diff --git a/embassy-rp/src/gpio.rs b/embassy-rp/src/gpio.rs
index ae771e84..131330e7 100644
--- a/embassy-rp/src/gpio.rs
+++ b/embassy-rp/src/gpio.rs
@@ -30,187 +30,228 @@ pub enum Bank {
 }
 
 pub struct Input<'d, T: Pin> {
-    pin: T,
-    phantom: PhantomData<&'d mut T>,
+    pin: Flex<'d, T>,
 }
 
 impl<'d, T: Pin> Input<'d, T> {
     pub fn new(pin: impl Unborrow<Target = T> + 'd, pull: Pull) -> Self {
+        let mut pin = Flex::new(pin);
+        pin.set_as_input();
+        pin.set_pull(pull);
+        Self { pin }
+    }
+
+    pub fn is_high(&self) -> bool {
+        self.pin.is_high()
+    }
+
+    pub fn is_low(&self) -> bool {
+        self.pin.is_low()
+    }
+}
+
+pub struct Output<'d, T: Pin> {
+    pin: Flex<'d, T>,
+}
+
+impl<'d, T: Pin> Output<'d, T> {
+    #[inline]
+    pub fn new(pin: impl Unborrow<Target = T> + 'd, initial_output: Level) -> Self {
+        let mut pin = Flex::new(pin);
+        match initial_output {
+            Level::High => pin.set_high(),
+            Level::Low => pin.set_low(),
+        }
+
+        pin.set_as_output();
+        Self { pin }
+    }
+
+    /// Set the output as high.
+    #[inline]
+    pub fn set_high(&mut self) {
+        self.pin.set_high()
+    }
+
+    /// Set the output as low.
+    #[inline]
+    pub fn set_low(&mut self) {
+        self.pin.set_low()
+    }
+
+    /// Is the output pin set as high?
+    #[inline]
+    pub fn is_set_high(&self) -> bool {
+        self.pin.is_set_high()
+    }
+
+    /// Is the output pin set as low?
+    #[inline]
+    pub fn is_set_low(&self) -> bool {
+        self.pin.is_set_low()
+    }
+
+    /// Toggle pin output
+    #[inline]
+    pub fn toggle(&mut self) {
+        self.pin.toggle()
+    }
+}
+
+/// GPIO output open-drain.
+pub struct OutputOpenDrain<'d, T: Pin> {
+    pin: Flex<'d, T>,
+}
+
+impl<'d, T: Pin> OutputOpenDrain<'d, T> {
+    #[inline]
+    pub fn new(pin: impl Unborrow<Target = T> + 'd, initial_output: Level) -> Self {
+        let mut pin = Flex::new(pin);
+        pin.set_low();
+        match initial_output {
+            Level::High => pin.set_as_input(),
+            Level::Low => pin.set_as_output(),
+        }
+        Self { pin }
+    }
+
+    /// Set the output as high.
+    #[inline]
+    pub fn set_high(&mut self) {
+        // For Open Drain High, disable the output pin.
+        self.pin.set_as_input()
+    }
+
+    /// Set the output as low.
+    #[inline]
+    pub fn set_low(&mut self) {
+        // For Open Drain Low, enable the output pin.
+        self.pin.set_as_output()
+    }
+
+    /// Is the output level high?
+    #[inline]
+    pub fn is_set_high(&self) -> bool {
+        !self.is_set_low()
+    }
+
+    /// Is the output level low?
+    #[inline]
+    pub fn is_set_low(&self) -> bool {
+        self.pin.is_set_as_output()
+    }
+
+    /// Toggle pin output
+    #[inline]
+    pub fn toggle(&mut self) {
+        self.pin.toggle_set_as_output()
+    }
+}
+
+/// GPIO flexible pin.
+///
+/// This pin can be either an input or output pin. The output level register bit will remain
+/// set while not in output mode, so the pin's level will be 'remembered' when it is not in output
+/// mode.
+pub struct Flex<'d, T: Pin> {
+    pin: T,
+    phantom: PhantomData<&'d mut T>,
+}
+
+impl<'d, T: Pin> Flex<'d, T> {
+    #[inline]
+    pub fn new(pin: impl Unborrow<Target = T> + 'd) -> Self {
         unborrow!(pin);
 
