From f30ff9cadcf575100a4e08c972d2f161172a3fc9 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Henrik=20Als=C3=A9r?= <henrik@mindbite.se>
Date: Fri, 8 Jul 2022 15:47:47 +0200
Subject: [PATCH 01/11] Shared buses with SetConfig

---
 embassy-embedded-hal/src/lib.rs               |  4 +
 .../src/shared_bus/blocking/i2c.rs            | 84 +++++++++++++++++++
 .../src/shared_bus/blocking/spi.rs            | 50 +++++++++++
 embassy-embedded-hal/src/shared_bus/i2c.rs    | 78 +++++++++++++++++
 embassy-embedded-hal/src/shared_bus/spi.rs    | 61 ++++++++++++++
 embassy-nrf/Cargo.toml                        |  1 +
 embassy-nrf/src/spim.rs                       | 43 ++++++++++
 embassy-nrf/src/twim.rs                       | 10 +++
 examples/nrf/src/bin/shared_bus.rs            | 21 +++++
 9 files changed, 352 insertions(+)
 create mode 100644 examples/nrf/src/bin/shared_bus.rs

diff --git a/embassy-embedded-hal/src/lib.rs b/embassy-embedded-hal/src/lib.rs
index 27ffa742..aae71992 100644
--- a/embassy-embedded-hal/src/lib.rs
+++ b/embassy-embedded-hal/src/lib.rs
@@ -4,3 +4,7 @@
 
 pub mod adapter;
 pub mod shared_bus;
+
+pub trait SetConfig<C> {
+    fn set_config(&mut self, config: &C);
+}
diff --git a/embassy-embedded-hal/src/shared_bus/blocking/i2c.rs b/embassy-embedded-hal/src/shared_bus/blocking/i2c.rs
index 2c762fe1..6f5f0705 100644
--- a/embassy-embedded-hal/src/shared_bus/blocking/i2c.rs
+++ b/embassy-embedded-hal/src/shared_bus/blocking/i2c.rs
@@ -7,6 +7,7 @@ use embedded_hal_1::i2c::blocking::{I2c, Operation};
 use embedded_hal_1::i2c::ErrorType;
 
 use crate::shared_bus::i2c::I2cBusDeviceError;
+use crate::SetConfig;
 
 pub struct I2cBusDevice<'a, M: RawMutex, BUS> {
     bus: &'a Mutex<M, RefCell<BUS>>,
@@ -82,3 +83,86 @@ where
         todo!()
     }
 }
+
+pub struct I2cBusDeviceWithConfig<'a, M: RawMutex, BUS, C> {
+    bus: &'a Mutex<M, RefCell<BUS>>,
+    config: C,
+}
+
+impl<'a, M: RawMutex, BUS, C> I2cBusDeviceWithConfig<'a, M, BUS, C> {
+    pub fn new(bus: &'a Mutex<M, RefCell<BUS>>, config: C) -> Self {
+        Self { bus, config }
+    }
+}
+
+impl<'a, M: RawMutex, BUS, C> ErrorType for I2cBusDeviceWithConfig<'a, M, BUS, C>
+where
+    BUS: ErrorType,
+{
+    type Error = I2cBusDeviceError<BUS::Error>;
+}
+
+impl<M, BUS, C> I2c for I2cBusDeviceWithConfig<'_, M, BUS, C>
+where
+    M: RawMutex,
+    BUS: I2c + SetConfig<C>,
+{
+    fn read(&mut self, address: u8, buffer: &mut [u8]) -> Result<(), Self::Error> {
+        self.bus.lock(|bus| {
+            let mut bus = bus.borrow_mut();
+            bus.set_config(&self.config);
+            bus.read(address, buffer).map_err(I2cBusDeviceError::I2c)
+        })
+    }
+
+    fn write(&mut self, address: u8, bytes: &[u8]) -> Result<(), Self::Error> {
+        self.bus.lock(|bus| {
+            let mut bus = bus.borrow_mut();
+            bus.set_config(&self.config);
+            bus.write(address, bytes).map_err(I2cBusDeviceError::I2c)
+        })
+    }
+
+    fn write_read(&mut self, address: u8, wr_buffer: &[u8], rd_buffer: &mut [u8]) -> Result<(), Self::Error> {
+        self.bus.lock(|bus| {
+            let mut bus = bus.borrow_mut();
+            bus.set_config(&self.config);
+            bus.write_read(address, wr_buffer, rd_buffer)
+                .map_err(I2cBusDeviceError::I2c)
+        })
+    }
+
+    fn transaction<'a>(&mut self, address: u8, operations: &mut [Operation<'a>]) -> Result<(), Self::Error> {
+        let _ = address;
+        let _ = operations;
+        todo!()
+    }
+
+    fn write_iter<B: IntoIterator<Item = u8>>(&mut self, addr: u8, bytes: B) -> Result<(), Self::Error> {
+        let _ = addr;
+        let _ = bytes;
+        todo!()
+    }
+
+    fn write_iter_read<B: IntoIterator<Item = u8>>(
+        &mut self,
+        addr: u8,
+        bytes: B,
+        buffer: &mut [u8],
+    ) -> Result<(), Self::Error> {
+        let _ = addr;
+        let _ = bytes;
+        let _ = buffer;
+        todo!()
+    }
+
+    fn transaction_iter<'a, O: IntoIterator<Item = Operation<'a>>>(
+        &mut self,
+        address: u8,
+        operations: O,
+    ) -> Result<(), Self::Error> {
+        let _ = address;
+        let _ = operations;
+        todo!()
+    }
+}
diff --git a/embassy-embedded-hal/src/shared_bus/blocking/spi.rs b/embassy-embedded-hal/src/shared_bus/blocking/spi.rs
index c08bcbf6..d54ca6bf 100644
--- a/embassy-embedded-hal/src/shared_bus/blocking/spi.rs
+++ b/embassy-embedded-hal/src/shared_bus/blocking/spi.rs
@@ -8,6 +8,7 @@ use embedded_hal_1::spi;
 use embedded_hal_1::spi::blocking::{SpiBusFlush, SpiDevice};
 
 use crate::shared_bus::spi::SpiBusDeviceError;
+use crate::SetConfig;
 
 pub struct SpiBusDevice<'a, M: RawMutex, BUS, CS> {
     bus: &'a Mutex<M, RefCell<BUS>>,
@@ -55,3 +56,52 @@ where
         })
     }
 }
+
+pub struct SpiBusDeviceWithConfig<'a, M: RawMutex, BUS, CS, C> {
+    bus: &'a Mutex<M, RefCell<BUS>>,
+    cs: CS,
+    config: C,
+}
+
+impl<'a, M: RawMutex, BUS, CS, C> SpiBusDeviceWithConfig<'a, M, BUS, CS, C> {
+    pub fn new(bus: &'a Mutex<M, RefCell<BUS>>, cs: CS, config: C) -> Self {
+        Self { bus, cs, config }
+    }
+}
+
+impl<'a, M: RawMutex, BUS, CS, C> spi::ErrorType for SpiBusDeviceWithConfig<'a, M, BUS, CS, C>
+where
+    BUS: spi::ErrorType,
+    CS: OutputPin,
+{
+    type Error = SpiBusDeviceError<BUS::Error, CS::Error>;
+}
+
+impl<BUS, M, CS, C> SpiDevice for SpiBusDeviceWithConfig<'_, M, BUS, CS, C>
+where
+    M: RawMutex,
+    BUS: SpiBusFlush + SetConfig<C>,
+    CS: OutputPin,
+{
+    type Bus = BUS;
+
+    fn transaction<R>(&mut self, f: impl FnOnce(&mut Self::Bus) -> Result<R, BUS::Error>) -> Result<R, Self::Error> {
+        self.bus.lock(|bus| {
+            let mut bus = bus.borrow_mut();
+            bus.set_config(&self.config);
+            self.cs.set_low().map_err(SpiBusDeviceError::Cs)?;
+
+            let f_res = f(&mut bus);
+
+            // On failure, it's important to still flush and deassert CS.
+            let flush_res = bus.flush();
+            let cs_res = self.cs.set_high();
+
+            let f_res = f_res.map_err(SpiBusDeviceError::Spi)?;
+            flush_res.map_err(SpiBusDeviceError::Spi)?;
+            cs_res.map_err(SpiBusDeviceError::Cs)?;
+
+            Ok(f_res)
+        })
+    }
+}
diff --git a/embassy-embedded-hal/src/shared_bus/i2c.rs b/embassy-embedded-hal/src/shared_bus/i2c.rs
index e8131288..0e964773 100644
--- a/embassy-embedded-hal/src/shared_bus/i2c.rs
+++ b/embassy-embedded-hal/src/shared_bus/i2c.rs
@@ -29,6 +29,8 @@ use embassy::blocking_mutex::raw::RawMutex;
 use embassy::mutex::Mutex;
 use embedded_hal_async::i2c;
 
