Merge remote-tracking branch 'origin/main' into i2c-slave/fix-early-term

25 files changed, 263 insertions, 148 deletions

diff --git a/cyw43-pio/CHANGELOG.md b/cyw43-pio/CHANGELOG.md
index c2d18919c..80343e02e 100644
--- a/cyw43-pio/CHANGELOG.md
+++ b/cyw43-pio/CHANGELOG.md
@@ -8,6 +8,8 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 <!-- next-header -->
 ## Unreleased - ReleaseDate
 
+## 0.9.0 - 2025-11-27
+
 - Select pio program based on core clock speed #4792
 
 ## 0.8.0 - 2025-08-28
diff --git a/cyw43-pio/Cargo.toml b/cyw43-pio/Cargo.toml
index a10a091e9..3001fa92b 100644
--- a/cyw43-pio/Cargo.toml
+++ b/cyw43-pio/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name = "cyw43-pio"
-version = "0.8.0"
+version = "0.9.0"
 edition = "2024"
 description = "RP2040 PIO SPI implementation for cyw43"
 keywords = ["embedded", "cyw43", "embassy-net", "embedded-hal-async", "wifi"]
@@ -10,8 +10,8 @@ repository = "https://github.com/embassy-rs/embassy"
 documentation = "https://docs.embassy.dev/cyw43-pio"
 
 [dependencies]
-cyw43 = { version = "0.5.0", path = "../cyw43" }
-embassy-rp = { version = "0.8.0", path = "../embassy-rp" }
+cyw43 = { version = "0.6.0", path = "../cyw43" }
+embassy-rp = { version = "0.9.0", path = "../embassy-rp" }
 fixed = "1.23.1"
 defmt = { version = "1.0.1", optional = true }
 
diff --git a/cyw43/CHANGELOG.md b/cyw43/CHANGELOG.md
index 1045fd30b..9fe341357 100644
--- a/cyw43/CHANGELOG.md
+++ b/cyw43/CHANGELOG.md
@@ -8,6 +8,8 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 <!-- next-header -->
 ## Unreleased - ReleaseDate
 
+## 0.6.0 - 2025-11-27
+
 - Updated documentation for Control::join() #4678
 - Bump bt-hci to 0.6.0.
 - Add error handling to HCI transport implementation.
diff --git a/cyw43/Cargo.toml b/cyw43/Cargo.toml
index 314427611..6d7647697 100644
--- a/cyw43/Cargo.toml
+++ b/cyw43/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name = "cyw43"
-version = "0.5.0"
+version = "0.6.0"
 edition = "2024"
 description = "Rust driver for the CYW43439 WiFi chip, used in the Raspberry Pi Pico W."
 keywords = ["embedded", "cyw43", "embassy-net", "embedded-hal-async", "wifi"]
diff --git a/embassy-boot-rp/CHANGELOG.md b/embassy-boot-rp/CHANGELOG.md
index 8cc1e73c0..068075b5c 100644
--- a/embassy-boot-rp/CHANGELOG.md
+++ b/embassy-boot-rp/CHANGELOG.md
@@ -8,6 +8,8 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 <!-- next-header -->
 ## Unreleased - ReleaseDate
 
+## 0.9.0 - 2025-11-27
+
 ## 0.8.0 - 2025-08-26
 
 ## 0.1.1 - 2025-08-15
diff --git a/embassy-boot-rp/Cargo.toml b/embassy-boot-rp/Cargo.toml
index e80c79374..2f63dea4c 100644
--- a/embassy-boot-rp/Cargo.toml
+++ b/embassy-boot-rp/Cargo.toml
@@ -1,7 +1,7 @@
 [package]
 edition = "2024"
 name = "embassy-boot-rp"
-version = "0.8.0"
+version = "0.9.0"
 description = "Bootloader lib for RP2040 chips"
 license = "MIT OR Apache-2.0"
 repository = "https://github.com/embassy-rs/embassy"
@@ -31,7 +31,7 @@ defmt = { version = "1.0.1", optional = true }
 log = { version = "0.4", optional = true }
 
 embassy-sync = { version = "0.7.2", path = "../embassy-sync" }
-embassy-rp = { version = "0.8.0", path = "../embassy-rp", default-features = false }
+embassy-rp = { version = "0.9.0", path = "../embassy-rp", default-features = false }
 embassy-boot = { version = "0.6.1", path = "../embassy-boot" }
 embassy-time = { version = "0.5.0", path = "../embassy-time" }
 
diff --git a/embassy-net-nrf91/Cargo.toml b/embassy-net-nrf91/Cargo.toml
index 75b7aeeb2..8cf11f1fb 100644
--- a/embassy-net-nrf91/Cargo.toml
+++ b/embassy-net-nrf91/Cargo.toml
@@ -18,7 +18,7 @@ log = ["dep:log"]
 defmt = { version = "1.0.1", optional = true }
 log = { version = "0.4.14", optional = true }
 
-nrf-pac = { version = "0.1.0", git = "https://github.com/embassy-rs/nrf-pac.git", rev = "58198c23bce72edc10b4e1656d1b54441fc74e7c" }
+nrf-pac = { version = "0.1.0", git = "https://github.com/embassy-rs/nrf-pac.git", rev = "176dc4afe1dd8df78f3cbda4479ab5151aa32252" }
 cortex-m = "0.7.7"
 
 embassy-time = { version = "0.5.0", path = "../embassy-time" }
diff --git a/embassy-nrf/CHANGELOG.md b/embassy-nrf/CHANGELOG.md
index cfb040ef5..5657ddcfb 100644
--- a/embassy-nrf/CHANGELOG.md
+++ b/embassy-nrf/CHANGELOG.md
@@ -8,7 +8,6 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 <!-- next-header -->
 ## Unreleased - ReleaseDate
 
