master_cs = Output::new(io.pins.gpio9, Level::High);
+
+    let slave_sclk = io.pins.gpio0;
+    let slave_miso = io.pins.gpio1;
+    let slave_mosi = io.pins.gpio2;
     let slave_cs = io.pins.gpio3;
-    let mut master_cs = Output::new(io.pins.gpio9, Level::Low);
-    master_cs.set_high();
-    master_sclk.set_low();
-    master_mosi.set_low();
 
     let dma = Dma::new(peripherals.DMA);
     cfg_if::cfg_if! {
@@ -189,10 +188,10 @@ fn main() -> ! {
 fn bitbang_master(
     master_send: &[u8],
     master_receive: &mut [u8],
-    master_cs: &mut Output<GpioPin<9>>,
-    master_mosi: &mut Output<GpioPin<8>>,
-    master_sclk: &mut Output<GpioPin<4>>,
-    master_miso: &Input<GpioPin<5>>,
+    master_cs: &mut Output,
+    master_mosi: &mut Output,
+    master_sclk: &mut Output,
+    master_miso: &Input,
 ) {
     // Bit-bang out the contents of master_send and read into master_receive
     // as quickly as manageable. MSB first. Mode 0, so sampled on the rising

hil-test/src/lib.rs

@@ -49,8 +49,7 @@ macro_rules! common_test_pins {
         cfg_if::cfg_if! {
             if #[cfg(any(esp32s2, esp32s3))] {
                 ($io.pins.gpio9, $io.pins.gpio10)
-            }
-            else {
+            } else {
                 ($io.pins.gpio2, $io.pins.gpio3)
             }
         }

hil-test/tests/aes_dma.rs

@@ -14,7 +14,6 @@ use esp_hal::{
     dma::{Dma, DmaPriority},
     dma_buffers,
     peripherals::Peripherals,
-    prelude::*,
 };
 use hil_test as _;
 

hil-test/tests/delay.rs

@@ -20,7 +20,7 @@ mod tests {
 
     #[init]
     fn init() -> Context {
-        let peripherals = esp_hal::init(esp_hal::Config::default());
+        let _peripherals = esp_hal::init(esp_hal::Config::default());
         let delay = Delay::new();
 
         Context { delay }

hil-test/tests/get_time.rs

@@ -61,7 +61,7 @@ mod tests {
     #[test]
     #[timeout(3)]
     fn test_current_time_construct_timg0(ctx: Context) {
-        time_moves_forward_during(ctx, |ctx| {
+        time_moves_forward_during(ctx, |_| {
             // construct the timer in between calls to current_time
             let _ = esp_hal::timer::timg::TimerGroup::new(unsafe {
                 esp_hal::peripherals::TIMG0::steal()

hil-test/tests/gpio.rs

@@ -15,7 +15,7 @@ use core::cell::RefCell;
 use critical_section::Mutex;
 use esp_hal::{
     delay::Delay,
-    gpio::{AnyPin, GpioPin, Input, Io, Level, Output, Pull},
+    gpio::{AnyPin, ErasedPin, Input, Io, Level, Output, Pin, Pull},
     macros::handler,
     timer::timg::TimerGroup,
     InterruptConfigurable,
@@ -23,22 +23,11 @@ use esp_hal::{
 use hil_test as _;
 
 static COUNTER: Mutex<RefCell<u32>> = Mutex::new(RefCell::new(0));
-static INPUT_PIN: Mutex<RefCell<Option<Input<'static, TestGpio1>>>> =
-    Mutex::new(RefCell::new(None));
+static INPUT_PIN: Mutex<RefCell<Option<Input>>> = Mutex::new(RefCell::new(None));
 
-cfg_if::cfg_if! {
-    if #[cfg(not(any(esp32s2, esp32s3)))] {
-        pub type TestGpio1 = GpioPin<2>;
-        pub type TestGpio2 = GpioPin<3>;
-    } else if #[cfg(any(esp32s2, esp32s3))] {
-        pub type TestGpio1 = GpioPin<9>;
-        pub type TestGpio2 = GpioPin<10>;
-    }
-}
-
-struct Context<'d> {
-    test_gpio1: Input<'d, TestGpio1>,
-    test_gpio2: Output<'d, TestGpio2>,
+struct Context {
+    test_gpio1: ErasedPin,
+    test_gpio2: ErasedPin,
     delay: Delay,
 }
 
