diff --git a/esp-hal/CHANGELOG.md b/esp-hal/CHANGELOG.md
index 3ef361b9ad0..9e3ea5fc3c5 100644
--- a/esp-hal/CHANGELOG.md
+++ b/esp-hal/CHANGELOG.md
@@ -16,6 +16,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 - Added async support for TWAI (#1320)
 - Add TWAI support for ESP32-C6 (#1323)
 - `GpioPin::steal` unsafe API (#1363)
+- Inherent implementions of GPIO pin `set_low`, `is_low`, etc.
 
 ### Fixed
 
diff --git a/esp-hal/src/gpio.rs b/esp-hal/src/gpio.rs
index 84710ff2617..7d4a0cffc2a 100644
--- a/esp-hal/src/gpio.rs
+++ b/esp-hal/src/gpio.rs
@@ -542,68 +542,37 @@ pub struct GpioPin<MODE, const GPIONUM: u8> {
     _mode: PhantomData<MODE>,
 }
 
-#[cfg(feature = "embedded-hal-02")]
-impl<MODE, const GPIONUM: u8> embedded_hal_02::digital::v2::InputPin
-    for GpioPin<Input<MODE>, GPIONUM>
+impl<MODE, const GPIONUM: u8> GpioPin<Input<MODE>, GPIONUM>
 where
     Self: GpioProperties,
 {
-    type Error = core::convert::Infallible;
-    fn is_high(&self) -> Result<bool, Self::Error> {
-        Ok(<Self as GpioProperties>::Bank::read_input() & (1 << (GPIONUM % 32)) != 0)
-    }
-    fn is_low(&self) -> Result<bool, Self::Error> {
-        Ok(!self.is_high()?)
+    /// Is the input pin high?
+    #[inline]
+    pub fn is_high(&self) -> bool {
+        <Self as GpioProperties>::Bank::read_input() & (1 << (GPIONUM % 32)) != 0
     }
-}
 
-#[cfg(feature = "embedded-hal-02")]
-impl<const GPIONUM: u8> embedded_hal_02::digital::v2::InputPin
-    for GpioPin<Output<OpenDrain>, GPIONUM>
-where
-    Self: GpioProperties,
-{
-    type Error = core::convert::Infallible;
-    fn is_high(&self) -> Result<bool, Self::Error> {
-        Ok(<Self as GpioProperties>::Bank::read_input() & (1 << (GPIONUM % 32)) != 0)
+    /// Is the input pin low?
+    #[inline]
+    pub fn is_low(&self) -> bool {
+        !self.is_high()
     }
-    fn is_low(&self) -> Result<bool, Self::Error> {
-        Ok(!self.is_high()?)
-    }
-}
-
-#[cfg(feature = "embedded-hal")]
-impl<MODE, const GPIONUM: u8> embedded_hal::digital::ErrorType for GpioPin<Input<MODE>, GPIONUM>
-where
-    Self: GpioProperties,
-{
-    type Error = core::convert::Infallible;
 }
 
-#[cfg(feature = "embedded-hal")]
-impl<MODE, const GPIONUM: u8> embedded_hal::digital::InputPin for GpioPin<Input<MODE>, GPIONUM>
+impl<const GPIONUM: u8> GpioPin<Output<OpenDrain>, GPIONUM>
 where
     Self: GpioProperties,
 {
-    fn is_high(&mut self) -> Result<bool, Self::Error> {
-        Ok(<Self as GpioProperties>::Bank::read_input() & (1 << (GPIONUM % 32)) != 0)
-    }
-    fn is_low(&mut self) -> Result<bool, Self::Error> {
-        Ok(!self.is_high()?)
+    /// Is the input pin high?
+    #[inline]
+    pub fn is_high(&self) -> bool {
+        <Self as GpioProperties>::Bank::read_input() & (1 << (GPIONUM % 32)) != 0
     }
-}
 
-#[cfg(feature = "embedded-hal")]
-impl<const GPIONUM: u8> embedded_hal::digital::InputPin for GpioPin<Output<OpenDrain>, GPIONUM>
-where
-    Self: GpioProperties,
-    <Self as GpioProperties>::PinType: IsOutputPin,
-{
-    fn is_high(&mut self) -> Result<bool, Self::Error> {
-        Ok(<Self as GpioProperties>::Bank::read_input() & (1 << (GPIONUM % 32)) != 0)
-    }
-    fn is_low(&mut self) -> Result<bool, Self::Error> {
-        Ok(!self.is_high()?)
+    /// Is the input pin low?
+    #[inline]
+    pub fn is_low(&self) -> bool {
+        !self.is_high()
     }
 }
 
@@ -906,94 +875,46 @@ where
     }
 }
 
-#[cfg(feature = "embedded-hal-02")]
-impl<MODE, const GPIONUM: u8> embedded_hal_02::digital::v2::OutputPin
-    for GpioPin<Output<MODE>, GPIONUM>
+impl<MODE, const GPIONUM: u8> GpioPin<Output<MODE>, GPIONUM>
 where
     Self: GpioProperties,
     <Self as GpioProperties>::PinType: IsOutputPin,
 {
-    type Error = core::convert::Infallible;
-    fn set_high(&mut self) -> Result<(), Self::Error> {
+    /// Drives the pin high.
+    #[inline]
+    pub fn set_high(&mut self) {
         <Self as GpioProperties>::Bank::write_output_set(1 << (GPIONUM % 32));
-        Ok(())
     }
-    fn set_low(&mut self) -> Result<(), Self::Error> {
+
+    /// Drives the pin low.
+    #[inline]
+    pub fn set_low(&mut self) {
         <Self as GpioProperties>::Bank::write_output_clear(1 << (GPIONUM % 32));
-        Ok(())
     }
-}
 
-#[cfg(feature = "embedded-hal-02")]
-impl<MODE, const GPIONUM: u8> embedded_hal_02::digital::v2::StatefulOutputPin
-    for GpioPin<Output<MODE>, GPIONUM>
-where
-    Self: GpioProperties,
-    <Self as GpioProperties>::PinType: IsOutputPin,
-{
-    fn is_set_high(&self) -> Result<bool, Self::Error> {
-        Ok(<Self as GpioProperties>::Bank::read_output() & (1 << (GPIONUM % 32)) != 0)
-    }
-    fn is_set_low(&self) -> Result<bool, Self::Error> {
-        Ok(!self.is_set_high()?)
-    }
-}
+    // TODO: add `set_state(PinState)`
+    // Drives the pin high or low depending on the provided value.
 