-- added: Add basic RTC support for nRF54L
 - changed: apply trimming values from FICR.TRIMCNF on nrf53/54l
 - changed: do not panic on BufferedUarte overrun
 - added: allow direct access to the input pin of `gpiote::InputChannel`
@@ -29,6 +28,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 - bugfix: use correct flash size for nRF54l
 - changed: add workaround for anomaly 66 on nrf52
 - added: expose PPI events available on SPIS peripheral
+- added: add basic GRTC time driver support for nRF54L
 
 ## 0.8.0 - 2025-09-30
 
diff --git a/embassy-nrf/Cargo.toml b/embassy-nrf/Cargo.toml
index 08f4b280b..f73772682 100644
--- a/embassy-nrf/Cargo.toml
+++ b/embassy-nrf/Cargo.toml
@@ -23,8 +23,8 @@ build = [
     {target = "thumbv8m.main-none-eabihf", features = ["gpiote", "nrf5340-app-s", "time", "time-driver-rtc1"]},
     {target = "thumbv8m.main-none-eabihf", features = ["gpiote", "nrf5340-app-ns", "time", "time-driver-rtc1"]},
     {target = "thumbv8m.main-none-eabihf", features = ["gpiote", "nrf5340-net", "time", "time-driver-rtc1"]},
-    {target = "thumbv8m.main-none-eabihf", features = ["gpiote", "nrf54l15-app-s", "time", "time-driver-rtc1"]},
-    {target = "thumbv8m.main-none-eabihf", features = ["gpiote", "nrf54l15-app-ns", "time", "time-driver-rtc1"]},
+    {target = "thumbv8m.main-none-eabihf", features = ["gpiote", "nrf54l15-app-s", "time", "time-driver-grtc"]},
+    {target = "thumbv8m.main-none-eabihf", features = ["gpiote", "nrf54l15-app-ns", "time", "time-driver-grtc"]},
     {target = "thumbv7em-none-eabi", features = ["gpiote", "nrf52840", "time"]},
     {target = "thumbv7em-none-eabi", features = ["gpiote", "nrf52840", "time-driver-rtc1"]},
     {target = "thumbv7em-none-eabi", features = ["gpiote", "nrf52840", "time", "time-driver-rtc1"]},
@@ -80,9 +80,10 @@ unstable-pac = []
 gpiote = []
 
 ## Use RTC1 as the time driver for `embassy-time`, with a tick rate of 32.768khz
-## 
-## Note: For nRF54L, it's actually RTC30
-time-driver-rtc1 = ["_time-driver"]
+time-driver-rtc1 = ["_time-driver", "embassy-time-driver?/tick-hz-32_768"]
+
+## Use GRTC (CC n=1, GRTC_1 irq) as the time driver for `embassy-time`, with a tick rate of 1 MHz
+time-driver-grtc = ["_time-driver", "embassy-time-driver?/tick-hz-1_000_000"]
 
 ## Enable embassy-net 802.15.4 driver
 net-driver = ["_net-driver"]
@@ -152,7 +153,7 @@ _nrf5340-net = ["_nrf5340", "nrf-pac/nrf5340-net"]
 _nrf5340 = ["_gpio-p1", "_dppi"]
 _nrf54l15-app = ["_nrf54l15", "nrf-pac/nrf54l15-app"]
 _nrf54l15 = ["_nrf54l", "_gpio-p1", "_gpio-p2"]
-_nrf54l = ["_dppi"]
+_nrf54l = ["_dppi", "_grtc"]
 
 _nrf9160 = ["nrf-pac/nrf9160", "_dppi", "_spi-v1"]
 _nrf9120 = ["nrf-pac/nrf9120", "_dppi", "_spi-v1"]
@@ -160,7 +161,7 @@ _nrf52 = ["_ppi"]
 _nrf51 = ["_ppi", "_spi-v1"]
 _nrf91 = []
 
-_time-driver = ["dep:embassy-time-driver", "embassy-time-driver?/tick-hz-32_768", "dep:embassy-time-queue-utils", "embassy-embedded-hal/time"]
+_time-driver = ["dep:embassy-time-driver", "dep:embassy-time-queue-utils", "embassy-embedded-hal/time"]
 
 _net-driver = ["dep:embassy-net-driver-channel","dep:embassy-futures"]
 
@@ -173,6 +174,7 @@ _dppi = []
 _gpio-p1 = []
 _gpio-p2 = []
 _spi-v1 = []
+_grtc = []
 
 # Errata workarounds
 _nrf52832_anomaly_109 = []
@@ -200,7 +202,7 @@ embedded-io-async = { version = "0.6.1" }
 rand-core-06 = { package = "rand_core", version = "0.6" }
 rand-core-09 = { package = "rand_core", version = "0.9" }
 
-nrf-pac = { version = "0.1.0", git = "https://github.com/embassy-rs/nrf-pac.git", rev = "58198c23bce72edc10b4e1656d1b54441fc74e7c" }
+nrf-pac = { version = "0.1.0", git = "https://github.com/embassy-rs/nrf-pac.git", rev = "176dc4afe1dd8df78f3cbda4479ab5151aa32252" }
 