+use crate::SetConfig;
+
 #[derive(Copy, Clone, Eq, PartialEq, Debug)]
 pub enum I2cBusDeviceError<BUS> {
     I2c(BUS),
@@ -116,3 +118,79 @@ where
         async move { todo!() }
     }
 }
+
+pub struct I2cBusDeviceWithConfig<'a, M: RawMutex, BUS, C> {
+    bus: &'a Mutex<M, BUS>,
+    config: C,
+}
+
+impl<'a, M: RawMutex, BUS, C> I2cBusDeviceWithConfig<'a, M, BUS, C> {
+    pub fn new(bus: &'a Mutex<M, BUS>, config: C) -> Self {
+        Self { bus, config }
+    }
+}
+
+impl<'a, M: RawMutex, BUS, C> i2c::ErrorType for I2cBusDeviceWithConfig<'a, M, BUS, C>
+where
+    BUS: i2c::ErrorType,
+{
+    type Error = I2cBusDeviceError<BUS::Error>;
+}
+
+impl<M, BUS, C> i2c::I2c for I2cBusDeviceWithConfig<'_, M, BUS, C>
+where
+    M: RawMutex + 'static,
+    BUS: i2c::I2c + SetConfig<C> + 'static,
+{
+    type ReadFuture<'a> = impl Future<Output = Result<(), Self::Error>> + 'a where Self: 'a;
+
+    fn read<'a>(&'a mut self, address: u8, buffer: &'a mut [u8]) -> Self::ReadFuture<'a> {
+        async move {
+            let mut bus = self.bus.lock().await;
+            bus.set_config(&self.config);
+            bus.read(address, buffer).await.map_err(I2cBusDeviceError::I2c)?;
+            Ok(())
+        }
+    }
+
+    type WriteFuture<'a> = impl Future<Output = Result<(), Self::Error>> + 'a where Self: 'a;
+
+    fn write<'a>(&'a mut self, address: u8, bytes: &'a [u8]) -> Self::WriteFuture<'a> {
+        async move {
+            let mut bus = self.bus.lock().await;
+            bus.set_config(&self.config);
+            bus.write(address, bytes).await.map_err(I2cBusDeviceError::I2c)?;
+            Ok(())
+        }
+    }
+
+    type WriteReadFuture<'a> = impl Future<Output = Result<(), Self::Error>> + 'a where Self: 'a;
+
+    fn write_read<'a>(
+        &'a mut self,
+        address: u8,
+        wr_buffer: &'a [u8],
+        rd_buffer: &'a mut [u8],
+    ) -> Self::WriteReadFuture<'a> {
+        async move {
+            let mut bus = self.bus.lock().await;
+            bus.set_config(&self.config);
+            bus.write_read(address, wr_buffer, rd_buffer)
+                .await
+                .map_err(I2cBusDeviceError::I2c)?;
+            Ok(())
+        }
+    }
+
+    type TransactionFuture<'a, 'b> = impl Future<Output = Result<(), Self::Error>> + 'a where Self: 'a, 'b: 'a;
+
+    fn transaction<'a, 'b>(
+        &'a mut self,
+        address: u8,
+        operations: &'a mut [embedded_hal_async::i2c::Operation<'b>],
+    ) -> Self::TransactionFuture<'a, 'b> {
+        let _ = address;
+        let _ = operations;
+        async move { todo!() }
+    }
+}
diff --git a/embassy-embedded-hal/src/shared_bus/spi.rs b/embassy-embedded-hal/src/shared_bus/spi.rs
index fd4b6d56..04378c33 100644
--- a/embassy-embedded-hal/src/shared_bus/spi.rs
+++ b/embassy-embedded-hal/src/shared_bus/spi.rs
@@ -34,6 +34,8 @@ use embedded_hal_1::digital::blocking::OutputPin;
 use embedded_hal_1::spi::ErrorType;
 use embedded_hal_async::spi;
 
+use crate::SetConfig;
+
 #[derive(Copy, Clone, Eq, PartialEq, Debug)]
 pub enum SpiBusDeviceError<BUS, CS> {
     Spi(BUS),
@@ -109,3 +111,62 @@ where
         }
     }
 }
+
+pub struct SpiBusDeviceWithConfig<'a, M: RawMutex, BUS, CS, C> {
+    bus: &'a Mutex<M, BUS>,
+    cs: CS,
+    config: C,
+}
+
+impl<'a, M: RawMutex, BUS, CS, C> SpiBusDeviceWithConfig<'a, M, BUS, CS, C> {
+    pub fn new(bus: &'a Mutex<M, BUS>, cs: CS, config: C) -> Self {
+        Self { bus, cs, config }
+    }
+}
+
+impl<'a, M: RawMutex, BUS, CS, C> spi::ErrorType for SpiBusDeviceWithConfig<'a, M, BUS, CS, C>
+where
+    BUS: spi::ErrorType,
+    CS: OutputPin,
+{
+    type Error = SpiBusDeviceError<BUS::Error, CS::Error>;
+}
+
+impl<M, BUS, CS, C> spi::SpiDevice for SpiBusDeviceWithConfig<'_, M, BUS, CS, C>
+where
+    M: RawMutex + 'static,
+    BUS: spi::SpiBusFlush + SetConfig<C> + 'static,
+    CS: OutputPin,
+{
+    type Bus = BUS;
+
+    type TransactionFuture<'a, R, F, Fut> = impl Future<Output = Result<R, Self::Error>> + 'a
+    where
+        Self: 'a, R: 'a, F: FnOnce(*mut Self::Bus) -> Fut + 'a,
+        Fut: Future<Output =  Result<R, <Self::Bus as ErrorType>::Error>> + 'a;
+
+    fn transaction<'a, R, F, Fut>(&'a mut self, f: F) -> Self::TransactionFuture<'a, R, F, Fut>
+    where
+        R: 'a,
+        F: FnOnce(*mut Self::Bus) -> Fut + 'a,
+        Fut: Future<Output = Result<R, <Self::Bus as ErrorType>::Error>> + 'a,
+    {
+        async move {
+            let mut bus = self.bus.lock().await;
+            bus.set_config(&self.config);
+            self.cs.set_low().map_err(SpiBusDeviceError::Cs)?;
+
+            let f_res = f(&mut *bus).await;
+
+            // On failure, it's important to still flush and deassert CS.
+            let flush_res = bus.flush().await;
+            let cs_res = self.cs.set_high();
+
+            let f_res = f_res.map_err(SpiBusDeviceError::Spi)?;
+            flush_res.map_err(SpiBusDeviceError::Spi)?;
+            cs_res.map_err(SpiBusDeviceError::Cs)?;
+
+            Ok(f_res)
+        }
+    }
+}
diff --git a/embassy-nrf/Cargo.toml b/embassy-nrf/Cargo.toml
index 887ea1bd..3f9dabbb 100644
--- a/embassy-nrf/Cargo.toml
+++ b/embassy-nrf/Cargo.toml
@@ -68,6 +68,7 @@ embassy = { version = "0.1.0", path = "../embassy" }
 embassy-cortex-m = { version = "0.1.0", path = "../embassy-cortex-m", features = ["prio-bits-3"]}
 embassy-macros = { version = "0.1.0", path = "../embassy-macros", features = ["nrf"]}
 embassy-hal-common = {version = "0.1.0", path = "../embassy-hal-common" }
+embassy-embedded-hal = {version = "0.1.0", path = "../embassy-embedded-hal" }
 embassy-usb = {version = "0.1.0", path = "../embassy-usb", optional=true }
 
 embedded-hal-02 = { package = "embedded-hal", version = "0.2.6", features = ["unproven"] }
diff --git a/embassy-nrf/src/spim.rs b/embassy-nrf/src/spim.rs
index efccfeca..882bf4b4 100644
--- a/embassy-nrf/src/spim.rs
+++ b/embassy-nrf/src/spim.rs
@@ -4,6 +4,7 @@ use core::marker::PhantomData;
 use core::sync::atomic::{compiler_fence, Ordering};
 use core::task::Poll;
 
+use embassy_embedded_hal::SetConfig;
 use embassy_hal_common::unborrow;
 pub use embedded_hal_02::spi::{Mode, Phase, Polarity, MODE_0, MODE_1, MODE_2, MODE_3};
 use futures::future::poll_fn;
@@ -521,3 +522,45 @@ cfg_if::cfg_if! {
         }
     }
 }
+
+impl<'d, T: Instance> SetConfig<Config> for Spim<'d, T> {
+    fn set_config(&mut self, config: &Config) {
+        let r = T::regs();
+        // Configure mode.
+        let mode = config.mode;
+        r.config.write(|w| {
+            match mode {
+                MODE_0 => {
+                    w.order().msb_first();
+                    w.cpol().active_high();
+                    w.cpha().leading();
+                }
+                MODE_1 => {
+                    w.order().msb_first();
+                    w.cpol().active_high();
+                    w.cpha().trailing();
+                }
+                MODE_2 => {
+                    w.order().msb_first();
+                    w.cpol().active_low();
+                    w.cpha().leading();
+                }
+                MODE_3 => {
+                    w.order().msb_first();
+                    w.cpol().active_low();
+                    w.cpha().trailing();
+                }
+            }
+
+            w
+        });
+
+        // Configure frequency.
+        let frequency = config.frequency;
+        r.frequency.write(|w| w.frequency().variant(frequency));
+
+        // Set over-read character
+        let orc = config.orc;
+        r.orc.write(|w| unsafe { w.orc().bits(orc) });
+    }
+}
diff --git a/embassy-nrf/src/twim.rs b/embassy-nrf/src/twim.rs
index c3921104..8189d3e7 100644
--- a/embassy-nrf/src/twim.rs
+++ b/embassy-nrf/src/twim.rs
@@ -15,6 +15,7 @@ use core::task::Poll;
 #[cfg(feature = "time")]
 use embassy::time::{Duration, Instant};
 use embassy::waitqueue::AtomicWaker;
+use embassy_embedded_hal::SetConfig;
 use embassy_hal_common::unborrow;
 use futures::future::poll_fn;
 
@@ -24,6 +25,7 @@ use crate::interrupt::{Interrupt, InterruptExt};
 use crate::util::{slice_in_ram, slice_in_ram_or};
 use crate::{gpio, pac, Unborrow};
 