-#[cfg(feature = "embedded-hal-02")]
-impl<MODE, const GPIONUM: u8> embedded_hal_02::digital::v2::ToggleableOutputPin
-    for GpioPin<Output<MODE>, GPIONUM>
-where
-    Self: GpioProperties,
-    <Self as GpioProperties>::PinType: IsOutputPin,
-{
-    type Error = core::convert::Infallible;
-    fn toggle(&mut self) -> Result<(), Self::Error> {
-        use embedded_hal_02::digital::v2::{OutputPin as _, StatefulOutputPin as _};
-        if self.is_set_high()? {
-            Ok(self.set_low()?)
-        } else {
-            Ok(self.set_high()?)
-        }
+    /// Is the pin in drive high mode?
+    #[inline]
+    pub fn is_set_high(&self) -> bool {
+        <Self as GpioProperties>::Bank::read_output() & (1 << (GPIONUM % 32)) != 0
     }
-}
-
-#[cfg(feature = "embedded-hal")]
-impl<MODE, const GPIONUM: u8> embedded_hal::digital::ErrorType for GpioPin<Output<MODE>, GPIONUM>
-where
-    Self: GpioProperties,
-    <Self as GpioProperties>::PinType: IsOutputPin,
-{
-    type Error = core::convert::Infallible;
-}
 
-#[cfg(feature = "embedded-hal")]
-impl<MODE, const GPIONUM: u8> embedded_hal::digital::OutputPin for GpioPin<Output<MODE>, GPIONUM>
-where
-    Self: GpioProperties,
-    <Self as GpioProperties>::PinType: IsOutputPin,
-{
-    fn set_low(&mut self) -> Result<(), Self::Error> {
-        <Self as GpioProperties>::Bank::write_output_clear(1 << (GPIONUM % 32));
-        Ok(())
+    /// Is the pin in drive low mode?
+    #[inline]
+    pub fn is_set_low(&self) -> bool {
+        !self.is_set_high()
     }
-    fn set_high(&mut self) -> Result<(), Self::Error> {
-        <Self as GpioProperties>::Bank::write_output_set(1 << (GPIONUM % 32));
-        Ok(())
-    }
-}
 
-#[cfg(feature = "embedded-hal")]
-impl<MODE, const GPIONUM: u8> embedded_hal::digital::StatefulOutputPin
-    for GpioPin<Output<MODE>, GPIONUM>
-where
-    Self: GpioProperties,
-    <Self as GpioProperties>::PinType: IsOutputPin,
-{
-    fn is_set_high(&mut self) -> Result<bool, Self::Error> {
-        Ok(<Self as GpioProperties>::Bank::read_output() & (1 << (GPIONUM % 32)) != 0)
-    }
-    fn is_set_low(&mut self) -> Result<bool, Self::Error> {
-        Ok(!self.is_set_high()?)
+    /// Toggle pin output.
+    #[inline]
+    pub fn toggle(&mut self) {
+        if self.is_set_high() {
+            self.set_low();
+        } else {
+            self.set_high();
+        }
     }
 }
 
@@ -1772,131 +1693,91 @@ where
     }
 }
 
-#[cfg(feature = "embedded-hal-02")]
-impl<MODE, TYPE> embedded_hal_02::digital::v2::InputPin for AnyPin<Input<MODE>, TYPE> {
-    type Error = core::convert::Infallible;
-
-    fn is_high(&self) -> Result<bool, Self::Error> {
+impl<MODE, TYPE> AnyPin<Input<MODE>, TYPE> {
+    /// Is the input pin high?
+    #[inline]
+    pub fn is_high(&self) -> bool {
         let inner = &self.inner;
         handle_gpio_input!(inner, target, { target.is_high() })
     }
 
-    fn is_low(&self) -> Result<bool, Self::Error> {
+    /// Is the input pin low?
+    #[inline]
+    pub fn is_low(&self) -> bool {
         let inner = &self.inner;
         handle_gpio_input!(inner, target, { target.is_low() })
     }
 }
 
-#[cfg(feature = "embedded-hal")]
-impl<MODE, TYPE> embedded_hal::digital::ErrorType for AnyPin<Input<MODE>, TYPE> {
-    type Error = core::convert::Infallible;
-}
-
-#[cfg(feature = "embedded-hal")]
-impl<MODE, TYPE> embedded_hal::digital::InputPin for AnyPin<Input<MODE>, TYPE> {
-    fn is_high(&mut self) -> Result<bool, Self::Error> {
-        let inner = &mut self.inner;
-        handle_gpio_input!(inner, target, { target.is_high() })
-    }
-
-    fn is_low(&mut self) -> Result<bool, Self::Error> {
-        let inner = &mut self.inner;
-        handle_gpio_input!(inner, target, { target.is_low() })
-    }
-}
-
-#[cfg(feature = "embedded-hal-02")]
-impl<MODE, TYPE> embedded_hal_02::digital::v2::OutputPin for AnyPin<Output<MODE>, TYPE> {
-    type Error = core::convert::Infallible;
-
-    fn set_low(&mut self) -> Result<(), Self::Error> {
+impl<MODE, TYPE> AnyPin<Output<MODE>, TYPE> {
+    /// Drives the pin low.
+    #[inline]
+    pub fn set_low(&mut self) {
         let inner = &mut self.inner;
         handle_gpio_output!(inner, target, { target.set_low() })
     }
 
