diff --git a/embassy-embedded-hal/src/lib.rs b/embassy-embedded-hal/src/lib.rs
index 3aad838b..8872b3d6 100644
--- a/embassy-embedded-hal/src/lib.rs
+++ b/embassy-embedded-hal/src/lib.rs
@@ -26,6 +26,18 @@ pub trait SetConfig {
     /// The configuration type used by this driver.
     type Config;
 
+    /// The error type that can occur if `set_config` fails.
+    type ConfigError;
+
     /// Set the configuration of the driver.
-    fn set_config(&mut self, config: &Self::Config);
+    fn set_config(&mut self, config: &Self::Config) -> Result<(), Self::ConfigError>;
+}
+
+/// Get the configuration of a peripheral driver.
+pub trait GetConfig {
+    /// The configuration type used by this driver.
+    type Config;
+
+    /// Get the configuration of the driver.
+    fn get_config(&self) -> Self::Config;
 }
diff --git a/embassy-embedded-hal/src/shared_bus/asynch/i2c.rs b/embassy-embedded-hal/src/shared_bus/asynch/i2c.rs
index 87e8a430..1053d384 100644
--- a/embassy-embedded-hal/src/shared_bus/asynch/i2c.rs
+++ b/embassy-embedded-hal/src/shared_bus/asynch/i2c.rs
@@ -125,14 +125,14 @@ where
 {
     async fn read(&mut self, address: u8, buffer: &mut [u8]) -> Result<(), I2cDeviceError<BUS::Error>> {
         let mut bus = self.bus.lock().await;
-        bus.set_config(&self.config);
+        bus.set_config(&self.config).map_err(|_| I2cDeviceError::Config)?;
         bus.read(address, buffer).await.map_err(I2cDeviceError::I2c)?;
         Ok(())
     }
 
     async fn write(&mut self, address: u8, bytes: &[u8]) -> Result<(), I2cDeviceError<BUS::Error>> {
         let mut bus = self.bus.lock().await;
-        bus.set_config(&self.config);
+        bus.set_config(&self.config).map_err(|_| I2cDeviceError::Config)?;
         bus.write(address, bytes).await.map_err(I2cDeviceError::I2c)?;
         Ok(())
     }
@@ -144,7 +144,7 @@ where
         rd_buffer: &mut [u8],
     ) -> Result<(), I2cDeviceError<BUS::Error>> {
         let mut bus = self.bus.lock().await;
-        bus.set_config(&self.config);
+        bus.set_config(&self.config).map_err(|_| I2cDeviceError::Config)?;
         bus.write_read(address, wr_buffer, rd_buffer)
             .await
             .map_err(I2cDeviceError::I2c)?;
@@ -153,7 +153,7 @@ where
 
     async fn transaction(&mut self, address: u8, operations: &mut [i2c::Operation<'_>]) -> Result<(), Self::Error> {
         let mut bus = self.bus.lock().await;
-        bus.set_config(&self.config);
+        bus.set_config(&self.config).map_err(|_| I2cDeviceError::Config)?;
         bus.transaction(address, operations)
             .await
             .map_err(I2cDeviceError::I2c)?;
diff --git a/embassy-embedded-hal/src/shared_bus/asynch/spi.rs b/embassy-embedded-hal/src/shared_bus/asynch/spi.rs
index 03039218..b2a9f1e3 100644
--- a/embassy-embedded-hal/src/shared_bus/asynch/spi.rs
+++ b/embassy-embedded-hal/src/shared_bus/asynch/spi.rs
@@ -130,7 +130,7 @@ where
 {
     async fn transaction(&mut self, operations: &mut [spi::Operation<'_, u8>]) -> Result<(), Self::Error> {
         let mut bus = self.bus.lock().await;
-        bus.set_config(&self.config);
+        bus.set_config(&self.config).map_err(|_| SpiDeviceError::Config)?;
         self.cs.set_low().map_err(SpiDeviceError::Cs)?;
 