+#[derive(Clone, Copy)]
 pub enum Frequency {
     #[doc = "26738688: 100 kbps"]
     K100 = 26738688,
@@ -877,3 +879,11 @@ cfg_if::cfg_if! {
         }
     }
 }
+
+impl<'d, T: Instance> SetConfig<Config> for Twim<'d, T> {
+    fn set_config(&mut self, config: &Config) {
+        let r = T::regs();
+        r.frequency
+            .write(|w| unsafe { w.frequency().bits(config.frequency as u32) });
+    }
+}
diff --git a/examples/nrf/src/bin/shared_bus.rs b/examples/nrf/src/bin/shared_bus.rs
new file mode 100644
index 00000000..23d16f79
--- /dev/null
+++ b/examples/nrf/src/bin/shared_bus.rs
@@ -0,0 +1,21 @@
+#![no_std]
+#![no_main]
+#![feature(type_alias_impl_trait)]
+
+use embassy::executor::Spawner;
+use embassy::time::{Duration, Timer};
+use embassy_nrf::gpio::{Level, Output, OutputDrive};
+use embassy_nrf::Peripherals;
+use {defmt_rtt as _, panic_probe as _};
+
+#[embassy::main]
+async fn main(_spawner: Spawner, p: Peripherals) {
+    let mut led = Output::new(p.P0_13, Level::Low, OutputDrive::Standard);
+
+    loop {
+        led.set_high();
+        Timer::after(Duration::from_millis(300)).await;
+        led.set_low();
+        Timer::after(Duration::from_millis(300)).await;
+    }
+}

From 15384d27bb181bf48e580ca4a1c4fd848ecb1720 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Henrik=20Als=C3=A9r?= <henrik@mindbite.se>
Date: Fri, 8 Jul 2022 23:42:19 +0200
Subject: [PATCH 02/11] Merge upstream

---
 embassy-embedded-hal/src/shared_bus/blocking/i2c.rs | 5 ++---
 embassy-embedded-hal/src/shared_bus/blocking/spi.rs | 7 ++++---
 2 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/embassy-embedded-hal/src/shared_bus/blocking/i2c.rs b/embassy-embedded-hal/src/shared_bus/blocking/i2c.rs
index 12c2a1f4..e8dd0f24 100644
--- a/embassy-embedded-hal/src/shared_bus/blocking/i2c.rs
+++ b/embassy-embedded-hal/src/shared_bus/blocking/i2c.rs
@@ -101,7 +101,6 @@ where
     }
 }
 
-<<<<<<< HEAD
 pub struct I2cBusDeviceWithConfig<'a, M: RawMutex, BUS, C> {
     bus: &'a Mutex<M, RefCell<BUS>>,
     config: C,
@@ -183,7 +182,8 @@ where
         let _ = operations;
         todo!()
     }
-=======
+}
+
 impl<'a, M, BUS, E> embedded_hal_02::blocking::i2c::Write for I2cBusDevice<'_, M, BUS>
 where
     M: RawMutex,
@@ -224,5 +224,4 @@ where
                 .map_err(I2cBusDeviceError::I2c)
         })
     }
->>>>>>> master
 }
diff --git a/embassy-embedded-hal/src/shared_bus/blocking/spi.rs b/embassy-embedded-hal/src/shared_bus/blocking/spi.rs
index b31efd64..2bcf47cf 100644
--- a/embassy-embedded-hal/src/shared_bus/blocking/spi.rs
+++ b/embassy-embedded-hal/src/shared_bus/blocking/spi.rs
@@ -76,7 +76,6 @@ where
     }
 }
 
-<<<<<<< HEAD
 pub struct SpiBusDeviceWithConfig<'a, M: RawMutex, BUS, CS, C> {
     bus: &'a Mutex<M, RefCell<BUS>>,
     cs: CS,
@@ -120,8 +119,11 @@ where
             let f_res = f_res.map_err(SpiBusDeviceError::Spi)?;
             flush_res.map_err(SpiBusDeviceError::Spi)?;
             cs_res.map_err(SpiBusDeviceError::Cs)?;
+            Ok(f_res)
+        })
+    }
+}
 
-=======
 impl<'d, M, BUS, CS, BusErr, CsErr> embedded_hal_02::blocking::spi::Transfer<u8> for SpiBusDevice<'_, M, BUS, CS>
 where
     M: RawMutex,
@@ -158,7 +160,6 @@ where
             let cs_res = self.cs.set_high();
             let f_res = f_res.map_err(SpiBusDeviceError::Spi)?;
             cs_res.map_err(SpiBusDeviceError::Cs)?;
->>>>>>> master
             Ok(f_res)
         })
     }

From d637510b44ec8e58581f3e22f8398b53145503dc Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Henrik=20Als=C3=A9r?= <henrik@mindbite.se>
Date: Sat, 9 Jul 2022 00:00:55 +0200
Subject: [PATCH 03/11] Associated type

---
 embassy-embedded-hal/src/lib.rs               |   5 +-
 .../src/shared_bus/blocking/i2c.rs            | 103 +++++++++---------
 .../src/shared_bus/blocking/spi.rs            |  97 +++++++++--------
 embassy-embedded-hal/src/shared_bus/i2c.rs    |  16 +--
 embassy-embedded-hal/src/shared_bus/spi.rs    |  17 +--
 embassy-nrf/src/spim.rs                       |   5 +-
 embassy-nrf/src/twim.rs                       |   5 +-
 examples/nrf/src/bin/shared_bus.rs            |  21 ----
 8 files changed, 128 insertions(+), 141 deletions(-)
 delete mode 100644 examples/nrf/src/bin/shared_bus.rs

diff --git a/embassy-embedded-hal/src/lib.rs b/embassy-embedded-hal/src/lib.rs
index aae71992..688d0b48 100644
--- a/embassy-embedded-hal/src/lib.rs
+++ b/embassy-embedded-hal/src/lib.rs
@@ -5,6 +5,7 @@
 pub mod adapter;
 pub mod shared_bus;
 
-pub trait SetConfig<C> {
-    fn set_config(&mut self, config: &C);
+pub trait SetConfig {
+    type Config;
+    fn set_config(&mut self, config: &Self::Config);
 }
diff --git a/embassy-embedded-hal/src/shared_bus/blocking/i2c.rs b/embassy-embedded-hal/src/shared_bus/blocking/i2c.rs
index e8dd0f24..0c8338c7 100644
--- a/embassy-embedded-hal/src/shared_bus/blocking/i2c.rs
+++ b/embassy-embedded-hal/src/shared_bus/blocking/i2c.rs
@@ -101,28 +101,71 @@ where
     }
 }
 
-pub struct I2cBusDeviceWithConfig<'a, M: RawMutex, BUS, C> {
-    bus: &'a Mutex<M, RefCell<BUS>>,
-    config: C,
+impl<'a, M, BUS, E> embedded_hal_02::blocking::i2c::Write for I2cBusDevice<'_, M, BUS>
+where
+    M: RawMutex,
+    BUS: embedded_hal_02::blocking::i2c::Write<Error = E>,
+{
+    type Error = I2cBusDeviceError<E>;
+
+    fn write<'w>(&mut self, addr: u8, bytes: &'w [u8]) -> Result<(), Self::Error> {
+        self.bus
+            .lock(|bus| bus.borrow_mut().write(addr, bytes).map_err(I2cBusDeviceError::I2c))
+    }
 }
 
-impl<'a, M: RawMutex, BUS, C> I2cBusDeviceWithConfig<'a, M, BUS, C> {
-    pub fn new(bus: &'a Mutex<M, RefCell<BUS>>, config: C) -> Self {
+impl<'a, M, BUS, E> embedded_hal_02::blocking::i2c::Read for I2cBusDevice<'_, M, BUS>
+where
+    M: RawMutex,
+    BUS: embedded_hal_02::blocking::i2c::Read<Error = E>,
+{
+    type Error = I2cBusDeviceError<E>;
+
+    fn read<'w>(&mut self, addr: u8, bytes: &'w mut [u8]) -> Result<(), Self::Error> {
+        self.bus
+            .lock(|bus| bus.borrow_mut().read(addr, bytes).map_err(I2cBusDeviceError::I2c))
+    }
+}
+
+impl<'a, M, BUS, E> embedded_hal_02::blocking::i2c::WriteRead for I2cBusDevice<'_, M, BUS>
+where
+    M: RawMutex,
+    BUS: embedded_hal_02::blocking::i2c::WriteRead<Error = E>,
+{
+    type Error = I2cBusDeviceError<E>;
+
+    fn write_read<'w>(&mut self, addr: u8, bytes: &'w [u8], buffer: &'w mut [u8]) -> Result<(), Self::Error> {
+        self.bus.lock(|bus| {
+            bus.borrow_mut()
+                .write_read(addr, bytes, buffer)
+                .map_err(I2cBusDeviceError::I2c)
+        })
+    }
+}
+
+pub struct I2cBusDeviceWithConfig<'a, M: RawMutex, BUS: SetConfig> {
+    bus: &'a Mutex<M, RefCell<BUS>>,
+    config: BUS::Config,
+}
+
+impl<'a, M: RawMutex, BUS: SetConfig> I2cBusDeviceWithConfig<'a, M, BUS> {
+    pub fn new(bus: &'a Mutex<M, RefCell<BUS>>, config: BUS::Config) -> Self {
         Self { bus, config }
     }
 }
 
