Async shared bus for SPI & I2C + rename embassy-traits (#769)

* Rename embassy-traits to embassy-embedded-hal

* Rename embassy-traits to embassy-embedded-hal

* Add shared bus for SPI and I2C

* rustfmt

* EHA alpha 1

* Rename embedded-traits in examples

* rustfmt

* rustfmt

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

26 files changed, 262 insertions, 26 deletions

diff --git a/.vscode/settings.json b/.vscode/settings.json
index 79433a7c9..5ce8e4e7d 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -1,15 +1,11 @@
 {
   "editor.formatOnSave": true,
-  "rust-analyzer.assist.importEnforceGranularity": true,
-  "rust-analyzer.assist.importGranularity": "module",
   "rust-analyzer.checkOnSave.allFeatures": false,
   "rust-analyzer.checkOnSave.allTargets": false,
   "rust-analyzer.checkOnSave.noDefaultFeatures": true,
   "rust-analyzer.cargo.allFeatures": false,
   "rust-analyzer.cargo.noDefaultFeatures": true,
-  "rust-analyzer.experimental.procAttrMacros": false,
   "rust-analyzer.procMacro.enable": true,
-  "rust-analyzer.cargo.runBuildScripts": true,
   "rust-analyzer.cargo.target": "thumbv7em-none-eabi",
   "rust-analyzer.cargo.features": [
     // These are needed to prevent embassy-net from failing to build
@@ -38,4 +34,8 @@
     // "examples/stm32wl55/Cargo.toml",
     // "examples/wasm/Cargo.toml",
   ],
+  "rust-analyzer.imports.granularity.enforce": true,
+  "rust-analyzer.imports.granularity.group": "module",
+  "rust-analyzer.cargo.buildScripts.enable": true,
+  "rust-analyzer.procMacro.attributes.enable": false,
 }
\ No newline at end of file
diff --git a/embassy-traits/Cargo.toml b/embassy-embedded-hal/Cargo.toml
index 4e0e7d22d..14b73dce5 100644
--- a/embassy-traits/Cargo.toml
+++ b/embassy-embedded-hal/Cargo.toml
@@ -1,5 +1,5 @@
 [package]
-name = "embassy-traits"
+name = "embassy-embedded-hal"
 version = "0.1.0"
 authors = ["Dario Nieuwenhuis <[email protected]>"]
 edition = "2018"
@@ -8,9 +8,10 @@ edition = "2018"
 std = []
 
 [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.0" }
+embedded-hal-async = { version = "0.1.0-alpha.1" }
 embedded-storage = "0.3.0"
 embedded-storage-async = "0.3.0"
-nb = "1.0.0"
+nb = "1.0.0"
\ No newline at end of file
diff --git a/embassy-traits/src/adapter.rs b/embassy-embedded-hal/src/adapter.rs
index 033efb7ef..033efb7ef 100644
--- a/embassy-traits/src/adapter.rs
+++ b/embassy-embedded-hal/src/adapter.rs
diff --git a/embassy-traits/src/lib.rs b/embassy-embedded-hal/src/lib.rs
index 9c5c367a8..27ffa7421 100644
--- a/embassy-traits/src/lib.rs
+++ b/embassy-embedded-hal/src/lib.rs
@@ -3,3 +3,4 @@
 #![feature(type_alias_impl_trait)]
 