-    fn set_high(&mut self) -> Result<(), Self::Error> {
+    /// Drives the pin high.
+    #[inline]
+    pub fn set_high(&mut self) {
         let inner = &mut self.inner;
         handle_gpio_output!(inner, target, { target.set_high() })
     }
-}
 
-#[cfg(feature = "embedded-hal-02")]
-impl<MODE, TYPE> embedded_hal_02::digital::v2::StatefulOutputPin for AnyPin<Output<MODE>, TYPE> {
-    fn is_set_high(&self) -> Result<bool, Self::Error> {
+    // TODO: add `set_state(PinState)`
+    // Drives the pin high or low depending on the provided value.
+
+    /// Is the pin in drive high mode?
+    #[inline]
+    pub fn is_set_high(&self) -> bool {
         let inner = &self.inner;
         handle_gpio_output!(inner, target, { target.is_set_high() })
     }
 
-    fn is_set_low(&self) -> Result<bool, Self::Error> {
+    /// Is the pin in drive low mode?
+    #[inline]
+    pub fn is_set_low(&self) -> bool {
         let inner = &self.inner;
         handle_gpio_output!(inner, target, { target.is_set_low() })
     }
-}
 
-#[cfg(feature = "embedded-hal-02")]
-impl<MODE, TYPE> embedded_hal_02::digital::v2::ToggleableOutputPin for AnyPin<Output<MODE>, TYPE> {
-    type Error = core::convert::Infallible;
-
-    fn toggle(&mut self) -> Result<(), Self::Error> {
+    /// Toggle pin output.
+    #[inline]
+    pub fn toggle(&mut self) {
         let inner = &mut self.inner;
         handle_gpio_output!(inner, target, { target.toggle() })
     }
 }
 
-#[cfg(feature = "embedded-hal")]
-impl<MODE, TYPE> embedded_hal::digital::ErrorType for AnyPin<Output<MODE>, TYPE> {
-    type Error = core::convert::Infallible;
-}
-
-#[cfg(feature = "embedded-hal")]
-impl<MODE, TYPE> embedded_hal::digital::OutputPin for AnyPin<Output<MODE>, TYPE> {
-    fn set_low(&mut self) -> Result<(), Self::Error> {
-        let inner = &mut self.inner;
-        handle_gpio_output!(inner, target, { target.set_low() })
-    }
-
-    fn set_high(&mut self) -> Result<(), Self::Error> {
-        let inner = &mut self.inner;
-        handle_gpio_output!(inner, target, { target.set_high() })
-    }
-}
-
-#[cfg(feature = "embedded-hal")]
-impl<MODE, TYPE> embedded_hal::digital::StatefulOutputPin for AnyPin<Output<MODE>, TYPE> {
-    fn is_set_high(&mut self) -> Result<bool, Self::Error> {
-        let inner = &mut self.inner;
-        handle_gpio_output!(inner, target, { target.is_set_high() })
-    }
-
-    fn is_set_low(&mut self) -> Result<bool, Self::Error> {
-        let inner = &mut self.inner;
-        handle_gpio_output!(inner, target, { target.is_set_low() })
-    }
-}
-
 #[cfg(feature = "async")]
-impl<MODE, TYPE> embedded_hal_async::digital::Wait for AnyPin<Input<MODE>, TYPE> {
-    async fn wait_for_high(&mut self) -> Result<(), Self::Error> {
+impl<MODE, TYPE> AnyPin<Input<MODE>, TYPE> {
+    /// Wait until the pin is high. If it is already high, return immediately.
+    pub async fn wait_for_high(&mut self) {
         let inner = &mut self.inner;
         handle_gpio_input!(inner, target, { target.wait_for_high().await })
     }
 
-    async fn wait_for_low(&mut self) -> Result<(), Self::Error> {
+    /// Wait until the pin is low. If it is already low, return immediately.
+    pub async fn wait_for_low(&mut self) {
         let inner = &mut self.inner;
         handle_gpio_input!(inner, target, { target.wait_for_low().await })
     }
 
-    async fn wait_for_rising_edge(&mut self) -> Result<(), Self::Error> {
+    /// Wait for the pin to undergo a transition from low to high.
+    pub async fn wait_for_rising_edge(&mut self) {
         let inner = &mut self.inner;
         handle_gpio_input!(inner, target, { target.wait_for_rising_edge().await })
     }
 
-    async fn wait_for_falling_edge(&mut self) -> Result<(), Self::Error> {
+    /// Wait for the pin to undergo a transition from high to low.
+    pub async fn wait_for_falling_edge(&mut self) {
         let inner = &mut self.inner;
         handle_gpio_input!(inner, target, { target.wait_for_falling_edge().await })
     }
 
-    async fn wait_for_any_edge(&mut self) -> Result<(), Self::Error> {
+    /// Wait for the pin to undergo any transition, i.e low to high OR high to
+    /// low.
+    pub async fn wait_for_any_edge(&mut self) {
         let inner = &mut self.inner;
         handle_gpio_input!(inner, target, { target.wait_for_any_edge().await })
     }
@@ -3138,7 +3019,6 @@ mod asynch {
     use core::task::{Context, Poll};
 
     use embassy_sync::waitqueue::AtomicWaker;
-    use embedded_hal_async::digital::Wait;
 
     use super::*;
 
@@ -3146,54 +3026,68 @@ mod asynch {
     const NEW_AW: AtomicWaker = AtomicWaker::new();
     static PIN_WAKERS: [AtomicWaker; NUM_PINS] = [NEW_AW; NUM_PINS];
 
-    impl<MODE, const GPIONUM: u8> Wait for GpioPin<Input<MODE>, GPIONUM>
+    impl<MODE, const GPIONUM: u8> GpioPin<Input<MODE>, GPIONUM>
     where
         Self: GpioProperties,
         <Self as GpioProperties>::PinType: IsInputPin,
     {
-        async fn wait_for_high(&mut self) -> Result<(), Self::Error> {
+        /// Wait until the pin is high. If it is already high, return
+        /// immediately.
+        pub async fn wait_for_high(&mut self) {
             PinFuture::new(self, Event::HighLevel).await
         }
 
