36 files changed, 134 insertions, 95 deletions

diff --git a/cyw43/Cargo.toml b/cyw43/Cargo.toml
index 789e3ab05..3e37a8cd1 100644
--- a/cyw43/Cargo.toml
+++ b/cyw43/Cargo.toml
@@ -23,7 +23,7 @@ cortex-m = "0.7.6"
 cortex-m-rt = "0.7.0"
 futures = { version = "0.3.17", default-features = false, features = ["async-await", "cfg-target-has-atomic", "unstable"] }
 
-embedded-hal-1 = { package = "embedded-hal", version = "1.0.0-rc.1" }
+embedded-hal-1 = { package = "embedded-hal", version = "1.0.0-rc.2" }
 num_enum = { version = "0.5.7", default-features = false }
 
 [package.metadata.embassy_docs]
diff --git a/embassy-embedded-hal/Cargo.toml b/embassy-embedded-hal/Cargo.toml
index 11e47acb8..52ecd5c71 100644
--- a/embassy-embedded-hal/Cargo.toml
+++ b/embassy-embedded-hal/Cargo.toml
@@ -25,8 +25,8 @@ embassy-time = { version = "0.1.5", path = "../embassy-time", optional = true }
 embedded-hal-02 = { package = "embedded-hal", version = "0.2.6", features = [
     "unproven",
 ] }
-embedded-hal-1 = { package = "embedded-hal", version = "=1.0.0-rc.1" }
-embedded-hal-async = { version = "=1.0.0-rc.1", optional = true }
+embedded-hal-1 = { package = "embedded-hal", version = "=1.0.0-rc.2" }
+embedded-hal-async = { version = "=1.0.0-rc.2", optional = true }
 embedded-storage = "0.3.0"
 embedded-storage-async = { version = "0.4.0", optional = true }
 nb = "1.0.0"
diff --git a/embassy-embedded-hal/src/shared_bus/asynch/spi.rs b/embassy-embedded-hal/src/shared_bus/asynch/spi.rs
index 17d5f3676..b4f53c623 100644
--- a/embassy-embedded-hal/src/shared_bus/asynch/spi.rs
+++ b/embassy-embedded-hal/src/shared_bus/asynch/spi.rs
@@ -63,6 +63,10 @@ where
     CS: OutputPin,
 {
     async fn transaction(&mut self, operations: &mut [spi::Operation<'_, u8>]) -> Result<(), Self::Error> {
+        if cfg!(not(feature = "time")) && operations.iter().any(|op| matches!(op, Operation::DelayNs(_))) {
+            return Err(SpiDeviceError::DelayNotSupported);
+        }
+
         let mut bus = self.bus.lock().await;
         self.cs.set_low().map_err(SpiDeviceError::Cs)?;
 
@@ -74,12 +78,12 @@ where
                     Operation::Transfer(read, write) => bus.transfer(read, write).await,
                     Operation::TransferInPlace(buf) => bus.transfer_in_place(buf).await,
                     #[cfg(not(feature = "time"))]
-                    Operation::DelayUs(us) => return Err(SpiDeviceError::DelayUsNotSupported),
+                    Operation::DelayNs(_) => unreachable!(),
                     #[cfg(feature = "time")]
-                    Operation::DelayUs(us) => match bus.flush().await {
+                    Operation::DelayNs(ns) => match bus.flush().await {
                         Err(e) => Err(e),
                         Ok(()) => {
-                            embassy_time::Timer::after_micros(*us as _).await;
+                            embassy_time::Timer::after_nanos(*ns as _).await;
                             Ok(())
                         }
                     },
@@ -137,6 +141,10 @@ where
     CS: OutputPin,
 {
     async fn transaction(&mut self, operations: &mut [spi::Operation<'_, u8>]) -> Result<(), Self::Error> {
+        if cfg!(not(feature = "time")) && operations.iter().any(|op| matches!(op, Operation::DelayNs(_))) {
+            return Err(SpiDeviceError::DelayNotSupported);
+        }
+
         let mut bus = self.bus.lock().await;
         bus.set_config(&self.config).map_err(|_| SpiDeviceError::Config)?;
         self.cs.set_low().map_err(SpiDeviceError::Cs)?;
@@ -149,12 +157,12 @@ where
                     Operation::Transfer(read, write) => bus.transfer(read, write).await,
                     Operation::TransferInPlace(buf) => bus.transfer_in_place(buf).await,
                     #[cfg(not(feature = "time"))]
-                    Operation::DelayUs(us) => return Err(SpiDeviceError::DelayUsNotSupported),
+                    Operation::DelayNs(_) => unreachable!(),
                     #[cfg(feature = "time")]
-                    Operation::DelayUs(us) => match bus.flush().await {
+                    Operation::DelayNs(ns) => match bus.flush().await {
                         Err(e) => Err(e),
                         Ok(()) => {
-                            embassy_time::Timer::after_micros(*us as _).await;
+                            embassy_time::Timer::after_nanos(*ns as _).await;
                             Ok(())
                         }
                     },
diff --git a/embassy-embedded-hal/src/shared_bus/blocking/spi.rs b/embassy-embedded-hal/src/shared_bus/blocking/spi.rs
index 2b67862ea..59b65bfbd 100644
--- a/embassy-embedded-hal/src/shared_bus/blocking/spi.rs
+++ b/embassy-embedded-hal/src/shared_bus/blocking/spi.rs
@@ -55,8 +55,8 @@ where
     CS: OutputPin,
 {
     fn transaction(&mut self, operations: &mut [Operation<'_, u8>]) -> Result<(), Self::Error> {
-        if cfg!(not(feature = "time")) && operations.iter().any(|op| matches!(op, Operation::DelayUs(_))) {
-            return Err(SpiDeviceError::DelayUsNotSupported);
+        if cfg!(not(feature = "time")) && operations.iter().any(|op| matches!(op, Operation::DelayNs(_))) {
+            return Err(SpiDeviceError::DelayNotSupported);
         }
 
