I2C: add apply_config, implement SetConfig, add with_sda and `w…

…ith_scl` (#2477)

* Implement apply_config, SetConfig

* Remove pins from constructors

* Implement timeout changes, document them

* Fix up changelog

esp-hal/CHANGELOG.md

@@ -33,9 +33,10 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 - `{Uart, UartRx, UartTx}` now implement `embassy_embedded_hal::SetConfig` (#2449)
 - GPIO ETM tasks and events now accept `InputSignal` and `OutputSignal` (#2427)
 - `spi::master::Config` and `{Spi, SpiDma, SpiDmaBus}::apply_config` (#2448)
-- `embassy_embedded_hal::SetConfig` is now implemented for `{Spi, SpiDma, SpiDmaBus}` (#2448)
+- `embassy_embedded_hal::SetConfig` is now implemented for `spi::master::{Spi, SpiDma, SpiDmaBus}`, `i2c::master::I2c` (#2448, #2477)
 - `slave::Spi::{with_mosi(), with_miso(), with_sclk(), with_cs()}` functions (#2485)
 - I8080: Added `set_8bits_order()` to set the byte order in 8-bit mode (#2487)
+- `I2c::{apply_config(), with_sda(), with_scl()}` (#2477)
 
 ### Changed
 
@@ -59,6 +60,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 - The I2S driver has been moved to `i2s::master` (#2472)
 - `slave::Spi` constructors no longer take pins (#2485)
 - The `I2c` master driver has been moved from `esp_hal::i2c` to `esp_hal::i2c::master`. (#2476)
+- `I2c` SCL timeout is now defined in bus clock cycles. (#2477)
 
 ### Fixed
 
@@ -75,6 +77,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 - The `i2s::{I2sWrite, I2sWriteDma, I2sRead, I2sReadDma, I2sWriteDmaAsync, I2sReadDmaAsync}` traits have been removed. (#2316)
 - The `ledc::ChannelHW` trait is no longer generic. (#2387)
 - The `I2c::new_with_timeout` constructors have been removed (#2361)
+- `I2c::new()` no longer takes `frequency` and pins as parameters. (#2477)
 - The `spi::master::HalfDuplexReadWrite` trait has been removed. (#2373)
 - The `Spi::with_pins` methods have been removed. (#2373)
 - The `Spi::new_half_duplex` constructor have been removed. (#2373)

esp-hal/MIGRATING-0.21.md

@@ -69,13 +69,42 @@ let spi: Spi<'static, FullDuplexMode, SPI2> = Spi::new_typed(peripherals.SPI2, 1
 
 The I2C master driver and related types have been moved to `esp_hal::i2c::master`.
 
-The `with_timeout` constructors have been removed in favour of `set_timeout` or `with_timeout`.
+The `with_timeout` constructors have been removed. `new` and `new_typed` now take a `Config` struct
+with the available configuration options.
+
+- The default configuration is now:
+  - bus frequency: 100 kHz
+  - timeout: about 10 bus clock cycles
+
+The constructors no longer take pins. Use `with_sda` and `with_scl` instead.
 
 ```diff
+-use esp_hal::i2c::I2c;
++use esp_hal::i2c::{Config, I2c};
 -let i2c = I2c::new_with_timeout(peripherals.I2C0, io.pins.gpio4, io.pins.gpio5, 100.kHz(), timeout);
-+let i2c = I2c::new(peripherals.I2C0, io.pins.gpio4, io.pins.gpio5, 100.kHz()).with_timeout(timeout);
++I2c::new_with_config(
++    peripherals.I2C0,
++    {
++        let mut config = Config::default();
++        config.frequency = 100.kHz();
++        config.timeout = timeout;
++        config
++    },
++)
++.with_sda(io.pins.gpio4)
++.with_scl(io.pins.gpio5);
 ```
 
+### The calculation of I2C timeout has changed
+
+Previously, I2C timeouts were counted in increments of I2C peripheral clock cycles. This meant that
+the configure value meant different lengths of time depending on the device. With this update, the
+I2C configuration now expects the timeout value in number of bus clock cycles, which is consistent
+between devices.
+
+ESP32 and ESP32-S2 use an exact number of clock cycles for its timeout. Other MCUs, however, use
+the `2^timeout` value internally, and the HAL rounds up the timeout to the next appropriate value.
+
 ## Changes to half-duplex SPI
 
 The `HalfDuplexMode` and `FullDuplexMode` type parameters have been removed from SPI master and slave