rp: remove mod sealed.

embassy-rp/src/adc.rs

@@ -8,8 +8,7 @@ use core::task::Poll;
 use embassy_hal_internal::{into_ref, PeripheralRef};
 use embassy_sync::waitqueue::AtomicWaker;
 
-use crate::gpio::sealed::Pin as GpioPin;
+use crate::gpio::{self, AnyPin, Pull, SealedPin as GpioPin};
-use crate::gpio::{self, AnyPin, Pull};
 use crate::interrupt::typelevel::Binding;
 use crate::interrupt::InterruptExt;
 use crate::peripherals::{ADC, ADC_TEMP_SENSOR};
@@ -334,29 +333,28 @@ impl interrupt::typelevel::Handler<interrupt::typelevel::ADC_IRQ_FIFO> for Inter
     }
 }
 
-mod sealed {
+trait SealedAdcSample: crate::dma::Word {}
-    pub trait AdcSample: crate::dma::Word {}
+trait SealedAdcChannel {}
-
-    pub trait AdcChannel {}
-}
 
 /// ADC sample.
-pub trait AdcSample: sealed::AdcSample {}
+#[allow(private_bounds)]
+pub trait AdcSample: SealedAdcSample {}
 
-impl sealed::AdcSample for u16 {}
+impl SealedAdcSample for u16 {}
 impl AdcSample for u16 {}
 
-impl sealed::AdcSample for u8 {}
+impl SealedAdcSample for u8 {}
 impl AdcSample for u8 {}
 
 /// ADC channel.
-pub trait AdcChannel: sealed::AdcChannel {}
+#[allow(private_bounds)]
+pub trait AdcChannel: SealedAdcChannel {}
 /// ADC pin.
 pub trait AdcPin: AdcChannel + gpio::Pin {}
 
 macro_rules! impl_pin {
     ($pin:ident, $channel:expr) => {
-        impl sealed::AdcChannel for peripherals::$pin {}
+        impl SealedAdcChannel for peripherals::$pin {}
         impl AdcChannel for peripherals::$pin {}
         impl AdcPin for peripherals::$pin {}
     };
@@ -367,5 +365,5 @@ impl_pin!(PIN_27, 1);
 impl_pin!(PIN_28, 2);
 impl_pin!(PIN_29, 3);
 
-impl sealed::AdcChannel for peripherals::ADC_TEMP_SENSOR {}
+impl SealedAdcChannel for peripherals::ADC_TEMP_SENSOR {}
 impl AdcChannel for peripherals::ADC_TEMP_SENSOR {}

embassy-rp/src/clocks.rs

@@ -6,8 +6,7 @@ use core::sync::atomic::{AtomicU16, AtomicU32, Ordering};
 use embassy_hal_internal::{into_ref, PeripheralRef};
 use pac::clocks::vals::*;
 
-use crate::gpio::sealed::Pin;
+use crate::gpio::{AnyPin, SealedPin};
-use crate::gpio::AnyPin;
 use crate::pac::common::{Reg, RW};
 use crate::{pac, reset, Peripheral};
 
@@ -788,14 +787,14 @@ impl_gpinpin!(PIN_20, 20, 0);
 impl_gpinpin!(PIN_22, 22, 1);
 
 /// General purpose clock input driver.
-pub struct Gpin<'d, T: Pin> {
+pub struct Gpin<'d, T: GpinPin> {
     gpin: PeripheralRef<'d, AnyPin>,
     _phantom: PhantomData<T>,
 }
 
-impl<'d, T: Pin> Gpin<'d, T> {
+impl<'d, T: GpinPin> Gpin<'d, T> {
     /// Create new gpin driver.
-    pub fn new<P: GpinPin>(gpin: impl Peripheral<P = P> + 'd) -> Gpin<'d, P> {
+    pub fn new(gpin: impl Peripheral<P = T> + 'd) -> Self {
         into_ref!(gpin);
 
         gpin.gpio().ctrl().write(|w| w.set_funcsel(0x08));
@@ -811,7 +810,7 @@ impl<'d, T: Pin> Gpin<'d, T> {
     // }
 }
 