-        async fn wait_for_low(&mut self) -> Result<(), Self::Error> {
+        /// Wait until the pin is low. If it is already low, return immediately.
+        pub async fn wait_for_low(&mut self) {
             PinFuture::new(self, Event::LowLevel).await
         }
 
-        async fn wait_for_rising_edge(&mut self) -> Result<(), Self::Error> {
+        /// Wait for the pin to undergo a transition from low to high.
+        pub async fn wait_for_rising_edge(&mut self) {
             PinFuture::new(self, Event::RisingEdge).await
         }
 
-        async fn wait_for_falling_edge(&mut self) -> Result<(), Self::Error> {
+        /// Wait for the pin to undergo a transition from high to low.
+        pub async fn wait_for_falling_edge(&mut self) {
             PinFuture::new(self, Event::FallingEdge).await
         }
 
-        async fn wait_for_any_edge(&mut self) -> Result<(), Self::Error> {
+        /// Wait for the pin to undergo any transition, i.e low to high OR high
+        /// to low.
+        pub async fn wait_for_any_edge(&mut self) {
             PinFuture::new(self, Event::AnyEdge).await
         }
     }
 
-    impl<const GPIONUM: u8> Wait for GpioPin<Output<OpenDrain>, GPIONUM>
+    impl<const GPIONUM: u8> GpioPin<Output<OpenDrain>, GPIONUM>
     where
         Self: GpioProperties,
         <Self as GpioProperties>::PinType: IsInputPin + IsOutputPin,
     {
-        async fn wait_for_high(&mut self) -> Result<(), Self::Error> {
+        /// Wait until the pin is high. If it is already high, return
+        /// immediately.
+        pub async fn wait_for_high(&mut self) {
             PinFuture::new(self, Event::HighLevel).await
         }
 
-        async fn wait_for_low(&mut self) -> Result<(), Self::Error> {
+        /// Wait until the pin is low. If it is already low, return immediately.
+        pub async fn wait_for_low(&mut self) {
             PinFuture::new(self, Event::LowLevel).await
         }
 
-        async fn wait_for_rising_edge(&mut self) -> Result<(), Self::Error> {
+        /// Wait for the pin to undergo a transition from low to high.
+        pub async fn wait_for_rising_edge(&mut self) {
             PinFuture::new(self, Event::RisingEdge).await
         }
 
-        async fn wait_for_falling_edge(&mut self) -> Result<(), Self::Error> {
+        /// Wait for the pin to undergo a transition from high to low.
+        pub async fn wait_for_falling_edge(&mut self) {
             PinFuture::new(self, Event::FallingEdge).await
         }
 
-        async fn wait_for_any_edge(&mut self) -> Result<(), Self::Error> {
+        /// Wait for the pin to undergo any transition, i.e low to high OR high
+        /// to low.
+        pub async fn wait_for_any_edge(&mut self) {
             PinFuture::new(self, Event::AnyEdge).await
         }
     }
@@ -3204,7 +3098,7 @@ mod asynch {
 
     impl<'a, P> PinFuture<'a, P>
     where
-        P: crate::gpio::Pin + embedded_hal::digital::ErrorType,
+        P: crate::gpio::Pin,
     {
         pub fn new(pin: &'a mut P, event: Event) -> Self {
             pin.listen(event);
@@ -3214,9 +3108,9 @@ mod asynch {
 
     impl<'a, P> core::future::Future for PinFuture<'a, P>
     where
-        P: crate::gpio::Pin + embedded_hal::digital::ErrorType,
+        P: crate::gpio::Pin,
     {
-        type Output = Result<(), P::Error>;
+        type Output = ();
 
