stm32: add timeout to I2C driver

7 files changed, 85 insertions, 290 deletions

diff --git a/embassy-stm32/Cargo.toml b/embassy-stm32/Cargo.toml
index 70e8f2e29..a4e4e51d6 100644
--- a/embassy-stm32/Cargo.toml
+++ b/embassy-stm32/Cargo.toml
@@ -8,7 +8,7 @@ license = "MIT OR Apache-2.0"
 src_base = "https://github.com/embassy-rs/embassy/blob/embassy-stm32-v$VERSION/embassy-stm32/src/"
 src_base_git = "https://github.com/embassy-rs/embassy/blob/$COMMIT/embassy-stm32/src/"
 
-features = ["nightly", "defmt", "unstable-pac", "unstable-traits", "exti", "time-driver-any", "time"]
+features = ["nightly", "defmt", "unstable-pac", "unstable-traits", "exti", "time-driver-any"]
 flavors = [
     { regex_feature = "stm32f0.*", target = "thumbv6m-none-eabi" },
     { regex_feature = "stm32f1.*", target = "thumbv7m-none-eabi" },
@@ -33,7 +33,7 @@ flavors = [
 
 [dependencies]
 embassy-sync = { version = "0.3.0", path = "../embassy-sync" }
-embassy-time = { version = "0.1.3", path = "../embassy-time", optional = true }
+embassy-time = { version = "0.1.3", path = "../embassy-time" }
 embassy-futures = { version = "0.1.0", path = "../embassy-futures" }
 embassy-hal-internal = {version = "0.1.0", path = "../embassy-hal-internal", features = ["cortex-m", "prio-bits-4"] }
 embassy-embedded-hal = {version = "0.1.0", path = "../embassy-embedded-hal" }
@@ -87,7 +87,7 @@ default = ["rt"]
 rt = ["stm32-metapac/rt"]
 
 ## Use [`defmt`](https://docs.rs/defmt/latest/defmt/) for logging
-defmt = ["dep:defmt", "bxcan/unstable-defmt", "embassy-sync/defmt", "embassy-embedded-hal/defmt", "embassy-hal-internal/defmt", "embedded-io-async?/defmt-03", "embassy-usb-driver?/defmt", "embassy-net-driver/defmt", "embassy-time?/defmt"]
+defmt = ["dep:defmt", "bxcan/unstable-defmt", "embassy-sync/defmt", "embassy-embedded-hal/defmt", "embassy-hal-internal/defmt", "embedded-io-async?/defmt-03", "embassy-usb-driver?/defmt", "embassy-net-driver/defmt"]
 
 exti = []
 low-power = [ "dep:embassy-executor", "embassy-executor/arch-cortex-m" ]
@@ -112,7 +112,7 @@ unstable-traits = ["embedded-hal-1", "dep:embedded-hal-nb"]
 #! ## Time
 
 ## Enables additional driver features that depend on embassy-time
-time = ["dep:embassy-time"]
+time = []
 
 # Features starting with `_` are for internal use only. They're not intended
 # to be enabled by other crates, and are not covered by semver guarantees.
diff --git a/embassy-stm32/src/i2c/mod.rs b/embassy-stm32/src/i2c/mod.rs
index 62d13e909..dde1a5040 100644
--- a/embassy-stm32/src/i2c/mod.rs
+++ b/embassy-stm32/src/i2c/mod.rs
@@ -7,11 +7,6 @@ use crate::interrupt;
 mod _version;
 pub use _version::*;
 
-#[cfg(feature = "time")]
-mod timeout;
-#[cfg(feature = "time")]
-pub use timeout::*;
-
 use crate::peripherals;
 