 defmt = { version = "1.0.1", optional = true }
 bitflags = "2.4.2"
diff --git a/embassy-nrf/src/chips/nrf54l15_app.rs b/embassy-nrf/src/chips/nrf54l15_app.rs
index 8846717db..8e6595248 100644
--- a/embassy-nrf/src/chips/nrf54l15_app.rs
+++ b/embassy-nrf/src/chips/nrf54l15_app.rs
@@ -26,7 +26,6 @@ pub mod pac {
         PPIB10_NS as PPIB10,
         PPIB11_NS as PPIB11,
         TIMER10_NS as TIMER10,
-        RTC10_NS as RTC10,
         EGU10_NS as EGU10,
         RADIO_NS as RADIO,
         DPPIC20_NS as DPPIC20,
@@ -76,7 +75,6 @@ pub mod pac {
         TWIM30_NS as TWIM30,
         TWIS30_NS as TWIS30,
         UARTE30_NS as UARTE30,
-        RTC30_NS as RTC30,
         COMP_NS as COMP,
         LPCOMP_NS as LPCOMP,
         WDT31_NS as WDT31,
@@ -127,7 +125,6 @@ pub mod pac {
         PPIB10_S as PPIB10,
         PPIB11_S as PPIB11,
         TIMER10_S as TIMER10,
-        RTC10_S as RTC10,
         EGU10_S as EGU10,
         RADIO_S as RADIO,
         SPU20_S as SPU20,
@@ -180,7 +177,6 @@ pub mod pac {
         TWIM30_S as TWIM30,
         TWIS30_S as TWIS30,
         UARTE30_S as UARTE30,
-        RTC30_S as RTC30,
         COMP_S as COMP,
         LPCOMP_S as LPCOMP,
         WDT30_S as WDT30,
@@ -417,11 +413,19 @@ embassy_hal_internal::peripherals! {
     P2_10,
 
     // GRTC
-    GRTC,
-
-    // RTC
-    RTC10,
-    RTC30,
+    GRTC_CH0,
+    #[cfg(not(feature = "time-driver-grtc"))]
+    GRTC_CH1,
+    GRTC_CH2,
+    GRTC_CH3,
+    GRTC_CH4,
+    GRTC_CH5,
+    GRTC_CH6,
+    GRTC_CH7,
+    GRTC_CH8,
+    GRTC_CH9,
+    GRTC_CH10,
+    GRTC_CH11,
 
     // PWM
     PWM20,
@@ -548,9 +552,6 @@ cfg_if::cfg_if! {
     }
 }
 
-impl_rtc!(RTC10, RTC10, RTC10);
-impl_rtc!(RTC30, RTC30, RTC30);
-
 #[cfg(feature = "_ns")]
 impl_wdt!(WDT, WDT31, WDT31, 0);
 #[cfg(feature = "_s")]
@@ -703,7 +704,6 @@ embassy_hal_internal::interrupt_mod!(
     TIMER00,
     SPU10,
     TIMER10,
-    RTC10,
     EGU10,
     RADIO_0,
     RADIO_1,
@@ -737,7 +737,6 @@ embassy_hal_internal::interrupt_mod!(
     GRTC_3,
     SPU30,
     SERIAL30,
-    RTC30,
     COMP_LPCOMP,
     WDT30,
     WDT31,
diff --git a/embassy-nrf/src/lib.rs b/embassy-nrf/src/lib.rs
index 28d2119ae..e8762b00d 100644
--- a/embassy-nrf/src/lib.rs
+++ b/embassy-nrf/src/lib.rs
@@ -153,6 +153,7 @@ pub mod reset;
 #[cfg(not(feature = "_nrf54l"))]
 #[cfg(not(any(feature = "_nrf5340-app", feature = "_nrf91")))]
 pub mod rng;
+#[cfg(not(feature = "_nrf54l"))]
 pub mod rtc;
 #[cfg(not(any(feature = "_nrf51", feature = "nrf52820", feature = "_nrf5340-net")))]
 pub mod saadc;
diff --git a/embassy-nrf/src/saadc.rs b/embassy-nrf/src/saadc.rs
index ca8cbd73e..ab0e2b86a 100644
--- a/embassy-nrf/src/saadc.rs
+++ b/embassy-nrf/src/saadc.rs
@@ -771,7 +771,7 @@ pub(crate) trait SealedInput {
     fn port(&self) -> u8;
 
     #[cfg(feature = "_nrf54l")]
-    fn internal(&self) -> vals::Internal;
+    fn internal(&self) -> vals::PselpInternal;
 
     #[cfg(feature = "_nrf54l")]
     fn connect(&self) -> vals::PselpConnect;
@@ -832,7 +832,7 @@ pub struct AnyInput<'a> {
 pub struct AnyInput<'a> {
     pin: u8,
     port: u8,
-    internal: vals::Internal,
+    internal: vals::PselpInternal,
     connect: vals::PselpConnect,
     _phantom: PhantomData<&'a ()>,
 }
@@ -881,7 +881,7 @@ impl SealedInput for AnyInput<'_> {
     }
 
     #[cfg(feature = "_nrf54l")]
-    fn internal(&self) -> vals::Internal {
+    fn internal(&self) -> vals::PselpInternal {
         self.internal
     }
 
@@ -923,8 +923,8 @@ macro_rules! impl_saadc_input {
                 $port
             }
 
-            fn internal(&self) -> crate::pac::saadc::vals::Internal {
-                crate::pac::saadc::vals::Internal::$internal
+            fn internal(&self) -> crate::pac::saadc::vals::PselpInternal {
+                crate::pac::saadc::vals::PselpInternal::$internal
             }
 
             fn connect(&self) -> crate::pac::saadc::vals::PselpConnect {
diff --git a/embassy-nrf/src/time_driver.rs b/embassy-nrf/src/time_driver.rs
index b723e2334..35f65bd64 100644
--- a/embassy-nrf/src/time_driver.rs
+++ b/embassy-nrf/src/time_driver.rs
@@ -1,4 +1,5 @@
 use core::cell::{Cell, RefCell};
+#[cfg(not(feature = "_grtc"))]
 use core::sync::atomic::{AtomicU32, Ordering, compiler_fence};
 
 use critical_section::CriticalSection;
@@ -8,21 +9,27 @@ use embassy_time_driver::Driver;
 use embassy_time_queue_utils::Queue;
 
 use crate::interrupt::InterruptExt;
+#[cfg(feature = "_grtc")]
+use crate::pac::grtc::vals::Busy;
 use crate::{interrupt, pac};
 