         fn poll(self: core::pin::Pin<&mut Self>, cx: &mut Context<'_>) -> Poll<Self::Output> {
             PIN_WAKERS[self.pin.number() as usize].register(cx.waker());
@@ -3224,7 +3118,7 @@ mod asynch {
             // if pin is no longer listening its been triggered
             // therefore the future has resolved
             if !self.pin.is_listening() {
-                Poll::Ready(Ok(()))
+                Poll::Ready(())
             } else {
                 Poll::Pending
             }
@@ -3278,3 +3172,334 @@ mod asynch {
         }
     }
 }
+
+#[cfg(feature = "embedded-hal-02")]
+mod embedded_hal_02_impls {
+    use embedded_hal_02::digital::v2 as digital;
+
+    use super::*;
+
+    impl<MODE, const GPIONUM: u8> digital::InputPin for GpioPin<Input<MODE>, GPIONUM>
+    where
+        Self: GpioProperties,
+    {
+        type Error = core::convert::Infallible;
+        fn is_high(&self) -> Result<bool, Self::Error> {
+            Ok(self.is_high())
+        }
+        fn is_low(&self) -> Result<bool, Self::Error> {
+            Ok(self.is_low())
+        }
+    }
+
+    impl<const GPIONUM: u8> digital::InputPin for GpioPin<Output<OpenDrain>, GPIONUM>
+    where
+        Self: GpioProperties,
+    {
+        type Error = core::convert::Infallible;
+        fn is_high(&self) -> Result<bool, Self::Error> {
+            Ok(<Self as GpioProperties>::Bank::read_input() & (1 << (GPIONUM % 32)) != 0)
+        }
+        fn is_low(&self) -> Result<bool, Self::Error> {
+            Ok(self.is_low())
+        }
+    }
+
+    impl<MODE, const GPIONUM: u8> digital::OutputPin for GpioPin<Output<MODE>, GPIONUM>
+    where
+        Self: GpioProperties,
+        <Self as GpioProperties>::PinType: IsOutputPin,
+    {
+        type Error = core::convert::Infallible;
+        fn set_high(&mut self) -> Result<(), Self::Error> {
+            self.set_high();
+            Ok(())
+        }
+        fn set_low(&mut self) -> Result<(), Self::Error> {
+            self.set_low();
+            Ok(())
+        }
+    }
+
+    impl<MODE, const GPIONUM: u8> digital::StatefulOutputPin for GpioPin<Output<MODE>, GPIONUM>
+    where
+        Self: GpioProperties,
+        <Self as GpioProperties>::PinType: IsOutputPin,
+    {
+        fn is_set_high(&self) -> Result<bool, Self::Error> {
+            Ok(self.is_set_high())
+        }
+        fn is_set_low(&self) -> Result<bool, Self::Error> {
+            Ok(self.is_set_low())
+        }
+    }
+
+    impl<MODE, const GPIONUM: u8> digital::ToggleableOutputPin for GpioPin<Output<MODE>, GPIONUM>
+    where
+        Self: GpioProperties,
+        <Self as GpioProperties>::PinType: IsOutputPin,
+    {
+        type Error = core::convert::Infallible;
+        fn toggle(&mut self) -> Result<(), Self::Error> {
+            self.toggle();
+            Ok(())
+        }
+    }
+
+    impl<MODE, TYPE> digital::InputPin for AnyPin<Input<MODE>, TYPE> {
+        type Error = core::convert::Infallible;
+
+        fn is_high(&self) -> Result<bool, Self::Error> {
+            Ok(self.is_high())
+        }
+
+        fn is_low(&self) -> Result<bool, Self::Error> {
+            Ok(self.is_low())
+        }
+    }
+
+    impl<MODE, TYPE> digital::OutputPin for AnyPin<Output<MODE>, TYPE> {
+        type Error = core::convert::Infallible;
+
+        fn set_low(&mut self) -> Result<(), Self::Error> {
+            self.set_low();
+            Ok(())
+        }
+
+        fn set_high(&mut self) -> Result<(), Self::Error> {
+            self.set_high();
+            Ok(())
+        }
+    }
+
+    impl<MODE, TYPE> digital::StatefulOutputPin for AnyPin<Output<MODE>, TYPE> {
+        fn is_set_high(&self) -> Result<bool, Self::Error> {
+            Ok(self.is_set_high())
+        }
+
+        fn is_set_low(&self) -> Result<bool, Self::Error> {
+            Ok(self.is_set_low())
+        }
+    }
+
+    impl<MODE, TYPE> digital::ToggleableOutputPin for AnyPin<Output<MODE>, TYPE> {
+        type Error = core::convert::Infallible;
+
+        fn toggle(&mut self) -> Result<(), Self::Error> {
+            self.toggle();
+            Ok(())
+        }
+    }
+}
+
+#[cfg(feature = "embedded-hal")]
+mod embedded_hal_impls {
+    use embedded_hal::digital;
+
+    use super::*;
+
+    impl<MODE, const GPIONUM: u8> digital::ErrorType for GpioPin<Input<MODE>, GPIONUM>
+    where
+        Self: GpioProperties,
+    {
+        type Error = core::convert::Infallible;
+    }
+
+    impl<MODE, const GPIONUM: u8> digital::InputPin for GpioPin<Input<MODE>, GPIONUM>
+    where
+        Self: GpioProperties,
+    {
+        fn is_high(&mut self) -> Result<bool, Self::Error> {
+            Ok(Self::is_high(self))
+        }
+        fn is_low(&mut self) -> Result<bool, Self::Error> {
+            Ok(Self::is_low(self))
+        }
+    }
+
+    impl<const GPIONUM: u8> digital::InputPin for GpioPin<Output<OpenDrain>, GPIONUM>
+    where
+        Self: GpioProperties,
+        <Self as GpioProperties>::PinType: IsOutputPin,
+    {
+        fn is_high(&mut self) -> Result<bool, Self::Error> {
+            Ok(Self::is_high(self))
+        }
+        fn is_low(&mut self) -> Result<bool, Self::Error> {
+            Ok(Self::is_low(self))
+        }
+    }
+
+    impl<MODE, const GPIONUM: u8> digital::ErrorType for GpioPin<Output<MODE>, GPIONUM>
+    where
+        Self: GpioProperties,
+        <Self as GpioProperties>::PinType: IsOutputPin,
+    {
+        type Error = core::convert::Infallible;
+    }
+
+    impl<MODE, const GPIONUM: u8> digital::OutputPin for GpioPin<Output<MODE>, GPIONUM>
+    where
+        Self: GpioProperties,
+        <Self as GpioProperties>::PinType: IsOutputPin,
+    {
+        fn set_low(&mut self) -> Result<(), Self::Error> {
+            self.set_low();
+            Ok(())
+        }
+        fn set_high(&mut self) -> Result<(), Self::Error> {
+            self.set_high();
+            Ok(())
+        }
+    }
+
+    impl<MODE, const GPIONUM: u8> digital::StatefulOutputPin for GpioPin<Output<MODE>, GPIONUM>
+    where
+        Self: GpioProperties,
+        <Self as GpioProperties>::PinType: IsOutputPin,
+    {
+        fn is_set_high(&mut self) -> Result<bool, Self::Error> {
+            Ok(Self::is_set_high(self))
+        }
+        fn is_set_low(&mut self) -> Result<bool, Self::Error> {
+            Ok(Self::is_set_low(self))
+        }
+    }
+
+    impl<MODE, TYPE> digital::ErrorType for AnyPin<Input<MODE>, TYPE> {
+        type Error = core::convert::Infallible;
+    }
+
+    impl<MODE, TYPE> digital::InputPin for AnyPin<Input<MODE>, TYPE> {
+        fn is_high(&mut self) -> Result<bool, Self::Error> {
+            Ok(Self::is_high(self))
+        }
+
+        fn is_low(&mut self) -> Result<bool, Self::Error> {
+            Ok(Self::is_low(self))
+        }
+    }
+
+    impl<MODE, TYPE> digital::ErrorType for AnyPin<Output<MODE>, TYPE> {
+        type Error = core::convert::Infallible;
+    }
+
+    impl<MODE, TYPE> digital::OutputPin for AnyPin<Output<MODE>, TYPE> {
+        fn set_low(&mut self) -> Result<(), Self::Error> {
+            self.set_low();
+            Ok(())
+        }
+
+        fn set_high(&mut self) -> Result<(), Self::Error> {
+            self.set_high();
+            Ok(())
+        }
+    }
+
+    impl<MODE, TYPE> digital::StatefulOutputPin for AnyPin<Output<MODE>, TYPE> {
+        fn is_set_high(&mut self) -> Result<bool, Self::Error> {
+            Ok(Self::is_set_high(self))
+        }
+
+        fn is_set_low(&mut self) -> Result<bool, Self::Error> {
+            Ok(Self::is_set_low(self))
+        }
+    }
+}
+
+#[cfg(feature = "embedded-hal")]
+#[cfg(feature = "async")]
+mod embedded_hal_async_impls {
+    use embedded_hal_async::digital::Wait;
+
+    use super::*;
+
+    impl<MODE, const GPIONUM: u8> Wait for GpioPin<Input<MODE>, GPIONUM>
+    where
+        Self: GpioProperties,
+        <Self as GpioProperties>::PinType: IsInputPin,
+    {
+        async fn wait_for_high(&mut self) -> Result<(), Self::Error> {
+            self.wait_for_high().await;
+            Ok(())
+        }
+
+        async fn wait_for_low(&mut self) -> Result<(), Self::Error> {
+            self.wait_for_low().await;
+            Ok(())
+        }
+
+        async fn wait_for_rising_edge(&mut self) -> Result<(), Self::Error> {
+            self.wait_for_rising_edge().await;
+            Ok(())
+        }
+
+        async fn wait_for_falling_edge(&mut self) -> Result<(), Self::Error> {
+            self.wait_for_falling_edge().await;
+            Ok(())
+        }
+
+        async fn wait_for_any_edge(&mut self) -> Result<(), Self::Error> {
+            self.wait_for_any_edge().await;
+            Ok(())
+        }
+    }
+
+    impl<const GPIONUM: u8> Wait for GpioPin<Output<OpenDrain>, GPIONUM>
+    where
+        Self: GpioProperties,
+        <Self as GpioProperties>::PinType: IsInputPin + IsOutputPin,
+    {
+        async fn wait_for_high(&mut self) -> Result<(), Self::Error> {
+            self.wait_for_high().await;
+            Ok(())
+        }
+
+        async fn wait_for_low(&mut self) -> Result<(), Self::Error> {
+            self.wait_for_low().await;
+            Ok(())
+        }
+
+        async fn wait_for_rising_edge(&mut self) -> Result<(), Self::Error> {
+            self.wait_for_rising_edge().await;
+            Ok(())
+        }
+
+        async fn wait_for_falling_edge(&mut self) -> Result<(), Self::Error> {
+            self.wait_for_falling_edge().await;
+            Ok(())
+        }
+
+        async fn wait_for_any_edge(&mut self) -> Result<(), Self::Error> {
+            self.wait_for_any_edge().await;
+            Ok(())
+        }
+    }
+
+    impl<MODE, TYPE> embedded_hal_async::digital::Wait for AnyPin<Input<MODE>, TYPE> {
+        async fn wait_for_high(&mut self) -> Result<(), Self::Error> {
+            self.wait_for_high().await;
+            Ok(())
+        }
+
+        async fn wait_for_low(&mut self) -> Result<(), Self::Error> {
+            self.wait_for_low().await;
+            Ok(())
+        }
+
+        async fn wait_for_rising_edge(&mut self) -> Result<(), Self::Error> {
+            self.wait_for_rising_edge().await;
+            Ok(())
+        }
+
+        async fn wait_for_falling_edge(&mut self) -> Result<(), Self::Error> {
+            self.wait_for_falling_edge().await;
+            Ok(())
+        }
+
+        async fn wait_for_any_edge(&mut self) -> Result<(), Self::Error> {
+            self.wait_for_any_edge().await;
+            Ok(())
+        }
+    }
+}
diff --git a/examples/src/bin/blinky.rs b/examples/src/bin/blinky.rs
index 8843dc3ce6a..5694dfc77dc 100644
--- a/examples/src/bin/blinky.rs
+++ b/examples/src/bin/blinky.rs
@@ -3,12 +3,10 @@
 //! This assumes that a LED is connected to the pin assigned to `led`. (GPIO0)
 