 #[derive(Debug, PartialEq, Eq)]
diff --git a/embassy-stm32/src/i2c/timeout.rs b/embassy-stm32/src/i2c/timeout.rs
deleted file mode 100644
index 103017cd1..000000000
--- a/embassy-stm32/src/i2c/timeout.rs
+++ /dev/null
@@ -1,209 +0,0 @@
-use embassy_time::{Duration, Instant};
-
-use super::{Error, I2c, Instance};
-
-/// An I2C wrapper, which provides `embassy-time` based timeouts for all `embedded-hal` trait methods.
-///
-/// This is useful for recovering from a shorted bus or a device stuck in a clock stretching state.
-/// A regular [I2c] would freeze until condition is removed.
-pub struct TimeoutI2c<'a, 'd: 'a, T: Instance, TXDMA, RXDMA> {
-    i2c: &'a mut I2c<'d, T, TXDMA, RXDMA>,
-    timeout: Duration,
-}
-
-fn timeout_fn(timeout: Duration) -> impl Fn() -> Result<(), Error> {
-    let deadline = Instant::now() + timeout;
-    move || {
-        if Instant::now() > deadline {
-            Err(Error::Timeout)
-        } else {
-            Ok(())
-        }
-    }
-}
-
-impl<'a, 'd: 'a, T: Instance, TXDMA, RXDMA> TimeoutI2c<'a, 'd, T, TXDMA, RXDMA> {
-    pub fn new(i2c: &'a mut I2c<'d, T, TXDMA, RXDMA>, timeout: Duration) -> Self {
-        Self { i2c, timeout }
-    }
-
-    // =========================
-    //  Async public API
-
-    #[cfg(i2c_v2)]
-    pub async fn write(&mut self, address: u8, write: &[u8]) -> Result<(), Error>
-    where
-        TXDMA: crate::i2c::TxDma<T>,
-    {
-        self.write_timeout(address, write, self.timeout).await
-    }
-
-    #[cfg(i2c_v2)]
-    pub async fn write_timeout(&mut self, address: u8, write: &[u8], timeout: Duration) -> Result<(), Error>
-    where
-        TXDMA: crate::i2c::TxDma<T>,
-    {
-        self.i2c.write_timeout(address, write, timeout_fn(timeout)).await
-    }
-
-    #[cfg(i2c_v2)]
-    pub async fn write_vectored(&mut self, address: u8, write: &[&[u8]]) -> Result<(), Error>
-    where
-        TXDMA: crate::i2c::TxDma<T>,
-    {
-        self.write_vectored_timeout(address, write, self.timeout).await
-    }
-
-    #[cfg(i2c_v2)]
-    pub async fn write_vectored_timeout(&mut self, address: u8, write: &[&[u8]], timeout: Duration) -> Result<(), Error>
-    where
-        TXDMA: crate::i2c::TxDma<T>,
-    {
-        self.i2c
-            .write_vectored_timeout(address, write, timeout_fn(timeout))
-            .await
-    }
-
-    #[cfg(i2c_v2)]
-    pub async fn read(&mut self, address: u8, buffer: &mut [u8]) -> Result<(), Error>
-    where
-        RXDMA: crate::i2c::RxDma<T>,
-    {
-        self.read_timeout(address, buffer, self.timeout).await
-    }
-
-    #[cfg(i2c_v2)]
-    pub async fn read_timeout(&mut self, address: u8, buffer: &mut [u8], timeout: Duration) -> Result<(), Error>
-    where
-        RXDMA: crate::i2c::RxDma<T>,
-    {
-        self.i2c.read_timeout(address, buffer, timeout_fn(timeout)).await
-    }
-
-    #[cfg(i2c_v2)]
-    pub async fn write_read(&mut self, address: u8, write: &[u8], read: &mut [u8]) -> Result<(), Error>
-    where
-        TXDMA: super::TxDma<T>,
-        RXDMA: super::RxDma<T>,
-    {
-        self.write_read_timeout(address, write, read, self.timeout).await
-    }
-
-    #[cfg(i2c_v2)]
-    pub async fn write_read_timeout(
-        &mut self,
-        address: u8,
-        write: &[u8],
-        read: &mut [u8],
-        timeout: Duration,
-    ) -> Result<(), Error>
-    where
-        TXDMA: super::TxDma<T>,
-        RXDMA: super::RxDma<T>,
-    {
-        self.i2c
-            .write_read_timeout(address, write, read, timeout_fn(timeout))
-            .await
-    }
-
-    // =========================
-    //  Blocking public API
-
-    /// Blocking read with a custom timeout
-    pub fn blocking_read_timeout(&mut self, addr: u8, read: &mut [u8], timeout: Duration) -> Result<(), Error> {
