diff --git a/embassy-stm32/build.rs b/embassy-stm32/build.rs
index 2c349e55..76db0a76 100644
--- a/embassy-stm32/build.rs
+++ b/embassy-stm32/build.rs
@@ -91,6 +91,7 @@ fn main() {
     struct SplitFeature {
         feature_name: String,
         pin_name_with_c: String,
+        #[cfg(feature = "_split-pins-enabled")]
         pin_name_without_c: String,
     }
 
diff --git a/embassy-stm32/src/i2c/v1.rs b/embassy-stm32/src/i2c/v1.rs
index f32dd0f0..0d2bfc06 100644
--- a/embassy-stm32/src/i2c/v1.rs
+++ b/embassy-stm32/src/i2c/v1.rs
@@ -518,7 +518,8 @@ impl Timings {
 
 impl<'d, T: Instance> SetConfig for I2c<'d, T> {
     type Config = Hertz;
-    fn set_config(&mut self, config: &Self::Config) {
+    type ConfigError = ();
+    fn set_config(&mut self, config: &Self::Config) -> Result<(), ()> {
         let timings = Timings::new(T::frequency(), *config);
         T::regs().cr2().modify(|reg| {
             reg.set_freq(timings.freq);
@@ -531,5 +532,7 @@ impl<'d, T: Instance> SetConfig for I2c<'d, T> {
         T::regs().trise().modify(|reg| {
             reg.set_trise(timings.trise);
         });
+
+        Ok(())
     }
 }
diff --git a/embassy-stm32/src/i2c/v2.rs b/embassy-stm32/src/i2c/v2.rs
index 36f70e32..543d8f1b 100644
--- a/embassy-stm32/src/i2c/v2.rs
+++ b/embassy-stm32/src/i2c/v2.rs
@@ -1075,7 +1075,8 @@ mod eha {
 
 impl<'d, T: Instance> SetConfig for I2c<'d, T> {
     type Config = Hertz;
-    fn set_config(&mut self, config: &Self::Config) {
+    type ConfigError = ();
+    fn set_config(&mut self, config: &Self::Config) -> Result<(), ()> {
         let timings = Timings::new(T::frequency(), *config);
         T::regs().timingr().write(|reg| {
             reg.set_presc(timings.prescale);
@@ -1084,5 +1085,7 @@ impl<'d, T: Instance> SetConfig for I2c<'d, T> {
             reg.set_sdadel(timings.sdadel);
             reg.set_scldel(timings.scldel);
         });
+
+        Ok(())
     }
 }
diff --git a/embassy-stm32/src/sai/mod.rs b/embassy-stm32/src/sai/mod.rs
index 2741b790..5eecb637 100644
--- a/embassy-stm32/src/sai/mod.rs
+++ b/embassy-stm32/src/sai/mod.rs
@@ -982,8 +982,9 @@ impl<'d, T: Instance, C: Channel, W: word::Word> SubBlock<'d, T, C, W> {
         ch.cr2().modify(|w| w.set_mute(value));
     }
 
+    #[allow(dead_code)]
     /// Reconfigures it with the supplied config.
-    pub fn reconfigure(&mut self, _config: Config) {}
+    fn reconfigure(&mut self, _config: Config) {}
 
     pub fn get_current_config(&self) -> Config {
         Config::default()
@@ -1056,7 +1057,10 @@ foreach_peripheral!(
 
 impl<'d, T: Instance> SetConfig for Sai<'d, T> {
     type Config = Config;
-    fn set_config(&mut self, _config: &Self::Config) {
+    type ConfigError = ();
+    fn set_config(&mut self, _config: &Self::Config) -> Result<(), ()> {
         // self.reconfigure(*config);
+
+        Ok(())
     }
 }
diff --git a/embassy-stm32/src/spi/mod.rs b/embassy-stm32/src/spi/mod.rs
index f40bce78..14333ba2 100644
--- a/embassy-stm32/src/spi/mod.rs
+++ b/embassy-stm32/src/spi/mod.rs
@@ -323,7 +323,7 @@ impl<'d, T: Instance, Tx, Rx> Spi<'d, T, Tx, Rx> {
     }
 
