diff --git a/embassy-nrf/src/gpio.rs b/embassy-nrf/src/gpio.rs
index 0ba20b0b1..fd4ae2ec3 100644
--- a/embassy-nrf/src/gpio.rs
+++ b/embassy-nrf/src/gpio.rs
@@ -38,6 +38,7 @@ pub struct Input<'d, T: Pin> {
 }
 
 impl<'d, T: Pin> Input<'d, T> {
+    #[inline]
     pub fn new(pin: impl Unborrow<Target = T> + 'd, pull: Pull) -> Self {
         let mut pin = Flex::new(pin);
         pin.set_as_input(pull);
@@ -45,13 +46,21 @@ impl<'d, T: Pin> Input<'d, T> {
         Self { pin }
     }
 
+    #[inline]
     pub fn is_high(&self) -> bool {
         self.pin.is_high()
     }
 
+    #[inline]
     pub fn is_low(&self) -> bool {
         self.pin.is_low()
     }
+
+    /// Returns current pin level
+    #[inline]
+    pub fn get_level(&self) -> Level {
+        self.pin.get_level()
+    }
 }
 
 /// Digital input or output level.
@@ -62,6 +71,24 @@ pub enum Level {
     High,
 }
 
+impl From<bool> for Level {
+    fn from(val: bool) -> Self {
+        match val {
+            true => Self::High,
+            false => Self::Low,
+        }
+    }
+}
+
+impl Into<bool> for Level {
+    fn into(self) -> bool {
+        match self {
+            Level::Low => false,
+            Level::High => true,
+        }
+    }
+}
+
 // These numbers match DRIVE_A exactly so hopefully the compiler will unify them.
 #[derive(Clone, Copy, Debug, PartialEq)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
@@ -91,6 +118,7 @@ pub struct Output<'d, T: Pin> {
 }
 
 impl<'d, T: Pin> Output<'d, T> {
+    #[inline]
     pub fn new(pin: impl Unborrow<Target = T> + 'd, initial_output: Level, drive: OutputDrive) -> Self {
         let mut pin = Flex::new(pin);
         match initial_output {
@@ -103,24 +131,40 @@ impl<'d, T: Pin> Output<'d, T> {
     }
 
     /// 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()
     }
 
+    /// Set the output level.
+    #[inline]
+    pub fn set_level(&mut self, level: Level) {
+        self.pin.set_level(level)
+    }
+
     /// 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()
     }
+
+    /// What level output is set to
+    #[inline]
+    pub fn get_output_level(&self) -> Level {
+        self.pin.get_output_level()
+    }
 }
 
 fn convert_drive(drive: OutputDrive) -> DRIVE_A {
@@ -159,6 +203,7 @@ impl<'d, T: Pin> Flex<'d, T> {
     ///
     /// The pin remains disconnected. The initial output level is unspecified, but can be changed
     /// before the pin is put into output mode.
+    #[inline]
     pub fn new(pin: impl Unborrow<Target = T> + 'd) -> Self {
         unborrow!(pin);
         // Pin will be in disconnected state.
@@ -169,6 +214,7 @@ impl<'d, T: Pin> Flex<'d, T> {
     }
 
     /// Put the pin into input mode.
+    #[inline]
     pub fn set_as_input(&mut self, pull: Pull) {
         self.pin.conf().write(|w| {
             w.dir().input();
@@ -184,6 +230,7 @@ impl<'d, T: Pin> Flex<'d, T> {
     ///
     /// 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, drive: OutputDrive) {
         self.pin.conf().write(|w| {
             w.dir().output();
@@ -204,6 +251,7 @@ impl<'d, T: Pin> Flex<'d, T> {
     ///
     /// 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_input_output(&mut self, pull: Pull, drive: OutputDrive) {
         self.pin.conf().write(|w| {
             w.dir().output();
@@ -216,37 +264,65 @@ impl<'d, T: Pin> Flex<'d, T> {
     }
 
     /// Put the pin into disconnected mode.
+    #[inline]
     pub fn set_as_disconnected(&mut self) {
         self.pin.conf().reset();
     }
 
+    #[inline]
     pub fn is_high(&self) -> bool {
         !self.is_low()
     }
 
+    #[inline]
     pub fn is_low(&self) -> bool {
         self.pin.block().in_.read().bits() & (1 << self.pin.pin()) == 0
     }
 
+    /// Returns current pin level
+    #[inline]
+    pub fn get_level(&self) -> Level {
+        self.is_high().into()
+    }
+
     /// 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()
     }
 
+    /// Set the output level.
+    #[inline]
+    pub fn set_level(&mut self, level: Level) {
+        match level {
+            Level::Low => self.pin.set_low(),
+            Level::High => self.pin.set_high(),
+        }
+    }
+
     /// Is the output pin set as high?
+    #[inline]
     pub fn is_set_high(&self) -> bool {
         !self.is_set_low()
     }
 
