diff --git a/.github/ci/test.sh b/.github/ci/test.sh
index 41da644fc..771251bd1 100755
--- a/.github/ci/test.sh
+++ b/.github/ci/test.sh
@@ -21,7 +21,7 @@ cargo test --manifest-path ./embassy-boot/Cargo.toml --features ed25519-salty
 
 cargo test --manifest-path ./embassy-nrf/Cargo.toml --no-default-features --features nrf52840,time-driver-rtc1,gpiote
 
-cargo test --manifest-path ./embassy-rp/Cargo.toml --no-default-features --features time-driver
+cargo test --manifest-path ./embassy-rp/Cargo.toml --no-default-features --features time-driver,rp2040
 
 cargo test --manifest-path ./embassy-stm32/Cargo.toml --no-default-features --features stm32f429vg,exti,time-driver-any,exti
 cargo test --manifest-path ./embassy-stm32/Cargo.toml --no-default-features --features stm32f732ze,exti,time-driver-any,exti
diff --git a/ci.sh b/ci.sh
index 7538af22c..82108536b 100755
--- a/ci.sh
+++ b/ci.sh
@@ -177,12 +177,12 @@ cargo batch \
     --- build --release --manifest-path cyw43/Cargo.toml --target thumbv6m-none-eabi --features 'defmt,firmware-logs' \
     --- build --release --manifest-path cyw43/Cargo.toml --target thumbv6m-none-eabi --features 'log,firmware-logs,bluetooth' \
     --- build --release --manifest-path cyw43/Cargo.toml --target thumbv6m-none-eabi --features 'defmt,firmware-logs,bluetooth' \
-    --- build --release --manifest-path cyw43-pio/Cargo.toml --target thumbv6m-none-eabi --features '' \
-    --- build --release --manifest-path cyw43-pio/Cargo.toml --target thumbv6m-none-eabi --features 'overclock' \
+    --- build --release --manifest-path cyw43-pio/Cargo.toml --target thumbv6m-none-eabi --features 'embassy-rp/rp2040' \
+    --- build --release --manifest-path cyw43-pio/Cargo.toml --target thumbv6m-none-eabi --features 'embassy-rp/rp2040,overclock' \
     --- build --release --manifest-path embassy-boot-nrf/Cargo.toml --target thumbv7em-none-eabi --features embassy-nrf/nrf52840 \
     --- build --release --manifest-path embassy-boot-nrf/Cargo.toml --target thumbv8m.main-none-eabihf --features embassy-nrf/nrf9160-ns \
     --- build --release --manifest-path embassy-boot-nrf/Cargo.toml --target thumbv8m.main-none-eabihf --features embassy-nrf/nrf9120-ns \
-    --- build --release --manifest-path embassy-boot-rp/Cargo.toml --target thumbv6m-none-eabi \
+    --- build --release --manifest-path embassy-boot-rp/Cargo.toml --target thumbv6m-none-eabi --features embassy-rp/rp2040 \
     --- build --release --manifest-path embassy-boot-stm32/Cargo.toml --target thumbv7em-none-eabi --features embassy-stm32/stm32l496zg \
     --- build --release --manifest-path docs/examples/basic/Cargo.toml --target thumbv7em-none-eabi \
     --- build --release --manifest-path docs/examples/layer-by-layer/blinky-pac/Cargo.toml --target thumbv7em-none-eabi \
@@ -197,6 +197,7 @@ cargo batch \
     --- build --release --manifest-path examples/nrf9151/ns/Cargo.toml --target thumbv8m.main-none-eabihf --out-dir out/examples/nrf9151/ns \
     --- build --release --manifest-path examples/nrf51/Cargo.toml --target thumbv6m-none-eabi --out-dir out/examples/nrf51 \
     --- build --release --manifest-path examples/rp/Cargo.toml --target thumbv6m-none-eabi --out-dir out/examples/rp \
+    --- build --release --manifest-path examples/rp23/Cargo.toml --target thumbv8m.main-none-eabihf --out-dir out/examples/rp23 \
     --- build --release --manifest-path examples/stm32f0/Cargo.toml --target thumbv6m-none-eabi --out-dir out/examples/stm32f0 \
     --- build --release --manifest-path examples/stm32f1/Cargo.toml --target thumbv7m-none-eabi --out-dir out/examples/stm32f1 \
     --- build --release --manifest-path examples/stm32f2/Cargo.toml --target thumbv7m-none-eabi --out-dir out/examples/stm32f2 \
diff --git a/embassy-rp/Cargo.toml b/embassy-rp/Cargo.toml
index 2e821f4a0..3cc6c4e6a 100644
--- a/embassy-rp/Cargo.toml
+++ b/embassy-rp/Cargo.toml
@@ -124,7 +124,7 @@ embedded-storage-async = { version = "0.4.1" }
 rand_core = "0.6.4"
 fixed = "1.23.1"
 
