diff --git a/esp-hal-common/src/gpio.rs b/esp-hal-common/src/gpio.rs
index 5f2c4ca28..4ce26a0e1 100644
--- a/esp-hal-common/src/gpio.rs
+++ b/esp-hal-common/src/gpio.rs
@@ -1376,6 +1376,140 @@ where
     }
 }
 
+impl<MODE> embedded_hal::digital::v2::InputPin for AnyPin<crate::Input<MODE>> {
+    type Error = core::convert::Infallible;
+
+    fn is_high(&self) -> Result<bool, Self::Error> {
+        let inner = &self.inner;
+        handle_gpio_input!(inner, target, { target.is_high() })
+    }
+
+    fn is_low(&self) -> Result<bool, Self::Error> {
+        let inner = &self.inner;
+        handle_gpio_input!(inner, target, { target.is_low() })
+    }
+}
+
+#[cfg(feature = "eh1")]
+impl<MODE> embedded_hal_1::digital::ErrorType for AnyPin<Input<MODE>> {
+    type Error = Infallible;
+}
+
+#[cfg(feature = "eh1")]
+impl<MODE> embedded_hal_1::digital::InputPin for AnyPin<Input<MODE>> {
+    fn is_high(&self) -> Result<bool, Self::Error> {
+        let inner = &self.inner;
+        handle_gpio_input!(inner, target, { target.is_high() })
+    }
+
+    fn is_low(&self) -> Result<bool, Self::Error> {
+        let inner = &self.inner;
+        handle_gpio_input!(inner, target, { target.is_low() })
+    }
+}
+
+impl<MODE> embedded_hal::digital::v2::OutputPin for AnyPin<Output<MODE>> {
+    type Error = Infallible;
+
+    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() })
+    }
+}
+
+impl<MODE> embedded_hal::digital::v2::StatefulOutputPin for AnyPin<Output<MODE>> {
+    fn is_set_high(&self) -> Result<bool, Self::Error> {
+        let inner = &self.inner;
+        handle_gpio_output!(inner, target, { target.is_set_high() })
+    }
+
+    fn is_set_low(&self) -> Result<bool, Self::Error> {
+        let inner = &self.inner;
+        handle_gpio_output!(inner, target, { target.is_set_low() })
+    }
+}
+
+impl<MODE> embedded_hal::digital::v2::ToggleableOutputPin for AnyPin<Output<MODE>> {
+    type Error = Infallible;
+
+    fn toggle(&mut self) -> Result<(), Self::Error> {
+        let inner = &mut self.inner;
+        handle_gpio_output!(inner, target, { target.toggle() })
+    }
+}
+
+#[cfg(feature = "eh1")]
+impl<MODE> embedded_hal_1::digital::ErrorType for AnyPin<Output<MODE>> {
+    type Error = Infallible;
+}
+
+#[cfg(feature = "eh1")]
+impl<MODE> embedded_hal_1::digital::OutputPin for AnyPin<Output<MODE>> {
+    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 = "eh1")]
+impl<MODE> embedded_hal_1::digital::StatefulOutputPin for AnyPin<Output<MODE>> {
+    fn is_set_high(&self) -> Result<bool, Self::Error> {
+        let inner = &self.inner;
+        handle_gpio_output!(inner, target, { target.is_set_high() })
+    }
+
+    fn is_set_low(&self) -> Result<bool, Self::Error> {
+        let inner = &self.inner;
+        handle_gpio_output!(inner, target, { target.is_set_low() })
+    }
+}
+
+#[cfg(feature = "eh1")]
+impl<MODE> embedded_hal_1::digital::ToggleableOutputPin for AnyPin<Output<MODE>> {
+    fn toggle(&mut self) -> Result<(), Self::Error> {
+        let inner = &mut self.inner;
+        handle_gpio_output!(inner, target, { target.toggle() })
+    }
+}
+
+#[cfg(feature = "async")]
+impl<MODE> embedded_hal_async::digital::Wait for AnyPin<Input<MODE>> {
+    async fn wait_for_high(&mut self) -> Result<(), Self::Error> {
+        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> {
+        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> {
+        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> {
+        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> {
+        let inner = &mut self.inner;