-impl<'d, T: Pin> Drop for Gpin<'d, T> {
+impl<'d, T: GpinPin> Drop for Gpin<'d, T> {
     fn drop(&mut self) {
         self.gpin
             .gpio()

embassy-rp/src/dma.rs

@@ -208,14 +208,12 @@ pub(crate) const CHANNEL_COUNT: usize = 12;
 const NEW_AW: AtomicWaker = AtomicWaker::new();
 static CHANNEL_WAKERS: [AtomicWaker; CHANNEL_COUNT] = [NEW_AW; CHANNEL_COUNT];
 
-mod sealed {
+trait SealedChannel {}
-    pub trait Channel {}
+trait SealedWord {}
-
-    pub trait Word {}
-}
 
 /// DMA channel interface.
-pub trait Channel: Peripheral<P = Self> + sealed::Channel + Into<AnyChannel> + Sized + 'static {
+#[allow(private_bounds)]
+pub trait Channel: Peripheral<P = Self> + SealedChannel + Into<AnyChannel> + Sized + 'static {
     /// Channel number.
     fn number(&self) -> u8;
 
@@ -231,26 +229,27 @@ pub trait Channel: Peripheral<P = Self> + sealed::Channel + Into<AnyChannel> + S
 }
 
 /// DMA word.
-pub trait Word: sealed::Word {
+#[allow(private_bounds)]
+pub trait Word: SealedWord {
     /// Word size.
     fn size() -> vals::DataSize;
 }
 
-impl sealed::Word for u8 {}
+impl SealedWord for u8 {}
 impl Word for u8 {
     fn size() -> vals::DataSize {
         vals::DataSize::SIZE_BYTE
     }
 }
 
-impl sealed::Word for u16 {}
+impl SealedWord for u16 {}
 impl Word for u16 {
     fn size() -> vals::DataSize {
         vals::DataSize::SIZE_HALFWORD
     }
 }
 
-impl sealed::Word for u32 {}
+impl SealedWord for u32 {}
 impl Word for u32 {
     fn size() -> vals::DataSize {
         vals::DataSize::SIZE_WORD
@@ -264,7 +263,7 @@ pub struct AnyChannel {
 
 impl_peripheral!(AnyChannel);
 
-impl sealed::Channel for AnyChannel {}
+impl SealedChannel for AnyChannel {}
 impl Channel for AnyChannel {
     fn number(&self) -> u8 {
         self.number
@@ -273,7 +272,7 @@ impl Channel for AnyChannel {
 
 macro_rules! channel {
     ($name:ident, $num:expr) => {
-        impl sealed::Channel for peripherals::$name {}
+        impl SealedChannel for peripherals::$name {}
         impl Channel for peripherals::$name {
             fn number(&self) -> u8 {
                 $num

embassy-rp/src/flash.rs

@@ -903,22 +903,22 @@ pub(crate) unsafe fn in_ram(operation: impl FnOnce()) -> Result<(), Error> {
     Ok(())
 }
 
-mod sealed {
+trait SealedInstance {}
-    pub trait Instance {}
+trait SealedMode {}
-    pub trait Mode {}
-}
 
 /// Flash instance.
-pub trait Instance: sealed::Instance {}
+#[allow(private_bounds)]
+pub trait Instance: SealedInstance {}
 /// Flash mode.
-pub trait Mode: sealed::Mode {}
+#[allow(private_bounds)]
+pub trait Mode: SealedMode {}
 
