diff --git a/ports/raspberrypi/Makefile b/ports/raspberrypi/Makefile
index 9d66338c7862c..ffd50299f8ef3 100644
--- a/ports/raspberrypi/Makefile
+++ b/ports/raspberrypi/Makefile
@@ -157,6 +157,7 @@ SRC_SDK := \
 	src/common/pico_sync/lock_core.c \
 	src/common/pico_sync/mutex.c \
 	src/common/pico_time/time.c \
+	src/common/pico_time/timeout_helper.c \
 	src/common/pico_util/pheap.c \
 	src/rp2_common/hardware_adc/adc.c \
 	src/rp2_common/hardware_claim/claim.c \
diff --git a/ports/raspberrypi/common-hal/busio/I2C.c b/ports/raspberrypi/common-hal/busio/I2C.c
index 26a7f3807f9f6..cb0d73e75b029 100644
--- a/ports/raspberrypi/common-hal/busio/I2C.c
+++ b/ports/raspberrypi/common-hal/busio/I2C.c
@@ -24,12 +24,13 @@
  * THE SOFTWARE.
  */
 
-#include "shared-bindings/busio/I2C.h"
 #include "py/mperrno.h"
+#include "py/mphal.h"
+#include "shared-bindings/busio/I2C.h"
 #include "py/runtime.h"
 
 #include "shared-bindings/microcontroller/__init__.h"
-#include "supervisor/shared/translate.h"
+#include "shared-bindings/bitbangio/I2C.h"
 
 #include "src/rp2_common/hardware_gpio/include/hardware/gpio.h"
 
@@ -37,6 +38,9 @@
 
 #define NO_PIN 0xff
 
+// One second
+#define BUS_TIMEOUT_US 1000000
+
 STATIC bool never_reset_i2c[2];
 STATIC i2c_inst_t* i2c[2] = {i2c0, i2c1};
 
@@ -94,15 +98,23 @@ void common_hal_busio_i2c_construct(busio_i2c_obj_t *self,
     }
 #endif
 
-    gpio_set_function(sda->number, GPIO_FUNC_I2C);
-    gpio_set_function(scl->number, GPIO_FUNC_I2C);
+    // Create a bitbangio.I2C object to do short writes.
+    // Must be done before setting up the I2C pins, since they will be
+    // set up as GPIO by the bitbangio.I2C object.
+    //
+    // Sets pins to open drain, high, and input.
+    shared_module_bitbangio_i2c_construct(&self->bitbangio_i2c, scl, sda,
+                                          frequency, timeout);
 
     self->baudrate = i2c_init(self->peripheral, frequency);
 
-    self->sda_pin = sda->number;
     self->scl_pin = scl->number;
-    claim_pin(sda);
+    self->sda_pin = sda->number;
     claim_pin(scl);
+    claim_pin(sda);
+
+    gpio_set_function(self->scl_pin, GPIO_FUNC_I2C);
+    gpio_set_function(self->sda_pin, GPIO_FUNC_I2C);
 }
 
 bool common_hal_busio_i2c_deinited(busio_i2c_obj_t *self) {
@@ -124,8 +136,7 @@ void common_hal_busio_i2c_deinit(busio_i2c_obj_t *self) {
 }
 
 bool common_hal_busio_i2c_probe(busio_i2c_obj_t *self, uint8_t addr) {
-    uint8_t fake_read = 0;
-    return i2c_read_blocking(self->peripheral, addr, &fake_read, 1, false) != PICO_ERROR_GENERIC;
+    return common_hal_busio_i2c_write(self, addr, NULL, 0, true) == 0;
 }
 
 bool common_hal_busio_i2c_try_lock(busio_i2c_obj_t *self) {
@@ -147,24 +158,56 @@ void common_hal_busio_i2c_unlock(busio_i2c_obj_t *self) {
 