+        handle_gpio_input!(inner, target, { target.wait_for_any_edge().await })
+    }
+}
+
 pub struct IO {
     _io_mux: IO_MUX,
     pub pins: types::Pins,
@@ -1471,6 +1605,65 @@ macro_rules! gpio {
             $(
                 pub type [<Gpio $gpionum >]<MODE> = GpioPin<MODE, [< Bank $bank GpioRegisterAccess >], $crate::gpio::[< $cores CoreInteruptStatusRegisterAccessBank $bank >], [< $type PinType >], [<Gpio $gpionum Signals>], $gpionum>;
             )+
+
+            pub(crate) enum ErasedPin<MODE> {
+                $(
+                    [<Gpio $gpionum >]([<Gpio $gpionum >]<MODE>),
+                )+
+            }
+
+            pub struct AnyPin<MODE> {
+                pub(crate) inner: ErasedPin<MODE>
+            }
+
+            $(
+            impl<MODE> From< [<Gpio $gpionum >]<MODE> > for AnyPin<MODE> {
+                fn from(value: [<Gpio $gpionum >]<MODE>) -> Self {
+                    AnyPin {
+                        inner: ErasedPin::[<Gpio $gpionum >](value)
+                    }
+                }
+            }
+
+            impl<MODE> [<Gpio $gpionum >]<MODE> {
+                pub fn degrade(self) -> AnyPin<MODE> {
+                    AnyPin {
+                        inner: ErasedPin::[<Gpio $gpionum >](self)
+                    }
+                }
+            }
+
+            impl<MODE> TryInto<[<Gpio $gpionum >]<MODE>> for AnyPin<MODE> {
+                type Error = ();
+
+                fn try_into(self) -> Result<[<Gpio $gpionum >]<MODE>, Self::Error> {
+                    match self.inner {
+                        ErasedPin::[<Gpio $gpionum >](gpio) => Ok(gpio),
+                        _ => Err(()),
+                    }
+                }
+            }
+            )+
+
+            procmacros::make_gpio_enum_dispatch_macro!(
+                handle_gpio_output
+                { InputOutputAnalog, InputOutput, }
+                {
+                    $(
+                        $type,$gpionum
+                    )+
+                }
+            );
+
+            procmacros::make_gpio_enum_dispatch_macro!(
+                handle_gpio_input
+                { InputOutputAnalog, InputOutput, InputOnlyAnalog }
+                {
+                    $(
+                        $type,$gpionum
+                    )+
+                }
+            );
         }
     };
 }
@@ -1665,7 +1858,7 @@ mod asynch {
         for GpioPin<Input<MODE>, RA, IRA, PINTYPE, SIG, GPIONUM>
     where
         RA: BankGpioRegisterAccess,
-        PINTYPE: IsOutputPin,
+        PINTYPE: IsInputPin,
         IRA: InteruptStatusRegisterAccess,
         SIG: GpioSignal,
     {
diff --git a/esp-hal-procmacros/src/lib.rs b/esp-hal-procmacros/src/lib.rs
index 68ba571ae..25c3f5d10 100644
--- a/esp-hal-procmacros/src/lib.rs
+++ b/esp-hal-procmacros/src/lib.rs
@@ -15,7 +15,11 @@ use syn::{
     Type,
     Visibility,
 };
-use syn::{parse_macro_input, AttributeArgs};
+use syn::{
+    parse::{Parse, ParseStream},
+    parse_macro_input,
+    AttributeArgs,
+};
 
 #[derive(Debug, Default, FromMeta)]
 #[darling(default)]
@@ -306,3 +310,99 @@ fn extract_cfgs(attrs: Vec<Attribute>) -> (Vec<Attribute>, Vec<Attribute>) {
 
     (cfgs, not_cfgs)
 }
+
+#[derive(Debug)]
+struct MakeGpioEnumDispatchMacro {
+    name: String,
+    filter: Vec<String>,
+    elements: Vec<(String, usize)>,
+}
+
+impl Parse for MakeGpioEnumDispatchMacro {
+    fn parse(input: ParseStream) -> syn::parse::Result<Self> {
+        let name = input.parse::<syn::Ident>()?.to_string();
+        let filter = input
+            .parse::<proc_macro2::Group>()?