         self.bus.lock(|bus| {
@@ -69,10 +69,10 @@ where
                 Operation::Transfer(read, write) => bus.transfer(read, write),
                 Operation::TransferInPlace(buf) => bus.transfer_in_place(buf),
                 #[cfg(not(feature = "time"))]
-                Operation::DelayUs(_) => unreachable!(),
+                Operation::DelayNs(_) => unreachable!(),
                 #[cfg(feature = "time")]
-                Operation::DelayUs(us) => {
-                    embassy_time::block_for(embassy_time::Duration::from_micros(*us as _));
+                Operation::DelayNs(ns) => {
+                    embassy_time::block_for(embassy_time::Duration::from_nanos(*ns as _));
                     Ok(())
                 }
             });
@@ -165,8 +165,8 @@ where
     CS: OutputPin,
 {
     fn transaction(&mut self, operations: &mut [Operation<'_, u8>]) -> Result<(), Self::Error> {
-        if cfg!(not(feature = "time")) && operations.iter().any(|op| matches!(op, Operation::DelayUs(_))) {
-            return Err(SpiDeviceError::DelayUsNotSupported);
+        if cfg!(not(feature = "time")) && operations.iter().any(|op| matches!(op, Operation::DelayNs(_))) {
+            return Err(SpiDeviceError::DelayNotSupported);
         }
 
         self.bus.lock(|bus| {
@@ -180,10 +180,10 @@ where
                 Operation::Transfer(read, write) => bus.transfer(read, write),
                 Operation::TransferInPlace(buf) => bus.transfer_in_place(buf),
                 #[cfg(not(feature = "time"))]
-                Operation::DelayUs(_) => unreachable!(),
+                Operation::DelayNs(_) => unreachable!(),
                 #[cfg(feature = "time")]
-                Operation::DelayUs(us) => {
-                    embassy_time::block_for(embassy_time::Duration::from_micros(*us as _));
+                Operation::DelayNs(ns) => {
+                    embassy_time::block_for(embassy_time::Duration::from_nanos(*ns as _));
                     Ok(())
                 }
             });
diff --git a/embassy-embedded-hal/src/shared_bus/mod.rs b/embassy-embedded-hal/src/shared_bus/mod.rs
index b0159ac09..ab96df134 100644
--- a/embassy-embedded-hal/src/shared_bus/mod.rs
+++ b/embassy-embedded-hal/src/shared_bus/mod.rs
@@ -39,8 +39,8 @@ pub enum SpiDeviceError<BUS, CS> {
     Spi(BUS),
     /// Setting the value of the Chip Select (CS) pin failed.
     Cs(CS),
-    /// DelayUs operations are not supported when the `time` Cargo feature is not enabled.
-    DelayUsNotSupported,
+    /// Delay operations are not supported when the `time` Cargo feature is not enabled.
+    DelayNotSupported,
     /// The SPI bus could not be configured.
     Config,
 }
@@ -54,7 +54,7 @@ where
         match self {
             Self::Spi(e) => e.kind(),
             Self::Cs(_) => spi::ErrorKind::Other,
-            Self::DelayUsNotSupported => spi::ErrorKind::Other,
+            Self::DelayNotSupported => spi::ErrorKind::Other,
             Self::Config => spi::ErrorKind::Other,
         }
     }
diff --git a/embassy-net-adin1110/Cargo.toml b/embassy-net-adin1110/Cargo.toml
index 3f016160d..3dbbee44d 100644
--- a/embassy-net-adin1110/Cargo.toml
+++ b/embassy-net-adin1110/Cargo.toml
@@ -13,16 +13,16 @@ edition = "2021"
 heapless = "0.8"
 defmt = { version = "0.3", optional = true }
 log = { version = "0.4", default-features = false, optional = true }
-embedded-hal-1 = { package = "embedded-hal", version = "=1.0.0-rc.1" }
-embedded-hal-async = { version = "=1.0.0-rc.1" }
-embedded-hal-bus = { version = "=0.1.0-rc.1", features = ["async"] }
+embedded-hal-1 = { package = "embedded-hal", version = "=1.0.0-rc.2" }
+embedded-hal-async = { version = "=1.0.0-rc.2" }
+embedded-hal-bus = { version = "=0.1.0-rc.2", features = ["async"] }
 embassy-net-driver-channel = { version = "0.2.0", path = "../embassy-net-driver-channel" }
 embassy-time = { version = "0.1.5", path = "../embassy-time" }
 embassy-futures = { version = "0.1.0", path = "../embassy-futures" }
 bitfield = "0.14.0"
 
 [dev-dependencies]
-embedded-hal-mock = { version = "=0.10.0-rc.1", features = ["embedded-hal-async", "eh1"] }
+embedded-hal-mock = { git = "https://github.com/Dirbaio/embedded-hal-mock", rev = "c5c4dca18e043e6386aee02173f61a65fea3981e", features = ["embedded-hal-async", "eh1"] }
 crc = "3.0.1"
 env_logger = "0.10"
 critical-section = { version = "1.1.2", features = ["std"] }
diff --git a/embassy-net-adin1110/src/lib.rs b/embassy-net-adin1110/src/lib.rs
index 331c596df..e4a3cb209 100644
--- a/embassy-net-adin1110/src/lib.rs
+++ b/embassy-net-adin1110/src/lib.rs
@@ -729,7 +729,7 @@ mod tests {
     use core::convert::Infallible;
 
     use embedded_hal_1::digital::{ErrorType, OutputPin};
-    use embedded_hal_async::delay::DelayUs;
+    use embedded_hal_async::delay::DelayNs;
     use embedded_hal_bus::spi::ExclusiveDevice;
     use embedded_hal_mock::common::Generic;
     use embedded_hal_mock::eh1::spi::{Mock as SpiMock, Transaction as SpiTransaction};
@@ -760,7 +760,11 @@ mod tests {
     // see https://github.com/rust-embedded/embedded-hal/pull/462#issuecomment-1560014426
     struct MockDelay {}
 