-#[cfg(feature = "_nrf54l")]
-fn rtc() -> pac::rtc::Rtc {
-    pac::RTC30
+#[cfg(feature = "_grtc")]
+fn rtc() -> pac::grtc::Grtc {
+    pac::GRTC
 }
-#[cfg(not(feature = "_nrf54l"))]
+
+#[cfg(not(feature = "_grtc"))]
 fn rtc() -> pac::rtc::Rtc {
     pac::RTC1
 }
 
 /// Calculate the timestamp from the period count and the tick count.
 ///
-/// The RTC counter is 24 bit. Ticking at 32768hz, it overflows every ~8 minutes. This is
-/// too short. We must make it "never" overflow.
+/// For nRF54 devices and newer, the GRTC counter is 52 bits, so the time driver uses the
+/// syscounter and ignores the periods handling, since it overflows every 142 years.
+///
+/// For most other devices, the RTC counter is 24 bit. Ticking at 32768hz, it overflows every ~8 minutes.
+/// This is too short. We must make it "never" overflow.
 ///
 /// The obvious way would be to count overflow periods. Every time the counter overflows,
 /// increase a `periods` variable. `now()` simply does `periods << 24 + counter`. So, the logic
@@ -64,14 +71,39 @@ fn rtc() -> pac::rtc::Rtc {
 /// `period` is a 32bit integer, so It overflows on 2^32 * 2^23 / 32768 seconds of uptime, which is 34865
 /// years. For comparison, flash memory like the one containing your firmware is usually rated to retain
 /// data for only 10-20 years. 34865 years is long enough!
+#[cfg(not(feature = "_grtc"))]
 fn calc_now(period: u32, counter: u32) -> u64 {
     ((period as u64) << 23) + ((counter ^ ((period & 1) << 23)) as u64)
 }
 
+#[cfg(feature = "_grtc")]
+fn syscounter() -> u64 {
+    let r = rtc();
+    r.syscounter(0).active().write(|w| w.set_active(true));
+    loop {
+        let countl: u32 = r.syscounter(0).syscounterl().read();
+        let counth = r.syscounter(0).syscounterh().read();
+
+        if counth.busy() == Busy::READY && !counth.overflow() {
+            let counth: u32 = counth.value();
+            let count = countl as u64 | ((counth as u64) << 32);
+            r.syscounter(0).active().write(|w| w.set_active(false));
+            return count;
+        }
+        // If overflow or not ready, loop will re-read both registers
+    }
+}
+
+#[cfg(not(feature = "_grtc"))]
 fn compare_n(n: usize) -> u32 {
     1 << (n + 16)
 }
 
+#[cfg(feature = "_grtc")]
+fn compare_n(n: usize) -> u32 {
+    1 << n // GRTC uses bits 0-11 for COMPARE[0-11]
+}
+
 #[cfg(test)]
 mod test {
     use super::*;
@@ -108,6 +140,7 @@ impl AlarmState {
 
 struct RtcDriver {
     /// Number of 2^23 periods elapsed since boot.
+    #[cfg(not(feature = "_grtc"))]
     period: AtomicU32,
     /// Timestamp at which to fire alarm. u64::MAX if no alarm is scheduled.
     alarms: Mutex<AlarmState>,
@@ -115,6 +148,7 @@ struct RtcDriver {
 }
 
 embassy_time_driver::time_driver_impl!(static DRIVER: RtcDriver = RtcDriver {
+    #[cfg(not(feature = "_grtc"))]
     period: AtomicU32::new(0),
     alarms: Mutex::const_new(CriticalSectionRawMutex::new(), AlarmState::new()),
     queue: Mutex::new(RefCell::new(Queue::new())),
@@ -123,25 +157,43 @@ embassy_time_driver::time_driver_impl!(static DRIVER: RtcDriver = RtcDriver {
 impl RtcDriver {
     fn init(&'static self, irq_prio: crate::interrupt::Priority) {
         let r = rtc();
-        r.cc(3).write(|w| w.set_compare(0x800000));
+        // Chips without GRTC needs to deal with overflow
+        #[cfg(not(feature = "_grtc"))]
+        {
+            r.cc(3).write(|w| w.set_compare(0x800000));
 
-        r.intenset().write(|w| {
-            w.set_ovrflw(true);
-            w.set_compare(3, true);
-        });
+            r.intenset().write(|w| {
+                w.set_ovrflw(true);
+                w.set_compare(3, true);
+            });
+        }
 
+        #[cfg(feature = "_grtc")]
+        {
+            r.mode().write(|w| {
+                w.set_syscounteren(true);
+            });
+        }
         r.tasks_clear().write_value(1);
         r.tasks_start().write_value(1);
 
         // Wait for clear
+        #[cfg(not(feature = "_grtc"))]
         while r.counter().read().0 != 0 {}
 
-        #[cfg(feature = "_nrf54l")]
+        #[cfg(feature = "_grtc")]
+        loop {
+            if r.status().lftimer().read().ready() {
+                break;
+            }
+        }
+
+        #[cfg(feature = "_grtc")]
         {
-            interrupt::RTC30.set_priority(irq_prio);
-            unsafe { interrupt::RTC30.enable() };
+            interrupt::GRTC_1.set_priority(irq_prio);
+            unsafe { interrupt::GRTC_1.enable() };
         }
-        #[cfg(not(feature = "_nrf54l"))]
+        #[cfg(not(feature = "_grtc"))]
         {
             interrupt::RTC1.set_priority(irq_prio);
             unsafe { interrupt::RTC1.enable() };
@@ -150,11 +202,14 @@ impl RtcDriver {
 
     fn on_interrupt(&self) {
         let r = rtc();
+
+        #[cfg(not(feature = "_grtc"))]
         if r.events_ovrflw().read() == 1 {
             r.events_ovrflw().write_value(0);
             self.next_period();
         }
 
