Merge #850

850: Shared buses with SetConfig r=Dirbaio a=kalkyl

Addresses issue #830 

Co-authored-by: Henrik Alsér <[email protected]>

17 files changed, 461 insertions, 48 deletions

diff --git a/embassy-embedded-hal/Cargo.toml b/embassy-embedded-hal/Cargo.toml
index d1b9f3ea4..d2606d264 100644
--- a/embassy-embedded-hal/Cargo.toml
+++ b/embassy-embedded-hal/Cargo.toml
@@ -5,12 +5,14 @@ edition = "2021"
 
 [features]
 std = []
+# Enable nightly-only features
+nightly = ["embedded-hal-async", "embedded-storage-async"]
 
 [dependencies]
 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"
+embedded-storage-async = { version = "0.3.0", optional = true }
 nb = "1.0.0"
\ No newline at end of file
diff --git a/embassy-embedded-hal/src/lib.rs b/embassy-embedded-hal/src/lib.rs
index 27ffa7421..d77c2d635 100644
--- a/embassy-embedded-hal/src/lib.rs
+++ b/embassy-embedded-hal/src/lib.rs
@@ -1,6 +1,12 @@
 #![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;
+
 pub mod shared_bus;
+
+pub trait SetConfig {
+    type Config;
+    fn set_config(&mut self, config: &Self::Config);
+}
diff --git a/embassy-embedded-hal/src/shared_bus/i2c.rs b/embassy-embedded-hal/src/shared_bus/asynch/i2c.rs
index e8131288a..136117920 100644
--- a/embassy-embedded-hal/src/shared_bus/i2c.rs
+++ b/embassy-embedded-hal/src/shared_bus/asynch/i2c.rs
@@ -22,28 +22,14 @@
 //! 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;
 use embassy::mutex::Mutex;
 use embedded_hal_async::i2c;
 
-#[derive(Copy, Clone, Eq, PartialEq, Debug)]
-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(),
-        }
-    }
-}
+use crate::shared_bus::I2cBusDeviceError;
+use crate::SetConfig;
 
 pub struct I2cBusDevice<'a, M: RawMutex, BUS> {
     bus: &'a Mutex<M, BUS>,
@@ -116,3 +102,81 @@ where
         async move { todo!() }
     }
 }
+
+pub struct I2cBusDeviceWithConfig<'a, M: RawMutex, BUS: SetConfig> {
+    bus: &'a Mutex<M, BUS>,
+    config: BUS::Config,
+}
+
+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, BUS> i2c::ErrorType for I2cBusDeviceWithConfig<'a, M, BUS>
+where
+    BUS: i2c::ErrorType,
+    M: RawMutex,
+    BUS: SetConfig,
+{
+    type Error = I2cBusDeviceError<BUS::Error>;
+}
+
+impl<M, BUS> i2c::I2c for I2cBusDeviceWithConfig<'_, M, BUS>
+where
+    M: RawMutex + 'static,
+    BUS: i2c::I2c + SetConfig + '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/asynch/mod.rs b/embassy-embedded-hal/src/shared_bus/asynch/mod.rs
new file mode 100644
index 000000000..2e660b724
--- /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
index fd4b6d565..8034c90b5 100644
--- a/embassy-embedded-hal/src/shared_bus/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;
@@ -34,24 +33,8 @@ use embedded_hal_1::digital::blocking::OutputPin;
 use embedded_hal_1::spi::ErrorType;
 use embedded_hal_async::spi;
 
-#[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,
-        }
-    }
-}
+use crate::shared_bus::SpiBusDeviceError;
+use crate::SetConfig;
 
 pub struct SpiBusDevice<'a, M: RawMutex, BUS, CS> {
     bus: &'a Mutex<M, BUS>,
@@ -109,3 +92,63 @@ where
         }
     }
 }
+
+pub struct SpiBusDeviceWithConfig<'a, M: RawMutex, BUS: SetConfig, CS> {
+    bus: &'a Mutex<M, 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, 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
+    BUS: spi::ErrorType + SetConfig,
+    CS: OutputPin,
+    M: RawMutex,
+{
+    type Error = SpiBusDeviceError<BUS::Error, CS::Error>;
+}
+
+impl<M, BUS, CS> spi::SpiDevice for SpiBusDeviceWithConfig<'_, M, BUS, CS>
+where
+    M: RawMutex + 'static,
+    BUS: spi::SpiBusFlush + SetConfig + '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-embedded-hal/src/shared_bus/blocking/i2c.rs b/embassy-embedded-hal/src/shared_bus/blocking/i2c.rs
index bfbcb6c2e..ac361a786 100644
--- a/embassy-embedded-hal/src/shared_bus/blocking/i2c.rs
+++ b/embassy-embedded-hal/src/shared_bus/blocking/i2c.rs
@@ -23,7 +23,8 @@ 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> {
     bus: &'a Mutex<M, RefCell<BUS>>,
@@ -141,3 +142,87 @@ where
         })
     }
 }
+
+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, BUS> ErrorType for I2cBusDeviceWithConfig<'a, M, BUS>
+where
+    M: RawMutex,
+    BUS: ErrorType + SetConfig,
+{
+    type Error = I2cBusDeviceError<BUS::Error>;
+}
+
+impl<M, BUS> I2c for I2cBusDeviceWithConfig<'_, M, BUS>
+where
+    M: RawMutex,
+    BUS: I2c + SetConfig,
+{
+    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 81cf97457..704858cdb 100644
--- a/embassy-embedded-hal/src/shared_bus/blocking/spi.rs
+++ b/embassy-embedded-hal/src/shared_bus/blocking/spi.rs
@@ -26,7 +26,8 @@ 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> {
     bus: &'a Mutex<M, RefCell<BUS>>,
@@ -115,3 +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/mod.rs b/embassy-embedded-hal/src/shared_bus/mod.rs
index cd748cac8..61200443d 100644
--- a/embassy-embedded-hal/src/shared_bus/mod.rs
+++ b/embassy-embedded-hal/src/shared_bus/mod.rs
@@ -1,6 +1,44 @@
 //! Shared bus implementations
+use core::fmt::Debug;
+
+use embedded_hal_1::{i2c, spi};
+
+#[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),
+}
+
+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,
+        }
+    }
+}
diff --git a/embassy-nrf/Cargo.toml b/embassy-nrf/Cargo.toml
index 887ea1bd2..3569a70c6 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.
@@ -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 efccfeca3..d34d9a0c8 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 +522,46 @@ cfg_if::cfg_if! {
         }
     }
 }
+
+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;
+        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 c3921104e..2088691b2 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 +879,12 @@ cfg_if::cfg_if! {
         }
     }
 }
+
+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/embassy-rp/Cargo.toml b/embassy-rp/Cargo.toml
index 217221b0e..95ae76cd2 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.
@@ -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 e988e41d2..6b3f2238a 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);
+            });
+        }
+    }
+}
diff --git a/embassy-stm32/Cargo.toml b/embassy-stm32/Cargo.toml
index a21384be6..a5c444fbb 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 }
 
@@ -90,7 +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.
diff --git a/embassy-stm32/src/i2c/v1.rs b/embassy-stm32/src/i2c/v1.rs
index f56e50f9b..c328224fa 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;
@@ -449,3 +450,23 @@ 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 08b43bebd..672f09399 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;
@@ -941,3 +942,19 @@ 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 7c142e507..a839bb41e 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);
+    }
+}