From 148f1f2fdb494b86a8444f31b4011115d24f7425 Mon Sep 17 00:00:00 2001
From: Jeff McBride <mcbridejc@gmail.com>
Date: Fri, 29 Oct 2021 17:21:51 -0700
Subject: [PATCH 1/2] [sam] GPIO setOutput overrides peripheral control

Calling setOutput now overrides peripheral control of the pin. This
behavior is consistent with the STM32 GPIO implementation, this commit also
ensures output value is set before the output drive is enabled to prevent
glitch.

Co-authored-by: Christopher Durand <christopher.durand@rwth-aachen.de>
---
 src/modm/platform/gpio/sam/pin.hpp.in | 15 ++++++++++++---
 1 file changed, 12 insertions(+), 3 deletions(-)

diff --git a/src/modm/platform/gpio/sam/pin.hpp.in b/src/modm/platform/gpio/sam/pin.hpp.in
index 2446fe9109..3b1ceb3534 100644
--- a/src/modm/platform/gpio/sam/pin.hpp.in
+++ b/src/modm/platform/gpio/sam/pin.hpp.in
@@ -183,20 +183,26 @@ public:
 	inline static void
 	setOutput()
 	{
+		// Enable PIO control of the pin (disables peripheral control)
+		setPortReg(PIO_PER_OFFSET);
+		// Enable output driver
 		setPortReg(PIO_OER_OFFSET);
 	}
 
 	inline static void
 	setOutput(bool status)
 	{
-		setOutput();
 		set(status);
+		setOutput();
 	}
 
 	static void
 	setInput()
 	{
-		setPortReg(PIO_ODR_OFFSET); // Disable output driver
+		// Enable PIO control of the pin (disables peripheral control)
+		setPortReg(PIO_PER_OFFSET);
+		// Disable output driver
+		setPortReg(PIO_ODR_OFFSET);
 	}
 
 	static void
@@ -336,19 +342,22 @@ public:
 	setOutput()
 	{
 		setPortReg(PORT_DIRSET_OFFSET);
+		// Disable peripheral multiplexer
+		PinCfg::set(0);
 	}
 
 	inline static void
 	setOutput(bool status)
 	{
-		setOutput();
 		set(status);
+		setOutput();
 	}
 
 	static void
 	setInput()
 	{
 		setPortReg(PORT_DIRCLR_OFFSET);
+		PinCfg::set(PORT_PINCFG_INEN);
 	}
 
 	static void

From c868f59fdf1272e327b16e6cffdecd0faad9cc0a Mon Sep 17 00:00:00 2001
From: Christopher Durand <christopher.durand@rwth-aachen.de>
Date: Tue, 8 Feb 2022 01:40:43 +0100
Subject: [PATCH 2/2] [sam] Do not reset peripheral mode in
 configure(InputMode) for SAM D21

---
 src/modm/platform/gpio/sam/pin.hpp.in | 15 ++++++++++++++-
 1 file changed, 14 insertions(+), 1 deletion(-)

diff --git a/src/modm/platform/gpio/sam/pin.hpp.in b/src/modm/platform/gpio/sam/pin.hpp.in
index 3b1ceb3534..bbd4095f0a 100644
--- a/src/modm/platform/gpio/sam/pin.hpp.in
+++ b/src/modm/platform/gpio/sam/pin.hpp.in
@@ -278,6 +278,7 @@ template<class... PinConfigs>
 struct PinCfgMixin
 {
 	inline static void set(uint8_t){};
+	inline static void set(uint8_t, uint8_t){};
 };
 
 template<class PinConfig, class... PinConfigs>
@@ -292,6 +293,18 @@ struct PinCfgMixin<PinConfig, PinConfigs...>
 %% endfor
 		PinCfgMixin<PinConfigs...>::set(cfg);
 	}
+
+	inline static void
+	set(uint8_t setBits, uint8_t clearMask)
+	{
+%% for port in ports
+		if constexpr (PinConfig::port == PortName::{{ port }}) {
+			auto& reg = PORT->Group[{{loop.index0}}].PINCFG[PinConfig::pin].reg;
+			reg = (reg & (~clearMask)) | setBits;
+		}
+%% endfor
+		PinCfgMixin<PinConfigs...>::set(setBits, clearMask);
+	}
 };
 
 template<class... PinConfigs>
@@ -371,7 +384,7 @@ public:
 	configure(InputType type)
 	{
 		set(type == InputType::PullUp);
-		PinCfg::set(PORT_PINCFG_INEN | (type != InputType::Floating) << PORT_PINCFG_PULLEN_Pos);
+		PinCfg::set(PORT_PINCFG_INEN | (type != InputType::Floating) << PORT_PINCFG_PULLEN_Pos, PORT_PINCFG_PULLEN);
 	}
 
 	static void