+        #[cfg(not(feature = "_grtc"))]
         if r.events_compare(3).read() == 1 {
             r.events_compare(3).write_value(0);
             self.next_period();
@@ -169,6 +224,7 @@ impl RtcDriver {
         }
     }
 
+    #[cfg(not(feature = "_grtc"))]
     fn next_period(&self) {
         critical_section::with(|cs| {
             let r = rtc();
@@ -190,7 +246,10 @@ impl RtcDriver {
     fn trigger_alarm(&self, cs: CriticalSection) {
         let n = 0;
         let r = rtc();
+        #[cfg(not(feature = "_grtc"))]
         r.intenclr().write(|w| w.0 = compare_n(n));
+        #[cfg(feature = "_grtc")]
+        r.intenclr(1).write(|w| w.0 = compare_n(n));
 
         let alarm = &self.alarms.borrow(cs);
         alarm.timestamp.set(u64::MAX);
@@ -214,7 +273,10 @@ impl RtcDriver {
             if timestamp <= t {
                 // If alarm timestamp has passed the alarm will not fire.
                 // Disarm the alarm and return `false` to indicate that.
+                #[cfg(not(feature = "_grtc"))]
                 r.intenclr().write(|w| w.0 = compare_n(n));
+                #[cfg(feature = "_grtc")]
+                r.intenclr(1).write(|w| w.0 = compare_n(n));
 
                 alarm.timestamp.set(u64::MAX);
 
@@ -226,7 +288,7 @@ impl RtcDriver {
             // Write the CC value regardless of whether we're going to enable it now or not.
             // This way, when we enable it later, the right value is already set.
 
-            // nrf52 docs say:
+            // nrf52 docs say :
             //    If the COUNTER is N, writing N or N+1 to a CC register may not trigger a COMPARE event.
             // To workaround this, we never write a timestamp smaller than N+3.
             // N+2 is not safe because rtc can tick from N to N+1 between calling now() and writing cc.
@@ -238,22 +300,39 @@ impl RtcDriver {
             // This means that an alarm can be delayed for up to 2 ticks (from t+1 to t+3), but this is allowed
             // by the Alarm trait contract. What's not allowed is triggering alarms *before* their scheduled time,
             // and we don't do that here.
-            let safe_timestamp = timestamp.max(t + 3);
-            r.cc(n).write(|w| w.set_compare(safe_timestamp as u32 & 0xFFFFFF));
-
-            let diff = timestamp - t;
-            if diff < 0xc00000 {
-                r.intenset().write(|w| w.0 = compare_n(n));
-
-                // If we have not passed the timestamp, we can be sure the alarm will be invoked. Otherwise,
-                // we need to retry setting the alarm.
-                if self.now() + 2 <= timestamp {
+            #[cfg(not(feature = "_grtc"))]
+            {
+                let safe_timestamp = timestamp.max(t + 3);
+                r.cc(n).write(|w| w.set_compare(safe_timestamp as u32 & 0xFFFFFF));
+                let diff = timestamp - t;
+                if diff < 0xc00000 {
+                    r.intenset().write(|w| w.0 = compare_n(n));
+
+                    // If we have not passed the timestamp, we can be sure the alarm will be invoked. Otherwise,
+                    // we need to retry setting the alarm.
+                    if self.now() + 2 <= timestamp {
+                        return true;
+                    }
+                } else {
+                    // If it's too far in the future, don't setup the compare channel yet.
+                    // It will be setup later by `next_period`.
+                    r.intenclr().write(|w| w.0 = compare_n(n));
                     return true;
                 }
-            } else {
-                // If it's too far in the future, don't setup the compare channel yet.
-                // It will be setup later by `next_period`.
-                r.intenclr().write(|w| w.0 = compare_n(n));
+            }
+
+            // The nRF54 datasheet states that 'The EVENTS_COMPARE[n] event is generated immediately if the
+            // configured compare value at CC[n] is less than the current SYSCOUNTER value.'. This means we
+            // can write the expected timestamp and be sure the alarm is triggered.
+            #[cfg(feature = "_grtc")]
+            {
+                let ccl = timestamp as u32;
+                let cch = (timestamp >> 32) as u32 & 0xFFFFF; // 20 bits for CCH
+
+                r.cc(n).ccl().write_value(ccl);
+                r.cc(n).cch().write(|w| w.set_cch(cch));
+                r.intenset(1).write(|w| w.0 = compare_n(n));
+
                 return true;
             }
         }
@@ -261,6 +340,7 @@ impl RtcDriver {
 }
 
 impl Driver for RtcDriver {
+    #[cfg(not(feature = "_grtc"))]
     fn now(&self) -> u64 {
         // `period` MUST be read before `counter`, see comment at the top for details.
         let period = self.period.load(Ordering::Relaxed);
@@ -269,10 +349,14 @@ impl Driver for RtcDriver {
         calc_now(period, counter)
     }
 
+    #[cfg(feature = "_grtc")]
+    fn now(&self) -> u64 {
+        syscounter()
+    }
+
     fn schedule_wake(&self, at: u64, waker: &core::task::Waker) {
         critical_section::with(|cs| {
             let mut queue = self.queue.borrow(cs).borrow_mut();
-
             if queue.schedule_wake(at, waker) {
                 let mut next = queue.next_expiration(self.now());
                 while !self.set_alarm(cs, next) {
@@ -283,14 +367,14 @@ impl Driver for RtcDriver {
     }
 }
 