         unsafe {
             pin.pad_ctrl().write(|w| {
                 w.set_ie(true);
+            });
+
+            pin.io().ctrl().write(|w| {
+                w.set_funcsel(pac::io::vals::Gpio0CtrlFuncsel::SIO_0.0);
+            });
+        }
+
+        Self {
+            pin,
+            phantom: PhantomData,
+        }
+    }
+
+    #[inline]
+    fn bit(&self) -> u32 {
+        1 << self.pin.pin()
+    }
+
+    /// Set the pin's pull.
+    #[inline]
+    pub fn set_pull(&mut self, pull: Pull) {
+        unsafe {
+            self.pin.pad_ctrl().write(|w| {
+                w.set_ie(true);
                 match pull {
                     Pull::Up => w.set_pue(true),
                     Pull::Down => w.set_pde(true),
                     Pull::None => {}
                 }
             });
-
-            // disable output in SIO, to use it as input
-            pin.sio_oe().value_clr().write_value(1 << pin.pin());
-
-            pin.io().ctrl().write(|w| {
-                w.set_funcsel(pac::io::vals::Gpio0CtrlFuncsel::SIO_0.0);
-            });
-        }
-
-        Self {
-            pin,
-            phantom: PhantomData,
         }
     }
 
+    /// Put the pin into input mode.
+    ///
+    /// The pull setting is left unchanged.
+    #[inline]
+    pub fn set_as_input(&mut self) {
+        unsafe { self.pin.sio_oe().value_clr().write_value(self.bit()) }
+    }
+
+    /// Put the pin into output mode.
+    ///
+    /// The pin level will be whatever was set before (or low by default). If you want it to begin
+    /// at a specific level, call `set_high`/`set_low` on the pin first.
+    #[inline]
+    pub fn set_as_output(&mut self) {
+        unsafe { self.pin.sio_oe().value_set().write_value(self.bit()) }
+    }
+
+    #[inline]
+    fn is_set_as_output(&self) -> bool {
+        unsafe { (self.pin.sio_oe().value().read() & self.bit()) != 0 }
+    }
+
+    #[inline]
+    pub fn toggle_set_as_output(&mut self) {
+        unsafe { self.pin.sio_oe().value_xor().write_value(self.bit()) }
+    }
+
+    #[inline]
     pub fn is_high(&self) -> bool {
         !self.is_low()
     }
 
