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Add `PeripheralRef::map_into` #8055

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Run time

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Job	Run time
esp-hal (esp32c2)	8m 3s
esp-hal (esp32c3)	8m 7s
extras	1m 5s
esp-hal (esp32c6)	10m 34s
esp-hal (esp32h2)	8m 53s
msrv	7m 20s
esp-hal (esp32)	10m 47s
esp-hal (esp32s2)	10m 46s
rustfmt	39s
esp-hal (esp32s3)	12m 56s
host-tests	8s
	1h 19m 18s