-#[cfg(feature = "_nrf54l")]
+#[cfg(feature = "_grtc")]
 #[cfg(feature = "rt")]
 #[interrupt]
-fn RTC30() {
+fn GRTC_1() {
     DRIVER.on_interrupt()
 }
 
-#[cfg(not(feature = "_nrf54l"))]
+#[cfg(not(feature = "_grtc"))]
 #[cfg(feature = "rt")]
 #[interrupt]
 fn RTC1() {
diff --git a/embassy-rp/CHANGELOG.md b/embassy-rp/CHANGELOG.md
index 7480b729f..773301b0f 100644
--- a/embassy-rp/CHANGELOG.md
+++ b/embassy-rp/CHANGELOG.md
@@ -8,6 +8,8 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 <!-- next-header -->
 ## Unreleased - ReleaseDate
 
+## 0.9.0 - 2025-11-27
+
 - Add documentation for pio `get_x` about autopush.
 - Fix several minor typos in documentation
 - Add PIO SPI
diff --git a/embassy-rp/Cargo.toml b/embassy-rp/Cargo.toml
index 421f0b0f6..8e4bb927f 100644
--- a/embassy-rp/Cargo.toml
+++ b/embassy-rp/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name = "embassy-rp"
-version = "0.8.0"
+version = "0.9.0"
 edition = "2024"
 license = "MIT OR Apache-2.0"
 description = "Embassy Hardware Abstraction Layer (HAL) for the Raspberry Pi RP2040 or RP235x microcontroller"
diff --git a/embassy-stm32/CHANGELOG.md b/embassy-stm32/CHANGELOG.md
index 4c38b0add..2b273482c 100644
--- a/embassy-stm32/CHANGELOG.md
+++ b/embassy-stm32/CHANGELOG.md
@@ -84,6 +84,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 - removal: ExtiInput no longer accepts AnyPin/AnyChannel; AnyChannel removed entirely
 - fix: build script ensures EXTI2_TSC is listed as the IRQ of EXTI2 even if the PAC doesn't
 - feat: stm32/lcd: added implementation
+- change: add error messages to can timing calculations ([#4961](https://github.com/embassy-rs/embassy/pull/4961))
 
 ## 0.4.0 - 2025-08-26
 
diff --git a/embassy-stm32/src/can/enums.rs b/embassy-stm32/src/can/enums.rs
index 6d91020fc..c5900cadc 100644
--- a/embassy-stm32/src/can/enums.rs
+++ b/embassy-stm32/src/can/enums.rs
@@ -82,3 +82,40 @@ pub enum RefCountOp {
     /// Notify sender destroyed
     NotifySenderDestroyed,
 }
+
+/// Error returned when calculating the can timing fails
+#[derive(Debug)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub enum TimingCalcError {
+    /// Bitrate is lower than 1000
+    BitrateTooLow {
+        /// The set bitrate
+        bitrate: u32,
+    },
+    /// No solution possible
+    NoSolution {
+        /// The sum of BS1 and BS2
+        bs1_bs2_sum: u8,
+    },
+    /// Prescaler is not 1 < prescaler < 1024
+    InvalidPrescaler {
+        /// The calculated prescaler value
+        prescaler: u32,
+    },
+    /// BS1 or BS2 are not in the range 0 < BSx < BSx_MAX
+    BSNotInRange {
+        /// The value of BS1
+        bs1: u8,
+        /// The value of BS2
+        bs2: u8,
+    },
+    /// Final bitrate doesn't match the requested bitrate
+    NoMatch {
+        /// The requested bitrate
+        requested: u32,
+        /// The calculated bitrate
+        final_calculated: u32,
+    },
+    /// core::num::NonZeroUxx::new error
+    CoreNumNew,
+}
diff --git a/embassy-stm32/src/can/util.rs b/embassy-stm32/src/can/util.rs
index 6d7f0c16a..beca4c34e 100644
--- a/embassy-stm32/src/can/util.rs
+++ b/embassy-stm32/src/can/util.rs
@@ -2,6 +2,8 @@
 
 use core::num::{NonZeroU8, NonZeroU16};
 
+use crate::can::enums::TimingCalcError;
+
 /// Shared struct to represent bit timings used by calc_can_timings.
 #[derive(Clone, Copy, Debug)]
 pub struct NominalBitTiming {
@@ -17,7 +19,10 @@ pub struct NominalBitTiming {
 }
 
 /// Calculate nominal CAN bit timing based on CAN bitrate and periphial clock frequency
-pub fn calc_can_timings(periph_clock: crate::time::Hertz, can_bitrate: u32) -> Option<NominalBitTiming> {
+pub fn calc_can_timings(
+    periph_clock: crate::time::Hertz,
+    can_bitrate: u32,
+) -> Result<NominalBitTiming, TimingCalcError> {
     const BS1_MAX: u8 = 16;
     const BS2_MAX: u8 = 8;
     const MAX_SAMPLE_POINT_PERMILL: u16 = 900;
@@ -25,7 +30,7 @@ pub fn calc_can_timings(periph_clock: crate::time::Hertz, can_bitrate: u32) -> O
     let periph_clock = periph_clock.0;
 
     if can_bitrate < 1000 {
-        return None;
+        return Err(TimingCalcError::BitrateTooLow { bitrate: can_bitrate });
     }
 
     // Ref. "Automatic Baudrate Detection in CANopen Networks", U. Koppe, MicroControl GmbH & Co. KG
@@ -53,14 +58,14 @@ pub fn calc_can_timings(periph_clock: crate::time::Hertz, can_bitrate: u32) -> O
     let mut bs1_bs2_sum = max_quanta_per_bit - 1;
     while (prescaler_bs % (1 + bs1_bs2_sum) as u32) != 0 {
         if bs1_bs2_sum <= 2 {
-            return None; // No solution
+            return Err(TimingCalcError::NoSolution { bs1_bs2_sum }); // No solution
         }
         bs1_bs2_sum -= 1;
     }
 
     let prescaler = prescaler_bs / (1 + bs1_bs2_sum) as u32;
     if (prescaler < 1) || (prescaler > 1024) {
-        return None; // No solution
+        return Err(TimingCalcError::InvalidPrescaler { prescaler }); // No solution
     }
 