-impl<'a, M: RawMutex, BUS, C> ErrorType for I2cBusDeviceWithConfig<'a, M, BUS, C>
+impl<'a, M, BUS> ErrorType for I2cBusDeviceWithConfig<'a, M, BUS>
 where
-    BUS: ErrorType,
+    M: RawMutex,
+    BUS: ErrorType + SetConfig,
 {
     type Error = I2cBusDeviceError<BUS::Error>;
 }
 
-impl<M, BUS, C> I2c for I2cBusDeviceWithConfig<'_, M, BUS, C>
+impl<M, BUS> I2c for I2cBusDeviceWithConfig<'_, M, BUS>
 where
     M: RawMutex,
-    BUS: I2c + SetConfig<C>,
+    BUS: I2c + SetConfig,
 {
     fn read(&mut self, address: u8, buffer: &mut [u8]) -> Result<(), Self::Error> {
         self.bus.lock(|bus| {
@@ -183,45 +226,3 @@ where
         todo!()
     }
 }
-
-impl<'a, M, BUS, E> embedded_hal_02::blocking::i2c::Write for I2cBusDevice<'_, M, BUS>
-where
-    M: RawMutex,
-    BUS: embedded_hal_02::blocking::i2c::Write<Error = E>,
-{
-    type Error = I2cBusDeviceError<E>;
-
-    fn write<'w>(&mut self, addr: u8, bytes: &'w [u8]) -> Result<(), Self::Error> {
-        self.bus
-            .lock(|bus| bus.borrow_mut().write(addr, bytes).map_err(I2cBusDeviceError::I2c))
-    }
-}
-
-impl<'a, M, BUS, E> embedded_hal_02::blocking::i2c::Read for I2cBusDevice<'_, M, BUS>
-where
-    M: RawMutex,
-    BUS: embedded_hal_02::blocking::i2c::Read<Error = E>,
-{
-    type Error = I2cBusDeviceError<E>;
-
-    fn read<'w>(&mut self, addr: u8, bytes: &'w mut [u8]) -> Result<(), Self::Error> {
-        self.bus
-            .lock(|bus| bus.borrow_mut().read(addr, bytes).map_err(I2cBusDeviceError::I2c))
-    }
-}
-
-impl<'a, M, BUS, E> embedded_hal_02::blocking::i2c::WriteRead for I2cBusDevice<'_, M, BUS>
-where
-    M: RawMutex,
-    BUS: embedded_hal_02::blocking::i2c::WriteRead<Error = E>,
-{
-    type Error = I2cBusDeviceError<E>;
-
-    fn write_read<'w>(&mut self, addr: u8, bytes: &'w [u8], buffer: &'w mut [u8]) -> Result<(), Self::Error> {
-        self.bus.lock(|bus| {
-            bus.borrow_mut()
-                .write_read(addr, bytes, buffer)
-                .map_err(I2cBusDeviceError::I2c)
-        })
-    }
-}
diff --git a/embassy-embedded-hal/src/shared_bus/blocking/spi.rs b/embassy-embedded-hal/src/shared_bus/blocking/spi.rs
index 2bcf47cf..456da885 100644
--- a/embassy-embedded-hal/src/shared_bus/blocking/spi.rs
+++ b/embassy-embedded-hal/src/shared_bus/blocking/spi.rs
@@ -76,54 +76,6 @@ where
     }
 }
 
-pub struct SpiBusDeviceWithConfig<'a, M: RawMutex, BUS, CS, C> {
-    bus: &'a Mutex<M, RefCell<BUS>>,
-    cs: CS,
-    config: C,
-}
-
-impl<'a, M: RawMutex, BUS, CS, C> SpiBusDeviceWithConfig<'a, M, BUS, CS, C> {
-    pub fn new(bus: &'a Mutex<M, RefCell<BUS>>, cs: CS, config: C) -> Self {
-        Self { bus, cs, config }
-    }
-}
-
-impl<'a, M: RawMutex, BUS, CS, C> spi::ErrorType for SpiBusDeviceWithConfig<'a, M, BUS, CS, C>
-where
-    BUS: spi::ErrorType,
-    CS: OutputPin,
-{
-    type Error = SpiBusDeviceError<BUS::Error, CS::Error>;
-}
-
-impl<BUS, M, CS, C> SpiDevice for SpiBusDeviceWithConfig<'_, M, BUS, CS, C>
-where
-    M: RawMutex,
-    BUS: SpiBusFlush + SetConfig<C>,
-    CS: OutputPin,
-{
-    type Bus = BUS;
-
-    fn transaction<R>(&mut self, f: impl FnOnce(&mut Self::Bus) -> Result<R, BUS::Error>) -> Result<R, Self::Error> {
-        self.bus.lock(|bus| {
-            let mut bus = bus.borrow_mut();
-            bus.set_config(&self.config);
-            self.cs.set_low().map_err(SpiBusDeviceError::Cs)?;
-
-            let f_res = f(&mut bus);
-
-            // On failure, it's important to still flush and deassert CS.
-            let flush_res = bus.flush();
-            let cs_res = self.cs.set_high();
-
-            let f_res = f_res.map_err(SpiBusDeviceError::Spi)?;
-            flush_res.map_err(SpiBusDeviceError::Spi)?;
-            cs_res.map_err(SpiBusDeviceError::Cs)?;
-            Ok(f_res)
-        })
-    }
-}
-
 impl<'d, M, BUS, CS, BusErr, CsErr> embedded_hal_02::blocking::spi::Transfer<u8> for SpiBusDevice<'_, M, BUS, CS>
 where
     M: RawMutex,
@@ -164,3 +116,52 @@ where
         })
     }
 }
+
+pub struct SpiBusDeviceWithConfig<'a, M: RawMutex, BUS: SetConfig, CS> {
+    bus: &'a Mutex<M, RefCell<BUS>>,
+    cs: CS,
+    config: BUS::Config,
+}
+
+impl<'a, M: RawMutex, BUS: SetConfig, CS> SpiBusDeviceWithConfig<'a, M, BUS, CS> {
+    pub fn new(bus: &'a Mutex<M, RefCell<BUS>>, cs: CS, config: BUS::Config) -> Self {
+        Self { bus, cs, config }
+    }
+}
+
+impl<'a, M, BUS, CS> spi::ErrorType for SpiBusDeviceWithConfig<'a, M, BUS, CS>
+where
+    M: RawMutex,
+    BUS: spi::ErrorType + SetConfig,
+    CS: OutputPin,
+{
+    type Error = SpiBusDeviceError<BUS::Error, CS::Error>;
+}
+
+impl<BUS, M, CS> SpiDevice for SpiBusDeviceWithConfig<'_, M, BUS, CS>
+where
+    M: RawMutex,
+    BUS: SpiBusFlush + SetConfig,
+    CS: OutputPin,
+{
+    type Bus = BUS;
+
+    fn transaction<R>(&mut self, f: impl FnOnce(&mut Self::Bus) -> Result<R, BUS::Error>) -> Result<R, Self::Error> {
+        self.bus.lock(|bus| {
+            let mut bus = bus.borrow_mut();
+            bus.set_config(&self.config);
+            self.cs.set_low().map_err(SpiBusDeviceError::Cs)?;
+
+            let f_res = f(&mut bus);
+
+            // On failure, it's important to still flush and deassert CS.
+            let flush_res = bus.flush();
+            let cs_res = self.cs.set_high();
+
+            let f_res = f_res.map_err(SpiBusDeviceError::Spi)?;
+            flush_res.map_err(SpiBusDeviceError::Spi)?;
+            cs_res.map_err(SpiBusDeviceError::Cs)?;
+            Ok(f_res)
+        })
+    }
+}
diff --git a/embassy-embedded-hal/src/shared_bus/i2c.rs b/embassy-embedded-hal/src/shared_bus/i2c.rs
index 0e964773..18f14453 100644
--- a/embassy-embedded-hal/src/shared_bus/i2c.rs
+++ b/embassy-embedded-hal/src/shared_bus/i2c.rs
@@ -119,28 +119,30 @@ where
     }
 }
 
-pub struct I2cBusDeviceWithConfig<'a, M: RawMutex, BUS, C> {
+pub struct I2cBusDeviceWithConfig<'a, M: RawMutex, BUS: SetConfig> {
     bus: &'a Mutex<M, BUS>,
-    config: C,
+    config: BUS::Config,
 }
 
-impl<'a, M: RawMutex, BUS, C> I2cBusDeviceWithConfig<'a, M, BUS, C> {
-    pub fn new(bus: &'a Mutex<M, BUS>, config: C) -> Self {
+impl<'a, M: RawMutex, BUS: SetConfig> I2cBusDeviceWithConfig<'a, M, BUS> {
+    pub fn new(bus: &'a Mutex<M, BUS>, config: BUS::Config) -> Self {
         Self { bus, config }
     }
 }
 
-impl<'a, M: RawMutex, BUS, C> i2c::ErrorType for I2cBusDeviceWithConfig<'a, M, BUS, C>
+impl<'a, M, BUS> i2c::ErrorType for I2cBusDeviceWithConfig<'a, M, BUS>
 where
     BUS: i2c::ErrorType,
+    M: RawMutex,
+    BUS: SetConfig,
 {
     type Error = I2cBusDeviceError<BUS::Error>;
 }
 