@@ -64,7 +53,7 @@ mod tests {
     use super::*;
 
     #[init]
-    fn init() -> Context<'static> {
+    fn init() -> Context {
         let peripherals = esp_hal::init(esp_hal::Config::default());
 
         let mut io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
@@ -78,20 +67,22 @@ mod tests {
         esp_hal_embassy::init(timg0.timer0);
 
         Context {
-            test_gpio1: Input::new(gpio1, Pull::Down),
-            test_gpio2: Output::new(gpio2, Level::Low),
+            test_gpio1: gpio1.degrade(),
+            test_gpio2: gpio2.degrade(),
             delay,
         }
     }
 
     #[test]
-    async fn test_async_edge(ctx: Context<'static>) {
+    async fn test_async_edge(ctx: Context) {
         let counter = AtomicUsize::new(0);
         let Context {
-            mut test_gpio1,
-            mut test_gpio2,
+            test_gpio1,
+            test_gpio2,
             ..
         } = ctx;
+        let mut test_gpio1 = Input::new(test_gpio1, Pull::Down);
+        let mut test_gpio2 = Output::new(test_gpio2, Level::Low);
         embassy_futures::select::select(
             async {
                 loop {
@@ -113,8 +104,8 @@ mod tests {
     }
 
     #[test]
-    async fn test_a_pin_can_wait(_ctx: Context<'static>) {
-        let mut first = Input::new(unsafe { GpioPin::<0>::steal() }, Pull::Down);
+    async fn test_a_pin_can_wait(ctx: Context) {
+        let mut first = Input::new(ctx.test_gpio1, Pull::Down);
 
         embassy_futures::select::select(
             first.wait_for_rising_edge(),
@@ -126,69 +117,74 @@ mod tests {
     }
 
     #[test]
-    fn test_gpio_input(ctx: Context<'static>) {
+    fn test_gpio_input(ctx: Context) {
+        let test_gpio1 = Input::new(ctx.test_gpio1, Pull::Down);
         // `InputPin`:
-        assert_eq!(ctx.test_gpio1.is_low(), true);
-        assert_eq!(ctx.test_gpio1.is_high(), false);
+        assert_eq!(test_gpio1.is_low(), true);
+        assert_eq!(test_gpio1.is_high(), false);
     }
 
     #[test]
-    fn test_gpio_output(mut ctx: Context<'static>) {
+    fn test_gpio_output(ctx: Context) {
+        let mut test_gpio2 = Output::new(ctx.test_gpio2, Level::Low);
+
         // `StatefulOutputPin`:
-        assert_eq!(ctx.test_gpio2.is_set_low(), true);
-        assert_eq!(ctx.test_gpio2.is_set_high(), false);
-        ctx.test_gpio2.set_high();
-        assert_eq!(ctx.test_gpio2.is_set_low(), false);
-        assert_eq!(ctx.test_gpio2.is_set_high(), true);
+        assert_eq!(test_gpio2.is_set_low(), true);
+        assert_eq!(test_gpio2.is_set_high(), false);
+        test_gpio2.set_high();
+        assert_eq!(test_gpio2.is_set_low(), false);
+        assert_eq!(test_gpio2.is_set_high(), true);
 
         // `ToggleableOutputPin`:
-        ctx.test_gpio2.toggle();
-        assert_eq!(ctx.test_gpio2.is_set_low(), true);
-        assert_eq!(ctx.test_gpio2.is_set_high(), false);
-        ctx.test_gpio2.toggle();
-        assert_eq!(ctx.test_gpio2.is_set_low(), false);
-        assert_eq!(ctx.test_gpio2.is_set_high(), true);
+        test_gpio2.toggle();
+        assert_eq!(test_gpio2.is_set_low(), true);
+        assert_eq!(test_gpio2.is_set_high(), false);
+        test_gpio2.toggle();
+        assert_eq!(test_gpio2.is_set_low(), false);
+        assert_eq!(test_gpio2.is_set_high(), true);
     }
 