     // Now we have a constraint: (BS1 + BS2) == bs1_bs2_sum.
@@ -93,22 +98,26 @@ pub fn calc_can_timings(periph_clock: crate::time::Hertz, can_bitrate: u32) -> O
 
     // Check is BS1 and BS2 are in range
     if (bs1 < 1) || (bs1 > BS1_MAX) || (bs2 < 1) || (bs2 > BS2_MAX) {
-        return None;
+        return Err(TimingCalcError::BSNotInRange { bs1, bs2 });
     }
 
+    let calculated = periph_clock / (prescaler * (1 + bs1 + bs2) as u32);
     // Check if final bitrate matches the requested
-    if can_bitrate != (periph_clock / (prescaler * (1 + bs1 + bs2) as u32)) {
-        return None;
+    if can_bitrate != calculated {
+        return Err(TimingCalcError::NoMatch {
+            requested: can_bitrate,
+            final_calculated: calculated,
+        });
     }
 
     // One is recommended by DS-015, CANOpen, and DeviceNet
-    let sync_jump_width = core::num::NonZeroU8::new(1)?;
+    let sync_jump_width = core::num::NonZeroU8::new(1).ok_or(TimingCalcError::CoreNumNew)?;
 
-    let seg1 = core::num::NonZeroU8::new(bs1)?;
-    let seg2 = core::num::NonZeroU8::new(bs2)?;
-    let nz_prescaler = core::num::NonZeroU16::new(prescaler as u16)?;
+    let seg1 = core::num::NonZeroU8::new(bs1).ok_or(TimingCalcError::CoreNumNew)?;
+    let seg2 = core::num::NonZeroU8::new(bs2).ok_or(TimingCalcError::CoreNumNew)?;
+    let nz_prescaler = core::num::NonZeroU16::new(prescaler as u16).ok_or(TimingCalcError::CoreNumNew)?;
 
-    Some(NominalBitTiming {
+    Ok(NominalBitTiming {
         sync_jump_width,
         prescaler: nz_prescaler,
         seg1,
diff --git a/examples/boot/application/rp/Cargo.toml b/examples/boot/application/rp/Cargo.toml
index 70a2c28c3..292d1abec 100644
--- a/examples/boot/application/rp/Cargo.toml
+++ b/examples/boot/application/rp/Cargo.toml
@@ -9,8 +9,8 @@ publish = false
 embassy-sync = { version = "0.7.2", path = "../../../../embassy-sync" }
 embassy-executor = { version = "0.9.0", path = "../../../../embassy-executor", features = ["arch-cortex-m", "executor-thread"] }
 embassy-time = { version = "0.5.0", path = "../../../../embassy-time", features = [] }
-embassy-rp = { version = "0.8.0", path = "../../../../embassy-rp", features = ["time-driver", "rp2040"] }
-embassy-boot-rp = { version = "0.8.0", path = "../../../../embassy-boot-rp", features = [] }
+embassy-rp = { version = "0.9.0", path = "../../../../embassy-rp", features = ["time-driver", "rp2040"] }
+embassy-boot-rp = { version = "0.9.0", path = "../../../../embassy-boot-rp", features = [] }
 embassy-embedded-hal = { version = "0.5.0", path = "../../../../embassy-embedded-hal" }
 
 defmt = "1.0.1"
diff --git a/examples/nrf54l15/Cargo.toml b/examples/nrf54l15/Cargo.toml
index 4ef77279f..f34df0f26 100644
--- a/examples/nrf54l15/Cargo.toml
+++ b/examples/nrf54l15/Cargo.toml
@@ -10,7 +10,7 @@ embassy-futures = { version = "0.1.2", path = "../../embassy-futures" }
 embassy-executor = { version = "0.9.0", path = "../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "executor-interrupt", "defmt"] }
 embassy-time = { version = "0.5.0", path = "../../embassy-time", features = ["defmt", "defmt-timestamp-uptime"] }
 embassy-sync = { version = "0.7.2", path = "../../embassy-sync", features = ["defmt"] }
-embassy-nrf = { version = "0.8.0", path = "../../embassy-nrf", features = ["defmt", "nrf54l15-app-s", "time-driver-rtc1", "gpiote", "unstable-pac", "time"] }
+embassy-nrf = { version = "0.8.0", path = "../../embassy-nrf", features = ["defmt", "nrf54l15-app-s", "time-driver-grtc", "gpiote", "unstable-pac", "time"] }
 embedded-io = { version = "0.6.0", features = ["defmt-03"]  }
 embedded-io-async = { version = "0.6.1", features = ["defmt-03"] }
 
