First, look at the schematic diagram of STM32's GPIO as follows:
When the port is configured as output:
Open-drain mode: When outputting 0, N-MOS is turned on, P-MOS is not activated, and outputs 0.
When outputting 1, N-MOS is high impedance, P-MOS is not activated, and output is 1 (external pull-up circuit is required); this mode can use the port as a bidirectional IO.
Push-pull mode: When output is 0, N-MOS is turned on, P-MOS is high impedance, and output is 0.
When outputting 1, N-MOS is high impedance, P-MOS is turned on, and output is 1 (no external pull-up circuit is required).
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