 uint8_t common_hal_busio_i2c_write(busio_i2c_obj_t *self, uint16_t addr,
                                    const uint8_t *data, size_t len, bool transmit_stop_bit) {
-    int result = i2c_write_blocking(self->peripheral, addr, data, len, !transmit_stop_bit);
+    if (len <= 2) {
+        // The RP2040 I2C peripheral will not do writes 2 bytes or less long.
+        // So use bitbangio.I2C to do the write.
+
+        gpio_set_function(self->scl_pin, GPIO_FUNC_SIO);
+        gpio_set_function(self->sda_pin, GPIO_FUNC_SIO);
+        gpio_set_dir(self->scl_pin, GPIO_IN);
+        gpio_set_dir(self->sda_pin, GPIO_IN);
+        gpio_put(self->scl_pin, false);
+        gpio_put(self->sda_pin, false);
+
+        uint8_t status = shared_module_bitbangio_i2c_write(&self->bitbangio_i2c,
+                                                           addr, data, len, transmit_stop_bit);
+
+        // The pins must be set back to GPIO_FUNC_I2C in the order given here,
+        // SCL first, otherwise reads will hang.
+        gpio_set_function(self->scl_pin, GPIO_FUNC_I2C);
+        gpio_set_function(self->sda_pin, GPIO_FUNC_I2C);
+
+        return status;
+    }
+
+    int result = i2c_write_timeout_us(self->peripheral, addr, data, len, !transmit_stop_bit, BUS_TIMEOUT_US);
     if (result == len) {
         return 0;
-    } else if (result == PICO_ERROR_GENERIC) {
-        return MP_ENODEV;
     }
-    return MP_EIO;
+    switch (result) {
+        case PICO_ERROR_GENERIC:
+            return MP_ENODEV;
+        case PICO_ERROR_TIMEOUT:
+            return MP_ETIMEDOUT;
+        default:
+            return MP_EIO;
+    }
 }
 
 uint8_t common_hal_busio_i2c_read(busio_i2c_obj_t *self, uint16_t addr,
         uint8_t *data, size_t len) {
-    int result = i2c_read_blocking(self->peripheral, addr, data, len, false);
+    int result = i2c_read_timeout_us(self->peripheral, addr, data, len, false, BUS_TIMEOUT_US);
     if (result == len) {
         return 0;
-    } else if (result == PICO_ERROR_GENERIC) {
-        return MP_ENODEV;
     }
-    return MP_EIO;
+    switch (result) {
+        case PICO_ERROR_GENERIC:
+            return MP_ENODEV;
+        case PICO_ERROR_TIMEOUT:
+            return MP_ETIMEDOUT;
+        default:
+            return MP_EIO;
+    }
 }
 
 void common_hal_busio_i2c_never_reset(busio_i2c_obj_t *self) {
diff --git a/ports/raspberrypi/common-hal/busio/I2C.h b/ports/raspberrypi/common-hal/busio/I2C.h
index d09f29e54cb0e..651054a048cc1 100644
--- a/ports/raspberrypi/common-hal/busio/I2C.h
+++ b/ports/raspberrypi/common-hal/busio/I2C.h
@@ -28,6 +28,7 @@
 #define MICROPY_INCLUDED_RASPBERRYPI_COMMON_HAL_BUSIO_I2C_H
 
 #include "common-hal/microcontroller/Pin.h"
+#include "shared-module/bitbangio/I2C.h"
 
 #include "py/obj.h"
 
@@ -36,6 +37,7 @@
 typedef struct {
     mp_obj_base_t base;
     i2c_inst_t * peripheral;
+    bitbangio_i2c_obj_t bitbangio_i2c;
     bool has_lock;
     uint baudrate;
     uint8_t scl_pin;
diff --git a/shared-bindings/bitbangio/I2C.h b/shared-bindings/bitbangio/I2C.h
index 1ce4d21e9183c..97dd4580dee07 100644
--- a/shared-bindings/bitbangio/I2C.h
+++ b/shared-bindings/bitbangio/I2C.h
@@ -30,7 +30,7 @@
 #include "py/obj.h"
 
 #include "common-hal/microcontroller/Pin.h"
-#include "shared-module/bitbangio/types.h"
+#include "shared-module/bitbangio/I2C.h"
 
 // Type object used in Python. Should be shared between ports.
 extern const mp_obj_type_t bitbangio_i2c_type;
diff --git a/shared-bindings/bitbangio/OneWire.h b/shared-bindings/bitbangio/OneWire.h
index ef50db737b1ab..da665b50d5d37 100644
--- a/shared-bindings/bitbangio/OneWire.h
+++ b/shared-bindings/bitbangio/OneWire.h
@@ -28,7 +28,7 @@
 #define MICROPY_INCLUDED_SHARED_BINDINGS_BITBANGIO_ONEWIRE_H
 
 #include "common-hal/microcontroller/Pin.h"
-#include "shared-module/bitbangio/types.h"
+#include "shared-module/bitbangio/OneWire.h"
 
 extern const mp_obj_type_t bitbangio_onewire_type;
 
diff --git a/shared-bindings/bitbangio/SPI.h b/shared-bindings/bitbangio/SPI.h
index c4b10b66637d9..645f1a39c844f 100644
--- a/shared-bindings/bitbangio/SPI.h
+++ b/shared-bindings/bitbangio/SPI.h
@@ -30,7 +30,7 @@
 #include "py/obj.h"
 