     #[test]
-    fn test_gpio_interrupt(mut ctx: Context<'static>) {
+    fn test_gpio_interrupt(ctx: Context) {
+        let mut test_gpio1 = Input::new(ctx.test_gpio1, Pull::Down);
+        let mut test_gpio2 = Output::new(ctx.test_gpio2, Level::Low);
+
         critical_section::with(|cs| {
             *COUNTER.borrow_ref_mut(cs) = 0;
-            ctx.test_gpio1.listen(Event::AnyEdge);
-            INPUT_PIN.borrow_ref_mut(cs).replace(ctx.test_gpio1);
+            test_gpio1.listen(Event::AnyEdge);
+            INPUT_PIN.borrow_ref_mut(cs).replace(test_gpio1);
         });
-        ctx.test_gpio2.set_high();
+        test_gpio2.set_high();
         ctx.delay.delay_millis(1);
-        ctx.test_gpio2.set_low();
+        test_gpio2.set_low();
         ctx.delay.delay_millis(1);
-        ctx.test_gpio2.set_high();
+        test_gpio2.set_high();
         ctx.delay.delay_millis(1);
-        ctx.test_gpio2.set_low();
+        test_gpio2.set_low();
         ctx.delay.delay_millis(1);
-        ctx.test_gpio2.set_high();
+        test_gpio2.set_high();
         ctx.delay.delay_millis(1);
-        ctx.test_gpio2.set_low();
+        test_gpio2.set_low();
         ctx.delay.delay_millis(1);
-        ctx.test_gpio2.set_high();
+        test_gpio2.set_high();
         ctx.delay.delay_millis(1);
-        ctx.test_gpio2.set_low();
+        test_gpio2.set_low();
         ctx.delay.delay_millis(1);
-        ctx.test_gpio2.set_high();
+        test_gpio2.set_high();
         ctx.delay.delay_millis(1);
 
         let count = critical_section::with(|cs| *COUNTER.borrow_ref(cs));
         assert_eq!(count, 9);
 
-        ctx.test_gpio1 = critical_section::with(|cs| INPUT_PIN.borrow_ref_mut(cs).take().unwrap());
-        ctx.test_gpio1.unlisten();
-    }
-
-    #[test]
-    fn test_gpio_od(ctx: Context<'static>) {
         let mut test_gpio1 =
-            OutputOpenDrain::new(unsafe { TestGpio1::steal() }, Level::High, Pull::Up);
-        let mut test_gpio2 =
-            OutputOpenDrain::new(unsafe { TestGpio2::steal() }, Level::High, Pull::Up);
+            critical_section::with(|cs| INPUT_PIN.borrow_ref_mut(cs).take().unwrap());
+        test_gpio1.unlisten();
+    }
+
+    #[test]
+    fn test_gpio_od(ctx: Context) {
+        let mut test_gpio1 = OutputOpenDrain::new(ctx.test_gpio1, Level::High, Pull::Up);
+        let mut test_gpio2 = OutputOpenDrain::new(ctx.test_gpio2, Level::High, Pull::Up);
 
         ctx.delay.delay_millis(1);
 
@@ -232,9 +228,9 @@ mod tests {
     }
 
     #[test]
-    fn test_gpio_flex(ctx: Context<'static>) {
-        let mut test_gpio1 = Flex::new(unsafe { TestGpio1::steal() });
-        let mut test_gpio2 = Flex::new(unsafe { TestGpio2::steal() });
+    fn test_gpio_flex(ctx: Context) {
+        let mut test_gpio1 = Flex::new(ctx.test_gpio1);
+        let mut test_gpio2 = Flex::new(ctx.test_gpio2);
 
         test_gpio1.set_high();
         test_gpio1.set_as_output();
@@ -274,9 +270,9 @@ mod tests {
     // Tests touch pin (GPIO2) as AnyPin and Output
     // https://github.com/esp-rs/esp-hal/issues/1943
     #[test]
-    fn test_gpio_touch_anypin_output() {
-        let any_pin2 = AnyPin::new(unsafe { TestGpio1::steal() });
-        let any_pin3 = AnyPin::new(unsafe { TestGpio2::steal() });
+    fn test_gpio_touch_anypin_output(ctx: Context) {
+        let any_pin2 = AnyPin::new(ctx.test_gpio1);
+        let any_pin3 = AnyPin::new(ctx.test_gpio2);
 