         let op_res: Result<(), BUS::Error> = try {
diff --git a/embassy-embedded-hal/src/shared_bus/blocking/i2c.rs b/embassy-embedded-hal/src/shared_bus/blocking/i2c.rs
index af73df05..233c9e1f 100644
--- a/embassy-embedded-hal/src/shared_bus/blocking/i2c.rs
+++ b/embassy-embedded-hal/src/shared_bus/blocking/i2c.rs
@@ -148,7 +148,7 @@ where
     fn read(&mut self, address: u8, buffer: &mut [u8]) -> Result<(), Self::Error> {
         self.bus.lock(|bus| {
             let mut bus = bus.borrow_mut();
-            bus.set_config(&self.config);
+            bus.set_config(&self.config).map_err(|_| I2cDeviceError::Config)?;
             bus.read(address, buffer).map_err(I2cDeviceError::I2c)
         })
     }
@@ -156,7 +156,7 @@ where
     fn write(&mut self, address: u8, bytes: &[u8]) -> Result<(), Self::Error> {
         self.bus.lock(|bus| {
             let mut bus = bus.borrow_mut();
-            bus.set_config(&self.config);
+            bus.set_config(&self.config).map_err(|_| I2cDeviceError::Config)?;
             bus.write(address, bytes).map_err(I2cDeviceError::I2c)
         })
     }
@@ -164,7 +164,7 @@ where
     fn write_read(&mut self, address: u8, wr_buffer: &[u8], rd_buffer: &mut [u8]) -> Result<(), Self::Error> {
         self.bus.lock(|bus| {
             let mut bus = bus.borrow_mut();
-            bus.set_config(&self.config);
+            bus.set_config(&self.config).map_err(|_| I2cDeviceError::Config)?;
             bus.write_read(address, wr_buffer, rd_buffer)
                 .map_err(I2cDeviceError::I2c)
         })
diff --git a/embassy-embedded-hal/src/shared_bus/blocking/spi.rs b/embassy-embedded-hal/src/shared_bus/blocking/spi.rs
index 6d03d626..feb0f5b7 100644
--- a/embassy-embedded-hal/src/shared_bus/blocking/spi.rs
+++ b/embassy-embedded-hal/src/shared_bus/blocking/spi.rs
@@ -163,7 +163,7 @@ where
     fn transaction(&mut self, operations: &mut [Operation<'_, u8>]) -> Result<(), Self::Error> {
         self.bus.lock(|bus| {
             let mut bus = bus.borrow_mut();
-            bus.set_config(&self.config);
+            bus.set_config(&self.config).map_err(|_| SpiDeviceError::Config)?;
             self.cs.set_low().map_err(SpiDeviceError::Cs)?;
 
             let op_res = operations.iter_mut().try_for_each(|op| match op {
diff --git a/embassy-embedded-hal/src/shared_bus/mod.rs b/embassy-embedded-hal/src/shared_bus/mod.rs
index 79a90bd5..b0159ac0 100644
--- a/embassy-embedded-hal/src/shared_bus/mod.rs
+++ b/embassy-embedded-hal/src/shared_bus/mod.rs
@@ -14,6 +14,8 @@ pub mod blocking;
 pub enum I2cDeviceError<BUS> {
     /// An operation on the inner I2C bus failed.
     I2c(BUS),
+    /// Configuration of the inner I2C bus failed.
+    Config,
 }
 
 impl<BUS> i2c::Error for I2cDeviceError<BUS>
@@ -23,6 +25,7 @@ where
     fn kind(&self) -> i2c::ErrorKind {
         match self {
             Self::I2c(e) => e.kind(),
+            Self::Config => i2c::ErrorKind::Other,
         }
     }
 }
@@ -38,6 +41,8 @@ pub enum SpiDeviceError<BUS, CS> {
     Cs(CS),
     /// DelayUs operations are not supported when the `time` Cargo feature is not enabled.
     DelayUsNotSupported,
+    /// The SPI bus could not be configured.
+    Config,
 }
 
 impl<BUS, CS> spi::Error for SpiDeviceError<BUS, CS>
@@ -50,6 +55,7 @@ where
             Self::Spi(e) => e.kind(),
             Self::Cs(_) => spi::ErrorKind::Other,
             Self::DelayUsNotSupported => spi::ErrorKind::Other,
+            Self::Config => spi::ErrorKind::Other,
         }
     }
 }
diff --git a/embassy-nrf/src/spim.rs b/embassy-nrf/src/spim.rs
index 4828af43..caf681d9 100644
--- a/embassy-nrf/src/spim.rs
+++ b/embassy-nrf/src/spim.rs
@@ -176,7 +176,7 @@ impl<'d, T: Instance> Spim<'d, T> {
         let mut spim = Self { _p: spim };
 