-impl<M, BUS, C> i2c::I2c for I2cBusDeviceWithConfig<'_, M, BUS, C>
+impl<M, BUS> i2c::I2c for I2cBusDeviceWithConfig<'_, M, BUS>
 where
     M: RawMutex + 'static,
-    BUS: i2c::I2c + SetConfig<C> + 'static,
+    BUS: i2c::I2c + SetConfig + 'static,
 {
     type ReadFuture<'a> = impl Future<Output = Result<(), Self::Error>> + 'a where Self: 'a;
 
diff --git a/embassy-embedded-hal/src/shared_bus/spi.rs b/embassy-embedded-hal/src/shared_bus/spi.rs
index 04378c33..8e3762e6 100644
--- a/embassy-embedded-hal/src/shared_bus/spi.rs
+++ b/embassy-embedded-hal/src/shared_bus/spi.rs
@@ -112,30 +112,31 @@ where
     }
 }
 
-pub struct SpiBusDeviceWithConfig<'a, M: RawMutex, BUS, CS, C> {
+pub struct SpiBusDeviceWithConfig<'a, M: RawMutex, BUS: SetConfig, CS> {
     bus: &'a Mutex<M, BUS>,
     cs: CS,
-    config: C,
+    config: BUS::Config,
 }
 
-impl<'a, M: RawMutex, BUS, CS, C> SpiBusDeviceWithConfig<'a, M, BUS, CS, C> {
-    pub fn new(bus: &'a Mutex<M, BUS>, cs: CS, config: C) -> Self {
+impl<'a, M: RawMutex, BUS: SetConfig, CS> SpiBusDeviceWithConfig<'a, M, BUS, CS> {
+    pub fn new(bus: &'a Mutex<M, BUS>, cs: CS, config: BUS::Config) -> Self {
         Self { bus, cs, config }
     }
 }
 
-impl<'a, M: RawMutex, BUS, CS, C> spi::ErrorType for SpiBusDeviceWithConfig<'a, M, BUS, CS, C>
+impl<'a, M, BUS, CS> spi::ErrorType for SpiBusDeviceWithConfig<'a, M, BUS, CS>
 where
-    BUS: spi::ErrorType,
+    BUS: spi::ErrorType + SetConfig,
     CS: OutputPin,
+    M: RawMutex,
 {
     type Error = SpiBusDeviceError<BUS::Error, CS::Error>;
 }
 
-impl<M, BUS, CS, C> spi::SpiDevice for SpiBusDeviceWithConfig<'_, M, BUS, CS, C>
+impl<M, BUS, CS> spi::SpiDevice for SpiBusDeviceWithConfig<'_, M, BUS, CS>
 where
     M: RawMutex + 'static,
-    BUS: spi::SpiBusFlush + SetConfig<C> + 'static,
+    BUS: spi::SpiBusFlush + SetConfig + 'static,
     CS: OutputPin,
 {
     type Bus = BUS;
diff --git a/embassy-nrf/src/spim.rs b/embassy-nrf/src/spim.rs
index 882bf4b4..d34d9a0c 100644
--- a/embassy-nrf/src/spim.rs
+++ b/embassy-nrf/src/spim.rs
@@ -523,8 +523,9 @@ cfg_if::cfg_if! {
     }
 }
 
-impl<'d, T: Instance> SetConfig<Config> for Spim<'d, T> {
-    fn set_config(&mut self, config: &Config) {
+impl<'d, T: Instance> SetConfig for Spim<'d, T> {
+    type Config = Config;
+    fn set_config(&mut self, config: &Self::Config) {
         let r = T::regs();
         // Configure mode.
         let mode = config.mode;
diff --git a/embassy-nrf/src/twim.rs b/embassy-nrf/src/twim.rs
index 8189d3e7..2088691b 100644
--- a/embassy-nrf/src/twim.rs
+++ b/embassy-nrf/src/twim.rs
@@ -880,8 +880,9 @@ cfg_if::cfg_if! {
     }
 }
 
-impl<'d, T: Instance> SetConfig<Config> for Twim<'d, T> {
-    fn set_config(&mut self, config: &Config) {
+impl<'d, T: Instance> SetConfig for Twim<'d, T> {
+    type Config = Config;
+    fn set_config(&mut self, config: &Self::Config) {
         let r = T::regs();
         r.frequency
             .write(|w| unsafe { w.frequency().bits(config.frequency as u32) });
diff --git a/examples/nrf/src/bin/shared_bus.rs b/examples/nrf/src/bin/shared_bus.rs
deleted file mode 100644
index 23d16f79..00000000
--- a/examples/nrf/src/bin/shared_bus.rs
+++ /dev/null
@@ -1,21 +0,0 @@
-#![no_std]
-#![no_main]
-#![feature(type_alias_impl_trait)]
-
-use embassy::executor::Spawner;
-use embassy::time::{Duration, Timer};
-use embassy_nrf::gpio::{Level, Output, OutputDrive};
-use embassy_nrf::Peripherals;
-use {defmt_rtt as _, panic_probe as _};
-
-#[embassy::main]
-async fn main(_spawner: Spawner, p: Peripherals) {
-    let mut led = Output::new(p.P0_13, Level::Low, OutputDrive::Standard);
-
-    loop {
-        led.set_high();
-        Timer::after(Duration::from_millis(300)).await;
-        led.set_low();
-        Timer::after(Duration::from_millis(300)).await;
-    }
-}

From 85e67d94ad1a2ce35afcb64b4f9a527b863e8a50 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Henrik=20Als=C3=A9r?= <henrik@mindbite.se>
Date: Sat, 9 Jul 2022 00:32:55 +0200
Subject: [PATCH 04/11] impl SetConfig for rp2040 SPI

---
 embassy-rp/Cargo.toml |  1 +
 embassy-rp/src/spi.rs | 18 ++++++++++++++++++
 2 files changed, 19 insertions(+)

diff --git a/embassy-rp/Cargo.toml b/embassy-rp/Cargo.toml
index 217221b0..0a278ab0 100644
--- a/embassy-rp/Cargo.toml
+++ b/embassy-rp/Cargo.toml
@@ -30,6 +30,7 @@ unstable-traits = ["embedded-hal-1"]
 embassy = { version = "0.1.0", path = "../embassy", features = [ "time-tick-1mhz", "nightly"] }
 embassy-cortex-m = { version = "0.1.0", path = "../embassy-cortex-m", features = ["prio-bits-3"]}
 embassy-hal-common = {version = "0.1.0", path = "../embassy-hal-common" }
+embassy-embedded-hal = {version = "0.1.0", path = "../embassy-embedded-hal" }
 embassy-macros = { version = "0.1.0", path = "../embassy-macros", features = ["rp"]}
 atomic-polyfill = "0.1.5"
 defmt = { version = "0.3", optional = true }
diff --git a/embassy-rp/src/spi.rs b/embassy-rp/src/spi.rs
index e988e41d..6b3f2238 100644
--- a/embassy-rp/src/spi.rs
+++ b/embassy-rp/src/spi.rs
@@ -1,5 +1,6 @@
 use core::marker::PhantomData;
 
+use embassy_embedded_hal::SetConfig;
 use embassy_hal_common::unborrow;
 pub use embedded_hal_02::spi::{Phase, Polarity};
 
@@ -350,3 +351,20 @@ mod eh1 {
         }
     }
 }
+
+impl<'d, T: Instance> SetConfig for Spi<'d, T> {
+    type Config = Config;
+    fn set_config(&mut self, config: &Self::Config) {
+        let p = self.inner.regs();
+        let (presc, postdiv) = calc_prescs(config.frequency);
+        unsafe {
+            p.cpsr().write(|w| w.set_cpsdvsr(presc));
+            p.cr0().write(|w| {
+                w.set_dss(0b0111); // 8bit
+                w.set_spo(config.polarity == Polarity::IdleHigh);
+                w.set_sph(config.phase == Phase::CaptureOnSecondTransition);
+                w.set_scr(postdiv);
+            });
+        }
+    }
+}

From 880b71a1e8246011109d64794ec98477722bde0e Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Henrik=20Als=C3=A9r?= <henrik@mindbite.se>
Date: Sat, 9 Jul 2022 02:28:05 +0200
Subject: [PATCH 05/11] impl SetConfig for stm32 i2c and SPI

---
 embassy-stm32/Cargo.toml     |  1 +
 embassy-stm32/src/i2c/v1.rs  | 21 +++++++++++++++++++++
 embassy-stm32/src/i2c/v2.rs  | 17 +++++++++++++++++
 embassy-stm32/src/spi/mod.rs |  8 ++++++++
 4 files changed, 47 insertions(+)

diff --git a/embassy-stm32/Cargo.toml b/embassy-stm32/Cargo.toml
index a21384be..547aad02 100644
--- a/embassy-stm32/Cargo.toml
+++ b/embassy-stm32/Cargo.toml
@@ -35,6 +35,7 @@ embassy = { version = "0.1.0", path = "../embassy" }
 embassy-cortex-m = { version = "0.1.0", path = "../embassy-cortex-m", features = ["prio-bits-4"]}
 embassy-macros = { version = "0.1.0", path = "../embassy-macros", features = ["stm32"] }
 embassy-hal-common = {version = "0.1.0", path = "../embassy-hal-common" }
+embassy-embedded-hal = {version = "0.1.0", path = "../embassy-embedded-hal" }
 embassy-net = { version = "0.1.0", path = "../embassy-net", optional = true }
 embassy-usb = {version = "0.1.0", path = "../embassy-usb", optional = true }
 
diff --git a/embassy-stm32/src/i2c/v1.rs b/embassy-stm32/src/i2c/v1.rs
index 87a4f969..4bff90af 100644
--- a/embassy-stm32/src/i2c/v1.rs
+++ b/embassy-stm32/src/i2c/v1.rs
@@ -1,5 +1,6 @@
 use core::marker::PhantomData;
 