+    #[inline]
     pub fn is_low(&self) -> bool {
-        let val = 1 << self.pin.pin();
-        unsafe { self.pin.sio_in().read() & val == 0 }
-    }
-}
-
-impl<'d, T: Pin> Drop for Input<'d, T> {
-    fn drop(&mut self) {
-        // todo
-    }
-}
-
-pub struct Output<'d, T: Pin> {
-    pin: T,
-    phantom: PhantomData<&'d mut T>,
-}
-
-impl<'d, T: Pin> Output<'d, T> {
-    pub fn new(pin: impl Unborrow<Target = T> + 'd, initial_output: Level) -> Self {
-        unborrow!(pin);
-
-        unsafe {
-            match initial_output {
-                Level::High => pin.sio_out().value_set().write_value(1 << pin.pin()),
-                Level::Low => pin.sio_out().value_clr().write_value(1 << pin.pin()),
-            }
-            pin.sio_oe().value_set().write_value(1 << pin.pin());
-
-            pin.io().ctrl().write(|w| {
-                w.set_funcsel(pac::io::vals::Gpio0CtrlFuncsel::SIO_0.0);
-            });
-        }
-
-        Self {
-            pin,
-            phantom: PhantomData,
-        }
-    }
-
-    /// Set the output as high.
-    pub fn set_high(&mut self) {
-        let val = 1 << self.pin.pin();
-        unsafe { self.pin.sio_out().value_set().write_value(val) };
-    }
-
-    /// Set the output as low.
-    pub fn set_low(&mut self) {
-        let val = 1 << self.pin.pin();
-        unsafe { self.pin.sio_out().value_clr().write_value(val) };
-    }
-
-    /// 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 {
-        // Reading from SIO: GPIO_OUT gives the last value written.
-        let val = 1 << self.pin.pin();
-        unsafe { (self.pin.sio_out().value().read() & val) == 0 }
-    }
-
-    /// Toggle pin output
-    #[inline]
-    pub fn toggle(&mut self) {
-        let val = 1 << self.pin.pin();
-        unsafe {
-            self.pin.sio_out().value_xor().write_value(val);
-        }
-    }
-}
-
-impl<'d, T: Pin> Drop for Output<'d, T> {
-    fn drop(&mut self) {
-        let val = 1 << self.pin.pin();
-        unsafe {
-            self.pin.sio_out().value_clr().write_value(val);
-            self.pin.sio_oe().value_clr().write_value(val);
-            self.pin.io().ctrl().write(|w| {
-                w.set_funcsel(pac::io::vals::Gpio0CtrlFuncsel::NULL.0);
-            });
-        };
-    }
-}
-
-/// GPIO output open-drain.
-pub struct OutputOpenDrain<'d, T: Pin> {
-    pin: T,
-    phantom: PhantomData<&'d mut T>,
-}
-
-impl<'d, T: Pin> OutputOpenDrain<'d, T> {
-    #[inline]
-    pub fn new(pin: impl Unborrow<Target = T> + 'd, initial_output: Level) -> Self {
-        unborrow!(pin);
-
-        unsafe {
-            let val = 1 << pin.pin();
-            pin.io().ctrl().write(|w| {
-                w.set_funcsel(pac::io::vals::Gpio0CtrlFuncsel::SIO_0.0);
-            });
-            pin.sio_out().value_clr().write_value(val);
-
-            match initial_output {
-                Level::High => {
-                    // For Open Drain High, disable the output pin.
-                    pin.sio_oe().value_clr().write_value(val);
-                }
-                Level::Low => {
-                    // For Open Drain Low, enable the output pin.
-                    pin.sio_oe().value_set().write_value(val);
-                }
-            }
-        }
-
-        Self {
-            pin,
-            phantom: PhantomData,
-        }
+        unsafe { self.pin.sio_in().read() & self.bit() == 0 }
     }
 
     /// Set the output as high.
     #[inline]
     pub fn set_high(&mut self) {
-        // For Open Drain High, disable the output pin.
-        unsafe {
-            self.pin.sio_oe().value_clr().write_value(1 << self.pin.pin());
-        }
+        unsafe { self.pin.sio_out().value_set().write_value(self.bit()) }
     }
 
     /// Set the output as low.
     #[inline]
     pub fn set_low(&mut self) {
-        // For Open Drain Low, enable the output pin.
-        unsafe {
-            self.pin.sio_oe().value_set().write_value(1 << self.pin.pin());
-        }
+        unsafe { self.pin.sio_out().value_clr().write_value(self.bit()) }
     }
 
     /// Is the output level high?
     #[inline]
     pub fn is_set_high(&self) -> bool {
-        let val = 1 << self.pin.pin();
-        unsafe { (self.pin.sio_oe().value().read() & val) == 0 }
+        unsafe { (self.pin.sio_out().value().read() & self.bit()) == 0 }
     }
 