 #include "common-hal/microcontroller/Pin.h"
-#include "shared-module/bitbangio/types.h"
+#include "shared-module/bitbangio/SPI.h"
 
 // Type object used in Python. Should be shared between ports.
 extern const mp_obj_type_t bitbangio_spi_type;
diff --git a/shared-bindings/bitbangio/__init__.c b/shared-bindings/bitbangio/__init__.c
index e04bdf70115c8..3e4d2c08efa56 100644
--- a/shared-bindings/bitbangio/__init__.c
+++ b/shared-bindings/bitbangio/__init__.c
@@ -36,7 +36,6 @@
 #include "shared-bindings/bitbangio/I2C.h"
 #include "shared-bindings/bitbangio/OneWire.h"
 #include "shared-bindings/bitbangio/SPI.h"
-#include "shared-module/bitbangio/types.h"
 
 #include "py/runtime.h"
 
diff --git a/shared-module/bitbangio/I2C.c b/shared-module/bitbangio/I2C.c
index d44aec0e7503c..170630df63b2d 100644
--- a/shared-module/bitbangio/I2C.c
+++ b/shared-module/bitbangio/I2C.c
@@ -32,7 +32,6 @@
 #include "common-hal/microcontroller/Pin.h"
 #include "shared-bindings/microcontroller/__init__.h"
 #include "shared-bindings/digitalio/DigitalInOut.h"
-#include "shared-module/bitbangio/types.h"
 #include "supervisor/shared/translate.h"
 
 STATIC void delay(bitbangio_i2c_obj_t *self) {
diff --git a/shared-module/bitbangio/I2C.h b/shared-module/bitbangio/I2C.h
new file mode 100644
index 0000000000000..763c03adc6563
--- /dev/null
+++ b/shared-module/bitbangio/I2C.h
@@ -0,0 +1,43 @@
+/*
+ * This file is part of the MicroPython project, http://micropython.org/
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2016 Scott Shawcroft
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#ifndef MICROPY_INCLUDED_SHARED_MODULE_BITBANGIO_I2C_H
+#define MICROPY_INCLUDED_SHARED_MODULE_BITBANGIO_I2C_H
+
+#include "common-hal/digitalio/DigitalInOut.h"
+
+#include "py/obj.h"
+
+typedef struct {
+    mp_obj_base_t base;
+    digitalio_digitalinout_obj_t scl;
+    digitalio_digitalinout_obj_t sda;
+    uint32_t us_delay;
+    uint32_t us_timeout;
+    volatile bool locked;
+} bitbangio_i2c_obj_t;
+
+#endif // MICROPY_INCLUDED_SHARED_MODULE_BITBANGIO_I2C_H
diff --git a/shared-module/bitbangio/OneWire.c b/shared-module/bitbangio/OneWire.c
index f5f4790876fbc..3e4ec8426eca1 100644
--- a/shared-module/bitbangio/OneWire.c
+++ b/shared-module/bitbangio/OneWire.c
@@ -28,7 +28,6 @@
 #include "shared-bindings/bitbangio/OneWire.h"
 #include "shared-bindings/microcontroller/__init__.h"
 #include "shared-bindings/digitalio/DigitalInOut.h"
-#include "shared-module/bitbangio/types.h"
 
 // Durations are taken from here: https://www.maximintegrated.com/en/app-notes/index.mvp/id/126
 
diff --git a/shared-module/bitbangio/OneWire.h b/shared-module/bitbangio/OneWire.h
new file mode 100644
index 0000000000000..bc4cb2096f46f
--- /dev/null
+++ b/shared-module/bitbangio/OneWire.h
@@ -0,0 +1,39 @@
+/*
+ * This file is part of the MicroPython project, http://micropython.org/
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2016 Scott Shawcroft
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#ifndef MICROPY_INCLUDED_SHARED_MODULE_BITBANGIO_ONEWIRE_H
+#define MICROPY_INCLUDED_SHARED_MODULE_BITBANGIO_ONEWIRE_H
+
+#include "common-hal/digitalio/DigitalInOut.h"
+
+#include "py/obj.h"
+
+typedef struct {
+    mp_obj_base_t base;
+    digitalio_digitalinout_obj_t pin;
+} bitbangio_onewire_obj_t;
+
+#endif // MICROPY_INCLUDED_SHARED_MODULE_BITBANGIO_ONEWIRE_H
diff --git a/shared-module/bitbangio/SPI.c b/shared-module/bitbangio/SPI.c
index f3fe16029aab1..9ed3d660a5161 100644
--- a/shared-module/bitbangio/SPI.c
+++ b/shared-module/bitbangio/SPI.c
@@ -29,9 +29,9 @@
 #include "py/runtime.h"
 