-impl sealed::Instance for FLASH {}
+impl SealedInstance for FLASH {}
 impl Instance for FLASH {}
 
 macro_rules! impl_mode {
     ($name:ident) => {
-        impl sealed::Mode for $name {}
+        impl SealedMode for $name {}
         impl Mode for $name {}
     };
 }

embassy-rp/src/gpio.rs

@@ -8,7 +8,6 @@ use core::task::{Context, Poll};
 use embassy_hal_internal::{impl_peripheral, into_ref, PeripheralRef};
 use embassy_sync::waitqueue::AtomicWaker;
 
-use self::sealed::Pin as _;
 use crate::interrupt::InterruptExt;
 use crate::pac::common::{Reg, RW};
 use crate::pac::SIO;
@@ -802,10 +801,7 @@ impl<'w> Drop for DormantWake<'w> {
     }
 }
 
-pub(crate) mod sealed {
+pub(crate) trait SealedPin: Sized {
-    use super::*;
-
-    pub trait Pin: Sized {
     fn pin_bank(&self) -> u8;
 
     #[inline]
@@ -860,10 +856,10 @@ pub(crate) mod sealed {
         self.io().int_proc(proc as _)
     }
 }
-}
 
 /// Interface for a Pin that can be configured by an [Input] or [Output] driver, or converted to an [AnyPin].
-pub trait Pin: Peripheral<P = Self> + Into<AnyPin> + sealed::Pin + Sized + 'static {
+#[allow(private_bounds)]
+pub trait Pin: Peripheral<P = Self> + Into<AnyPin> + SealedPin + Sized + 'static {
     /// Degrade to a generic pin struct
     fn degrade(self) -> AnyPin {
         AnyPin {
@@ -903,7 +899,7 @@ impl AnyPin {
 impl_peripheral!(AnyPin);
 
 impl Pin for AnyPin {}
-impl sealed::Pin for AnyPin {
+impl SealedPin for AnyPin {
     fn pin_bank(&self) -> u8 {
         self.pin_bank
     }
@@ -914,7 +910,7 @@ impl sealed::Pin for AnyPin {
 macro_rules! impl_pin {
     ($name:ident, $bank:expr, $pin_num:expr) => {
         impl Pin for peripherals::$name {}
-        impl sealed::Pin for peripherals::$name {
+        impl SealedPin for peripherals::$name {
             #[inline]
             fn pin_bank(&self) -> u8 {
                 ($bank as u8) * 32 + $pin_num

embassy-rp/src/i2c.rs

@@ -784,34 +784,24 @@ pub fn i2c_reserved_addr(addr: u16) -> bool {
     ((addr & 0x78) == 0 || (addr & 0x78) == 0x78) && addr != 0
 }
 
-mod sealed {
+pub(crate) trait SealedInstance {
-    use embassy_sync::waitqueue::AtomicWaker;
-
-    use crate::interrupt;
-
-    pub trait Instance {
     const TX_DREQ: u8;
     const RX_DREQ: u8;
 
-        type Interrupt: interrupt::typelevel::Interrupt;
-
     fn regs() -> crate::pac::i2c::I2c;
     fn reset() -> crate::pac::resets::regs::Peripherals;
     fn waker() -> &'static AtomicWaker;
 }
 
-    pub trait Mode {}
+trait SealedMode {}
-
-    pub trait SdaPin<T: Instance> {}
-    pub trait SclPin<T: Instance> {}
-}
 
 /// Driver mode.
-pub trait Mode: sealed::Mode {}
+#[allow(private_bounds)]
+pub trait Mode: SealedMode {}
 
 macro_rules! impl_mode {
     ($name:ident) => {
-        impl sealed::Mode for $name {}
+        impl SealedMode for $name {}
         impl Mode for $name {}
     };
 }
@@ -825,16 +815,18 @@ impl_mode!(Blocking);
 impl_mode!(Async);
 