+            .stream()
+            .into_iter()
+            .map(|v| match v {
+                proc_macro2::TokenTree::Group(_) => String::new(),
+                proc_macro2::TokenTree::Ident(ident) => ident.to_string(),
+                proc_macro2::TokenTree::Punct(_) => String::new(),
+                proc_macro2::TokenTree::Literal(_) => String::new(),
+            })
+            .filter(|p| !p.is_empty())
+            .collect();
+
+        let mut stream = input.parse::<proc_macro2::Group>()?.stream().into_iter();
+
+        let mut elements = vec![];
+
+        let mut element_name = String::new();
+        loop {
+            match stream.next() {
+                Some(v) => match v {
+                    proc_macro2::TokenTree::Ident(ident) => {
+                        element_name = ident.to_string();
+                    }
+                    proc_macro2::TokenTree::Literal(lit) => {
+                        let index = lit.to_string().parse().unwrap();
+                        elements.push((element_name.clone(), index));
+                    }
+                    _ => (),
+                },
+                None => break,
+            }
+        }
+
+        Ok(MakeGpioEnumDispatchMacro {
+            name,
+            filter,
+            elements,
+        })
+    }
+}
+
+#[proc_macro]
+pub fn make_gpio_enum_dispatch_macro(input: TokenStream) -> TokenStream {
+    let input = parse_macro_input!(input as MakeGpioEnumDispatchMacro);
+
+    let mut arms = Vec::new();
+
+    for (gpio_type, num) in input.elements {
+        let enum_name = quote::format_ident!("ErasedPin");
+        let variant_name = quote::format_ident!("Gpio{}", num);
+
+        if input.filter.contains(&gpio_type) {
+            let arm = {
+                quote! { #enum_name::#variant_name($target) => $body }
+            };
+            arms.push(arm);
+        } else {
+            let arm = {
+                quote! {
+                    #[allow(unused)]
+                    #enum_name::#variant_name($target) => { panic!("Unsupported") }
+                }
+            };
+            arms.push(arm);
+        }
+    }
+
+    let macro_name = quote::format_ident!("{}", input.name);
+
+    quote! {
+        #[doc(hidden)]
+        #[macro_export]
+        macro_rules! #macro_name {
+            ($m:ident, $target:ident, $body:block) => {
+                match $m {
+                    #(#arms)*
+                }
+            }
+        }
+
+        pub(crate) use #macro_name;
+    }
+    .into()
+}
diff --git a/esp32-hal/examples/blinky_erased_pins.rs b/esp32-hal/examples/blinky_erased_pins.rs
new file mode 100644
index 000000000..b77434999
--- /dev/null
+++ b/esp32-hal/examples/blinky_erased_pins.rs
@@ -0,0 +1,62 @@
+//! Blinks three LEDs
+//!
+//! This assumes that LEDs are connected to GPIO25, 26 and 27.