         let out_pin = Output::new(any_pin2, Level::High);
         let in_pin = Input::new(any_pin3, Pull::Down);
@@ -288,9 +284,9 @@ mod tests {
     // Tests touch pin (GPIO2) as AnyPin and Input
     // https://github.com/esp-rs/esp-hal/issues/1943
     #[test]
-    fn test_gpio_touch_anypin_input() {
-        let any_pin2 = AnyPin::new(unsafe { TestGpio1::steal() });
-        let any_pin3 = AnyPin::new(unsafe { TestGpio2::steal() });
+    fn test_gpio_touch_anypin_input(ctx: Context) {
+        let any_pin2 = AnyPin::new(ctx.test_gpio1);
+        let any_pin3 = AnyPin::new(ctx.test_gpio2);
 
         let out_pin = Output::new(any_pin3, Level::Low);
         let in_pin = Input::new(any_pin2, Pull::Down);

hil-test/tests/qspi_read.rs

@@ -15,7 +15,7 @@
 use esp_hal::{
     dma::{Channel, Dma, DmaPriority, DmaRxBuf},
     dma_buffers,
-    gpio::{AnyOutput, AnyPin, Io, Level},
+    gpio::{ErasedPin, Io, Level, Output},
     prelude::*,
     spi::{
         master::{Address, Command, Spi, SpiDma},
@@ -41,13 +41,13 @@ cfg_if::cfg_if! {
 struct Context {
     spi: esp_hal::peripherals::SPI2,
     dma_channel: Channel<'static, DmaChannel0, Blocking>,
-    miso: AnyPin<'static>,
-    miso_mirror: AnyOutput<'static>,
+    miso: ErasedPin,
+    miso_mirror: Output<'static>,
 }
 
 fn execute(
     mut spi: SpiDma<'static, esp_hal::peripherals::SPI2, DmaChannel0, HalfDuplexMode, Blocking>,
-    mut miso_mirror: AnyOutput<'static>,
+    mut miso_mirror: Output<'static>,
     wanted: u8,
 ) {
     const DMA_BUFFER_SIZE: usize = 4;
@@ -103,8 +103,8 @@ mod tests {
 
         let (miso, miso_mirror) = hil_test::common_test_pins!(io);
 
-        let miso = AnyPin::new(miso);
-        let miso_mirror = AnyOutput::new(miso_mirror, Level::High);
+        let miso = miso.degrade();
+        let miso_mirror = Output::new(miso_mirror, Level::High);
 
         let dma = Dma::new(peripherals.DMA);
 

hil-test/tests/qspi_write_read.rs

@@ -17,7 +17,7 @@
 use esp_hal::{
     dma::{Channel, Dma, DmaPriority, DmaRxBuf, DmaTxBuf},
     dma_buffers,
-    gpio::{AnyOutput, AnyPin, Io, Level},
+    gpio::{ErasedPin, Io, Level, Output},
     prelude::*,
     spi::{
         master::{Address, Command, Spi, SpiDma},
@@ -43,13 +43,13 @@ cfg_if::cfg_if! {
 struct Context {
     spi: esp_hal::peripherals::SPI2,
     dma_channel: Channel<'static, DmaChannel0, Blocking>,
-    mosi: AnyPin<'static>,
-    mosi_mirror: AnyOutput<'static>,
+    mosi: ErasedPin,
+    mosi_mirror: Output<'static>,
 }
 
 fn execute(
     mut spi: SpiDma<'static, esp_hal::peripherals::SPI2, DmaChannel0, HalfDuplexMode, Blocking>,
-    mut mosi_mirror: AnyOutput<'static>,
+    mut mosi_mirror: Output<'static>,
     wanted: u8,
 ) {
     const DMA_BUFFER_SIZE: usize = 4;
@@ -105,8 +105,8 @@ mod tests {
 
         let (mosi, mosi_mirror) = hil_test::common_test_pins!(io);
 