 /// I2C instance.
-pub trait Instance: sealed::Instance {}
+#[allow(private_bounds)]
+pub trait Instance: SealedInstance {
+    /// Interrupt for this peripheral.
+    type Interrupt: interrupt::typelevel::Interrupt;
+}
 
 macro_rules! impl_instance {
     ($type:ident, $irq:ident, $reset:ident, $tx_dreq:expr, $rx_dreq:expr) => {
-        impl sealed::Instance for peripherals::$type {
+        impl SealedInstance for peripherals::$type {
             const TX_DREQ: u8 = $tx_dreq;
             const RX_DREQ: u8 = $rx_dreq;
 
-            type Interrupt = crate::interrupt::typelevel::$irq;
-
             #[inline]
             fn regs() -> pac::i2c::I2c {
                 pac::$type
@@ -854,7 +846,9 @@ macro_rules! impl_instance {
                 &WAKER
             }
         }
-        impl Instance for peripherals::$type {}
+        impl Instance for peripherals::$type {
+            type Interrupt = crate::interrupt::typelevel::$irq;
+        }
     };
 }
 
@@ -862,13 +856,12 @@ impl_instance!(I2C0, I2C0_IRQ, set_i2c0, 32, 33);
 impl_instance!(I2C1, I2C1_IRQ, set_i2c1, 34, 35);
 
 /// SDA pin.
-pub trait SdaPin<T: Instance>: sealed::SdaPin<T> + crate::gpio::Pin {}
+pub trait SdaPin<T: Instance>: crate::gpio::Pin {}
 /// SCL pin.
-pub trait SclPin<T: Instance>: sealed::SclPin<T> + crate::gpio::Pin {}
+pub trait SclPin<T: Instance>: crate::gpio::Pin {}
 
 macro_rules! impl_pin {
     ($pin:ident, $instance:ident, $function:ident) => {
-        impl sealed::$function<peripherals::$instance> for peripherals::$pin {}
         impl $function<peripherals::$instance> for peripherals::$pin {}
     };
 }

embassy-rp/src/pio/mod.rs

@@ -15,8 +15,7 @@ use pac::pio::vals::SmExecctrlStatusSel;
 use pio::{Program, SideSet, Wrap};
 
 use crate::dma::{Channel, Transfer, Word};
-use crate::gpio::sealed::Pin as SealedPin;
+use crate::gpio::{self, AnyPin, Drive, Level, Pull, SealedPin, SlewRate};
-use crate::gpio::{self, AnyPin, Drive, Level, Pull, SlewRate};
 use crate::interrupt::typelevel::{Binding, Handler, Interrupt};
 use crate::pac::dma::vals::TreqSel;
 use crate::relocate::RelocatedProgram;
@@ -695,6 +694,12 @@ impl<'d, PIO: Instance + 'd, const SM: usize> StateMachine<'d, PIO, SM> {
         }
     }
 
+    /// Set the clock divider for this state machine.
+    pub fn set_clock_divider(&mut self, clock_divider: FixedU32<U8>) {
+        let sm = Self::this_sm();
+        sm.clkdiv().write(|w| w.0 = clock_divider.to_bits() << 8);
+    }
+
     #[inline(always)]
     fn this_sm() -> crate::pac::pio::StateMachine {
         PIO::PIO.sm(SM)
@@ -1148,16 +1153,10 @@ fn on_pio_drop<PIO: Instance>() {
     }
 }
 
-mod sealed {
+trait SealedInstance {
-    use super::*;
-
-    pub trait PioPin {}
-
-    pub trait Instance {
     const PIO_NO: u8;
     const PIO: &'static crate::pac::pio::Pio;
     const FUNCSEL: crate::pac::io::vals::Gpio0ctrlFuncsel;
-        type Interrupt: crate::interrupt::typelevel::Interrupt;
 
     #[inline]
     fn wakers() -> &'static Wakers {
@@ -1177,20 +1176,24 @@ mod sealed {
         &STATE
     }
 }
-}
 