 pub mod adapter;
+pub mod shared_bus;
diff --git a/embassy-embedded-hal/src/shared_bus/i2c.rs b/embassy-embedded-hal/src/shared_bus/i2c.rs
new file mode 100644
index 000000000..5a180e897
--- /dev/null
+++ b/embassy-embedded-hal/src/shared_bus/i2c.rs
@@ -0,0 +1,120 @@
+//! Asynchronous shared I2C bus
+//!
+//! # Example (nrf52)
+//!
+//! ```rust
+//! use embassy_embedded_hal::shared_bus::i2c::I2cBusDevice;
+//! use embassy::mutex::Mutex;
+//! use embassy::blocking_mutex::raw::ThreadModeRawMutex;
+//!
+//! static I2C_BUS: Forever<Mutex::<ThreadModeRawMutex, Twim<TWISPI0>>> = Forever::new();
+//! let config = twim::Config::default();
+//! let irq = interrupt::take!(SPIM0_SPIS0_TWIM0_TWIS0_SPI0_TWI0);
+//! let i2c = Twim::new(p.TWISPI0, irq, p.P0_03, p.P0_04, config);
+//! let i2c_bus = Mutex::<ThreadModeRawMutex, _>::new(i2c);
+//! let i2c_bus = I2C_BUS.put(i2c_bus);
+//!
+//! // Device 1, using embedded-hal-async compatible driver for QMC5883L compass
+//! let i2c_dev1 = I2cBusDevice::new(i2c_bus);
+//! let compass = QMC5883L::new(i2c_dev1).await.unwrap();
+//!
+//! // Device 2, using embedded-hal-async compatible driver for Mpu6050 accelerometer
+//! let i2c_dev2 = I2cBusDevice::new(i2c_bus);
+//! let mpu = Mpu6050::new(i2c_dev2);
+//! ```
+use core::{fmt::Debug, 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(),
+        }
+    }
+}
+
+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,
+{
+    type Error = I2cBusDeviceError<BUS::Error>;
+}
+
+impl<M, BUS> i2c::I2c for I2cBusDevice<'_, M, BUS>
+where
+    M: RawMutex + 'static,
+    BUS: i2c::I2c + '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.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.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.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/mod.rs b/embassy-embedded-hal/src/shared_bus/mod.rs
new file mode 100644
index 000000000..bd4fd2c31
--- /dev/null
+++ b/embassy-embedded-hal/src/shared_bus/mod.rs
@@ -0,0 +1,4 @@
+//! 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/spi.rs
new file mode 100644
index 000000000..3ec064ba7
--- /dev/null
+++ b/embassy-embedded-hal/src/shared_bus/spi.rs
@@ -0,0 +1,110 @@
+//! Asynchronous shared SPI bus
+//!
+//! # Example (nrf52)
+//!
+//! ```rust
+//! use embassy_embedded_hal::shared_bus::spi::SpiBusDevice;
+//! use embassy::mutex::Mutex;
+//! use embassy::blocking_mutex::raw::ThreadModeRawMutex;
+//!
+//! static SPI_BUS: Forever<Mutex<ThreadModeRawMutex, spim::Spim<SPI3>>> = Forever::new();
+//! let mut config = spim::Config::default();
+//! config.frequency = spim::Frequency::M32;
+//! let irq = interrupt::take!(SPIM3);
+//! let spi = spim::Spim::new_txonly(p.SPI3, irq, p.P0_15, p.P0_18, config);
+//! let spi_bus = Mutex::<ThreadModeRawMutex, _>::new(spi);
+//! let spi_bus = SPI_BUS.put(spi_bus);
+//!
+//! // Device 1, using embedded-hal-async compatible driver for ST7735 LCD display
+//! let cs_pin1 = Output::new(p.P0_24, Level::Low, OutputDrive::Standard);
+//! let spi_dev1 = SpiBusDevice::new(spi_bus, cs_pin1);
+//! let display1 = ST7735::new(spi_dev1, dc1, rst1, Default::default(), 160, 128);
+//!
+//! // Device 2
+//! let cs_pin2 = Output::new(p.P0_24, Level::Low, OutputDrive::Standard);
+//! 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, future::Future};
+use embassy::blocking_mutex::raw::RawMutex;
+use embassy::mutex::Mutex;
+
+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,
+        }
+    }
+}
+
+pub struct SpiBusDevice<'a, M: RawMutex, BUS, CS> {
+    bus: &'a Mutex<M, BUS>,
+    cs: CS,
+}
+
+impl<'a, M: RawMutex, BUS, CS> SpiBusDevice<'a, M, BUS, CS> {
+    pub fn new(bus: &'a Mutex<M, BUS>, cs: CS) -> Self {
+        Self { bus, cs }
+    }
+}
+
+impl<'a, M: RawMutex, BUS, CS> spi::ErrorType for SpiBusDevice<'a, M, BUS, CS>
+where
+    BUS: spi::ErrorType,
+    CS: OutputPin,
+{
+    type Error = SpiBusDeviceError<BUS::Error, CS::Error>;
+}
+
+impl<M, BUS, CS> spi::SpiDevice for SpiBusDevice<'_, M, BUS, CS>
+where
+    M: RawMutex + 'static,
+    BUS: spi::SpiBusFlush + '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;
+            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/examples/boot/nrf/Cargo.toml b/examples/boot/nrf/Cargo.toml
index da8333b7c..42bc35430 100644
--- a/examples/boot/nrf/Cargo.toml
+++ b/examples/boot/nrf/Cargo.toml
@@ -8,7 +8,7 @@ version = "0.1.0"
 embassy = { version = "0.1.0", path = "../../../embassy", features = ["nightly"] }
 embassy-nrf = { version = "0.1.0", path = "../../../embassy-nrf", features = ["time-driver-rtc1", "gpiote", "nightly", "nrf52840"] }
 embassy-boot-nrf = { version = "0.1.0", path = "../../../embassy-boot/nrf" }
-embassy-traits = { version = "0.1.0", path = "../../../embassy-traits" }
+embassy-embedded-hal = { version = "0.1.0", path = "../../../embassy-embedded-hal" }
 