+use embassy_embedded_hal::SetConfig;
 use embassy_hal_common::unborrow;
 
 use crate::gpio::sealed::AFType;
@@ -381,3 +382,23 @@ impl Timings {
         }
     }
 }
+
+impl<'d, T: Instance> SetConfig for I2c<'d, T> {
+    type Config = Hertz;
+    fn set_config(&mut self, config: &Self::Config) {
+        let timings = Timings::new(T::frequency(), *config);
+        unsafe {
+            T::regs().cr2().modify(|reg| {
+                reg.set_freq(timings.freq);
+            });
+            T::regs().ccr().modify(|reg| {
+                reg.set_f_s(timings.mode.f_s());
+                reg.set_duty(timings.duty.duty());
+                reg.set_ccr(timings.ccr);
+            });
+            T::regs().trise().modify(|reg| {
+                reg.set_trise(timings.trise);
+            });
+        }
+    }
+}
diff --git a/embassy-stm32/src/i2c/v2.rs b/embassy-stm32/src/i2c/v2.rs
index 1a085e78..8778da91 100644
--- a/embassy-stm32/src/i2c/v2.rs
+++ b/embassy-stm32/src/i2c/v2.rs
@@ -4,6 +4,7 @@ use core::task::Poll;
 
 use atomic_polyfill::{AtomicUsize, Ordering};
 use embassy::waitqueue::AtomicWaker;
+use embassy_embedded_hal::SetConfig;
 use embassy_hal_common::drop::OnDrop;
 use embassy_hal_common::unborrow;
 use futures::future::poll_fn;
@@ -899,3 +900,19 @@ cfg_if::cfg_if! {
         }
     }
 }
+
+impl<'d, T: Instance> SetConfig for I2c<'d, T> {
+    type Config = Hertz;
+    fn set_config(&mut self, config: &Self::Config) {
+        let timings = Timings::new(T::frequency(), *config);
+        unsafe {
+            T::regs().timingr().write(|reg| {
+                reg.set_presc(timings.prescale);
+                reg.set_scll(timings.scll);
+                reg.set_sclh(timings.sclh);
+                reg.set_sdadel(timings.sdadel);
+                reg.set_scldel(timings.scldel);
+            });
+        }
+    }
+}
diff --git a/embassy-stm32/src/spi/mod.rs b/embassy-stm32/src/spi/mod.rs
index 7c142e50..a839bb41 100644
--- a/embassy-stm32/src/spi/mod.rs
+++ b/embassy-stm32/src/spi/mod.rs
@@ -3,6 +3,7 @@
 use core::marker::PhantomData;
 use core::ptr;
 
+use embassy_embedded_hal::SetConfig;
 use embassy_hal_common::unborrow;
 pub use embedded_hal_02::spi::{Mode, Phase, Polarity, MODE_0, MODE_1, MODE_2, MODE_3};
 use futures::future::join;
@@ -1022,3 +1023,10 @@ foreach_peripheral!(
         impl Instance for peripherals::$inst {}
     };
 );
+
+impl<'d, T: Instance, Tx, Rx> SetConfig for Spi<'d, T, Tx, Rx> {
+    type Config = Config;
+    fn set_config(&mut self, config: &Self::Config) {
+        self.reconfigure(*config);
+    }
+}

From baae64d911d6f2bd2560b64b3856471b390f41cd Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Henrik=20Als=C3=A9r?= <henrik@mindbite.se>
Date: Sat, 9 Jul 2022 23:41:02 +0200
Subject: [PATCH 06/11] Add embassy-embedded-hal nightly feature

---
 embassy-embedded-hal/Cargo.toml            | 2 ++
 embassy-embedded-hal/src/shared_bus/i2c.rs | 3 +++
 embassy-embedded-hal/src/shared_bus/spi.rs | 3 +++
 embassy-nrf/Cargo.toml                     | 2 +-
 embassy-rp/Cargo.toml                      | 2 +-
 embassy-stm32/Cargo.toml                   | 2 +-
 6 files changed, 11 insertions(+), 3 deletions(-)

diff --git a/embassy-embedded-hal/Cargo.toml b/embassy-embedded-hal/Cargo.toml
index d1b9f3ea..15d3beb2 100644
--- a/embassy-embedded-hal/Cargo.toml
+++ b/embassy-embedded-hal/Cargo.toml
@@ -5,6 +5,8 @@ edition = "2021"
 
 [features]
 std = []
+# Enable nightly-only features
+nightly = ["embedded-hal-async"]
 
 [dependencies]
 embassy = { version = "0.1.0", path = "../embassy" }
diff --git a/embassy-embedded-hal/src/shared_bus/i2c.rs b/embassy-embedded-hal/src/shared_bus/i2c.rs
index 18f14453..f63190e6 100644
--- a/embassy-embedded-hal/src/shared_bus/i2c.rs
+++ b/embassy-embedded-hal/src/shared_bus/i2c.rs
@@ -27,6 +27,7 @@ use core::future::Future;
 
 use embassy::blocking_mutex::raw::RawMutex;
 use embassy::mutex::Mutex;
+#[cfg(feature = "nightly")]
 use embedded_hal_async::i2c;
 
 use crate::SetConfig;
@@ -64,6 +65,7 @@ where
     type Error = I2cBusDeviceError<BUS::Error>;
 }
 
+#[cfg(feature = "nightly")]
 impl<M, BUS> i2c::I2c for I2cBusDevice<'_, M, BUS>
 where
     M: RawMutex + 'static,
@@ -139,6 +141,7 @@ where
     type Error = I2cBusDeviceError<BUS::Error>;
 }
 
+#[cfg(feature = "nightly")]
 impl<M, BUS> i2c::I2c for I2cBusDeviceWithConfig<'_, M, BUS>
 where
     M: RawMutex + 'static,
diff --git a/embassy-embedded-hal/src/shared_bus/spi.rs b/embassy-embedded-hal/src/shared_bus/spi.rs
index 8e3762e6..136352e0 100644
--- a/embassy-embedded-hal/src/shared_bus/spi.rs
+++ b/embassy-embedded-hal/src/shared_bus/spi.rs
@@ -32,6 +32,7 @@ use embassy::blocking_mutex::raw::RawMutex;
 use embassy::mutex::Mutex;
 use embedded_hal_1::digital::blocking::OutputPin;
 use embedded_hal_1::spi::ErrorType;
+#[cfg(feature = "nightly")]
 use embedded_hal_async::spi;
 
 use crate::SetConfig;
@@ -74,6 +75,7 @@ where
     type Error = SpiBusDeviceError<BUS::Error, CS::Error>;
 }
 
+#[cfg(feature = "nightly")]
 impl<M, BUS, CS> spi::SpiDevice for SpiBusDevice<'_, M, BUS, CS>
 where
     M: RawMutex + 'static,
@@ -133,6 +135,7 @@ where
     type Error = SpiBusDeviceError<BUS::Error, CS::Error>;
 }
 
+#[cfg(feature = "nightly")]
 impl<M, BUS, CS> spi::SpiDevice for SpiBusDeviceWithConfig<'_, M, BUS, CS>
 where
     M: RawMutex + 'static,
diff --git a/embassy-nrf/Cargo.toml b/embassy-nrf/Cargo.toml
index 3f9dabbb..3569a70c 100644
--- a/embassy-nrf/Cargo.toml
+++ b/embassy-nrf/Cargo.toml
@@ -21,7 +21,7 @@ time = ["embassy/time"]
 defmt = ["dep:defmt", "embassy/defmt", "embassy-usb?/defmt", "embedded-io?/defmt"]
 
 # Enable nightly-only features
-nightly = ["embassy/nightly", "embedded-hal-1", "embedded-hal-async", "embassy-usb", "embedded-storage-async", "dep:embedded-io"]
+nightly = ["embassy/nightly", "embedded-hal-1", "embedded-hal-async", "embassy-usb", "embedded-storage-async", "dep:embedded-io", "embassy-embedded-hal/nightly"]
 
 # Reexport the PAC for the currently enabled chip at `embassy_nrf::pac`.
 # This is unstable because semver-minor (non-breaking) releases of embassy-nrf may major-bump (breaking) the PAC version.
diff --git a/embassy-rp/Cargo.toml b/embassy-rp/Cargo.toml
index 0a278ab0..95ae76cd 100644
--- a/embassy-rp/Cargo.toml
+++ b/embassy-rp/Cargo.toml
@@ -20,7 +20,7 @@ flavors = [
 unstable-pac = []
 
 # Enable nightly-only features
-nightly = ["embassy/nightly", "embedded-hal-1", "embedded-hal-async"]
+nightly = ["embassy/nightly", "embedded-hal-1", "embedded-hal-async", "embassy-embedded-hal/nightly"]
 
 # Implement embedded-hal 1.0 alpha traits.
 # Implement embedded-hal-async traits if `nightly` is set as well.
diff --git a/embassy-stm32/Cargo.toml b/embassy-stm32/Cargo.toml
index 547aad02..a5c444fb 100644
--- a/embassy-stm32/Cargo.toml
+++ b/embassy-stm32/Cargo.toml
@@ -91,7 +91,7 @@ time-driver-tim12 = ["_time-driver"]
 time-driver-tim15 = ["_time-driver"]
 
 # Enable nightly-only features
-nightly = ["embassy/nightly", "embedded-hal-1", "embedded-hal-async", "embedded-storage-async", "dep:embedded-io", "dep:embassy-usb"]
+nightly = ["embassy/nightly", "embedded-hal-1", "embedded-hal-async", "embedded-storage-async", "dep:embedded-io", "dep:embassy-usb", "embassy-embedded-hal/nightly"]
 
 # Reexport stm32-metapac at `embassy_stm32::pac`.
 # This is unstable because semver-minor (non-breaking) releases of embassy-stm32 may major-bump (breaking) the stm32-metapac version.