         // Apply runtime peripheral configuration
-        Self::set_config(&mut spim, &config);
+        Self::set_config(&mut spim, &config).unwrap();
 
         // Disable all events interrupts
         r.intenclr.write(|w| unsafe { w.bits(0xFFFF_FFFF) });
@@ -566,7 +566,8 @@ mod eha {
 
 impl<'d, T: Instance> SetConfig for Spim<'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::ConfigError> {
         let r = T::regs();
         // Configure mode.
         let mode = config.mode;
@@ -604,5 +605,7 @@ impl<'d, T: Instance> SetConfig for Spim<'d, T> {
         // Set over-read character
         let orc = config.orc;
         r.orc.write(|w| unsafe { w.orc().bits(orc) });
+
+        Ok(())
     }
 }
diff --git a/embassy-nrf/src/spis.rs b/embassy-nrf/src/spis.rs
index e695ba6b..e202c6c2 100644
--- a/embassy-nrf/src/spis.rs
+++ b/embassy-nrf/src/spis.rs
@@ -172,7 +172,7 @@ impl<'d, T: Instance> Spis<'d, T> {
         let mut spis = Self { _p: spis };
 
         // Apply runtime peripheral configuration
-        Self::set_config(&mut spis, &config);
+        Self::set_config(&mut spis, &config).unwrap();
 
         // Disable all events interrupts.
         r.intenclr.write(|w| unsafe { w.bits(0xFFFF_FFFF) });
@@ -467,7 +467,8 @@ macro_rules! impl_spis {
 
 impl<'d, T: Instance> SetConfig for Spis<'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::ConfigError> {
         let r = T::regs();
         // Configure mode.
         let mode = config.mode;
@@ -509,5 +510,7 @@ impl<'d, T: Instance> SetConfig for Spis<'d, T> {
         // Configure auto-acquire on 'transfer end' event.
         let auto_acquire = config.auto_acquire;
         r.shorts.write(|w| w.end_acquire().bit(auto_acquire));
+
+        Ok(())
     }
 }
diff --git a/embassy-nrf/src/twim.rs b/embassy-nrf/src/twim.rs
index fe38fb10..919bb4ab 100644
--- a/embassy-nrf/src/twim.rs
+++ b/embassy-nrf/src/twim.rs
@@ -170,7 +170,7 @@ impl<'d, T: Instance> Twim<'d, T> {
         let mut twim = Self { _p: twim };
 
         // Apply runtime peripheral configuration
-        Self::set_config(&mut twim, &config);
+        Self::set_config(&mut twim, &config).unwrap();
 
         // Disable all events interrupts
         r.intenclr.write(|w| unsafe { w.bits(0xFFFF_FFFF) });
@@ -890,9 +890,12 @@ mod eha {
 
 impl<'d, T: Instance> SetConfig for Twim<'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::ConfigError> {
         let r = T::regs();
         r.frequency
             .write(|w| unsafe { w.frequency().bits(config.frequency as u32) });
+
+        Ok(())
     }
 }
diff --git a/embassy-rp/src/spi.rs b/embassy-rp/src/spi.rs
index 46c440b8..a59ce841 100644
--- a/embassy-rp/src/spi.rs
+++ b/embassy-rp/src/spi.rs
@@ -597,7 +597,8 @@ mod eha {
 
 impl<'d, T: Instance, M: Mode> SetConfig for Spi<'d, T, M> {
     type Config = Config;
-    fn set_config(&mut self, config: &Self::Config) {
+    type ConfigError = ();
+    fn set_config(&mut self, config: &Self::Config) -> Result<(), ()> {
         let p = self.inner.regs();
         let (presc, postdiv) = calc_prescs(config.frequency);
         p.cpsr().write(|w| w.set_cpsdvsr(presc));
@@ -607,5 +608,7 @@ impl<'d, T: Instance, M: Mode> SetConfig for Spi<'d, T, M> {
             w.set_sph(config.phase == Phase::CaptureOnSecondTransition);
             w.set_scr(postdiv);
         });
+
+        Ok(())
     }
 }
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)
     }