 defmt = { version = "0.3", optional = true }
 defmt-rtt = { version = "0.3", optional = true }
diff --git a/examples/boot/nrf/src/bin/a.rs b/examples/boot/nrf/src/bin/a.rs
index 7368e36ce..d45d0ff34 100644
--- a/examples/boot/nrf/src/bin/a.rs
+++ b/examples/boot/nrf/src/bin/a.rs
@@ -5,13 +5,13 @@
 #![feature(type_alias_impl_trait)]
 
 use embassy_boot_nrf::FirmwareUpdater;
+use embassy_embedded_hal::adapter::BlockingAsync;
 use embassy_nrf::{
     gpio::{Input, Pull},
     gpio::{Level, Output, OutputDrive},
     nvmc::Nvmc,
     Peripherals,
 };
-use embassy_traits::adapter::BlockingAsync;
 use panic_reset as _;
 
 static APP_B: &[u8] = include_bytes!("../../b.bin");
diff --git a/examples/boot/stm32f3/Cargo.toml b/examples/boot/stm32f3/Cargo.toml
index d4ca600f8..fab6fd723 100644
--- a/examples/boot/stm32f3/Cargo.toml
+++ b/examples/boot/stm32f3/Cargo.toml
@@ -8,7 +8,7 @@ version = "0.1.0"
 embassy = { version = "0.1.0", path = "../../../embassy", features = ["nightly"] }
 embassy-stm32 = { version = "0.1.0", path = "../../../embassy-stm32", features = ["unstable-traits", "nightly", "stm32f303re", "time-driver-any", "exti"]  }
 embassy-boot-stm32 = { version = "0.1.0", path = "../../../embassy-boot/stm32" }
-embassy-traits = { version = "0.1.0", path = "../../../embassy-traits" }
+embassy-embedded-hal = { version = "0.1.0", path = "../../../embassy-embedded-hal" }
 
 defmt = { version = "0.3", optional = true }
 defmt-rtt = { version = "0.3", optional = true }
diff --git a/examples/boot/stm32f3/src/bin/a.rs b/examples/boot/stm32f3/src/bin/a.rs
index db9262f43..9ad798389 100644
--- a/examples/boot/stm32f3/src/bin/a.rs
+++ b/examples/boot/stm32f3/src/bin/a.rs
@@ -3,11 +3,11 @@
 #![feature(type_alias_impl_trait)]
 
 use embassy_boot_stm32::FirmwareUpdater;
+use embassy_embedded_hal::adapter::BlockingAsync;
 use embassy_stm32::exti::ExtiInput;
 use embassy_stm32::flash::Flash;
 use embassy_stm32::gpio::{Input, Level, Output, Pull, Speed};
 use embassy_stm32::Peripherals;
-use embassy_traits::adapter::BlockingAsync;
 use panic_reset as _;
 
 #[cfg(feature = "defmt-rtt")]
diff --git a/examples/boot/stm32f7/Cargo.toml b/examples/boot/stm32f7/Cargo.toml
index 857b287d5..14500b198 100644
--- a/examples/boot/stm32f7/Cargo.toml
+++ b/examples/boot/stm32f7/Cargo.toml
@@ -8,7 +8,7 @@ version = "0.1.0"
 embassy = { version = "0.1.0", path = "../../../embassy", features = ["nightly"] }
 embassy-stm32 = { version = "0.1.0", path = "../../../embassy-stm32", features = ["unstable-traits", "nightly", "stm32f767zi", "time-driver-any", "exti"]  }
 embassy-boot-stm32 = { version = "0.1.0", path = "../../../embassy-boot/stm32" }
-embassy-traits = { version = "0.1.0", path = "../../../embassy-traits" }
+embassy-embedded-hal = { version = "0.1.0", path = "../../../embassy-embedded-hal" }
 