-    impl DelayUs for MockDelay {
+    impl DelayNs for MockDelay {
+        async fn delay_ns(&mut self, _ns: u32) {
+            todo!()
+        }
+
         async fn delay_us(&mut self, _us: u32) {
             todo!()
         }
diff --git a/embassy-net-enc28j60/Cargo.toml b/embassy-net-enc28j60/Cargo.toml
index ea2ed1f77..eda699d9f 100644
--- a/embassy-net-enc28j60/Cargo.toml
+++ b/embassy-net-enc28j60/Cargo.toml
@@ -8,8 +8,8 @@ license = "MIT OR Apache-2.0"
 edition = "2021"
 
 [dependencies]
-embedded-hal = { version = "1.0.0-rc.1" }
-embedded-hal-async = { version = "=1.0.0-rc.1" }
+embedded-hal = { version = "1.0.0-rc.2" }
+embedded-hal-async = { version = "=1.0.0-rc.2" }
 embassy-net-driver = { version = "0.2.0", path = "../embassy-net-driver" }
 embassy-time = { version = "0.1.5", path = "../embassy-time" }
 embassy-futures = { version = "0.1.0", path = "../embassy-futures" }
diff --git a/embassy-net-esp-hosted/Cargo.toml b/embassy-net-esp-hosted/Cargo.toml
index e86be4455..6b325c806 100644
--- a/embassy-net-esp-hosted/Cargo.toml
+++ b/embassy-net-esp-hosted/Cargo.toml
@@ -12,8 +12,8 @@ embassy-sync = { version = "0.4.0", path = "../embassy-sync"}
 embassy-futures = { version = "0.1.0", path = "../embassy-futures"}
 embassy-net-driver-channel = { version = "0.2.0", path = "../embassy-net-driver-channel"}
 
-embedded-hal = { version = "1.0.0-rc.1" }
-embedded-hal-async = { version = "=1.0.0-rc.1" }
+embedded-hal = { version = "1.0.0-rc.2" }
+embedded-hal-async = { version = "=1.0.0-rc.2" }
 
 noproto = { git="https://github.com/embassy-rs/noproto", rev = "f5e6d1f325b6ad4e344f60452b09576e24671f62", default-features = false, features = ["derive"] }
 #noproto = { version = "0.1", path = "/home/dirbaio/noproto", default-features = false, features = ["derive"] }
diff --git a/embassy-net-ppp/Cargo.toml b/embassy-net-ppp/Cargo.toml
index 273dccbc2..7119ebd57 100644
--- a/embassy-net-ppp/Cargo.toml
+++ b/embassy-net-ppp/Cargo.toml
@@ -15,7 +15,7 @@ log = ["dep:log", "ppproto/log"]
 defmt = { version = "0.3", optional = true }
 log = { version = "0.4.14", optional = true }
 
-embedded-io-async = { version = "0.6.0" }
+embedded-io-async = { version = "0.6.1" }
 embassy-net-driver-channel = { version = "0.2.0", path = "../embassy-net-driver-channel" }
 embassy-futures = { version = "0.1.0", path = "../embassy-futures" }
 ppproto = { version = "0.1.2"}
diff --git a/embassy-net-wiznet/Cargo.toml b/embassy-net-wiznet/Cargo.toml
index 0cc086b7e..187f3e299 100644
--- a/embassy-net-wiznet/Cargo.toml
+++ b/embassy-net-wiznet/Cargo.toml
@@ -8,8 +8,8 @@ license = "MIT OR Apache-2.0"
 edition = "2021"
 
 [dependencies]
-embedded-hal = { version = "1.0.0-rc.1" }
-embedded-hal-async = { version = "=1.0.0-rc.1" }
+embedded-hal = { version = "1.0.0-rc.2" }
+embedded-hal-async = { version = "=1.0.0-rc.2" }
 embassy-net-driver-channel = { version = "0.2.0", path = "../embassy-net-driver-channel" }
 embassy-time = { version = "0.1.5", path = "../embassy-time" }
 embassy-futures = { version = "0.1.0", path = "../embassy-futures" }
diff --git a/embassy-net/Cargo.toml b/embassy-net/Cargo.toml
index ef66078cb..fe8344f5b 100644
--- a/embassy-net/Cargo.toml
+++ b/embassy-net/Cargo.toml
@@ -54,7 +54,7 @@ smoltcp = { git = "https://github.com/smoltcp-rs/smoltcp.git", rev = "b57e2f9e70
 embassy-net-driver = { version = "0.2.0", path = "../embassy-net-driver" }
 embassy-time = { version = "0.1.5", path = "../embassy-time" }
 embassy-sync = { version = "0.4.0", path = "../embassy-sync" }
-embedded-io-async = { version = "0.6.0", optional = true }
+embedded-io-async = { version = "0.6.1", optional = true }
 
 managed = { version = "0.8.0", default-features = false, features = [ "map" ] }
 heapless = { version = "0.8", default-features = false }
@@ -63,4 +63,4 @@ generic-array = { version = "0.14.4", default-features = false }
 stable_deref_trait = { version = "1.2.0", default-features = false }
 futures = { version = "0.3.17", default-features = false, features = [ "async-await" ] }
 atomic-pool = "1.0"
-embedded-nal-async = { version = "0.7", optional = true }
+embedded-nal-async = { version = "0.7.1", optional = true }
diff --git a/embassy-nrf/Cargo.toml b/embassy-nrf/Cargo.toml
index 60e03d859..a75a94f02 100644
--- a/embassy-nrf/Cargo.toml
+++ b/embassy-nrf/Cargo.toml
@@ -101,10 +101,10 @@ embassy-embedded-hal = {version = "0.1.0", path = "../embassy-embedded-hal" }
 embassy-usb-driver = {version = "0.1.0", path = "../embassy-usb-driver", optional=true }
 