From 20f56b856feb3cefde300b76ceab85b6bd29c5a7 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Henrik=20Als=C3=A9r?= <henrik@mindbite.se>
Date: Sat, 9 Jul 2022 23:44:08 +0200
Subject: [PATCH 07/11] Add embassy-embedded-hal nightly feature

---
 embassy-embedded-hal/Cargo.toml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/embassy-embedded-hal/Cargo.toml b/embassy-embedded-hal/Cargo.toml
index 15d3beb2..94034a66 100644
--- a/embassy-embedded-hal/Cargo.toml
+++ b/embassy-embedded-hal/Cargo.toml
@@ -12,7 +12,7 @@ nightly = ["embedded-hal-async"]
 embassy = { version = "0.1.0", path = "../embassy" }
 embedded-hal-02 = { package = "embedded-hal", version = "0.2.6", features = ["unproven"] }
 embedded-hal-1 = { package = "embedded-hal", version = "1.0.0-alpha.8" }
-embedded-hal-async = { version = "0.1.0-alpha.1" }
+embedded-hal-async = { version = "0.1.0-alpha.1", optional = true }
 embedded-storage = "0.3.0"
 embedded-storage-async = "0.3.0"
 nb = "1.0.0"
\ No newline at end of file

From ef24faf2df594d0eca1542ac02834af6aafa3853 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Henrik=20Als=C3=A9r?= <henrik@mindbite.se>
Date: Sun, 10 Jul 2022 00:05:57 +0200
Subject: [PATCH 08/11] Add asynch mod to shared_bus

---
 embassy-embedded-hal/src/lib.rs               |  2 ++
 .../src/shared_bus/{ => asynch}/i2c.rs        | 25 +++++--------
 .../src/shared_bus/asynch/mod.rs              |  3 ++
 .../src/shared_bus/{ => asynch}/spi.rs        | 36 ++++++++-----------
 .../src/shared_bus/blocking/i2c.rs            |  2 +-
 .../src/shared_bus/blocking/spi.rs            |  2 +-
 embassy-embedded-hal/src/shared_bus/mod.rs    | 18 +++++++---
 7 files changed, 44 insertions(+), 44 deletions(-)
 rename embassy-embedded-hal/src/shared_bus/{ => asynch}/i2c.rs (97%)
 create mode 100644 embassy-embedded-hal/src/shared_bus/asynch/mod.rs
 rename embassy-embedded-hal/src/shared_bus/{ => asynch}/spi.rs (96%)

diff --git a/embassy-embedded-hal/src/lib.rs b/embassy-embedded-hal/src/lib.rs
index 688d0b48..f57d83b5 100644
--- a/embassy-embedded-hal/src/lib.rs
+++ b/embassy-embedded-hal/src/lib.rs
@@ -2,7 +2,9 @@
 #![feature(generic_associated_types)]
 #![feature(type_alias_impl_trait)]
 
+#[cfg(feature = "nightly")]
 pub mod adapter;
+
 pub mod shared_bus;
 
 pub trait SetConfig {
diff --git a/embassy-embedded-hal/src/shared_bus/i2c.rs b/embassy-embedded-hal/src/shared_bus/asynch/i2c.rs
similarity index 97%
rename from embassy-embedded-hal/src/shared_bus/i2c.rs
rename to embassy-embedded-hal/src/shared_bus/asynch/i2c.rs
index f63190e6..40831749 100644
--- a/embassy-embedded-hal/src/shared_bus/i2c.rs
+++ b/embassy-embedded-hal/src/shared_bus/asynch/i2c.rs
@@ -27,14 +27,19 @@ use core::future::Future;
 
 use embassy::blocking_mutex::raw::RawMutex;
 use embassy::mutex::Mutex;
-#[cfg(feature = "nightly")]
 use embedded_hal_async::i2c;
 
+use crate::shared_bus::I2cBusDeviceError;
 use crate::SetConfig;
 
-#[derive(Copy, Clone, Eq, PartialEq, Debug)]
-pub enum I2cBusDeviceError<BUS> {
-    I2c(BUS),
+pub struct I2cBusDevice<'a, M: RawMutex, BUS> {
+    bus: &'a Mutex<M, BUS>,
+}
+
+impl<'a, M: RawMutex, BUS> I2cBusDevice<'a, M, BUS> {
+    pub fn new(bus: &'a Mutex<M, BUS>) -> Self {
+        Self { bus }
+    }
 }
 
 impl<BUS> i2c::Error for I2cBusDeviceError<BUS>
@@ -48,16 +53,6 @@ where
     }
 }
 
-pub struct I2cBusDevice<'a, M: RawMutex, BUS> {
-    bus: &'a Mutex<M, BUS>,
-}
-
-impl<'a, M: RawMutex, BUS> I2cBusDevice<'a, M, BUS> {
-    pub fn new(bus: &'a Mutex<M, BUS>) -> Self {
-        Self { bus }
-    }
-}
-
 impl<'a, M: RawMutex, BUS> i2c::ErrorType for I2cBusDevice<'a, M, BUS>
 where
     BUS: i2c::ErrorType,
@@ -65,7 +60,6 @@ where
     type Error = I2cBusDeviceError<BUS::Error>;
 }
 
-#[cfg(feature = "nightly")]
 impl<M, BUS> i2c::I2c for I2cBusDevice<'_, M, BUS>
 where
     M: RawMutex + 'static,
@@ -141,7 +135,6 @@ where
     type Error = I2cBusDeviceError<BUS::Error>;
 }
 
-#[cfg(feature = "nightly")]
 impl<M, BUS> i2c::I2c for I2cBusDeviceWithConfig<'_, M, BUS>
 where
     M: RawMutex + 'static,
diff --git a/embassy-embedded-hal/src/shared_bus/asynch/mod.rs b/embassy-embedded-hal/src/shared_bus/asynch/mod.rs
new file mode 100644
index 00000000..2e660b72
--- /dev/null
+++ b/embassy-embedded-hal/src/shared_bus/asynch/mod.rs
@@ -0,0 +1,3 @@
+//! Asynchronous shared bus implementations for embedded-hal-async
+pub mod i2c;
+pub mod spi;
diff --git a/embassy-embedded-hal/src/shared_bus/spi.rs b/embassy-embedded-hal/src/shared_bus/asynch/spi.rs
similarity index 96%
rename from embassy-embedded-hal/src/shared_bus/spi.rs
rename to embassy-embedded-hal/src/shared_bus/asynch/spi.rs
index 136352e0..f3795bb1 100644
--- a/embassy-embedded-hal/src/shared_bus/spi.rs
+++ b/embassy-embedded-hal/src/shared_bus/asynch/spi.rs
@@ -32,30 +32,11 @@ use embassy::blocking_mutex::raw::RawMutex;
 use embassy::mutex::Mutex;
 use embedded_hal_1::digital::blocking::OutputPin;
 use embedded_hal_1::spi::ErrorType;
-#[cfg(feature = "nightly")]
 use embedded_hal_async::spi;
 
+use crate::shared_bus::SpiBusDeviceError;
 use crate::SetConfig;
 
-#[derive(Copy, Clone, Eq, PartialEq, Debug)]
-pub enum SpiBusDeviceError<BUS, CS> {
-    Spi(BUS),
-    Cs(CS),
-}
-
-impl<BUS, CS> spi::Error for SpiBusDeviceError<BUS, CS>
-where
-    BUS: spi::Error + Debug,
-    CS: Debug,
-{
-    fn kind(&self) -> spi::ErrorKind {
-        match self {
-            Self::Spi(e) => e.kind(),
-            Self::Cs(_) => spi::ErrorKind::Other,
-        }
-    }
-}
-
 pub struct SpiBusDevice<'a, M: RawMutex, BUS, CS> {
     bus: &'a Mutex<M, BUS>,
     cs: CS,
@@ -75,7 +56,19 @@ where
     type Error = SpiBusDeviceError<BUS::Error, CS::Error>;
 }
 
-#[cfg(feature = "nightly")]
+impl<BUS, CS> spi::Error for SpiBusDeviceError<BUS, CS>
+where
+    BUS: spi::Error + Debug,
+    CS: Debug,
+{
+    fn kind(&self) -> spi::ErrorKind {
+        match self {
+            Self::Spi(e) => e.kind(),
+            Self::Cs(_) => spi::ErrorKind::Other,
+        }
+    }
+}
+
 impl<M, BUS, CS> spi::SpiDevice for SpiBusDevice<'_, M, BUS, CS>
 where
     M: RawMutex + 'static,
@@ -135,7 +128,6 @@ where
     type Error = SpiBusDeviceError<BUS::Error, CS::Error>;
 }
 
-#[cfg(feature = "nightly")]
 impl<M, BUS, CS> spi::SpiDevice for SpiBusDeviceWithConfig<'_, M, BUS, CS>
 where
     M: RawMutex + 'static,
diff --git a/embassy-embedded-hal/src/shared_bus/blocking/i2c.rs b/embassy-embedded-hal/src/shared_bus/blocking/i2c.rs
index 0c8338c7..ac361a78 100644
--- a/embassy-embedded-hal/src/shared_bus/blocking/i2c.rs
+++ b/embassy-embedded-hal/src/shared_bus/blocking/i2c.rs
@@ -23,7 +23,7 @@ use embassy::blocking_mutex::Mutex;
 use embedded_hal_1::i2c::blocking::{I2c, Operation};
 use embedded_hal_1::i2c::ErrorType;
 