     /// Reconfigures it with the supplied config.
-    pub fn set_config(&mut self, config: Config) {
+    fn set_config(&mut self, config: Config) {
         let cpha = config.raw_phase();
         let cpol = config.raw_polarity();
 
@@ -1061,7 +1061,10 @@ foreach_peripheral!(
 
 impl<'d, T: Instance, Tx, Rx> SetConfig for Spi<'d, T, Tx, Rx> {
     type Config = Config;
-    fn set_config(&mut self, config: &Self::Config) {
+    type ConfigError = ();
+    fn set_config(&mut self, config: &Self::Config) -> Result<(), ()> {
         self.set_config(*config);
+
+        Ok(())
     }
 }
diff --git a/embassy-stm32/src/usart/buffered.rs b/embassy-stm32/src/usart/buffered.rs
index e2d6e42a..445ca0ed 100644
--- a/embassy-stm32/src/usart/buffered.rs
+++ b/embassy-stm32/src/usart/buffered.rs
@@ -116,25 +116,28 @@ pub struct BufferedUartRx<'d, T: BasicInstance> {
 
 impl<'d, T: BasicInstance> SetConfig for BufferedUart<'d, T> {
     type Config = Config;
+    type ConfigError = ();
 
-    fn set_config(&mut self, config: &Self::Config) {
-        unwrap!(self.set_config(config))
+    fn set_config(&mut self, config: &Self::Config) -> Result<(), ()> {
+        self.set_config(config).map_err(|_| ())
     }
 }
 
 impl<'d, T: BasicInstance> SetConfig for BufferedUartRx<'d, T> {
     type Config = Config;
+    type ConfigError = ();
 
-    fn set_config(&mut self, config: &Self::Config) {
-        unwrap!(self.set_config(config))
+    fn set_config(&mut self, config: &Self::Config) -> Result<(), ()> {
+        self.set_config(config).map_err(|_| ())
     }
 }
 
 impl<'d, T: BasicInstance> SetConfig for BufferedUartTx<'d, T> {
     type Config = Config;
+    type ConfigError = ();
 
-    fn set_config(&mut self, config: &Self::Config) {
-        unwrap!(self.set_config(config))
+    fn set_config(&mut self, config: &Self::Config) -> Result<(), ()> {
+        self.set_config(config).map_err(|_| ())
     }
 }
 
@@ -253,7 +256,7 @@ impl<'d, T: BasicInstance> BufferedUart<'d, T> {
         (self.tx, self.rx)
     }
 
-    pub fn set_config(&mut self, config: &Config) -> Result<(), ConfigError> {
+    fn set_config(&mut self, config: &Config) -> Result<(), ConfigError> {
         reconfigure::<T>(config)
     }
 }
@@ -333,7 +336,7 @@ impl<'d, T: BasicInstance> BufferedUartRx<'d, T> {
         }
     }
 
-    pub fn set_config(&mut self, config: &Config) -> Result<(), ConfigError> {
+    fn set_config(&mut self, config: &Config) -> Result<(), ConfigError> {
         reconfigure::<T>(config)
     }
 }
@@ -407,7 +410,7 @@ impl<'d, T: BasicInstance> BufferedUartTx<'d, T> {
         }
     }
 
-    pub fn set_config(&mut self, config: &Config) -> Result<(), ConfigError> {
+    fn set_config(&mut self, config: &Config) -> Result<(), ConfigError> {
         reconfigure::<T>(config)
     }
 }
diff --git a/embassy-stm32/src/usart/mod.rs b/embassy-stm32/src/usart/mod.rs
index 9835f1ac..2eb2e4e8 100644
--- a/embassy-stm32/src/usart/mod.rs
+++ b/embassy-stm32/src/usart/mod.rs
@@ -181,10 +181,11 @@ pub struct Uart<'d, T: BasicInstance, TxDma = NoDma, RxDma = NoDma> {
 
 impl<'d, T: BasicInstance, TxDma, RxDma> SetConfig for Uart<'d, T, TxDma, RxDma> {
     type Config = Config;
+    type ConfigError = ();
 