-        self.i2c.blocking_read_timeout(addr, read, timeout_fn(timeout))
-    }
-
-    /// Blocking read with default timeout, provided in [`TimeoutI2c::new()`]
-    pub fn blocking_read(&mut self, addr: u8, read: &mut [u8]) -> Result<(), Error> {
-        self.blocking_read_timeout(addr, read, self.timeout)
-    }
-
-    /// Blocking write with a custom timeout
-    pub fn blocking_write_timeout(&mut self, addr: u8, write: &[u8], timeout: Duration) -> Result<(), Error> {
-        self.i2c.blocking_write_timeout(addr, write, timeout_fn(timeout))
-    }
-
-    /// Blocking write with default timeout, provided in [`TimeoutI2c::new()`]
-    pub fn blocking_write(&mut self, addr: u8, write: &[u8]) -> Result<(), Error> {
-        self.blocking_write_timeout(addr, write, self.timeout)
-    }
-
-    /// Blocking write-read with a custom timeout
-    pub fn blocking_write_read_timeout(
-        &mut self,
-        addr: u8,
-        write: &[u8],
-        read: &mut [u8],
-        timeout: Duration,
-    ) -> Result<(), Error> {
-        self.i2c
-            .blocking_write_read_timeout(addr, write, read, timeout_fn(timeout))
-    }
-
-    /// Blocking write-read with default timeout, provided in [`TimeoutI2c::new()`]
-    pub fn blocking_write_read(&mut self, addr: u8, write: &[u8], read: &mut [u8]) -> Result<(), Error> {
-        self.blocking_write_read_timeout(addr, write, read, self.timeout)
-    }
-}
-
-impl<'a, 'd: 'a, T: Instance, TXDMA, RXDMA> embedded_hal_02::blocking::i2c::Read
-    for TimeoutI2c<'a, 'd, T, TXDMA, RXDMA>
-{
-    type Error = Error;
-
-    fn read(&mut self, addr: u8, read: &mut [u8]) -> Result<(), Self::Error> {
-        self.blocking_read(addr, read)
-    }
-}
-
-impl<'a, 'd: 'a, T: Instance, TXDMA, RXDMA> embedded_hal_02::blocking::i2c::Write
-    for TimeoutI2c<'a, 'd, T, TXDMA, RXDMA>
-{
-    type Error = Error;
-
-    fn write(&mut self, addr: u8, write: &[u8]) -> Result<(), Self::Error> {
-        self.blocking_write(addr, write)
-    }
-}
-
-impl<'a, 'd: 'a, T: Instance, TXDMA, RXDMA> embedded_hal_02::blocking::i2c::WriteRead
-    for TimeoutI2c<'a, 'd, T, TXDMA, RXDMA>
-{
-    type Error = Error;
-
-    fn write_read(&mut self, addr: u8, write: &[u8], read: &mut [u8]) -> Result<(), Self::Error> {
-        self.blocking_write_read(addr, write, read)
-    }
-}
-
-#[cfg(feature = "unstable-traits")]
-mod eh1 {
-    use super::*;
-
-    impl<'a, 'd: 'a, T: Instance, TXDMA, RXDMA> embedded_hal_1::i2c::ErrorType for TimeoutI2c<'a, 'd, T, TXDMA, RXDMA> {
-        type Error = Error;
-    }
-
-    impl<'a, 'd: 'a, T: Instance, TXDMA, RXDMA> embedded_hal_1::i2c::I2c for TimeoutI2c<'a, 'd, T, TXDMA, RXDMA> {
-        fn read(&mut self, address: u8, read: &mut [u8]) -> Result<(), Self::Error> {
-            self.blocking_read(address, read)
-        }
-
-        fn write(&mut self, address: u8, write: &[u8]) -> Result<(), Self::Error> {
-            self.blocking_write(address, write)
-        }
-
-        fn write_read(&mut self, address: u8, write: &[u8], read: &mut [u8]) -> Result<(), Self::Error> {
-            self.blocking_write_read(address, write, read)
-        }
-
-        fn transaction(
-            &mut self,
-            _address: u8,
-            _operations: &mut [embedded_hal_1::i2c::Operation<'_>],
-        ) -> Result<(), Self::Error> {
-            todo!();
-        }
-    }
-}
diff --git a/embassy-stm32/src/i2c/v2.rs b/embassy-stm32/src/i2c/v2.rs
index 543d8f1b4..256b39638 100644
--- a/embassy-stm32/src/i2c/v2.rs
+++ b/embassy-stm32/src/i2c/v2.rs
@@ -7,6 +7,7 @@ use embassy_embedded_hal::SetConfig;
 use embassy_hal_internal::drop::OnDrop;
 use embassy_hal_internal::{into_ref, PeripheralRef};
 use embassy_sync::waitqueue::AtomicWaker;
+use embassy_time::{Duration, Instant};
 