 /// PIO instance.
-pub trait Instance: sealed::Instance + Sized + Unpin {}
+#[allow(private_bounds)]
+pub trait Instance: SealedInstance + Sized + Unpin {
+    /// Interrupt for this peripheral.
+    type Interrupt: crate::interrupt::typelevel::Interrupt;
+}
 
 macro_rules! impl_pio {
     ($name:ident, $pio:expr, $pac:ident, $funcsel:ident, $irq:ident) => {
-        impl sealed::Instance for peripherals::$name {
+        impl SealedInstance for peripherals::$name {
             const PIO_NO: u8 = $pio;
             const PIO: &'static pac::pio::Pio = &pac::$pac;
             const FUNCSEL: pac::io::vals::Gpio0ctrlFuncsel = pac::io::vals::Gpio0ctrlFuncsel::$funcsel;
+        }
+        impl Instance for peripherals::$name {
             type Interrupt = crate::interrupt::typelevel::$irq;
         }
-        impl Instance for peripherals::$name {}
     };
 }
 
@@ -1198,12 +1201,11 @@ impl_pio!(PIO0, 0, PIO0, PIO0_0, PIO0_IRQ_0);
 impl_pio!(PIO1, 1, PIO1, PIO1_0, PIO1_IRQ_0);
 
 /// PIO pin.
-pub trait PioPin: sealed::PioPin + gpio::Pin {}
+pub trait PioPin: gpio::Pin {}
 
 macro_rules! impl_pio_pin {
     ($( $pin:ident, )*) => {
         $(
-            impl sealed::PioPin for peripherals::$pin {}
             impl PioPin for peripherals::$pin {}
         )*
     };

embassy-rp/src/pwm.rs

@@ -6,8 +6,7 @@ use fixed::FixedU16;
 use pac::pwm::regs::{ChDiv, Intr};
 use pac::pwm::vals::Divmode;
 
-use crate::gpio::sealed::Pin as _;
+use crate::gpio::{AnyPin, Pin as GpioPin, SealedPin as _};
-use crate::gpio::{AnyPin, Pin as GpioPin};
 use crate::{pac, peripherals, RegExt};
 
 /// The configuration of a PWM slice.
@@ -300,12 +299,11 @@ impl<'d, T: Slice> Drop for Pwm<'d, T> {
     }
 }
 
-mod sealed {
+trait SealedSlice {}
-    pub trait Slice {}
-}
 
 /// PWM Slice.
-pub trait Slice: Peripheral<P = Self> + sealed::Slice + Sized + 'static {
+#[allow(private_bounds)]
+pub trait Slice: Peripheral<P = Self> + SealedSlice + Sized + 'static {
     /// Slice number.
     fn number(&self) -> u8;
 
@@ -317,7 +315,7 @@ pub trait Slice: Peripheral<P = Self> + sealed::Slice + Sized + 'static {
 
 macro_rules! slice {
     ($name:ident, $num:expr) => {
-        impl sealed::Slice for peripherals::$name {}
+        impl SealedSlice for peripherals::$name {}
         impl Slice for peripherals::$name {
             fn number(&self) -> u8 {
                 $num

embassy-rp/src/rtc/mod.rs

@@ -188,16 +188,15 @@ pub enum RtcError {
     NotRunning,
 }
 
-mod sealed {
+trait SealedInstance {
-    pub trait Instance {
     fn regs(&self) -> crate::pac::rtc::Rtc;
 }
-}
 
 /// RTC peripheral instance.
-pub trait Instance: sealed::Instance {}
+#[allow(private_bounds)]
+pub trait Instance: SealedInstance {}
 
-impl sealed::Instance for crate::peripherals::RTC {
+impl SealedInstance for crate::peripherals::RTC {
     fn regs(&self) -> crate::pac::rtc::Rtc {
         crate::pac::RTC
     }

embassy-rp/src/spi.rs

@@ -7,8 +7,7 @@ use embassy_hal_internal::{into_ref, PeripheralRef};
 pub use embedded_hal_02::spi::{Phase, Polarity};
 
 use crate::dma::{AnyChannel, Channel};
-use crate::gpio::sealed::Pin as _;
+use crate::gpio::{AnyPin, Pin as GpioPin, SealedPin as _};
-use crate::gpio::{AnyPin, Pin as GpioPin};
 use crate::{pac, peripherals, Peripheral};
 