 #include "common-hal/microcontroller/Pin.h"
-#include "shared-bindings/microcontroller/__init__.h"
+#include "shared-bindings/bitbangio/SPI.h"
 #include "shared-bindings/digitalio/DigitalInOut.h"
-#include "shared-module/bitbangio/types.h"
+#include "shared-bindings/microcontroller/__init__.h"
 #include "supervisor/shared/translate.h"
 
 #define MAX_BAUDRATE (common_hal_mcu_get_clock_frequency() / 48)
diff --git a/shared-module/bitbangio/types.h b/shared-module/bitbangio/SPI.h
similarity index 76%
rename from shared-module/bitbangio/types.h
rename to shared-module/bitbangio/SPI.h
index 6d17234741808..f3e02c206c7e7 100644
--- a/shared-module/bitbangio/types.h
+++ b/shared-module/bitbangio/SPI.h
@@ -24,27 +24,13 @@
  * THE SOFTWARE.
  */
 
-#ifndef MICROPY_INCLUDED_SHARED_MODULE_BITBANGIO_TYPES_H
-#define MICROPY_INCLUDED_SHARED_MODULE_BITBANGIO_TYPES_H
+#ifndef MICROPY_INCLUDED_SHARED_MODULE_BITBANGIO_SPI_H
+#define MICROPY_INCLUDED_SHARED_MODULE_BITBANGIO_SPI_H
 
 #include "common-hal/digitalio/DigitalInOut.h"
 
 #include "py/obj.h"
 
-typedef struct {
-    mp_obj_base_t base;
-    digitalio_digitalinout_obj_t scl;
-    digitalio_digitalinout_obj_t sda;
-    uint32_t us_delay;
-    uint32_t us_timeout;
-    volatile bool locked;
-} bitbangio_i2c_obj_t;
-
-typedef struct {
-    mp_obj_base_t base;
-    digitalio_digitalinout_obj_t pin;
-} bitbangio_onewire_obj_t;
-
 typedef struct {
     mp_obj_base_t base;
     digitalio_digitalinout_obj_t clock;
@@ -58,4 +44,4 @@ typedef struct {
     volatile bool locked:1;
 } bitbangio_spi_obj_t;
 
-#endif // MICROPY_INCLUDED_SHARED_MODULE_BITBANGIO_TYPES_H
+#endif // MICROPY_INCLUDED_SHARED_MODULE_BITBANGIO_SPI_H
diff --git a/shared-module/busio/I2C.h b/shared-module/busio/I2C.h
index 8e3525f196caa..e089ea367b951 100644
--- a/shared-module/busio/I2C.h
+++ b/shared-module/busio/I2C.h
@@ -27,7 +27,7 @@
 #ifndef MICROPY_INCLUDED_ATMEL_SAMD_SHARED_MODULE_BUSIO_I2C_H
 #define MICROPY_INCLUDED_ATMEL_SAMD_SHARED_MODULE_BUSIO_I2C_H
 
-#include "shared-module/bitbangio/types.h"
+#include "shared-module/bitbangio/I2C.h"
 
 #include "py/obj.h"
 
diff --git a/shared-module/busio/OneWire.h b/shared-module/busio/OneWire.h
index 9ffb89d497d7c..5d80bab17ce75 100644
--- a/shared-module/busio/OneWire.h
+++ b/shared-module/busio/OneWire.h
@@ -27,7 +27,7 @@
 #ifndef MICROPY_INCLUDED_ATMEL_SAMD_SHARED_MODULE_BUSIO_ONEWIRE_H
 #define MICROPY_INCLUDED_ATMEL_SAMD_SHARED_MODULE_BUSIO_ONEWIRE_H
 
-#include "shared-module/bitbangio/types.h"
+#include "shared-module/bitbangio/OneWire.h"
 
 #include "py/obj.h"
 
diff --git a/supervisor/shared/rgb_led_status.c b/supervisor/shared/rgb_led_status.c
index 006bb1b34c83c..60470e057ec54 100644
--- a/supervisor/shared/rgb_led_status.c
+++ b/supervisor/shared/rgb_led_status.c
@@ -47,7 +47,6 @@ static uint8_t status_apa102_color[APA102_BUFFER_LENGTH] = {0, 0, 0, 0, 0xff, 0,
 
 #if CIRCUITPY_BITBANG_APA102
 #include "shared-bindings/bitbangio/SPI.h"
-#include "shared-module/bitbangio/types.h"
 static bitbangio_spi_obj_t status_apa102 = {
     .base = {
         .type = &bitbangio_spi_type,