 use crate::dma::{NoDma, Transfer};
 use crate::gpio::sealed::AFType;
@@ -43,6 +44,7 @@ impl<T: Instance> interrupt::typelevel::Handler<T::Interrupt> for InterruptHandl
 pub struct Config {
     pub sda_pullup: bool,
     pub scl_pullup: bool,
+    pub transaction_timeout: Duration,
 }
 
 impl Default for Config {
@@ -50,6 +52,7 @@ impl Default for Config {
         Self {
             sda_pullup: false,
             scl_pullup: false,
+            transaction_timeout: Duration::from_millis(100),
         }
     }
 }
@@ -71,6 +74,7 @@ pub struct I2c<'d, T: Instance, TXDMA = NoDma, RXDMA = NoDma> {
     tx_dma: PeripheralRef<'d, TXDMA>,
     #[allow(dead_code)]
     rx_dma: PeripheralRef<'d, RXDMA>,
+    timeout: Duration,
 }
 
 impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
@@ -132,6 +136,7 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
             _peri: peri,
             tx_dma,
             rx_dma,
+            timeout: config.transaction_timeout,
         }
     }
 
@@ -598,22 +603,22 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
     where
         TXDMA: crate::i2c::TxDma<T>,
     {
-        self.write_timeout(address, write, || Ok(())).await
+        self.write_timeout(address, write, self.timeout).await
     }
 
-    pub async fn write_timeout(
-        &mut self,
-        address: u8,
-        write: &[u8],
-        check_timeout: impl Fn() -> Result<(), Error>,
-    ) -> Result<(), Error>
+    pub async fn write_timeout(&mut self, address: u8, write: &[u8], timeout: Duration) -> Result<(), Error>
     where
         TXDMA: crate::i2c::TxDma<T>,
     {
         if write.is_empty() {
-            self.write_internal(address, write, true, check_timeout)
+            self.write_internal(address, write, true, timeout_fn(timeout))
         } else {
-            self.write_dma_internal(address, write, true, true, check_timeout).await
+            embassy_time::with_timeout(
+                timeout,
+                self.write_dma_internal(address, write, true, true, timeout_fn(timeout)),
+            )
+            .await
+            .unwrap_or(Err(Error::Timeout))
         }
     }
 
@@ -621,15 +626,10 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
     where
         TXDMA: crate::i2c::TxDma<T>,
     {
-        self.write_vectored_timeout(address, write, || Ok(())).await
+        self.write_vectored_timeout(address, write, self.timeout).await
     }
 
-    pub async fn write_vectored_timeout(
-        &mut self,
-        address: u8,
-        write: &[&[u8]],
-        check_timeout: impl Fn() -> Result<(), Error>,
-    ) -> Result<(), Error>
+    pub async fn write_vectored_timeout(&mut self, address: u8, write: &[&[u8]], timeout: Duration) -> Result<(), Error>
     where
         TXDMA: crate::i2c::TxDma<T>,
     {
@@ -644,8 +644,12 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
             let next = iter.next();
             let is_last = next.is_none();
 