 //% CHIPS: esp32 esp32c2 esp32c3 esp32c6 esp32h2 esp32s2 esp32s3
-//% FEATURES: embedded-hal-02
 
 #![no_std]
 #![no_main]
 
-use embedded_hal_02::digital::v2::{OutputPin, ToggleableOutputPin};
 use esp_backtrace as _;
 use esp_hal::{clock::ClockControl, delay::Delay, gpio::IO, peripherals::Peripherals, prelude::*};
 
@@ -22,16 +20,16 @@ fn main() -> ! {
     let io = IO::new(peripherals.GPIO, peripherals.IO_MUX);
     let mut led = io.pins.gpio0.into_push_pull_output();
 
-    led.set_high().unwrap();
+    led.set_high();
 
     // Initialize the Delay peripheral, and use it to toggle the LED state in a
     // loop.
     let delay = Delay::new(&clocks);
 
     loop {
-        led.toggle().unwrap();
+        led.toggle();
         delay.delay_millis(500);
-        led.toggle().unwrap();
+        led.toggle();
         // or using `fugit` duration
         delay.delay(2.secs());
     }
diff --git a/examples/src/bin/blinky_erased_pins.rs b/examples/src/bin/blinky_erased_pins.rs
index 0c3c2531404..810c0de6c39 100644
--- a/examples/src/bin/blinky_erased_pins.rs
+++ b/examples/src/bin/blinky_erased_pins.rs
@@ -52,10 +52,10 @@ fn main() -> ! {
 
 fn toggle_pins(leds: &mut [AnyPin<Output<PushPull>>], button: &AnyPin<Input<PullDown>>) {
     for pin in leds.iter_mut() {
-        pin.toggle().unwrap();
+        pin.toggle();
     }
 