-use crate::shared_bus::i2c::I2cBusDeviceError;
+use crate::shared_bus::I2cBusDeviceError;
 use crate::SetConfig;
 
 pub struct I2cBusDevice<'a, M: RawMutex, BUS> {
diff --git a/embassy-embedded-hal/src/shared_bus/blocking/spi.rs b/embassy-embedded-hal/src/shared_bus/blocking/spi.rs
index 456da885..704858cd 100644
--- a/embassy-embedded-hal/src/shared_bus/blocking/spi.rs
+++ b/embassy-embedded-hal/src/shared_bus/blocking/spi.rs
@@ -26,7 +26,7 @@ use embedded_hal_1::digital::blocking::OutputPin;
 use embedded_hal_1::spi;
 use embedded_hal_1::spi::blocking::{SpiBusFlush, SpiDevice};
 
-use crate::shared_bus::spi::SpiBusDeviceError;
+use crate::shared_bus::SpiBusDeviceError;
 use crate::SetConfig;
 
 pub struct SpiBusDevice<'a, M: RawMutex, BUS, CS> {
diff --git a/embassy-embedded-hal/src/shared_bus/mod.rs b/embassy-embedded-hal/src/shared_bus/mod.rs
index cd748cac..2309a6c3 100644
--- a/embassy-embedded-hal/src/shared_bus/mod.rs
+++ b/embassy-embedded-hal/src/shared_bus/mod.rs
@@ -1,6 +1,16 @@
 //! Shared bus implementations
+#[cfg(feature = "nightly")]
+pub mod asynch;
+
 pub mod blocking;
-/// Shared i2c bus implementation for embedded-hal-async
-pub mod i2c;
-/// Shared SPI bus implementation for embedded-hal-async
-pub mod spi;
+
+#[derive(Copy, Clone, Eq, PartialEq, Debug)]
+pub enum I2cBusDeviceError<BUS> {
+    I2c(BUS),
+}
+
+#[derive(Copy, Clone, Eq, PartialEq, Debug)]
+pub enum SpiBusDeviceError<BUS, CS> {
+    Spi(BUS),
+    Cs(CS),
+}

From ce7bc32755166670d814de7ebef32a0747b2779f Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Henrik=20Als=C3=A9r?= <henrik@mindbite.se>
Date: Sun, 10 Jul 2022 00:15:20 +0200
Subject: [PATCH 09/11] Nightly feature gate for embedded-storage-async

---
 embassy-embedded-hal/Cargo.toml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/embassy-embedded-hal/Cargo.toml b/embassy-embedded-hal/Cargo.toml
index 94034a66..d2606d26 100644
--- a/embassy-embedded-hal/Cargo.toml
+++ b/embassy-embedded-hal/Cargo.toml
@@ -6,7 +6,7 @@ edition = "2021"
 [features]
 std = []
 # Enable nightly-only features
-nightly = ["embedded-hal-async"]
+nightly = ["embedded-hal-async", "embedded-storage-async"]
 
 [dependencies]
 embassy = { version = "0.1.0", path = "../embassy" }
@@ -14,5 +14,5 @@ embedded-hal-02 = { package = "embedded-hal", version = "0.2.6", features = ["un
 embedded-hal-1 = { package = "embedded-hal", version = "1.0.0-alpha.8" }
 embedded-hal-async = { version = "0.1.0-alpha.1", optional = true }
 embedded-storage = "0.3.0"
-embedded-storage-async = "0.3.0"
+embedded-storage-async = { version = "0.3.0", optional = true }
 nb = "1.0.0"
\ No newline at end of file

From c9ceec879750287caeda406aa475d3b179119302 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Henrik=20Als=C3=A9r?= <henrik@mindbite.se>
Date: Sun, 10 Jul 2022 00:49:46 +0200
Subject: [PATCH 10/11] Cleanup

---
 .../src/shared_bus/asynch/i2c.rs              | 12 --------
 .../src/shared_bus/asynch/spi.rs              | 14 ----------
 embassy-embedded-hal/src/shared_bus/mod.rs    | 28 +++++++++++++++++++
 3 files changed, 28 insertions(+), 26 deletions(-)

diff --git a/embassy-embedded-hal/src/shared_bus/asynch/i2c.rs b/embassy-embedded-hal/src/shared_bus/asynch/i2c.rs
index 40831749..13611792 100644
--- a/embassy-embedded-hal/src/shared_bus/asynch/i2c.rs
+++ b/embassy-embedded-hal/src/shared_bus/asynch/i2c.rs
@@ -22,7 +22,6 @@
 //! let i2c_dev2 = I2cBusDevice::new(i2c_bus);
 //! let mpu = Mpu6050::new(i2c_dev2);
 //! ```
-use core::fmt::Debug;
 use core::future::Future;
 
 use embassy::blocking_mutex::raw::RawMutex;
@@ -42,17 +41,6 @@ impl<'a, M: RawMutex, BUS> I2cBusDevice<'a, M, BUS> {
     }
 }
 
-impl<BUS> i2c::Error for I2cBusDeviceError<BUS>
-where
-    BUS: i2c::Error + Debug,
-{
-    fn kind(&self) -> i2c::ErrorKind {
-        match self {
-            Self::I2c(e) => e.kind(),
-        }
-    }
-}
-
 impl<'a, M: RawMutex, BUS> i2c::ErrorType for I2cBusDevice<'a, M, BUS>
 where
     BUS: i2c::ErrorType,
diff --git a/embassy-embedded-hal/src/shared_bus/asynch/spi.rs b/embassy-embedded-hal/src/shared_bus/asynch/spi.rs
index f3795bb1..8034c90b 100644
--- a/embassy-embedded-hal/src/shared_bus/asynch/spi.rs
+++ b/embassy-embedded-hal/src/shared_bus/asynch/spi.rs
@@ -25,7 +25,6 @@
 //! let spi_dev2 = SpiBusDevice::new(spi_bus, cs_pin2);
 //! let display2 = ST7735::new(spi_dev2, dc2, rst2, Default::default(), 160, 128);
 //! ```
-use core::fmt::Debug;
 use core::future::Future;
 
 use embassy::blocking_mutex::raw::RawMutex;
@@ -56,19 +55,6 @@ where
     type Error = SpiBusDeviceError<BUS::Error, CS::Error>;
 }
 
-impl<BUS, CS> spi::Error for SpiBusDeviceError<BUS, CS>
-where
-    BUS: spi::Error + Debug,
-    CS: Debug,
-{
-    fn kind(&self) -> spi::ErrorKind {
-        match self {
-            Self::Spi(e) => e.kind(),
-            Self::Cs(_) => spi::ErrorKind::Other,
-        }
-    }
-}
-
 impl<M, BUS, CS> spi::SpiDevice for SpiBusDevice<'_, M, BUS, CS>
 where
     M: RawMutex + 'static,
diff --git a/embassy-embedded-hal/src/shared_bus/mod.rs b/embassy-embedded-hal/src/shared_bus/mod.rs
index 2309a6c3..61200443 100644
--- a/embassy-embedded-hal/src/shared_bus/mod.rs
+++ b/embassy-embedded-hal/src/shared_bus/mod.rs
@@ -1,4 +1,8 @@
 //! Shared bus implementations
+use core::fmt::Debug;
+
+use embedded_hal_1::{i2c, spi};
+
 #[cfg(feature = "nightly")]
 pub mod asynch;
 
@@ -9,8 +13,32 @@ pub enum I2cBusDeviceError<BUS> {
     I2c(BUS),
 }
 
+impl<BUS> i2c::Error for I2cBusDeviceError<BUS>
+where
+    BUS: i2c::Error + Debug,
+{
+    fn kind(&self) -> i2c::ErrorKind {
+        match self {
+            Self::I2c(e) => e.kind(),
+        }
+    }
+}
+
 #[derive(Copy, Clone, Eq, PartialEq, Debug)]
 pub enum SpiBusDeviceError<BUS, CS> {
     Spi(BUS),
     Cs(CS),
 }
+
+impl<BUS, CS> spi::Error for SpiBusDeviceError<BUS, CS>
+where
+    BUS: spi::Error + Debug,
+    CS: Debug,
+{
+    fn kind(&self) -> spi::ErrorKind {
+        match self {
+            Self::Spi(e) => e.kind(),
+            Self::Cs(_) => spi::ErrorKind::Other,
+        }
+    }
+}

From c9b58561538b5fb3e5702744c9f5653d039f8c98 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Henrik=20Als=C3=A9r?= <henrik@mindbite.se>
Date: Sun, 10 Jul 2022 00:58:05 +0200
Subject: [PATCH 11/11] Features only on nightly

---
 embassy-embedded-hal/src/lib.rs | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/embassy-embedded-hal/src/lib.rs b/embassy-embedded-hal/src/lib.rs
index f57d83b5..d77c2d63 100644
--- a/embassy-embedded-hal/src/lib.rs
+++ b/embassy-embedded-hal/src/lib.rs
@@ -1,6 +1,5 @@
 #![cfg_attr(not(feature = "std"), no_std)]
-#![feature(generic_associated_types)]
-#![feature(type_alias_impl_trait)]
+#![cfg_attr(feature = "nightly", feature(generic_associated_types, type_alias_impl_trait))]
 
 #[cfg(feature = "nightly")]
 pub mod adapter;