 embedded-hal-02 = { package = "embedded-hal", version = "0.2.6", features = ["unproven"] }
-embedded-hal-1 = { package = "embedded-hal", version = "=1.0.0-rc.1", optional = true}
-embedded-hal-async = { version = "=1.0.0-rc.1", optional = true}
+embedded-hal-1 = { package = "embedded-hal", version = "=1.0.0-rc.2", optional = true}
+embedded-hal-async = { version = "=1.0.0-rc.2", optional = true}
 embedded-io = { version = "0.6.0" }
-embedded-io-async = { version = "0.6.0", optional = true }
+embedded-io-async = { version = "0.6.1", optional = true }
 
 defmt = { version = "0.3", optional = true }
 log = { version = "0.4.14", optional = true }
diff --git a/embassy-rp/Cargo.toml b/embassy-rp/Cargo.toml
index eb79cfd35..35ea77f03 100644
--- a/embassy-rp/Cargo.toml
+++ b/embassy-rp/Cargo.toml
@@ -76,7 +76,7 @@ critical-section = "1.1"
 futures = { version = "0.3.17", default-features = false, features = ["async-await"] }
 chrono = { version = "0.4", default-features = false, optional = true }
 embedded-io = { version = "0.6.0" }
-embedded-io-async = { version = "0.6.0", optional = true }
+embedded-io-async = { version = "0.6.1", optional = true }
 embedded-storage = { version = "0.3" }
 embedded-storage-async = { version = "0.4.0", optional = true }
 rand_core = "0.6.4"
@@ -85,9 +85,9 @@ fixed = "1.23.1"
 rp-pac = { version = "6" }
 
 embedded-hal-02 = { package = "embedded-hal", version = "0.2.6", features = ["unproven"] }
-embedded-hal-1 = { package = "embedded-hal", version = "=1.0.0-rc.1", optional = true}
-embedded-hal-async = { version = "=1.0.0-rc.1", optional = true}
-embedded-hal-nb = { version = "=1.0.0-rc.1", optional = true}
+embedded-hal-1 = { package = "embedded-hal", version = "=1.0.0-rc.2", optional = true}
+embedded-hal-async = { version = "=1.0.0-rc.2", optional = true}
+embedded-hal-nb = { version = "=1.0.0-rc.2", optional = true}
 
 pio-proc = {version= "0.2" }
 pio = {version= "0.2.1" }
diff --git a/embassy-stm32/Cargo.toml b/embassy-stm32/Cargo.toml
index 292902ac7..535357fcc 100644
--- a/embassy-stm32/Cargo.toml
+++ b/embassy-stm32/Cargo.toml
@@ -42,9 +42,9 @@ embassy-usb-driver = {version = "0.1.0", path = "../embassy-usb-driver", optiona
 embassy-executor = { version = "0.3.3", path = "../embassy-executor", optional = true }
 
 embedded-hal-02 = { package = "embedded-hal", version = "0.2.6", features = ["unproven"] }
-embedded-hal-1 = { package = "embedded-hal", version = "=1.0.0-rc.1", optional = true}
-embedded-hal-async = { version = "=1.0.0-rc.1", optional = true}
-embedded-hal-nb = { version = "=1.0.0-rc.1", optional = true}
+embedded-hal-1 = { package = "embedded-hal", version = "=1.0.0-rc.2", optional = true}
+embedded-hal-async = { version = "=1.0.0-rc.2", optional = true}
+embedded-hal-nb = { version = "=1.0.0-rc.2", optional = true}
 
 embedded-storage = "0.3.0"
 embedded-storage-async = { version = "0.4.0", optional = true }
@@ -65,7 +65,7 @@ nb = "1.0.0"
 stm32-fmc = "0.3.0"
 cfg-if = "1.0.0"
 embedded-io = { version = "0.6.0" }
-embedded-io-async = { version = "0.6.0", optional = true }
+embedded-io-async = { version = "0.6.1", optional = true }
 chrono = { version = "^0.4", default-features = false, optional = true}
 bit_field = "0.10.2"
 document-features = "0.2.7"
diff --git a/embassy-sync/Cargo.toml b/embassy-sync/Cargo.toml
index e395389aa..ffcd13d9f 100644
--- a/embassy-sync/Cargo.toml
+++ b/embassy-sync/Cargo.toml
@@ -35,7 +35,7 @@ futures-util = { version = "0.3.17", default-features = false }
 critical-section = "1.1"
 heapless = "0.8"
 cfg-if = "1.0.0"
-embedded-io-async = { version = "0.6.0", optional = true }
+embedded-io-async = { version = "0.6.1", optional = true }
 
 [dev-dependencies]
 futures-executor = { version = "0.3.17", features = [ "thread-pool" ] }
diff --git a/embassy-time/CHANGELOG.md b/embassy-time/CHANGELOG.md
index 1421d76a9..9625b8909 100644
--- a/embassy-time/CHANGELOG.md
+++ b/embassy-time/CHANGELOG.md
@@ -22,8 +22,8 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ## 0.1.3 - 2023-08-28
 
-- Update `embedded-hal-async` to `1.0.0-rc.1`
-- Update `embedded-hal v1` to `1.0.0-rc.1`
+- Update `embedded-hal-async` to `1.0.0-rc.2`
+- Update `embedded-hal v1` to `1.0.0-rc.2`
 