 defmt = { version = "0.3", optional = true }
 defmt-rtt = { version = "0.3", optional = true }
diff --git a/examples/boot/stm32f7/src/bin/a.rs b/examples/boot/stm32f7/src/bin/a.rs
index ca154f0af..b4f49d579 100644
--- a/examples/boot/stm32f7/src/bin/a.rs
+++ b/examples/boot/stm32f7/src/bin/a.rs
@@ -3,11 +3,11 @@
 #![feature(type_alias_impl_trait)]
 
 use embassy_boot_stm32::FirmwareUpdater;
+use embassy_embedded_hal::adapter::BlockingAsync;
 use embassy_stm32::exti::ExtiInput;
 use embassy_stm32::flash::Flash;
 use embassy_stm32::gpio::{Input, Level, Output, Pull, Speed};
 use embassy_stm32::Peripherals;
-use embassy_traits::adapter::BlockingAsync;
 use panic_reset as _;
 
 #[cfg(feature = "defmt-rtt")]
diff --git a/examples/boot/stm32h7/Cargo.toml b/examples/boot/stm32h7/Cargo.toml
index 1fd03906f..3069277ed 100644
--- a/examples/boot/stm32h7/Cargo.toml
+++ b/examples/boot/stm32h7/Cargo.toml
@@ -8,7 +8,7 @@ version = "0.1.0"
 embassy = { version = "0.1.0", path = "../../../embassy", features = ["nightly"] }
 embassy-stm32 = { version = "0.1.0", path = "../../../embassy-stm32", features = ["unstable-traits", "nightly", "stm32h743zi", "time-driver-any", "exti"]  }
 embassy-boot-stm32 = { version = "0.1.0", path = "../../../embassy-boot/stm32" }
-embassy-traits = { version = "0.1.0", path = "../../../embassy-traits" }
+embassy-embedded-hal = { version = "0.1.0", path = "../../../embassy-embedded-hal" }
 
 defmt = { version = "0.3", optional = true }
 defmt-rtt = { version = "0.3", optional = true }
diff --git a/examples/boot/stm32h7/src/bin/a.rs b/examples/boot/stm32h7/src/bin/a.rs
index 1f23a8bc2..1d196e8a5 100644
--- a/examples/boot/stm32h7/src/bin/a.rs
+++ b/examples/boot/stm32h7/src/bin/a.rs
@@ -3,11 +3,11 @@
 #![feature(type_alias_impl_trait)]
 
 use embassy_boot_stm32::FirmwareUpdater;
+use embassy_embedded_hal::adapter::BlockingAsync;
 use embassy_stm32::exti::ExtiInput;
 use embassy_stm32::flash::Flash;
 use embassy_stm32::gpio::{Input, Level, Output, Pull, Speed};
 use embassy_stm32::Peripherals;
-use embassy_traits::adapter::BlockingAsync;
 use panic_reset as _;
 
 #[cfg(feature = "defmt-rtt")]
diff --git a/examples/boot/stm32l0/Cargo.toml b/examples/boot/stm32l0/Cargo.toml
index 5cb1add5b..13ca84367 100644
--- a/examples/boot/stm32l0/Cargo.toml
+++ b/examples/boot/stm32l0/Cargo.toml
@@ -8,7 +8,7 @@ version = "0.1.0"
 embassy = { version = "0.1.0", path = "../../../embassy", features = ["nightly"] }
 embassy-stm32 = { version = "0.1.0", path = "../../../embassy-stm32", features = ["unstable-traits", "nightly", "stm32l072cz", "time-driver-any", "exti", "memory-x"]  }
 embassy-boot-stm32 = { version = "0.1.0", path = "../../../embassy-boot/stm32", features = ["thumbv6"] }
-embassy-traits = { version = "0.1.0", path = "../../../embassy-traits" }
+embassy-embedded-hal = { version = "0.1.0", path = "../../../embassy-embedded-hal" }
 
 defmt = { version = "0.3", optional = true }
 defmt-rtt = { version = "0.3", optional = true }
diff --git a/examples/boot/stm32l0/src/bin/a.rs b/examples/boot/stm32l0/src/bin/a.rs
index 9e603a226..d4b252bf0 100644
--- a/examples/boot/stm32l0/src/bin/a.rs
+++ b/examples/boot/stm32l0/src/bin/a.rs
@@ -4,11 +4,11 @@
 
 use embassy::time::{Duration, Timer};
 use embassy_boot_stm32::FirmwareUpdater;
+use embassy_embedded_hal::adapter::BlockingAsync;
 use embassy_stm32::exti::ExtiInput;
 use embassy_stm32::flash::Flash;
 use embassy_stm32::gpio::{Input, Level, Output, Pull, Speed};
 use embassy_stm32::Peripherals;
-use embassy_traits::adapter::BlockingAsync;
 use panic_reset as _;
 