+
+#![no_std]
+#![no_main]
+
+use esp32_hal::{
+    clock::ClockControl,
+    gpio::{AnyPin, Input, Output, PullDown, PushPull, IO},
+    peripherals::Peripherals,
+    prelude::*,
+    timer::TimerGroup,
+    Delay,
+    Rtc,
+};
+use esp_backtrace as _;
+use xtensa_lx_rt::entry;
+
+#[entry]
+fn main() -> ! {
+    let peripherals = Peripherals::take();
+    let system = peripherals.DPORT.split();
+    let clocks = ClockControl::boot_defaults(system.clock_control).freeze();
+
+    let timer_group0 = TimerGroup::new(peripherals.TIMG0, &clocks);
+    let mut wdt = timer_group0.wdt;
+    let mut rtc = Rtc::new(peripherals.RTC_CNTL);
+
+    // Disable MWDT and RWDT (Watchdog) flash boot protection
+    wdt.disable();
+    rtc.rwdt.disable();
+
+    let io = IO::new(peripherals.GPIO, peripherals.IO_MUX);
+    let led1 = io.pins.gpio25.into_push_pull_output();
+    let led2 = io.pins.gpio26.into_push_pull_output();
+    let led3 = io.pins.gpio27.into_push_pull_output();
+
+    let button = io.pins.gpio0.into_pull_down_input().degrade();
+
+    // you can use `into` or `degrade`
+    let mut pins = [led1.into(), led2.into(), led3.degrade()];
+
+    // Initialize the Delay peripheral, and use it to toggle the LED state in a
+    // loop.
+    let mut delay = Delay::new(&clocks);
+
+    loop {
+        toggle_pins(&mut pins, &button);
+        delay.delay_ms(500u32);
+    }
+}
+
+fn toggle_pins(leds: &mut [AnyPin<Output<PushPull>>], button: &AnyPin<Input<PullDown>>) {
+    for pin in leds.iter_mut() {
+        pin.toggle().unwrap();
+    }
+
+    if button.is_low().unwrap() {
+        esp_println::println!("Button");
+    }
+}
diff --git a/esp32c2-hal/examples/blinky_erased_pins.rs b/esp32c2-hal/examples/blinky_erased_pins.rs
new file mode 100644
index 000000000..925f6125e
--- /dev/null
+++ b/esp32c2-hal/examples/blinky_erased_pins.rs
@@ -0,0 +1,64 @@
+//! Blinks an LED
+//!
+//! This assumes that LEDs are connected to GPIO3, 4 and 5.
+
+#![no_std]
+#![no_main]
+
+use esp32c2_hal::{
+    clock::ClockControl,
+    gpio::{AnyPin, Input, Output, PullDown, PushPull, IO},
+    peripherals::Peripherals,
+    prelude::*,
+    timer::TimerGroup,
+    Delay,
+    Rtc,
+};
+use esp_backtrace as _;
+use esp_riscv_rt::entry;
+
+#[entry]
+fn main() -> ! {
+    let peripherals = Peripherals::take();
+    let system = peripherals.SYSTEM.split();
+    let clocks = ClockControl::boot_defaults(system.clock_control).freeze();
+
+    // Disable the watchdog timers. For the ESP32-C3, this includes the Super WDT,
+    // the RTC WDT, and the TIMG WDTs.
+    let mut rtc = Rtc::new(peripherals.RTC_CNTL);
+    let timer_group0 = TimerGroup::new(peripherals.TIMG0, &clocks);
+    let mut wdt0 = timer_group0.wdt;
+
+    rtc.swd.disable();
+    rtc.rwdt.disable();
+    wdt0.disable();
+
+    let io = IO::new(peripherals.GPIO, peripherals.IO_MUX);
+    let led1 = io.pins.gpio3.into_push_pull_output();
+    let led2 = io.pins.gpio4.into_push_pull_output();
+    let led3 = io.pins.gpio5.into_push_pull_output();
+
+    let button = io.pins.gpio9.into_pull_down_input().degrade();
+
+    // you can use `into` or `degrade`
+    let mut pins = [led1.into(), led2.into(), led3.degrade()];
+
+    // Initialize the Delay peripheral, and use it to toggle the LED state in a
+    // loop.
+    let mut delay = Delay::new(&clocks);
+
+    loop {
+        toggle_pins(&mut pins, &button);
+        delay.delay_ms(500u32);
+    }
+}
+
+fn toggle_pins(leds: &mut [AnyPin<Output<PushPull>>], button: &AnyPin<Input<PullDown>>) {
+    for pin in leds.iter_mut() {
+        pin.toggle().unwrap();
+    }
+
+    if button.is_low().unwrap() {
+        esp_println::println!("Button");
+    }
+}
diff --git a/esp32c3-hal/examples/blinky_erased_pins.rs b/esp32c3-hal/examples/blinky_erased_pins.rs
new file mode 100644
index 000000000..e09420cae
--- /dev/null
+++ b/esp32c3-hal/examples/blinky_erased_pins.rs
@@ -0,0 +1,67 @@
+//! Blinks an LED
+//!