 ## 0.1.2 - 2023-07-05
 
diff --git a/embassy-time/Cargo.toml b/embassy-time/Cargo.toml
index 3cabb2371..570e0efa7 100644
--- a/embassy-time/Cargo.toml
+++ b/embassy-time/Cargo.toml
@@ -242,8 +242,8 @@ defmt = { version = "0.3", optional = true }
 log = { version = "0.4.14", optional = true }
 
 embedded-hal-02 = { package = "embedded-hal", version = "0.2.6" }
-embedded-hal-1 = { package = "embedded-hal", version = "=1.0.0-rc.1", optional = true}
-embedded-hal-async = { version = "=1.0.0-rc.1", optional = true}
+embedded-hal-1 = { package = "embedded-hal", version = "=1.0.0-rc.2", optional = true}
+embedded-hal-async = { version = "=1.0.0-rc.2", optional = true}
 
 futures-util = { version = "0.3.17", default-features = false }
 critical-section = "1.1"
diff --git a/embassy-time/src/delay.rs b/embassy-time/src/delay.rs
index be962747c..aab56b1f1 100644
--- a/embassy-time/src/delay.rs
+++ b/embassy-time/src/delay.rs
@@ -18,7 +18,11 @@ pub struct Delay;
 mod eh1 {
     use super::*;
 
-    impl embedded_hal_1::delay::DelayUs for Delay {
+    impl embedded_hal_1::delay::DelayNs for Delay {
+        fn delay_ns(&mut self, ns: u32) {
+            block_for(Duration::from_nanos(ns as u64))
+        }
+
         fn delay_us(&mut self, us: u32) {
             block_for(Duration::from_micros(us as u64))
         }
@@ -34,13 +38,17 @@ mod eha {
     use super::*;
     use crate::Timer;
 
-    impl embedded_hal_async::delay::DelayUs for Delay {
-        async fn delay_us(&mut self, micros: u32) {
-            Timer::after_micros(micros as _).await
+    impl embedded_hal_async::delay::DelayNs for Delay {
+        async fn delay_ns(&mut self, ns: u32) {
+            Timer::after_nanos(ns as _).await
+        }
+
+        async fn delay_us(&mut self, us: u32) {
+            Timer::after_micros(us as _).await
         }
 
-        async fn delay_ms(&mut self, millis: u32) {
-            Timer::after_millis(millis as _).await
+        async fn delay_ms(&mut self, ms: u32) {
+            Timer::after_millis(ms as _).await
         }
     }
 }
diff --git a/embassy-time/src/duration.rs b/embassy-time/src/duration.rs
index 8366455be..647d208e3 100644
--- a/embassy-time/src/duration.rs
+++ b/embassy-time/src/duration.rs
@@ -2,6 +2,7 @@ use core::fmt;
 use core::ops::{Add, AddAssign, Div, DivAssign, Mul, MulAssign, Sub, SubAssign};
 
 use super::{GCD_1K, GCD_1M, TICK_HZ};
+use crate::GCD_1G;
 
 #[derive(Debug, Default, Copy, Clone, PartialEq, Eq, PartialOrd, Ord)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
@@ -61,6 +62,14 @@ impl Duration {
         }
     }
 
+    /// Creates a duration from the specified number of nanoseconds, rounding up.
+    /// NOTE: Delays this small may be inaccurate.
+    pub const fn from_nanos(micros: u64) -> Duration {
+        Duration {
+            ticks: div_ceil(micros * (TICK_HZ / GCD_1G), 1_000_000_000 / GCD_1G),
+        }
+    }
+
     /// Creates a duration from the specified number of seconds, rounding down.
     pub const fn from_secs_floor(secs: u64) -> Duration {
         Duration { ticks: secs * TICK_HZ }
diff --git a/embassy-time/src/lib.rs b/embassy-time/src/lib.rs
index a90368d59..a0f6e3824 100644
--- a/embassy-time/src/lib.rs
+++ b/embassy-time/src/lib.rs
@@ -52,6 +52,7 @@ const fn gcd(a: u64, b: u64) -> u64 {
 
 pub(crate) const GCD_1K: u64 = gcd(TICK_HZ, 1_000);
 pub(crate) const GCD_1M: u64 = gcd(TICK_HZ, 1_000_000);
+pub(crate) const GCD_1G: u64 = gcd(TICK_HZ, 1_000_000_000);
 
 #[cfg(feature = "defmt-timestamp-uptime")]
 defmt::timestamp! {"{=u64:us}", Instant::now().as_micros() }
diff --git a/embassy-time/src/timer.rs b/embassy-time/src/timer.rs
index ee2423daf..574d715da 100644
--- a/embassy-time/src/timer.rs
+++ b/embassy-time/src/timer.rs
@@ -74,6 +74,15 @@ impl Timer {
         Self::after(Duration::from_ticks(ticks))
     }
 
+    /// Expire after the specified number of nanoseconds.
+    ///
+    /// This method is a convenience wrapper for calling `Timer::after(Duration::from_nanos())`.
+    /// For more details, refer to [`Timer::after()`] and [`Duration::from_nanos()`].
+    #[inline]
+    pub fn after_nanos(nanos: u64) -> Self {
+        Self::after(Duration::from_nanos(nanos))
+    }
+
     /// Expire after the specified number of microseconds.
     ///
     /// This method is a convenience wrapper for calling `Timer::after(Duration::from_micros())`.
diff --git a/examples/nrf52840/Cargo.toml b/examples/nrf52840/Cargo.toml
index 88e8d58d1..d9b22a4d2 100644
--- a/examples/nrf52840/Cargo.toml
+++ b/examples/nrf52840/Cargo.toml
@@ -32,7 +32,7 @@ embassy-nrf = { version = "0.1.0", path = "../../embassy-nrf", features = ["defm
 embassy-net = { version = "0.2.0", path = "../../embassy-net", features = ["defmt", "tcp", "dhcpv4", "medium-ethernet"], optional = true }
 embassy-usb = { version = "0.1.0", path = "../../embassy-usb", features = ["defmt"], optional = true }
 embedded-io = { version = "0.6.0", features = ["defmt-03"]  }
-embedded-io-async = { version = "0.6.0", optional = true, features = ["defmt-03"] }
+embedded-io-async = { version = "0.6.1", optional = true, features = ["defmt-03"] }
 embassy-net-esp-hosted = { version = "0.1.0", path = "../../embassy-net-esp-hosted", features = ["defmt"], optional = true }
 embassy-net-enc28j60 = { version = "0.1.0", path = "../../embassy-net-enc28j60", features = ["defmt"], optional = true }
 
