gpio: add PinGroup::set_u32 to allow setting each pin to a differen…

…t state (#811)

* gpio: add `PinGroup::set_u32` to allow setting each pin to a different state

* Add on-target-test for pin groups

---------

Co-authored-by: Jan Niehusmann <[email protected]>

on-target-tests/tests/gpio.rs

@@ -26,6 +26,7 @@ mod tests {
     use crate::hal::pac;
     use crate::XTAL_FREQ_HZ;
     use hal::watchdog::Watchdog;
+    use rp2040_hal::gpio::{PinGroup, PinState};
 
     #[init]
     fn setup() -> () {
@@ -100,4 +101,32 @@ mod tests {
             assert!(pac.PADS_BANK0.gpio(id).read().ie().bit_is_clear());
         }
     }
+
+    #[test]
+    fn check_pin_groups() {
+        // Safety: Test cases do not run in parallel
+        let mut pac = unsafe { pac::Peripherals::steal() };
+        let pingroup = PinGroup::new();
+        let sio = hal::Sio::new(pac.SIO);
+        let pins = hal::gpio::Pins::new(
+            pac.IO_BANK0,
+            pac.PADS_BANK0,
+            sio.gpio_bank0,
+            &mut pac.RESETS,
+        );
+
+        let pingroup = pingroup.add_pin(pins.gpio0.into_push_pull_output_in_state(PinState::Low));
+        let pingroup = pingroup.add_pin(pins.gpio1.into_push_pull_output_in_state(PinState::Low));
+        let pingroup = pingroup.add_pin(pins.gpio2.into_bus_keep_input());
+        let mut pingroup = pingroup.add_pin(pins.gpio3.into_bus_keep_input());
+
+        cortex_m::asm::delay(10);
+        assert!(pingroup.read() == 0);
+        pingroup.toggle();
+        cortex_m::asm::delay(10);
+        assert!(pingroup.read() == 0xf);
+        pingroup.toggle();
+        cortex_m::asm::delay(10);
+        assert!(pingroup.read() == 0);
+    }
 }

rp2040-hal/src/gpio/pin_group.rs

@@ -159,6 +159,34 @@ where
         }
     }
 
+    /// Set this set of pins to the state given in a single operation.
+    ///
+    /// The state passed in must be a mask where each bit corresponds to a gpio.
+    ///
+    /// For example, if the group contains Gpio1 and Gpio3, a read may yield:
+    /// ```text
+    /// 0b0000_0000__0000_0000__0000_0000__0000_1010
+    ///                          This is Gpio3  ↑↑↑
+    ///                      Gpio2 is not used   ||
+    ///                          This is Gpio1    |
+    /// ```
+    ///
+    /// State corresponding to bins not in this group are ignored.
+    pub fn set_u32(&mut self, state: u32) {
+        use super::pin::pin_sealed::PinIdOps;
+        let mask = self.0.write_mask();
+        let state_masked = mask & state;
+        let head_id = self.0.head.borrow().id();
+        // UNSAFE: this register is 32bit wide and all bits are valid.
+        // The value set is masked
+        head_id.sio_out().modify(|r, w| unsafe {
+            // clear all bit part of this group
+            let cleared = r.bits() & !mask;
+            // set bits according to state
+            w.bits(cleared | state_masked)
+        });
+    }
+
     /// Toggles this set of pins all at the same time.
     ///
     /// This only affects output pins. Input pins in the