     /// Is the output pin set as low?
+    #[inline]
     pub fn is_set_low(&self) -> bool {
         self.pin.block().out.read().bits() & (1 << self.pin.pin()) == 0
     }
+
+    /// What level output is set to
+    #[inline]
+    pub fn get_output_level(&self) -> Level {
+        self.is_set_high().into()
+    }
 }
 
 impl<'d, T: Pin> Drop for Flex<'d, T> {
diff --git a/embassy-rp/src/gpio.rs b/embassy-rp/src/gpio.rs
index 131330e79..c6dbb3d48 100644
--- a/embassy-rp/src/gpio.rs
+++ b/embassy-rp/src/gpio.rs
@@ -14,6 +14,24 @@ pub enum Level {
     High,
 }
 
+impl From<bool> for Level {
+    fn from(val: bool) -> Self {
+        match val {
+            true => Self::High,
+            false => Self::Low,
+        }
+    }
+}
+
+impl Into<bool> for Level {
+    fn into(self) -> bool {
+        match self {
+            Level::Low => false,
+            Level::High => true,
+        }
+    }
+}
+
 /// Represents a pull setting for an input.
 #[derive(Debug, Eq, PartialEq)]
 pub enum Pull {
@@ -34,6 +52,7 @@ pub struct Input<'d, T: Pin> {
 }
 
 impl<'d, T: Pin> Input<'d, T> {
+    #[inline]
     pub fn new(pin: impl Unborrow<Target = T> + 'd, pull: Pull) -> Self {
         let mut pin = Flex::new(pin);
         pin.set_as_input();
@@ -41,13 +60,21 @@ impl<'d, T: Pin> Input<'d, T> {
         Self { pin }
     }
 
+    #[inline]
     pub fn is_high(&self) -> bool {
         self.pin.is_high()
     }
 
+    #[inline]
     pub fn is_low(&self) -> bool {
         self.pin.is_low()
     }
+
+    /// Returns current pin level
+    #[inline]
+    pub fn get_level(&self) -> Level {
+        self.pin.get_level()
+    }
 }
 
 pub struct Output<'d, T: Pin> {
@@ -79,6 +106,12 @@ impl<'d, T: Pin> Output<'d, T> {
         self.pin.set_low()
     }
 
+    /// Set the output level.
+    #[inline]
+    pub fn set_level(&mut self, level: Level) {
+        self.pin.set_level(level)
+    }
+
     /// Is the output pin set as high?
     #[inline]
     pub fn is_set_high(&self) -> bool {
@@ -91,6 +124,12 @@ impl<'d, T: Pin> Output<'d, T> {
         self.pin.is_set_low()
     }
 
+    /// What level output is set to
+    #[inline]
+    pub fn get_output_level(&self) -> Level {
+        self.pin.get_output_level()
+    }
+
     /// Toggle pin output
     #[inline]
     pub fn toggle(&mut self) {
@@ -129,6 +168,15 @@ impl<'d, T: Pin> OutputOpenDrain<'d, T> {
         self.pin.set_as_output()
     }
 
+    /// Set the output level.
+    #[inline]
+    pub fn set_level(&mut self, level: Level) {
+        match level {
+            Level::Low => self.set_low(),
+            Level::High => self.set_high(),
+        }
+    }
+
     /// Is the output level high?
     #[inline]
     pub fn is_set_high(&self) -> bool {
@@ -141,6 +189,12 @@ impl<'d, T: Pin> OutputOpenDrain<'d, T> {
         self.pin.is_set_as_output()
     }
 
+    /// What level output is set to
+    #[inline]
+    pub fn get_output_level(&self) -> Level {
+        self.is_set_high().into()
+    }
+
     /// Toggle pin output
     #[inline]
     pub fn toggle(&mut self) {
@@ -236,6 +290,12 @@ impl<'d, T: Pin> Flex<'d, T> {
         unsafe { self.pin.sio_in().read() & self.bit() == 0 }
     }
 
+    /// Returns current pin level
+    #[inline]
+    pub fn get_level(&self) -> Level {
+        self.is_high().into()
+    }
+
     /// Set the output as high.
     #[inline]
     pub fn set_high(&mut self) {
@@ -248,6 +308,15 @@ impl<'d, T: Pin> Flex<'d, T> {
         unsafe { self.pin.sio_out().value_clr().write_value(self.bit()) }
     }
 
+    /// Set the output level.
+    #[inline]
+    pub fn set_level(&mut self, level: Level) {
+        match level {
+            Level::Low => self.set_low(),
+            Level::High => self.set_high(),
+        }
+    }
+
     /// Is the output level high?
     #[inline]
     pub fn is_set_high(&self) -> bool {
@@ -260,6 +329,12 @@ impl<'d, T: Pin> Flex<'d, T> {
         !self.is_set_high()
     }
 