@@ -49,9 +49,9 @@ rand = { version = "0.8.4", default-features = false }
 embedded-storage = "0.3.0"
 usbd-hid = "0.6.0"
 serde = { version = "1.0.136", default-features = false }
-embedded-hal = { version = "1.0.0-rc.1" }
-embedded-hal-async = { version = "1.0.0-rc.1", optional = true }
-embedded-hal-bus = { version = "0.1.0-rc.1" }
+embedded-hal = { version = "1.0.0-rc.2" }
+embedded-hal-async = { version = "1.0.0-rc.2", optional = true }
+embedded-hal-bus = { version = "0.1.0-rc.2" }
 num-integer = { version = "0.1.45", default-features = false }
 microfft = "0.5.0"
 
diff --git a/examples/nrf5340/Cargo.toml b/examples/nrf5340/Cargo.toml
index 032ec9806..25ae97496 100644
--- a/examples/nrf5340/Cargo.toml
+++ b/examples/nrf5340/Cargo.toml
@@ -37,7 +37,7 @@ embassy-net = { version = "0.2.0", path = "../../embassy-net", features = [
 embassy-usb = { version = "0.1.0", path = "../../embassy-usb", features = [
     "defmt",
 ] }
-embedded-io-async = { version = "0.6.0" }
+embedded-io-async = { version = "0.6.1" }
 
 defmt = "0.3"
 defmt-rtt = "0.4"
diff --git a/examples/rp/Cargo.toml b/examples/rp/Cargo.toml
index 1012a8b5f..e0e0d8a78 100644
--- a/examples/rp/Cargo.toml
+++ b/examples/rp/Cargo.toml
@@ -38,10 +38,10 @@ smart-leds = "0.3.0"
 heapless = "0.8"
 usbd-hid = "0.6.1"
 
-embedded-hal-1 = { package = "embedded-hal", version = "=1.0.0-rc.1" }
-embedded-hal-async = "1.0.0-rc.1"
-embedded-hal-bus = { version = "0.1.0-rc.1", features = ["async"] }
-embedded-io-async = { version = "0.6.0", features = ["defmt-03"] }
+embedded-hal-1 = { package = "embedded-hal", version = "=1.0.0-rc.2" }
+embedded-hal-async = "1.0.0-rc.2"
+embedded-hal-bus = { version = "0.1.0-rc.2", features = ["async"] }
+embedded-io-async = { version = "0.6.1", features = ["defmt-03"] }
 embedded-storage = { version = "0.3" }
 static_cell = { version = "2", features = ["nightly"]}
 portable-atomic = { version = "1.5", features = ["critical-section"] }
diff --git a/examples/std/Cargo.toml b/examples/std/Cargo.toml
index 75ed74b57..2a59fd693 100644
--- a/examples/std/Cargo.toml
+++ b/examples/std/Cargo.toml
@@ -11,8 +11,8 @@ embassy-time = { version = "0.1.5", path = "../../embassy-time", features = ["lo
 embassy-net = { version = "0.2.0", path = "../../embassy-net", features=[ "std", "nightly", "log", "medium-ethernet", "medium-ip", "tcp", "udp", "dns", "dhcpv4", "proto-ipv6"] }
 embassy-net-tuntap = { version = "0.1.0", path = "../../embassy-net-tuntap" }
 embassy-net-ppp = { version = "0.1.0", path = "../../embassy-net-ppp", features = ["log"]}
-embedded-io-async = { version = "0.6.0" }
-embedded-io-adapters = { version = "0.6.0", features = ["futures-03"] }
+embedded-io-async = { version = "0.6.1" }
+embedded-io-adapters = { version = "0.6.1", features = ["futures-03"] }
 critical-section = { version = "1.1", features = ["std"] }
 
 async-io = "1.6.0"
diff --git a/examples/stm32f4/Cargo.toml b/examples/stm32f4/Cargo.toml
index 772d873c7..8cee6d231 100644
--- a/examples/stm32f4/Cargo.toml
+++ b/examples/stm32f4/Cargo.toml
@@ -20,7 +20,7 @@ cortex-m = { version = "0.7.6", features = ["inline-asm", "critical-section-sing
 cortex-m-rt = "0.7.0"
 embedded-hal = "0.2.6"
 embedded-io = { version = "0.6.0" }
-embedded-io-async = { version = "0.6.0" }
+embedded-io-async = { version = "0.6.1" }
 panic-probe = { version = "0.3", features = ["print-defmt"] }
 futures = { version = "0.3.17", default-features = false, features = ["async-await"] }
 heapless = { version = "0.8", default-features = false }
diff --git a/examples/stm32f7/Cargo.toml b/examples/stm32f7/Cargo.toml
index d418f8132..8fe2f2892 100644
--- a/examples/stm32f7/Cargo.toml
+++ b/examples/stm32f7/Cargo.toml
@@ -11,7 +11,7 @@ embassy-sync = { version = "0.4.0", path = "../../embassy-sync", features = ["de
 embassy-executor = { version = "0.3.3", path = "../../embassy-executor", features = ["nightly", "arch-cortex-m", "executor-thread", "defmt", "integrated-timers"] }
 embassy-time = { version = "0.1.5", path = "../../embassy-time", features = ["defmt", "defmt-timestamp-uptime", "tick-hz-32_768"] }
 embassy-net = { version = "0.2.0", path = "../../embassy-net", features = ["defmt", "nightly", "tcp", "dhcpv4", "medium-ethernet"] }
-embedded-io-async = { version = "0.6.0" }
+embedded-io-async = { version = "0.6.1" }
 embassy-usb = { version = "0.1.0", path = "../../embassy-usb", features = ["defmt"] }
 