-    fn set_config(&mut self, config: &Self::Config) {
-        unwrap!(self.tx.set_config(config));
-        unwrap!(self.rx.set_config(config));
+    fn set_config(&mut self, config: &Self::Config) -> Result<(), ()> {
+        self.tx.set_config(config).map_err(|_| ())?;
+        self.rx.set_config(config).map_err(|_| ())
     }
 }
 
@@ -195,9 +196,10 @@ pub struct UartTx<'d, T: BasicInstance, TxDma = NoDma> {
 
 impl<'d, T: BasicInstance, TxDma> SetConfig for UartTx<'d, T, TxDma> {
     type Config = Config;
+    type ConfigError = ();
 
-    fn set_config(&mut self, config: &Self::Config) {
-        unwrap!(self.set_config(config));
+    fn set_config(&mut self, config: &Self::Config) -> Result<(), ()> {
+        self.set_config(config).map_err(|_| ())
     }
 }
 
@@ -211,9 +213,10 @@ pub struct UartRx<'d, T: BasicInstance, RxDma = NoDma> {
 
 impl<'d, T: BasicInstance, RxDma> SetConfig for UartRx<'d, T, RxDma> {
     type Config = Config;
+    type ConfigError = ();
 
-    fn set_config(&mut self, config: &Self::Config) {
-        unwrap!(self.set_config(config));
+    fn set_config(&mut self, config: &Self::Config) -> Result<(), ()> {
+        self.set_config(config).map_err(|_| ())
     }
 }
 
@@ -273,7 +276,7 @@ impl<'d, T: BasicInstance, TxDma> UartTx<'d, T, TxDma> {
         })
     }
 
-    pub fn set_config(&mut self, config: &Config) -> Result<(), ConfigError> {
+    fn set_config(&mut self, config: &Config) -> Result<(), ConfigError> {
         reconfigure::<T>(config)
     }
 
@@ -374,7 +377,7 @@ impl<'d, T: BasicInstance, RxDma> UartRx<'d, T, RxDma> {
         })
     }
 
-    pub fn set_config(&mut self, config: &Config) -> Result<(), ConfigError> {
+    fn set_config(&mut self, config: &Config) -> Result<(), ConfigError> {
         reconfigure::<T>(config)
     }
 
@@ -803,10 +806,6 @@ impl<'d, T: BasicInstance, TxDma, RxDma> Uart<'d, T, TxDma, RxDma> {
         })
     }
 
-    pub fn set_config(&mut self, config: &Config) -> Result<(), ConfigError> {
-        reconfigure::<T>(config)
-    }
-
     pub async fn write(&mut self, buffer: &[u8]) -> Result<(), Error>
     where
         TxDma: crate::usart::TxDma<T>,
diff --git a/embassy-stm32/src/usart/ringbuffered.rs b/embassy-stm32/src/usart/ringbuffered.rs
index 347aae7c..535d1b1f 100644
--- a/embassy-stm32/src/usart/ringbuffered.rs
+++ b/embassy-stm32/src/usart/ringbuffered.rs
@@ -18,9 +18,10 @@ pub struct RingBufferedUartRx<'d, T: BasicInstance, RxDma: super::RxDma<T>> {
 
 impl<'d, T: BasicInstance, RxDma: super::RxDma<T>> SetConfig for RingBufferedUartRx<'d, T, RxDma> {
     type Config = Config;
+    type ConfigError = ();
 
-    fn set_config(&mut self, config: &Self::Config) {
-        unwrap!(self.set_config(config));
+    fn set_config(&mut self, config: &Self::Config) -> Result<(), ()> {
+        self.set_config(config).map_err(|_| ())
     }
 }
 
@@ -63,7 +64,7 @@ impl<'d, T: BasicInstance, RxDma: super::RxDma<T>> RingBufferedUartRx<'d, T, RxD
         Err(err)
     }
 
-    pub fn set_config(&mut self, config: &Config) -> Result<(), ConfigError> {
+    fn set_config(&mut self, config: &Config) -> Result<(), ConfigError> {
         self.teardown_uart();
         reconfigure::<T>(config)
     }