 /// SPI errors.
@@ -443,28 +442,26 @@ impl<'d, T: Instance> Spi<'d, T, Async> {
     }
 }
 
-mod sealed {
+trait SealedMode {}
-    use super::*;
 
-    pub trait Mode {}
+trait SealedInstance {
-
-    pub trait Instance {
     const TX_DREQ: u8;
     const RX_DREQ: u8;
 
     fn regs(&self) -> pac::spi::Spi;
 }
-}
 
 /// Mode.
-pub trait Mode: sealed::Mode {}
+#[allow(private_bounds)]
+pub trait Mode: SealedMode {}
 
 /// SPI instance trait.
-pub trait Instance: sealed::Instance {}
+#[allow(private_bounds)]
+pub trait Instance: SealedInstance {}
 
 macro_rules! impl_instance {
     ($type:ident, $irq:ident, $tx_dreq:expr, $rx_dreq:expr) => {
-        impl sealed::Instance for peripherals::$type {
+        impl SealedInstance for peripherals::$type {
             const TX_DREQ: u8 = $tx_dreq;
             const RX_DREQ: u8 = $rx_dreq;
 
@@ -527,7 +524,7 @@ impl_pin!(PIN_29, SPI1, CsPin);
 
 macro_rules! impl_mode {
     ($name:ident) => {
-        impl sealed::Mode for $name {}
+        impl SealedMode for $name {}
         impl Mode for $name {}
     };
 }

embassy-rp/src/uart/mod.rs

@@ -12,8 +12,7 @@ use pac::uart::regs::Uartris;
 
 use crate::clocks::clk_peri_freq;
 use crate::dma::{AnyChannel, Channel};
-use crate::gpio::sealed::Pin;
+use crate::gpio::{AnyPin, SealedPin};
-use crate::gpio::AnyPin;
 use crate::interrupt::typelevel::{Binding, Interrupt};
 use crate::pac::io::vals::{Inover, Outover};
 use crate::{interrupt, pac, peripherals, Peripheral, RegExt};
@@ -1107,35 +1106,26 @@ impl<'d, T: Instance, M: Mode> embedded_hal_nb::serial::Write for Uart<'d, T, M>
     }
 }
 
-mod sealed {
+trait SealedMode {}
-    use super::*;
 
-    pub trait Mode {}
+trait SealedInstance {
-
-    pub trait Instance {
     const TX_DREQ: u8;
     const RX_DREQ: u8;
 
-        type Interrupt: interrupt::typelevel::Interrupt;
-
     fn regs() -> pac::uart::Uart;
 
     fn buffered_state() -> &'static buffered::State;
 
     fn dma_state() -> &'static DmaState;
 }
-    pub trait TxPin<T: Instance> {}
-    pub trait RxPin<T: Instance> {}
-    pub trait CtsPin<T: Instance> {}
-    pub trait RtsPin<T: Instance> {}
-}
 
 /// UART mode.
-pub trait Mode: sealed::Mode {}
+#[allow(private_bounds)]
+pub trait Mode: SealedMode {}
 
 macro_rules! impl_mode {
     ($name:ident) => {
-        impl sealed::Mode for $name {}
+        impl SealedMode for $name {}
         impl Mode for $name {}
     };
 }
@@ -1149,16 +1139,18 @@ impl_mode!(Blocking);
 impl_mode!(Async);
 