+//! This assumes that LEDs are connected to GPIO3, 4 and 5.
+
+#![no_std]
+#![no_main]
+
+use esp32c3_hal::{
+    clock::ClockControl,
+    gpio::{AnyPin, Input, Output, PullDown, PushPull, IO},
+    peripherals::Peripherals,
+    prelude::*,
+    timer::TimerGroup,
+    Delay,
+    Rtc,
+};
+use esp_backtrace as _;
+use esp_riscv_rt::entry;
+
+#[entry]
+fn main() -> ! {
+    let peripherals = Peripherals::take();
+    let system = peripherals.SYSTEM.split();
+    let clocks = ClockControl::boot_defaults(system.clock_control).freeze();
+
+    // Disable the watchdog timers. For the ESP32-C3, this includes the Super WDT,
+    // the RTC WDT, and the TIMG WDTs.
+    let mut rtc = Rtc::new(peripherals.RTC_CNTL);
+    let timer_group0 = TimerGroup::new(peripherals.TIMG0, &clocks);
+    let mut wdt0 = timer_group0.wdt;
+    let timer_group1 = TimerGroup::new(peripherals.TIMG1, &clocks);
+    let mut wdt1 = timer_group1.wdt;
+
+    rtc.swd.disable();
+    rtc.rwdt.disable();
+    wdt0.disable();
+    wdt1.disable();
+
+    let io = IO::new(peripherals.GPIO, peripherals.IO_MUX);
+    let led1 = io.pins.gpio3.into_push_pull_output();
+    let led2 = io.pins.gpio4.into_push_pull_output();
+    let led3 = io.pins.gpio5.into_push_pull_output();
+
+    let button = io.pins.gpio9.into_pull_down_input().degrade();
+
+    // you can use `into` or `degrade`
+    let mut pins = [led1.into(), led2.into(), led3.degrade()];
+
+    // Initialize the Delay peripheral, and use it to toggle the LED state in a
+    // loop.
+    let mut delay = Delay::new(&clocks);
+
+    loop {
+        toggle_pins(&mut pins, &button);
+        delay.delay_ms(500u32);
+    }
+}
+
+fn toggle_pins(leds: &mut [AnyPin<Output<PushPull>>], button: &AnyPin<Input<PullDown>>) {
+    for pin in leds.iter_mut() {
+        pin.toggle().unwrap();
+    }
+
+    if button.is_low().unwrap() {
+        esp_println::println!("Button");
+    }
+}
diff --git a/esp32s2-hal/examples/blinky_erased_pins.rs b/esp32s2-hal/examples/blinky_erased_pins.rs
new file mode 100644
index 000000000..eee987b43
--- /dev/null
+++ b/esp32s2-hal/examples/blinky_erased_pins.rs
@@ -0,0 +1,63 @@
+//! Blinks an LED
+//!
+//! This assumes that LEDs are connected to GPIO3, 4 and 5.
+
+#![no_std]
+#![no_main]
+
+use esp32s2_hal::{
+    clock::ClockControl,
+    gpio::{AnyPin, Input, Output, PullDown, PushPull, IO},
+    peripherals::Peripherals,
+    prelude::*,
+    timer::TimerGroup,
+    Delay,
+    Rtc,
+};
+use esp_backtrace as _;
+use xtensa_lx_rt::entry;
+
+#[entry]
+fn main() -> ! {
+    let peripherals = Peripherals::take();
+    let system = peripherals.SYSTEM.split();
+    let clocks = ClockControl::boot_defaults(system.clock_control).freeze();
+
+    let timer_group0 = TimerGroup::new(peripherals.TIMG0, &clocks);
+    let mut wdt = timer_group0.wdt;
+    let mut rtc = Rtc::new(peripherals.RTC_CNTL);
+
+    // Disable MWDT and RWDT (Watchdog) flash boot protection
+    wdt.disable();
+    rtc.rwdt.disable();
+
+    // Set GPIO4 as an output, and set its state high initially.