 defmt = "0.3"
diff --git a/examples/stm32h5/Cargo.toml b/examples/stm32h5/Cargo.toml
index e8d17cee0..db34005a0 100644
--- a/examples/stm32h5/Cargo.toml
+++ b/examples/stm32h5/Cargo.toml
@@ -11,7 +11,7 @@ embassy-sync = { version = "0.4.0", path = "../../embassy-sync", features = ["de
 embassy-executor = { version = "0.3.3", path = "../../embassy-executor", features = ["nightly", "arch-cortex-m", "executor-thread", "defmt", "integrated-timers"] }
 embassy-time = { version = "0.1.5", path = "../../embassy-time", features = ["defmt", "defmt-timestamp-uptime", "unstable-traits", "tick-hz-32_768"] }
 embassy-net = { version = "0.2.0", path = "../../embassy-net", features = ["defmt", "nightly", "tcp", "dhcpv4", "medium-ethernet", "proto-ipv6"] }
-embedded-io-async = { version = "0.6.0" }
+embedded-io-async = { version = "0.6.1" }
 embassy-usb = { version = "0.1.0", path = "../../embassy-usb", features = ["defmt"] }
 
 defmt = "0.3"
@@ -20,9 +20,9 @@ defmt-rtt = "0.4"
 cortex-m = { version = "0.7.6", features = ["inline-asm", "critical-section-single-core"] }
 cortex-m-rt = "0.7.0"
 embedded-hal = "0.2.6"
-embedded-hal-1 = { package = "embedded-hal", version = "=1.0.0-rc.1" }
-embedded-hal-async = { version = "=1.0.0-rc.1" }
-embedded-nal-async = { version = "0.7" }
+embedded-hal-1 = { package = "embedded-hal", version = "=1.0.0-rc.2" }
+embedded-hal-async = { version = "=1.0.0-rc.2" }
+embedded-nal-async = { version = "0.7.1" }
 panic-probe = { version = "0.3", features = ["print-defmt"] }
 futures = { version = "0.3.17", default-features = false, features = ["async-await"] }
 heapless = { version = "0.8", default-features = false }
diff --git a/examples/stm32h7/Cargo.toml b/examples/stm32h7/Cargo.toml
index 05523d00c..2fe88dfaf 100644
--- a/examples/stm32h7/Cargo.toml
+++ b/examples/stm32h7/Cargo.toml
@@ -11,7 +11,7 @@ embassy-sync = { version = "0.4.0", path = "../../embassy-sync", features = ["de
 embassy-executor = { version = "0.3.3", path = "../../embassy-executor", features = ["nightly", "arch-cortex-m", "executor-thread", "defmt", "integrated-timers"] }
 embassy-time = { version = "0.1.5", path = "../../embassy-time", features = ["defmt", "defmt-timestamp-uptime", "unstable-traits", "tick-hz-32_768"] }
 embassy-net = { version = "0.2.0", path = "../../embassy-net", features = ["defmt", "nightly", "tcp", "dhcpv4", "medium-ethernet", "proto-ipv6", "dns"] }
-embedded-io-async = { version = "0.6.0" }
+embedded-io-async = { version = "0.6.1" }
 embassy-usb = { version = "0.1.0", path = "../../embassy-usb", features = ["defmt"] }
 
 defmt = "0.3"
@@ -20,9 +20,9 @@ defmt-rtt = "0.4"
 cortex-m = { version = "0.7.6", features = ["inline-asm", "critical-section-single-core"] }
 cortex-m-rt = "0.7.0"
 embedded-hal = "0.2.6"
-embedded-hal-1 = { package = "embedded-hal", version = "=1.0.0-rc.1" }
-embedded-hal-async = { version = "=1.0.0-rc.1" }
-embedded-nal-async = { version = "0.7" }
+embedded-hal-1 = { package = "embedded-hal", version = "=1.0.0-rc.2" }
+embedded-hal-async = { version = "=1.0.0-rc.2" }
+embedded-nal-async = { version = "0.7.1" }
 panic-probe = { version = "0.3", features = ["print-defmt"] }
 futures = { version = "0.3.17", default-features = false, features = ["async-await"] }
 heapless = { version = "0.8", default-features = false }
diff --git a/examples/stm32l0/Cargo.toml b/examples/stm32l0/Cargo.toml
index 2ba58c3d0..15f7afe9c 100644
--- a/examples/stm32l0/Cargo.toml
+++ b/examples/stm32l0/Cargo.toml
@@ -20,7 +20,7 @@ defmt-rtt = "0.4"
 
 embedded-storage = "0.3.0"
 embedded-io = { version = "0.6.0" }
-embedded-io-async = { version = "0.6.0", optional = true }
+embedded-io-async = { version = "0.6.1", optional = true }
 
 cortex-m = { version = "0.7.6", features = ["inline-asm", "critical-section-single-core"] }
 cortex-m-rt = "0.7.0"
diff --git a/examples/stm32l4/Cargo.toml b/examples/stm32l4/Cargo.toml
index f4eaf647b..350e6e260 100644
--- a/examples/stm32l4/Cargo.toml
+++ b/examples/stm32l4/Cargo.toml
@@ -15,7 +15,7 @@ embassy-usb = { version = "0.1.0", path = "../../embassy-usb", features = ["defm
 embassy-net-adin1110 = { version = "0.2.0", path = "../../embassy-net-adin1110" }
 embassy-net = { version = "0.2.0", path = "../../embassy-net", features = ["defmt", "nightly", "udp", "tcp", "dhcpv4", "medium-ethernet"] }
 embassy-futures = { version = "0.1.0", path = "../../embassy-futures" }
-embedded-io-async = { version = "0.6.0", features = ["defmt-03"] }
+embedded-io-async = { version = "0.6.1", features = ["defmt-03"] }
 embedded-io = { version = "0.6.0", features = ["defmt-03"] }
 