-    if button.is_low().unwrap() {
+    if button.is_low() {
         esp_println::println!("Button pressed");
     }
 }
diff --git a/examples/src/bin/embassy_multicore.rs b/examples/src/bin/embassy_multicore.rs
index 64ec21ca9ae..f27070ac0ed 100644
--- a/examples/src/bin/embassy_multicore.rs
+++ b/examples/src/bin/embassy_multicore.rs
@@ -43,10 +43,10 @@ async fn control_led(
     loop {
         if control.wait().await {
             esp_println::println!("LED on");
-            led.set_low().unwrap();
+            led.set_low();
         } else {
             esp_println::println!("LED off");
-            led.set_high().unwrap();
+            led.set_high();
         }
     }
 }
diff --git a/examples/src/bin/embassy_multicore_interrupt.rs b/examples/src/bin/embassy_multicore_interrupt.rs
index ba1b0acb2ef..e474a2cb90f 100644
--- a/examples/src/bin/embassy_multicore_interrupt.rs
+++ b/examples/src/bin/embassy_multicore_interrupt.rs
@@ -59,10 +59,10 @@ async fn control_led(
     loop {
         if control.wait().await {
             esp_println::println!("LED on");
-            led.set_low().unwrap();
+            led.set_low();
         } else {
             esp_println::println!("LED off");
-            led.set_high().unwrap();
+            led.set_high();
         }
     }
 }
diff --git a/examples/src/bin/embassy_rmt_rx.rs b/examples/src/bin/embassy_rmt_rx.rs
index 8ace5f8a8fb..fe567cb3a2b 100644
--- a/examples/src/bin/embassy_rmt_rx.rs
+++ b/examples/src/bin/embassy_rmt_rx.rs
@@ -31,7 +31,7 @@ compile_error!("Run this example in release mode");
 async fn signal_task(mut pin: Gpio5<Output<PushPull>>) {
     loop {
         for _ in 0..10 {
-            pin.toggle().unwrap();
+            pin.toggle();
             Timer::after(Duration::from_micros(10)).await;
         }
         Timer::after(Duration::from_millis(1000)).await;
diff --git a/examples/src/bin/embassy_wait.rs b/examples/src/bin/embassy_wait.rs
index 3e84db2d356..dae642039d3 100644
--- a/examples/src/bin/embassy_wait.rs
+++ b/examples/src/bin/embassy_wait.rs
@@ -40,7 +40,7 @@ async fn main(_spawner: Spawner) {
 
     loop {
         esp_println::println!("Waiting...");
-        input.wait_for_rising_edge().await.unwrap();
+        input.wait_for_rising_edge().await;
         esp_println::println!("Ping!");
         Timer::after(Duration::from_millis(100)).await;
     }
diff --git a/examples/src/bin/etm_gpio.rs b/examples/src/bin/etm_gpio.rs
index 18840882948..e4fa43b1abb 100644
--- a/examples/src/bin/etm_gpio.rs
+++ b/examples/src/bin/etm_gpio.rs
@@ -23,7 +23,7 @@ fn main() -> ! {
     let mut led = io.pins.gpio1.into_push_pull_output();
     let button = io.pins.gpio9.into_pull_down_input();
 
-    led.set_high().unwrap();
+    led.set_high();
 
     // setup ETM
     let gpio_ext = GpioEtmChannels::new(peripherals.GPIO_SD);
diff --git a/examples/src/bin/gpio_interrupt.rs b/examples/src/bin/gpio_interrupt.rs
index a447812b350..1990a3f27ac 100644
--- a/examples/src/bin/gpio_interrupt.rs
+++ b/examples/src/bin/gpio_interrupt.rs
@@ -4,7 +4,6 @@
 //! It also blinks an LED like the blinky example.
 
 //% CHIPS: esp32 esp32c2 esp32c3 esp32c6 esp32h2 esp32s2 esp32s3
-//% FEATURES: embedded-hal-02
 
 #![no_std]
 #![no_main]
@@ -12,7 +11,6 @@
 use core::cell::RefCell;
 
 use critical_section::Mutex;
-use embedded_hal_02::digital::v2::{OutputPin, ToggleableOutputPin};
 use esp_backtrace as _;
 use esp_hal::{
     clock::ClockControl,
@@ -50,14 +48,14 @@ fn main() -> ! {
         button.listen(Event::FallingEdge);
         BUTTON.borrow_ref_mut(cs).replace(button)
     });
-    led.set_high().unwrap();
+    led.set_high();
 
     // Initialize the Delay peripheral, and use it to toggle the LED state in a
     // loop.
     let delay = Delay::new(&clocks);
 
     loop {
-        led.toggle().unwrap();
+        led.toggle();
         delay.delay_millis(500);
     }
 }
diff --git a/examples/src/bin/lcd_i8080.rs b/examples/src/bin/lcd_i8080.rs
index 08ad6d919ac..53afa2e6718 100644
--- a/examples/src/bin/lcd_i8080.rs
+++ b/examples/src/bin/lcd_i8080.rs
@@ -18,12 +18,10 @@
 //! D7        GPIO15
 
 //% CHIPS: esp32s3
-//% FEATURES: embedded-hal-02
 
 #![no_std]
 #![no_main]
 
-use embedded_hal_02::digital::v2::OutputPin;
 use esp_backtrace as _;
 use esp_hal::{
     clock::ClockControl,
@@ -97,9 +95,9 @@ fn main() -> ! {
         // https://gist.github.com/sukesh-ak/610508bc84779a26efdcf969bf51a2d1
         // https://github.com/lovyan03/LovyanGFX/blob/302169a6f23e9a2a6451f03311c366d182193831/src/lgfx/v1/panel/Panel_ST7796.hpp#L28
 