-            self.write_dma_internal(address, c, first, is_last, || check_timeout())
-                .await?;
+            embassy_time::with_timeout(
+                timeout,
+                self.write_dma_internal(address, c, first, is_last, timeout_fn(timeout)),
+            )
+            .await
+            .unwrap_or(Err(Error::Timeout))?;
             first = false;
             current = next;
         }
@@ -656,22 +660,22 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
     where
         RXDMA: crate::i2c::RxDma<T>,
     {
-        self.read_timeout(address, buffer, || Ok(())).await
+        self.read_timeout(address, buffer, self.timeout).await
     }
 
-    pub async fn read_timeout(
-        &mut self,
-        address: u8,
-        buffer: &mut [u8],
-        check_timeout: impl Fn() -> Result<(), Error>,
-    ) -> Result<(), Error>
+    pub async fn read_timeout(&mut self, address: u8, buffer: &mut [u8], timeout: Duration) -> Result<(), Error>
     where
         RXDMA: crate::i2c::RxDma<T>,
     {
         if buffer.is_empty() {
-            self.read_internal(address, buffer, false, check_timeout)
+            self.read_internal(address, buffer, false, timeout_fn(timeout))
         } else {
-            self.read_dma_internal(address, buffer, false, check_timeout).await
+            embassy_time::with_timeout(
+                timeout,
+                self.read_dma_internal(address, buffer, false, timeout_fn(timeout)),
+            )
+            .await
+            .unwrap_or(Err(Error::Timeout))
         }
     }
 
@@ -680,7 +684,7 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
         TXDMA: super::TxDma<T>,
         RXDMA: super::RxDma<T>,
     {
-        self.write_read_timeout(address, write, read, || Ok(())).await
+        self.write_read_timeout(address, write, read, self.timeout).await
     }
 
     pub async fn write_read_timeout(
@@ -688,23 +692,36 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
         address: u8,
         write: &[u8],
         read: &mut [u8],
-        check_timeout: impl Fn() -> Result<(), Error>,
+        timeout: Duration,
     ) -> Result<(), Error>
     where
         TXDMA: super::TxDma<T>,
         RXDMA: super::RxDma<T>,
     {
+        let start_instant = Instant::now();
+        let check_timeout = timeout_fn(timeout);
         if write.is_empty() {
-            self.write_internal(address, write, false, || check_timeout())?;
+            self.write_internal(address, write, false, &check_timeout)?;
         } else {
-            self.write_dma_internal(address, write, true, true, || check_timeout())
-                .await?;
+            embassy_time::with_timeout(
+                timeout,
+                self.write_dma_internal(address, write, true, true, &check_timeout),
+            )
+            .await
+            .unwrap_or(Err(Error::Timeout))?;
         }
 
+        let time_left_until_timeout = timeout - Instant::now().duration_since(start_instant);
+
         if read.is_empty() {
-            self.read_internal(address, read, true, check_timeout)?;
+            self.read_internal(address, read, true, &check_timeout)?;
         } else {
-            self.read_dma_internal(address, read, true, check_timeout).await?;
+            embassy_time::with_timeout(
+                time_left_until_timeout,
+                self.read_dma_internal(address, read, true, &check_timeout),
+            )
+            .await
+            .unwrap_or(Err(Error::Timeout))?;
         }
 
         Ok(())
@@ -713,31 +730,21 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
     // =========================
     //  Blocking public API
 