 defmt = "0.3"
@@ -24,9 +24,9 @@ defmt-rtt = "0.4"
 cortex-m = { version = "0.7.6", features = ["critical-section-single-core"] }
 cortex-m-rt = "0.7.0"
 embedded-hal = "0.2.6"
-embedded-hal-1 = { package = "embedded-hal", version = "=1.0.0-rc.1" }
-embedded-hal-async = { version = "=1.0.0-rc.1" }
-embedded-hal-bus = { version = "=0.1.0-rc.1", features = ["async"] }
+embedded-hal-1 = { package = "embedded-hal", version = "=1.0.0-rc.2" }
+embedded-hal-async = { version = "=1.0.0-rc.2" }
+embedded-hal-bus = { version = "=0.1.0-rc.2", features = ["async"] }
 panic-probe = { version = "0.3", features = ["print-defmt"] }
 futures = { version = "0.3.17", default-features = false, features = ["async-await"] }
 heapless = { version = "0.8", default-features = false }
diff --git a/examples/stm32l5/Cargo.toml b/examples/stm32l5/Cargo.toml
index 1b9b026ff..7bca51ad1 100644
--- a/examples/stm32l5/Cargo.toml
+++ b/examples/stm32l5/Cargo.toml
@@ -25,7 +25,7 @@ embedded-hal = "0.2.6"
 futures = { version = "0.3.17", default-features = false, features = ["async-await"] }
 heapless = { version = "0.8", default-features = false }
 rand_core = { version = "0.6.3", default-features = false }
-embedded-io-async = { version = "0.6.0" }
+embedded-io-async = { version = "0.6.1" }
 static_cell = { version = "2", features = ["nightly"]}
 
 [profile.release]
diff --git a/tests/nrf/Cargo.toml b/tests/nrf/Cargo.toml
index fd7568816..70bb17c14 100644
--- a/tests/nrf/Cargo.toml
+++ b/tests/nrf/Cargo.toml
@@ -12,12 +12,12 @@ embassy-sync = { version = "0.4.0", path = "../../embassy-sync", features = ["de
 embassy-executor = { version = "0.3.3", path = "../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "defmt", "task-arena-size-16384", "integrated-timers"] }
 embassy-time = { version = "0.1.5", path = "../../embassy-time", features = ["defmt", "nightly", "unstable-traits", "defmt-timestamp-uptime"] }
 embassy-nrf = { version = "0.1.0", path = "../../embassy-nrf", features = ["defmt", "nightly", "unstable-traits", "nrf52840", "time-driver-rtc1", "gpiote", "unstable-pac"] }
-embedded-io-async = { version = "0.6.0", features = ["defmt-03"] }
+embedded-io-async = { version = "0.6.1", features = ["defmt-03"] }
 embassy-net = { version = "0.2.0", path = "../../embassy-net", features = ["defmt", "tcp", "dhcpv4", "medium-ethernet", "nightly"] }
 embassy-net-esp-hosted = { version = "0.1.0", path = "../../embassy-net-esp-hosted", features = ["defmt"] }
 embassy-net-enc28j60 = { version = "0.1.0", path = "../../embassy-net-enc28j60", features = ["defmt"] }
-embedded-hal-async = { version = "1.0.0-rc.1" }
-embedded-hal-bus = { version = "0.1.0-rc.1", features = ["async"] }
+embedded-hal-async = { version = "1.0.0-rc.2" }
+embedded-hal-bus = { version = "0.1.0-rc.2", features = ["async"] }
 static_cell = { version = "2", features = [ "nightly" ] }
 perf-client = { path = "../perf-client" }
 
diff --git a/tests/rp/Cargo.toml b/tests/rp/Cargo.toml
index fc434a026..d69bd7952 100644
--- a/tests/rp/Cargo.toml
+++ b/tests/rp/Cargo.toml
@@ -24,12 +24,12 @@ defmt-rtt = "0.4"
 cortex-m = { version = "0.7.6" }
 cortex-m-rt = "0.7.0"
 embedded-hal = "0.2.6"
-embedded-hal-1 = { package = "embedded-hal", version = "=1.0.0-rc.1" }
-embedded-hal-async = { version = "=1.0.0-rc.1" }
-embedded-hal-bus = { version = "=0.1.0-rc.1", features = ["async"] }
+embedded-hal-1 = { package = "embedded-hal", version = "=1.0.0-rc.2" }
+embedded-hal-async = { version = "=1.0.0-rc.2" }
+embedded-hal-bus = { version = "=0.1.0-rc.2", features = ["async"] }
 panic-probe = { version = "0.3.0", features = ["print-defmt"] }
 futures = { version = "0.3.17", default-features = false, features = ["async-await"] }
-embedded-io-async = { version = "0.6.0" }
+embedded-io-async = { version = "0.6.1" }
 embedded-storage = { version = "0.3" }
 static_cell = { version = "2", features = ["nightly"]}
 portable-atomic = { version = "1.5", features = ["critical-section"] }
diff --git a/tests/stm32/Cargo.toml b/tests/stm32/Cargo.toml
index 8c2cfdf5c..ba72c6421 100644
--- a/tests/stm32/Cargo.toml
+++ b/tests/stm32/Cargo.toml
@@ -63,8 +63,8 @@ defmt-rtt = "0.4"
 cortex-m = { version = "0.7.6", features = ["critical-section-single-core"] }
 cortex-m-rt = "0.7.0"
 embedded-hal = "0.2.6"
-embedded-hal-1 = { package = "embedded-hal", version = "=1.0.0-rc.1" }
-embedded-hal-async = { version = "=1.0.0-rc.1" }
+embedded-hal-1 = { package = "embedded-hal", version = "=1.0.0-rc.2" }
+embedded-hal-async = { version = "=1.0.0-rc.2" }
 micromath = "2.0.0"
 panic-probe = { version = "0.3.0", features = ["print-defmt"] }
 rand_core = { version = "0.6", default-features = false }