-        reset.set_low().unwrap();
+        reset.set_low();
         delay.delay_micros(8_000);
-        reset.set_high().unwrap();
+        reset.set_high();
         delay.delay_micros(64_000);
 
         // const CMD_FRMCTR1: u8 = 0xB1;
@@ -210,7 +208,7 @@ fn main() -> ! {
     const RED: u16 = 0b00000_000000_11111;
     const BLUE: u16 = 0b11111_000000_00000;
 
-    backlight.set_high().unwrap();
+    backlight.set_high();
 
     let total_pixels = width as usize * height as usize;
     let total_bytes = total_pixels * 2;
diff --git a/examples/src/bin/rmt_rx.rs b/examples/src/bin/rmt_rx.rs
index ab229213470..2fe2911da1b 100644
--- a/examples/src/bin/rmt_rx.rs
+++ b/examples/src/bin/rmt_rx.rs
@@ -2,12 +2,10 @@
 //! Connect GPIO5 to GPIO4
 
 //% CHIPS: esp32 esp32c3 esp32c6 esp32h2 esp32s2 esp32s3
-//% FEATURES: embedded-hal-02
 
 #![no_std]
 #![no_main]
 
-use embedded_hal_02::digital::v2::OutputPin;
 use esp_backtrace as _;
 use esp_hal::{
     clock::ClockControl,
@@ -75,9 +73,9 @@ fn main() -> ! {
 
         // simulate input
         for i in 0u32..5u32 {
-            out.set_high().unwrap();
+            out.set_high();
             delay.delay_micros(i * 10 + 20);
-            out.set_low().unwrap();
+            out.set_low();
             delay.delay_micros(i * 20 + 20);
         }
 
diff --git a/examples/src/bin/spi_slave_dma.rs b/examples/src/bin/spi_slave_dma.rs
index 0240ce587b0..898ef5db475 100644
--- a/examples/src/bin/spi_slave_dma.rs
+++ b/examples/src/bin/spi_slave_dma.rs
@@ -61,9 +61,9 @@ fn main() -> ! {
     let mut master_mosi = io.pins.gpio8.into_push_pull_output();
     let slave_cs = io.pins.gpio3;
     let mut master_cs = io.pins.gpio9.into_push_pull_output();
-    master_cs.set_high().unwrap();
-    master_sclk.set_low().unwrap();
-    master_mosi.set_low().unwrap();
+    master_cs.set_high();
+    master_sclk.set_low();
+    master_mosi.set_low();
 
     let dma = Dma::new(peripherals.DMA);
     let dma_channel = dma.channel0;
@@ -115,31 +115,31 @@ fn main() -> ! {
         // Bit-bang out the contents of master_send and read into master_receive
         // as quickly as manageable. MSB first. Mode 0, so sampled on the rising
         // edge and set on the falling edge.
-        master_cs.set_low().unwrap();
+        master_cs.set_low();
         for (j, v) in master_send.iter().enumerate() {
             let mut b = *v;
             let mut rb = 0u8;
             for _ in 0..8 {
                 if b & 128 != 0 {
-                    master_mosi.set_high().unwrap();
+                    master_mosi.set_high();
                 } else {
-                    master_mosi.set_low().unwrap();
+                    master_mosi.set_low();
                 }
-                master_sclk.set_low().unwrap();
+                master_sclk.set_low();
                 b <<= 1;
                 rb <<= 1;
                 // NB: adding about 24 NOPs here makes the clock's duty cycle
                 // run at about 50% ... but we don't strictly need the delay,
                 // either.
-                master_sclk.set_high().unwrap();
-                if master_miso.is_high().unwrap() {
+                master_sclk.set_high();
+                if master_miso.is_high() {
                     rb |= 1;
                 }
             }
             master_receive[j] = rb;
         }
-        master_cs.set_high().unwrap();
-        master_sclk.set_low().unwrap();
+        master_cs.set_high();
+        master_sclk.set_low();
         // the buffers and spi is moved into the transfer and we can get it back via
         // `wait`
         transfer.wait().unwrap();
@@ -155,23 +155,23 @@ fn main() -> ! {
 
         slave_receive.fill(0xff);
         let transfer = spi.dma_read(&mut slave_receive).unwrap();
-        master_cs.set_high().unwrap();
+        master_cs.set_high();
 
-        master_cs.set_low().unwrap();
+        master_cs.set_low();
         for v in master_send.iter() {
             let mut b = *v;
             for _ in 0..8 {
                 if b & 128 != 0 {
-                    master_mosi.set_high().unwrap();
+                    master_mosi.set_high();
                 } else {
-                    master_mosi.set_low().unwrap();
+                    master_mosi.set_low();
                 }
                 b <<= 1;
-                master_sclk.set_low().unwrap();
-                master_sclk.set_high().unwrap();
+                master_sclk.set_low();
+                master_sclk.set_high();
             }
         }
-        master_cs.set_high().unwrap();
+        master_cs.set_high();
         transfer.wait().unwrap();
         println!(
             "slave got {:x?} .. {:x?}",
@@ -184,20 +184,20 @@ fn main() -> ! {
 
         master_receive.fill(0);
 
-        master_cs.set_low().unwrap();
+        master_cs.set_low();
         for (j, _) in master_send.iter().enumerate() {
             let mut rb = 0u8;
             for _ in 0..8 {
-                master_sclk.set_low().unwrap();
+                master_sclk.set_low();
                 rb <<= 1;
-                master_sclk.set_high().unwrap();
-                if master_miso.is_high().unwrap() {
+                master_sclk.set_high();
+                if master_miso.is_high() {
                     rb |= 1;
                 }
             }
             master_receive[j] = rb;
         }
-        master_cs.set_high().unwrap();
+        master_cs.set_high();
         transfer.wait().unwrap();
 
         println!(