-    pub fn blocking_read_timeout(
-        &mut self,
-        address: u8,
-        read: &mut [u8],
-        check_timeout: impl Fn() -> Result<(), Error>,
-    ) -> Result<(), Error> {
-        self.read_internal(address, read, false, &check_timeout)
+    pub fn blocking_read_timeout(&mut self, address: u8, read: &mut [u8], timeout: Duration) -> Result<(), Error> {
+        self.read_internal(address, read, false, timeout_fn(timeout))
         // Automatic Stop
     }
 
     pub fn blocking_read(&mut self, address: u8, read: &mut [u8]) -> Result<(), Error> {
-        self.blocking_read_timeout(address, read, || Ok(()))
+        self.blocking_read_timeout(address, read, self.timeout)
     }
 
-    pub fn blocking_write_timeout(
-        &mut self,
-        address: u8,
-        write: &[u8],
-        check_timeout: impl Fn() -> Result<(), Error>,
-    ) -> Result<(), Error> {
-        self.write_internal(address, write, true, &check_timeout)
+    pub fn blocking_write_timeout(&mut self, address: u8, write: &[u8], timeout: Duration) -> Result<(), Error> {
+        self.write_internal(address, write, true, timeout_fn(timeout))
     }
 
     pub fn blocking_write(&mut self, address: u8, write: &[u8]) -> Result<(), Error> {
-        self.blocking_write_timeout(address, write, || Ok(()))
+        self.blocking_write_timeout(address, write, self.timeout)
     }
 
     pub fn blocking_write_read_timeout(
@@ -745,26 +752,29 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
         address: u8,
         write: &[u8],
         read: &mut [u8],
-        check_timeout: impl Fn() -> Result<(), Error>,
+        timeout: Duration,
     ) -> Result<(), Error> {
+        let check_timeout = timeout_fn(timeout);
         self.write_internal(address, write, false, &check_timeout)?;
         self.read_internal(address, read, true, &check_timeout)
         // Automatic Stop
     }
 
     pub fn blocking_write_read(&mut self, address: u8, write: &[u8], read: &mut [u8]) -> Result<(), Error> {
-        self.blocking_write_read_timeout(address, write, read, || Ok(()))
+        self.blocking_write_read_timeout(address, write, read, self.timeout)
     }
 
     pub fn blocking_write_vectored_timeout(
         &mut self,
         address: u8,
         write: &[&[u8]],
-        check_timeout: impl Fn() -> Result<(), Error>,
+        timeout: Duration,
     ) -> Result<(), Error> {
         if write.is_empty() {
             return Err(Error::ZeroLengthTransfer);
         }
+
+        let check_timeout = timeout_fn(timeout);
         let first_length = write[0].len();
         let last_slice_index = write.len() - 1;
 
@@ -834,7 +844,7 @@ impl<'d, T: Instance, TXDMA, RXDMA> I2c<'d, T, TXDMA, RXDMA> {
     }
 
     pub fn blocking_write_vectored(&mut self, address: u8, write: &[&[u8]]) -> Result<(), Error> {
-        self.blocking_write_vectored_timeout(address, write, || Ok(()))
+        self.blocking_write_vectored_timeout(address, write, self.timeout)
     }
 }
 
@@ -1089,3 +1099,14 @@ impl<'d, T: Instance> SetConfig for I2c<'d, T> {
         Ok(())
     }
 }
+
+fn timeout_fn(timeout: Duration) -> impl Fn() -> Result<(), Error> {
+    let deadline = Instant::now() + timeout;
+    move || {
+        if Instant::now() > deadline {
+            Err(Error::Timeout)
+        } else {
+            Ok(())
+        }
+    }
+}
diff --git a/examples/stm32f4/src/bin/i2c.rs b/examples/stm32f4/src/bin/i2c.rs
index a92957325..10ca2bdc7 100644
--- a/examples/stm32f4/src/bin/i2c.rs
+++ b/examples/stm32f4/src/bin/i2c.rs
@@ -5,7 +5,7 @@
 use defmt::*;
 use embassy_executor::Spawner;
 use embassy_stm32::dma::NoDma;
-use embassy_stm32::i2c::{Error, I2c, TimeoutI2c};
+use embassy_stm32::i2c::{Error, I2c};
 use embassy_stm32::time::Hertz;
 use embassy_stm32::{bind_interrupts, i2c, peripherals};
 use embassy_time::Duration;
@@ -34,13 +34,9 @@ async fn main(_spawner: Spawner) {
         Default::default(),
     );
 