 #[cfg(feature = "defmt-rtt")]
diff --git a/examples/boot/stm32l1/Cargo.toml b/examples/boot/stm32l1/Cargo.toml
index 9f97462f6..b0b6e3d25 100644
--- a/examples/boot/stm32l1/Cargo.toml
+++ b/examples/boot/stm32l1/Cargo.toml
@@ -8,7 +8,7 @@ version = "0.1.0"
 embassy = { version = "0.1.0", path = "../../../embassy", features = ["nightly"] }
 embassy-stm32 = { version = "0.1.0", path = "../../../embassy-stm32", features = ["unstable-traits", "nightly", "stm32l151cb-a", "time-driver-any", "exti"]  }
 embassy-boot-stm32 = { version = "0.1.0", path = "../../../embassy-boot/stm32" }
-embassy-traits = { version = "0.1.0", path = "../../../embassy-traits" }
+embassy-embedded-hal = { version = "0.1.0", path = "../../../embassy-embedded-hal" }
 
 defmt = { version = "0.3", optional = true }
 defmt-rtt = { version = "0.3", optional = true }
diff --git a/examples/boot/stm32l1/src/bin/a.rs b/examples/boot/stm32l1/src/bin/a.rs
index 9e603a226..d4b252bf0 100644
--- a/examples/boot/stm32l1/src/bin/a.rs
+++ b/examples/boot/stm32l1/src/bin/a.rs
@@ -4,11 +4,11 @@
 
 use embassy::time::{Duration, Timer};
 use embassy_boot_stm32::FirmwareUpdater;
+use embassy_embedded_hal::adapter::BlockingAsync;
 use embassy_stm32::exti::ExtiInput;
 use embassy_stm32::flash::Flash;
 use embassy_stm32::gpio::{Input, Level, Output, Pull, Speed};
 use embassy_stm32::Peripherals;
-use embassy_traits::adapter::BlockingAsync;
 use panic_reset as _;
 
 #[cfg(feature = "defmt-rtt")]
diff --git a/examples/boot/stm32l4/Cargo.toml b/examples/boot/stm32l4/Cargo.toml
index 53424a666..705dbd0d6 100644
--- a/examples/boot/stm32l4/Cargo.toml
+++ b/examples/boot/stm32l4/Cargo.toml
@@ -8,7 +8,7 @@ version = "0.1.0"
 embassy = { version = "0.1.0", path = "../../../embassy", features = ["nightly"] }
 embassy-stm32 = { version = "0.1.0", path = "../../../embassy-stm32", features = ["unstable-traits", "nightly", "stm32l475vg", "time-driver-any", "exti"]  }
 embassy-boot-stm32 = { version = "0.1.0", path = "../../../embassy-boot/stm32" }
-embassy-traits = { version = "0.1.0", path = "../../../embassy-traits" }
+embassy-embedded-hal = { version = "0.1.0", path = "../../../embassy-embedded-hal" }
 
 defmt = { version = "0.3", optional = true }
 defmt-rtt = { version = "0.3", optional = true }
diff --git a/examples/boot/stm32l4/src/bin/a.rs b/examples/boot/stm32l4/src/bin/a.rs
index 41684b2f0..23b1d98bb 100644
--- a/examples/boot/stm32l4/src/bin/a.rs
+++ b/examples/boot/stm32l4/src/bin/a.rs
@@ -3,11 +3,11 @@
 #![feature(type_alias_impl_trait)]
 
 use embassy_boot_stm32::FirmwareUpdater;
+use embassy_embedded_hal::adapter::BlockingAsync;
 use embassy_stm32::exti::ExtiInput;
 use embassy_stm32::flash::Flash;
 use embassy_stm32::gpio::{Input, Level, Output, Pull, Speed};
 use embassy_stm32::Peripherals;
-use embassy_traits::adapter::BlockingAsync;
 use panic_reset as _;
 