-        let mosi = AnyPin::new(mosi);
-        let mosi_mirror = AnyOutput::new(mosi_mirror, Level::High);
+        let mosi = mosi.degrade();
+        let mosi_mirror = Output::new(mosi_mirror, Level::High);
 
         let dma = Dma::new(peripherals.DMA);
 

hil-test/tests/spi_full_duplex_dma_async.rs

@@ -24,7 +24,7 @@ use embedded_hal_async::spi::SpiBus;
 use esp_hal::{
     dma::{Dma, DmaPriority, DmaRxBuf, DmaTxBuf},
     dma_buffers,
-    gpio::{AnyPin, GpioPin, Io, Level, Output, Pull},
+    gpio::{ErasedPin, Io, Level, Output, Pull},
     pcnt::{
         channel::{EdgeMode, PcntInputConfig, PcntSource},
         unit::Unit,
@@ -57,8 +57,8 @@ const DMA_BUFFER_SIZE: usize = 5;
 struct Context {
     spi: SpiDmaBus<'static, SPI2, DmaChannel0, FullDuplexMode, Async>,
     pcnt_unit: Unit<'static, 0>,
-    out_pin: Output<'static, GpioPin<5>>,
-    mosi_mirror: AnyPin<'static>,
+    out_pin: Output<'static>,
+    mosi_mirror: ErasedPin,
 }
 
 #[cfg(test)]
@@ -79,7 +79,7 @@ mod tests {
         let (mosi_mirror, mosi) = hil_test::common_test_pins!(io);
         let miso = io.pins.gpio4;
         let cs = io.pins.gpio8;
-        let mosi_mirror = AnyPin::new(mosi_mirror);
+        let mosi_mirror = mosi_mirror.degrade();
 
         let mut out_pin = Output::new(io.pins.gpio5, Level::Low);
         out_pin.set_low();

hil-test/tests/spi_full_duplex_dma_pcnt.rs

@@ -20,7 +20,7 @@
 use esp_hal::{
     dma::{Dma, DmaPriority, DmaRxBuf, DmaTxBuf},
     dma_buffers,
-    gpio::{AnyPin, GpioPin, Io, Level, Output, Pull},
+    gpio::{ErasedPin, Io, Level, Output, Pull},
     pcnt::{
         channel::{EdgeMode, PcntInputConfig, PcntSource},
         unit::Unit,
@@ -51,8 +51,8 @@ cfg_if::cfg_if! {
 struct Context {
     spi: SpiDma<'static, SPI2, DmaChannel0, FullDuplexMode, Blocking>,
     pcnt_unit: Unit<'static, 0>,
-    out_pin: Output<'static, GpioPin<5>>,
-    mosi_mirror: AnyPin<'static>,
+    out_pin: Output<'static>,
+    mosi_mirror: ErasedPin,
 }
 
 #[cfg(test)]
@@ -91,7 +91,7 @@ mod tests {
         let mut out_pin = Output::new(io.pins.gpio5, Level::Low);
         out_pin.set_low();
         assert_eq!(out_pin.is_set_low(), true);
-        let mosi_mirror = AnyPin::new(mosi_mirror);
+        let mosi_mirror = mosi_mirror.degrade();
 
         Context {
             spi,

hil-test/tests/spi_half_duplex_read.rs

@@ -16,7 +16,7 @@
 use esp_hal::{
     dma::{Dma, DmaPriority, DmaRxBuf, DmaTxBuf},
     dma_buffers,
-    gpio::{AnyOutput, Io, Level},
+    gpio::{Io, Level, Output},
     peripherals::SPI2,
     prelude::*,
     spi::{
@@ -42,7 +42,7 @@ cfg_if::cfg_if! {
 
 struct Context {
     spi: SpiDma<'static, SPI2, DmaChannel0, HalfDuplexMode, Blocking>,
-    miso_mirror: AnyOutput<'static>,
+    miso_mirror: Output<'static>,
 }
 
 #[cfg(test)]
@@ -60,7 +60,7 @@ mod tests {
         let sclk = io.pins.gpio0;
         let (miso, miso_mirror) = hil_test::common_test_pins!(io);
 
-        let miso_mirror = AnyOutput::new(miso_mirror, Level::High);
+        let miso_mirror = Output::new(miso_mirror, Level::High);
 
         let dma = Dma::new(peripherals.DMA);