-    // I2C bus can freeze if SCL line is shorted or due to a broken device that clock stretches for too long.
-    // TimeoutI2c allows recovering from such errors by throwing `Error::Timeout` after a given delay.
-    let mut timeout_i2c = TimeoutI2c::new(&mut i2c, Duration::from_millis(1000));
-
     let mut data = [0u8; 1];
 
-    match timeout_i2c.blocking_write_read(ADDRESS, &[WHOAMI], &mut data) {
+    match i2c.blocking_write_read(ADDRESS, &[WHOAMI], &mut data) {
         Ok(()) => info!("Whoami: {}", data[0]),
         Err(Error::Timeout) => error!("Operation timed out"),
         Err(e) => error!("I2c Error: {:?}", e),
diff --git a/examples/stm32h5/src/bin/i2c.rs b/examples/stm32h5/src/bin/i2c.rs
index 8b6fe71ae..4ce378e9b 100644
--- a/examples/stm32h5/src/bin/i2c.rs
+++ b/examples/stm32h5/src/bin/i2c.rs
@@ -4,7 +4,7 @@
 
 use defmt::*;
 use embassy_executor::Spawner;
-use embassy_stm32::i2c::{Error, I2c, TimeoutI2c};
+use embassy_stm32::i2c::{Error, I2c};
 use embassy_stm32::time::Hertz;
 use embassy_stm32::{bind_interrupts, i2c, peripherals};
 use embassy_time::Duration;
@@ -33,13 +33,9 @@ async fn main(_spawner: Spawner) {
         Default::default(),
     );
 
-    // I2C bus can freeze if SCL line is shorted or due to a broken device that clock stretches for too long.
-    // TimeoutI2c allows recovering from such errors by throwing `Error::Timeout` after a given delay.
-    let mut timeout_i2c = TimeoutI2c::new(&mut i2c, Duration::from_millis(1000));
-
     let mut data = [0u8; 1];
 
-    match timeout_i2c.blocking_write_read(ADDRESS, &[WHOAMI], &mut data) {
+    match i2c.blocking_write_read(ADDRESS, &[WHOAMI], &mut data) {
         Ok(()) => info!("Whoami: {}", data[0]),
         Err(Error::Timeout) => error!("Operation timed out"),
         Err(e) => error!("I2c Error: {:?}", e),
diff --git a/examples/stm32h7/src/bin/i2c.rs b/examples/stm32h7/src/bin/i2c.rs
index c2979c59b..7cd12e5eb 100644
--- a/examples/stm32h7/src/bin/i2c.rs
+++ b/examples/stm32h7/src/bin/i2c.rs
@@ -4,7 +4,7 @@
 
 use defmt::*;
 use embassy_executor::Spawner;
-use embassy_stm32::i2c::{Error, I2c, TimeoutI2c};
+use embassy_stm32::i2c::{Error, I2c};
 use embassy_stm32::time::Hertz;
 use embassy_stm32::{bind_interrupts, i2c, peripherals};
 use embassy_time::Duration;
@@ -33,13 +33,9 @@ async fn main(_spawner: Spawner) {
         Default::default(),
     );
 
-    // I2C bus can freeze if SCL line is shorted or due to a broken device that clock stretches for too long.
-    // TimeoutI2c allows recovering from such errors by throwing `Error::Timeout` after a given delay.
-    let mut timeout_i2c = TimeoutI2c::new(&mut i2c, Duration::from_millis(1000));
-
     let mut data = [0u8; 1];
 
-    match timeout_i2c.blocking_write_read(ADDRESS, &[WHOAMI], &mut data) {
+    match i2c.blocking_write_read(ADDRESS, &[WHOAMI], &mut data) {
         Ok(()) => info!("Whoami: {}", data[0]),
         Err(Error::Timeout) => error!("Operation timed out"),
         Err(e) => error!("I2c Error: {:?}", e),