I2C: add apply_config, implement SetConfig, add with_sda and with_scl

[bugadani]

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Pull Request Details 📖

Description

Part 3 of #2437

cc #2416 and closes #1919

with_sda and with_scl are now consistent with SPI and allow reconfiguring the bus (though a bit of a replace_with hackery may be needed).

This PR also aims to clarify the meaning of the timeout configuration.

[bjoernQ]

I remember some devices (e.g. MPU6050) are very sensitive to seeing activity on SDA/SCL during pin init .... probably everything is fine but there was a reason why setting the pins was done like it was - I just want to double check that

[bugadani]

Please do, but the pins aren't connected to the peripheral during configuration, so I don't think anything was changed here meaningfully.

[bjoernQ]

works fine even with that MPU6050 - code looks good to me

[MabezDev]

LGTM, thanks!