     /// Is the output level low?
@@ -222,9 +263,18 @@ impl<'d, T: Pin> OutputOpenDrain<'d, T> {
     /// Toggle pin output
     #[inline]
     pub fn toggle(&mut self) {
-        let val = 1 << self.pin.pin();
+        unsafe { self.pin.sio_out().value_xor().write_value(self.bit()) }
+    }
+}
+
+impl<'d, T: Pin> Drop for Flex<'d, T> {
+    #[inline]
+    fn drop(&mut self) {
         unsafe {
-            self.pin.sio_out().value_xor().write_value(val);
+            self.pin.pad_ctrl().write(|_| {});
+            self.pin.io().ctrl().write(|w| {
+                w.set_funcsel(pac::io::vals::Gpio0CtrlFuncsel::NULL.0);
+            });
         }
     }
 }
@@ -428,6 +478,48 @@ mod eh02 {
             Ok(self.toggle())
         }
     }
+
+    impl<'d, T: Pin> embedded_hal_02::digital::v2::InputPin for Flex<'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> embedded_hal_02::digital::v2::OutputPin for Flex<'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> embedded_hal_02::digital::v2::StatefulOutputPin for Flex<'d, T> {
+        fn is_set_high(&self) -> Result<bool, Self::Error> {
+            Ok(self.is_set_high())
+        }
+
+        fn is_set_low(&self) -> Result<bool, Self::Error> {
+            Ok(self.is_set_low())
+        }
+    }
+
+    impl<'d, T: Pin> embedded_hal_02::digital::v2::ToggleableOutputPin for Flex<'d, T> {
+        type Error = Infallible;
+        #[inline]
+        fn toggle(&mut self) -> Result<(), Self::Error> {
+            Ok(self.toggle())
+        }
+    }
 }
 
 #[cfg(feature = "unstable-traits")]
@@ -471,4 +563,80 @@ mod eh1 {
             Ok(self.is_set_low())
         }
     }
+
+    impl<'d, T: Pin> embedded_hal_1::digital::blocking::ToggleableOutputPin for Output<'d, T> {
+        fn toggle(&mut self) -> Result<(), Self::Error> {
+            Ok(self.toggle())
+        }
+    }
+
+    impl<'d, T: Pin> embedded_hal_1::digital::ErrorType for OutputOpenDrain<'d, T> {
+        type Error = Infallible;
+    }
+
+    impl<'d, T: Pin> embedded_hal_1::digital::blocking::OutputPin for OutputOpenDrain<'d, T> {
+        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> embedded_hal_1::digital::blocking::StatefulOutputPin for OutputOpenDrain<'d, T> {
+        fn is_set_high(&self) -> Result<bool, Self::Error> {
+            Ok(self.is_set_high())
+        }
+
+        fn is_set_low(&self) -> Result<bool, Self::Error> {
+            Ok(self.is_set_low())
+        }
+    }
+
+    impl<'d, T: Pin> embedded_hal_1::digital::blocking::ToggleableOutputPin for OutputOpenDrain<'d, T> {
+        fn toggle(&mut self) -> Result<(), Self::Error> {
+            Ok(self.toggle())
+        }
+    }
+
+    impl<'d, T: Pin> embedded_hal_1::digital::ErrorType for Flex<'d, T> {
+        type Error = Infallible;
+    }
+
+    impl<'d, T: Pin> embedded_hal_1::digital::blocking::InputPin for Flex<'d, T> {
+        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> embedded_hal_1::digital::blocking::OutputPin for Flex<'d, T> {
+        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> embedded_hal_1::digital::blocking::StatefulOutputPin for Flex<'d, T> {
+        fn is_set_high(&self) -> Result<bool, Self::Error> {
+            Ok(self.is_set_high())
+        }
+
+        fn is_set_low(&self) -> Result<bool, Self::Error> {
+            Ok(self.is_set_low())
+        }
+    }
+
+    impl<'d, T: Pin> embedded_hal_1::digital::blocking::ToggleableOutputPin for Flex<'d, T> {
+        fn toggle(&mut self) -> Result<(), Self::Error> {
+            Ok(self.toggle())
+        }
+    }
 }