-rp-pac = { version = "6.0.0", feature = ["rt"] }
+rp-pac = { git = "https://github.com/embassy-rs/rp-pac.git", rev = "a7f42d25517f7124ad3b4ed492dec8b0f50a0e6c", feature = ["rt"] }
 
 embedded-hal-02 = { package = "embedded-hal", version = "0.2.6", features = ["unproven"] }
 embedded-hal-1 = { package = "embedded-hal", version = "1.0" }
@@ -140,6 +140,3 @@ sha2-const-stable = "0.1"
 [dev-dependencies]
 embassy-executor = { version = "0.6.0", path = "../embassy-executor", features = ["arch-std", "executor-thread"] }
 static_cell = { version = "2" }
-
-[patch.crates-io]
-rp-pac = { git = "https://github.com/embassy-rs/rp-pac.git" }
diff --git a/embassy-rp/src/dma.rs b/embassy-rp/src/dma.rs
index df10da0b6..b00ab3f3b 100644
--- a/embassy-rp/src/dma.rs
+++ b/embassy-rp/src/dma.rs
@@ -15,7 +15,7 @@ use crate::{interrupt, pac, peripherals};
 #[cfg(feature = "rt")]
 #[interrupt]
 fn DMA_IRQ_0() {
-    let ints0 = pac::DMA.ints0().read().ints0();
+    let ints0 = pac::DMA.ints(0).read();
     for channel in 0..CHANNEL_COUNT {
         let ctrl_trig = pac::DMA.ch(channel).ctrl_trig().read();
         if ctrl_trig.ahb_error() {
@@ -26,14 +26,14 @@ fn DMA_IRQ_0() {
             CHANNEL_WAKERS[channel].wake();
         }
     }
-    pac::DMA.ints0().write(|w| w.set_ints0(ints0));
+    pac::DMA.ints(0).write_value(ints0);
 }
 
 pub(crate) unsafe fn init() {
     interrupt::DMA_IRQ_0.disable();
     interrupt::DMA_IRQ_0.set_priority(interrupt::Priority::P3);
 
-    pac::DMA.inte0().write(|w| w.set_inte0(0xFFFF));
+    pac::DMA.inte(0).write_value(0xFFFF);
 
     interrupt::DMA_IRQ_0.enable();
 }
diff --git a/examples/boot/application/rp/Cargo.toml b/examples/boot/application/rp/Cargo.toml
index c109c0732..8bb8afdfe 100644
--- a/examples/boot/application/rp/Cargo.toml
+++ b/examples/boot/application/rp/Cargo.toml
@@ -8,7 +8,7 @@ license = "MIT OR Apache-2.0"
 embassy-sync = { version = "0.6.0", path = "../../../../embassy-sync" }
 embassy-executor = { version = "0.6.0", path = "../../../../embassy-executor", features = ["task-arena-size-16384", "arch-cortex-m", "executor-thread", "integrated-timers", "arch-cortex-m", "executor-thread"] }
 embassy-time = { version = "0.3.2", path = "../../../../embassy-time", features = [] }
-embassy-rp = { version = "0.2.0", path = "../../../../embassy-rp", features = ["time-driver", ] }
+embassy-rp = { version = "0.2.0", path = "../../../../embassy-rp", features = ["time-driver", "rp2040"] }
 embassy-boot-rp = { version = "0.3.0", path = "../../../../embassy-boot-rp", features = [] }
 embassy-embedded-hal = { version = "0.2.0", path = "../../../../embassy-embedded-hal" }
 
diff --git a/examples/boot/bootloader/rp/Cargo.toml b/examples/boot/bootloader/rp/Cargo.toml
index c15c980ca..9df396e5e 100644
--- a/examples/boot/bootloader/rp/Cargo.toml
+++ b/examples/boot/bootloader/rp/Cargo.toml
@@ -9,7 +9,7 @@ license = "MIT OR Apache-2.0"
 defmt = { version = "0.3", optional = true }
 defmt-rtt = { version = "0.4", optional = true }
 
-embassy-rp = { path = "../../../../embassy-rp", features = [] }
+embassy-rp = { path = "../../../../embassy-rp", features = ["rp2040"] }
 embassy-boot-rp = { path = "../../../../embassy-boot-rp" }
 embassy-sync = { version = "0.6.0", path = "../../../../embassy-sync" }
 embassy-time = { path = "../../../../embassy-time", features = [] }