+    let io = IO::new(peripherals.GPIO, peripherals.IO_MUX);
+    let led1 = io.pins.gpio3.into_push_pull_output();
+    let led2 = io.pins.gpio4.into_push_pull_output();
+    let led3 = io.pins.gpio5.into_push_pull_output();
+
+    let button = io.pins.gpio0.into_pull_down_input().degrade();
+
+    // you can use `into` or `degrade`
+    let mut pins = [led1.into(), led2.into(), led3.degrade()];
+
+    // Initialize the Delay peripheral, and use it to toggle the LED state in a
+    // loop.
+    let mut delay = Delay::new(&clocks);
+
+    loop {
+        toggle_pins(&mut pins, &button);
+        delay.delay_ms(500u32);
+    }
+}
+
+fn toggle_pins(leds: &mut [AnyPin<Output<PushPull>>], button: &AnyPin<Input<PullDown>>) {
+    for pin in leds.iter_mut() {
+        pin.toggle().unwrap();
+    }
+
+    if button.is_low().unwrap() {
+        esp_println::println!("Button");
+    }
+}
diff --git a/esp32s3-hal/examples/blinky_erased_pins.rs b/esp32s3-hal/examples/blinky_erased_pins.rs
new file mode 100644
index 000000000..91f609403
--- /dev/null
+++ b/esp32s3-hal/examples/blinky_erased_pins.rs
@@ -0,0 +1,63 @@
+//! Blinks an LED
+//!
+//! This assumes that LEDs are connected to GPIO3, 4 and 5.
+
+#![no_std]
+#![no_main]
+
+use esp32s3_hal::{
+    clock::ClockControl,
+    gpio::{AnyPin, Input, Output, PullDown, PushPull, IO},
+    peripherals::Peripherals,
+    prelude::*,
+    timer::TimerGroup,
+    Delay,
+    Rtc,
+};
+use esp_backtrace as _;
+use xtensa_lx_rt::entry;
+
+#[entry]
+fn main() -> ! {
+    let peripherals = Peripherals::take();
+    let system = peripherals.SYSTEM.split();
+    let clocks = ClockControl::boot_defaults(system.clock_control).freeze();
+
+    let timer_group0 = TimerGroup::new(peripherals.TIMG0, &clocks);
+    let mut wdt = timer_group0.wdt;
+    let mut rtc = Rtc::new(peripherals.RTC_CNTL);
+
+    // Disable MWDT and RWDT (Watchdog) flash boot protection
+    wdt.disable();
+    rtc.rwdt.disable();
+
+    // Set GPIO4 as an output, and set its state high initially.
+    let io = IO::new(peripherals.GPIO, peripherals.IO_MUX);
+    let led1 = io.pins.gpio3.into_push_pull_output();
+    let led2 = io.pins.gpio4.into_push_pull_output();
+    let led3 = io.pins.gpio5.into_push_pull_output();
+
+    let button = io.pins.gpio0.into_pull_down_input().degrade();
+
+    // you can use `into` or `degrade`
+    let mut pins = [led1.into(), led2.into(), led3.degrade()];
+
+    // Initialize the Delay peripheral, and use it to toggle the LED state in a
+    // loop.
+    let mut delay = Delay::new(&clocks);
+
+    loop {
+        toggle_pins(&mut pins, &button);
+        delay.delay_ms(500u32);
+    }
+}
+
+fn toggle_pins(leds: &mut [AnyPin<Output<PushPull>>], button: &AnyPin<Input<PullDown>>) {
+    for pin in leds.iter_mut() {
+        pin.toggle().unwrap();
+    }
+
+    if button.is_low().unwrap() {
+        esp_println::println!("Button");
+    }
+}