+    /// What level output is set to
+    #[inline]
+    pub fn get_output_level(&self) -> Level {
+        self.is_set_high().into()
+    }
+
     /// Toggle pin output
     #[inline]
     pub fn toggle(&mut self) {
diff --git a/embassy-stm32/src/gpio.rs b/embassy-stm32/src/gpio.rs
index 806b5eb68..1059ebf86 100644
--- a/embassy-stm32/src/gpio.rs
+++ b/embassy-stm32/src/gpio.rs
@@ -141,6 +141,11 @@ impl<'d, T: Pin> Flex<'d, T> {
         state == vals::Idr::LOW
     }
 
+    #[inline]
+    pub fn get_level(&self) -> Level {
+        self.is_high().into()
+    }
+
     #[inline]
     pub fn is_set_high(&self) -> bool {
         !self.is_set_low()
@@ -153,6 +158,12 @@ impl<'d, T: Pin> Flex<'d, T> {
         state == vals::Odr::LOW
     }
 
+    /// What level output is set to
+    #[inline]
+    pub fn get_output_level(&self) -> Level {
+        self.is_set_high().into()
+    }
+
     #[inline]
     pub fn set_high(&mut self) {
         self.pin.set_high();
@@ -164,6 +175,14 @@ impl<'d, T: Pin> Flex<'d, T> {
         self.pin.set_low();
     }
 
+    #[inline]
+    pub fn set_level(&mut self, level: Level) {
+        match level {
+            Level::Low => self.pin.set_low(),
+            Level::High => self.pin.set_high(),
+        }
+    }
+
     /// Toggle pin output
     #[inline]
     pub fn toggle(&mut self) {
@@ -281,6 +300,11 @@ impl<'d, T: Pin> Input<'d, T> {
     pub fn is_low(&self) -> bool {
         self.pin.is_low()
     }
+
+    #[inline]
+    pub fn get_level(&self) -> Level {
+        self.pin.get_level()
+    }
 }
 
 /// Digital input or output level.
@@ -291,6 +315,24 @@ pub enum Level {
     High,
 }
 
+impl From<bool> for Level {
+    fn from(val: bool) -> Self {
+        match val {
+            true => Self::High,
+            false => Self::Low,
+        }
+    }
+}
+
+impl Into<bool> for Level {
+    fn into(self) -> bool {
+        match self {
+            Level::Low => false,
+            Level::High => true,
+        }
+    }
+}
+
 /// GPIO output driver.
 pub struct Output<'d, T: Pin> {
     pub(crate) pin: Flex<'d, T>,
@@ -320,6 +362,12 @@ impl<'d, T: Pin> Output<'d, T> {
         self.pin.set_low();
     }
 
+    /// Set the output level.
+    #[inline]
+    pub fn set_level(&mut self, level: Level) {
+        self.pin.set_level(level)
+    }
+
     /// Is the output pin set as high?
     #[inline]
     pub fn is_set_high(&self) -> bool {
@@ -332,6 +380,12 @@ impl<'d, T: Pin> Output<'d, T> {
         self.pin.is_set_low()
     }
 
+    /// What level output is set to
+    #[inline]
+    pub fn get_output_level(&self) -> Level {
+        self.pin.get_output_level()
+    }
+
     /// Toggle pin output
     #[inline]
     pub fn toggle(&mut self) {
@@ -368,6 +422,12 @@ impl<'d, T: Pin> OutputOpenDrain<'d, T> {
         self.pin.is_low()
     }
 
+    /// Returns current pin level
+    #[inline]
+    pub fn get_level(&self) -> Level {
+        self.pin.get_level()
+    }
+
     /// Set the output as high.
     #[inline]
     pub fn set_high(&mut self) {
@@ -380,10 +440,16 @@ impl<'d, T: Pin> OutputOpenDrain<'d, T> {
         self.pin.set_low();
     }
 
+    /// Set the output level.
+    #[inline]
+    pub fn set_level(&mut self, level: Level) {
+        self.pin.set_level(level);
+    }
+
     /// Is the output pin set as high?
     #[inline]
     pub fn is_set_high(&self) -> bool {
-        !self.is_set_low()
+        self.pin.is_set_high()
     }
 
     /// Is the output pin set as low?
@@ -392,6 +458,12 @@ impl<'d, T: Pin> OutputOpenDrain<'d, T> {
         self.pin.is_set_low()
     }
 
+    /// What level output is set to
+    #[inline]
+    pub fn get_output_level(&self) -> Level {
+        self.pin.get_output_level()
+    }
+
     /// Toggle pin output
     #[inline]
     pub fn toggle(&mut self) {