 /// UART instance.
-pub trait Instance: sealed::Instance {}
+#[allow(private_bounds)]
+pub trait Instance: SealedInstance {
+    /// Interrupt for this instance.
+    type Interrupt: interrupt::typelevel::Interrupt;
+}
 
 macro_rules! impl_instance {
     ($inst:ident, $irq:ident, $tx_dreq:expr, $rx_dreq:expr) => {
-        impl sealed::Instance for peripherals::$inst {
+        impl SealedInstance for peripherals::$inst {
             const TX_DREQ: u8 = $tx_dreq;
             const RX_DREQ: u8 = $rx_dreq;
 
-            type Interrupt = crate::interrupt::typelevel::$irq;
-
             fn regs() -> pac::uart::Uart {
                 pac::$inst
             }
@@ -1176,7 +1168,9 @@ macro_rules! impl_instance {
                 &STATE
             }
         }
-        impl Instance for peripherals::$inst {}
+        impl Instance for peripherals::$inst {
+            type Interrupt = crate::interrupt::typelevel::$irq;
+        }
     };
 }
 
@@ -1184,17 +1178,16 @@ impl_instance!(UART0, UART0_IRQ, 20, 21);
 impl_instance!(UART1, UART1_IRQ, 22, 23);
 
 /// Trait for TX pins.
-pub trait TxPin<T: Instance>: sealed::TxPin<T> + crate::gpio::Pin {}
+pub trait TxPin<T: Instance>: crate::gpio::Pin {}
 /// Trait for RX pins.
-pub trait RxPin<T: Instance>: sealed::RxPin<T> + crate::gpio::Pin {}
+pub trait RxPin<T: Instance>: crate::gpio::Pin {}
 /// Trait for Clear To Send (CTS) pins.
-pub trait CtsPin<T: Instance>: sealed::CtsPin<T> + crate::gpio::Pin {}
+pub trait CtsPin<T: Instance>: crate::gpio::Pin {}
 /// Trait for Request To Send (RTS) pins.
-pub trait RtsPin<T: Instance>: sealed::RtsPin<T> + crate::gpio::Pin {}
+pub trait RtsPin<T: Instance>: crate::gpio::Pin {}
 
 macro_rules! impl_pin {
     ($pin:ident, $instance:ident, $function:ident) => {
-        impl sealed::$function<peripherals::$instance> for peripherals::$pin {}
         impl $function<peripherals::$instance> for peripherals::$pin {}
     };
 }

embassy-rp/src/usb.rs

@@ -14,20 +14,19 @@ use embassy_usb_driver::{
 use crate::interrupt::typelevel::{Binding, Interrupt};
 use crate::{interrupt, pac, peripherals, Peripheral, RegExt};
 
-pub(crate) mod sealed {
+trait SealedInstance {
-    pub trait Instance {
     fn regs() -> crate::pac::usb::Usb;
     fn dpram() -> crate::pac::usb_dpram::UsbDpram;
 }
-}
 
 /// USB peripheral instance.
-pub trait Instance: sealed::Instance + 'static {
+#[allow(private_bounds)]
+pub trait Instance: SealedInstance + 'static {
     /// Interrupt for this peripheral.
     type Interrupt: interrupt::typelevel::Interrupt;
 }
 
-impl crate::usb::sealed::Instance for peripherals::USB {
+impl crate::usb::SealedInstance for peripherals::USB {
     fn regs() -> pac::usb::Usb {
         pac::USBCTRL_REGS
     }

examples/rp/src/bin/pio_stepper.rs

@@ -69,7 +69,7 @@ impl<'d, T: Instance, const SM: usize> PioStepper<'d, T, SM> {
         let clock_divider: FixedU32<U8> = (125_000_000 / (freq * 136)).to_fixed();
         assert!(clock_divider <= 65536, "clkdiv must be <= 65536");
         assert!(clock_divider >= 1, "clkdiv must be >= 1");
-        T::PIO.sm(SM).clkdiv().write(|w| w.0 = clock_divider.to_bits() << 8);
+        self.sm.set_clock_divider(clock_divider);
         self.sm.clkdiv_restart();
     }