 #[cfg(feature = "defmt-rtt")]
diff --git a/examples/boot/stm32wl/Cargo.toml b/examples/boot/stm32wl/Cargo.toml
index fb64886e6..41e6a112e 100644
--- a/examples/boot/stm32wl/Cargo.toml
+++ b/examples/boot/stm32wl/Cargo.toml
@@ -8,7 +8,7 @@ version = "0.1.0"
 embassy = { version = "0.1.0", path = "../../../embassy", features = ["nightly"] }
 embassy-stm32 = { version = "0.1.0", path = "../../../embassy-stm32", features = ["unstable-traits", "nightly", "stm32wl55jc-cm4", "time-driver-any", "exti"]  }
 embassy-boot-stm32 = { version = "0.1.0", path = "../../../embassy-boot/stm32" }
-embassy-traits = { version = "0.1.0", path = "../../../embassy-traits" }
+embassy-embedded-hal = { version = "0.1.0", path = "../../../embassy-embedded-hal" }
 
 defmt = { version = "0.3", optional = true }
 defmt-rtt = { version = "0.3", optional = true }
diff --git a/examples/boot/stm32wl/src/bin/a.rs b/examples/boot/stm32wl/src/bin/a.rs
index b3e9efa75..1089eff1e 100644
--- a/examples/boot/stm32wl/src/bin/a.rs
+++ b/examples/boot/stm32wl/src/bin/a.rs
@@ -3,11 +3,11 @@
 #![feature(type_alias_impl_trait)]
 
 use embassy_boot_stm32::FirmwareUpdater;
+use embassy_embedded_hal::adapter::BlockingAsync;
 use embassy_stm32::exti::ExtiInput;
 use embassy_stm32::flash::Flash;
 use embassy_stm32::gpio::{Input, Level, Output, Pull, Speed};
 use embassy_stm32::Peripherals;
-use embassy_traits::adapter::BlockingAsync;
 use panic_reset as _;
 
 #[cfg(feature = "defmt-rtt")]
diff --git a/examples/stm32l4/Cargo.toml b/examples/stm32l4/Cargo.toml
index b3478f74e..afea5a5aa 100644
--- a/examples/stm32l4/Cargo.toml
+++ b/examples/stm32l4/Cargo.toml
@@ -9,7 +9,7 @@ resolver = "2"
 
 [dependencies]
 embassy = { version = "0.1.0", path = "../../embassy", features = ["defmt", "defmt-timestamp-uptime"] }
-embassy-traits = { version = "0.1.0", path = "../../embassy-traits" }
+embassy-embedded-hal = { version = "0.1.0", path = "../../embassy-embedded-hal" }
 embassy-stm32 = { version = "0.1.0", path = "../../embassy-stm32", features = ["nightly", "defmt", "unstable-pac", "stm32l4s5vi", "time-driver-any", "exti", "unstable-traits"]  }
 
 defmt = "0.3"
diff --git a/examples/stm32l4/src/bin/i2c_blocking_async.rs b/examples/stm32l4/src/bin/i2c_blocking_async.rs
index 136aea849..eb74223b0 100644
--- a/examples/stm32l4/src/bin/i2c_blocking_async.rs
+++ b/examples/stm32l4/src/bin/i2c_blocking_async.rs
@@ -7,12 +7,12 @@ use panic_probe as _;
 
 use defmt::*;
 use embassy::executor::Spawner;
+use embassy_embedded_hal::adapter::BlockingAsync;
 use embassy_stm32::dma::NoDma;
 use embassy_stm32::i2c::I2c;
 use embassy_stm32::interrupt;
 use embassy_stm32::time::Hertz;
 use embassy_stm32::Peripherals;
-use embassy_traits::adapter::BlockingAsync;
 use embedded_hal_async::i2c::I2c as I2cTrait;
 
 const ADDRESS: u8 = 0x5F;
diff --git a/examples/stm32l4/src/bin/spi_blocking_async.rs b/examples/stm32l4/src/bin/spi_blocking_async.rs
index 0398965d3..e1a400107 100644
--- a/examples/stm32l4/src/bin/spi_blocking_async.rs
+++ b/examples/stm32l4/src/bin/spi_blocking_async.rs
@@ -7,12 +7,12 @@ use panic_probe as _;
 
 use defmt::*;
 use embassy::executor::Spawner;
+use embassy_embedded_hal::adapter::BlockingAsync;
 use embassy_stm32::dma::NoDma;
 use embassy_stm32::gpio::{Input, Level, Output, Pull, Speed};
 use embassy_stm32::spi::{Config, Spi};
 use embassy_stm32::time::Hertz;
 use embassy_stm32::Peripherals;
-use embassy_traits::adapter::BlockingAsync;
 use embedded_hal_async::spi::SpiBus;
 
 #[embassy::main]