diff --git a/examples/nrf54l15/src/bin/rtc.rs b/examples/nrf54l15/src/bin/rtc.rs
deleted file mode 100644
index a45aaca52..000000000
--- a/examples/nrf54l15/src/bin/rtc.rs
+++ /dev/null
@@ -1,56 +0,0 @@
-#![no_std]
-#![no_main]
-
-use core::cell::RefCell;
-
-use embassy_executor::Spawner;
-use embassy_nrf::gpio::{Level, Output, OutputDrive};
-use embassy_nrf::interrupt;
-use embassy_nrf::rtc::Rtc;
-use embassy_sync::blocking_mutex::Mutex;
-use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
-use portable_atomic::AtomicU64;
-use {defmt_rtt as _, panic_probe as _};
-
-// 64 bit counter which will never overflow.
-static TICK_COUNTER: AtomicU64 = AtomicU64::new(0);
-static RTC: Mutex<CriticalSectionRawMutex, RefCell<Option<Rtc<'static>>>> = Mutex::new(RefCell::new(None));
-
-#[embassy_executor::main]
-async fn main(_spawner: Spawner) {
-    defmt::println!("nRF54L15 RTC example");
-    let p = embassy_nrf::init(Default::default());
-    let mut led = Output::new(p.P2_09, Level::High, OutputDrive::Standard);
-    // Counter resolution is 125 ms.
-    let mut rtc = Rtc::new(p.RTC10, (1 << 12) - 1).unwrap();
-    rtc.enable_interrupt(embassy_nrf::rtc::Interrupt::Tick, true);
-    rtc.enable_event(embassy_nrf::rtc::Interrupt::Tick);
-    rtc.enable();
-    RTC.lock(|r| {
-        let mut rtc_borrow = r.borrow_mut();
-        *rtc_borrow = Some(rtc);
-    });
-
-    let mut last_counter_val = 0;
-    loop {
-        let current = TICK_COUNTER.load(core::sync::atomic::Ordering::Relaxed);
-        if current != last_counter_val {
-            led.toggle();
-            last_counter_val = current;
-        }
-    }
-}
-
-#[interrupt]
-fn RTC10() {
-    // For 64-bit, we do not need to worry about overflowing, at least not for realistic program
-    // lifetimes.
-    TICK_COUNTER.fetch_add(1, core::sync::atomic::Ordering::Relaxed);
-    RTC.lock(|r| {
-        let mut rtc_borrow = r.borrow_mut();
-        rtc_borrow
-            .as_mut()
-            .unwrap()
-            .reset_event(embassy_nrf::rtc::Interrupt::Tick);
-    });
-}
diff --git a/examples/nrf54l15/src/bin/timer.rs b/examples/nrf54l15/src/bin/timer.rs
new file mode 100644
index 000000000..68acc91c1
--- /dev/null
+++ b/examples/nrf54l15/src/bin/timer.rs
@@ -0,0 +1,30 @@
+#![no_std]
+#![no_main]
+
+use defmt::{info, unwrap};
+use embassy_executor::Spawner;
+use embassy_time::Timer;
+use {defmt_rtt as _, panic_probe as _};
+
+#[embassy_executor::task]
+async fn run1() {
+    loop {
+        info!("BIG INFREQUENT TICK");
+        Timer::after_secs(10).await;
+    }
+}
+
+#[embassy_executor::task]
+async fn run2() {
+    loop {
+        info!("tick");
+        Timer::after_secs(1).await;
+    }
+}
+
+#[embassy_executor::main]
+async fn main(spawner: Spawner) {
+    let _p = embassy_nrf::init(Default::default());
+    spawner.spawn(unwrap!(run1()));
+    spawner.spawn(unwrap!(run2()));
+}
diff --git a/examples/rp/Cargo.toml b/examples/rp/Cargo.toml
index 9d7d99259..e247f6f7a 100644
--- a/examples/rp/Cargo.toml
+++ b/examples/rp/Cargo.toml
@@ -11,14 +11,14 @@ embassy-embedded-hal = { version = "0.5.0", path = "../../embassy-embedded-hal",
 embassy-sync = { version = "0.7.2", path = "../../embassy-sync", features = ["defmt"] }
 embassy-executor = { version = "0.9.0", path = "../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "executor-interrupt", "defmt"] }
 embassy-time = { version = "0.5.0", path = "../../embassy-time", features = ["defmt", "defmt-timestamp-uptime"] }
-embassy-rp = { version = "0.8.0", path = "../../embassy-rp", features = ["defmt", "unstable-pac", "time-driver", "critical-section-impl", "rp2040"] }
+embassy-rp = { version = "0.9.0", path = "../../embassy-rp", features = ["defmt", "unstable-pac", "time-driver", "critical-section-impl", "rp2040"] }
 embassy-usb = { version = "0.5.1", path = "../../embassy-usb", features = ["defmt"] }
 embassy-net = { version = "0.7.1", path = "../../embassy-net", features = ["defmt", "icmp", "tcp", "udp", "raw", "dhcpv4", "medium-ethernet", "dns", "proto-ipv4", "proto-ipv6", "multicast"] }
 embassy-net-wiznet = { version = "0.2.1", path = "../../embassy-net-wiznet", features = ["defmt"] }
 embassy-futures = { version = "0.1.2", path = "../../embassy-futures" }
 embassy-usb-logger = { version = "0.5.1", path = "../../embassy-usb-logger" }
-cyw43 = { version = "0.5.0", path = "../../cyw43", features = ["defmt", "firmware-logs"] }
-cyw43-pio = { version = "0.8.0", path = "../../cyw43-pio", features = ["defmt"] }
+cyw43 = { version = "0.6.0", path = "../../cyw43", features = ["defmt", "firmware-logs"] }
+cyw43-pio = { version = "0.9.0", path = "../../cyw43-pio", features = ["defmt"] }
 
 defmt = "1.0.1"
 defmt-rtt = "1.0.0"
diff --git a/examples/rp235x/Cargo.toml b/examples/rp235x/Cargo.toml
index ad396275b..16dfb5b77 100644
--- a/examples/rp235x/Cargo.toml
+++ b/examples/rp235x/Cargo.toml
@@ -11,14 +11,14 @@ embassy-embedded-hal = { version = "0.5.0", path = "../../embassy-embedded-hal",
 embassy-sync = { version = "0.7.2", path = "../../embassy-sync", features = ["defmt"] }
 embassy-executor = { version = "0.9.0", path = "../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "executor-interrupt", "defmt"] }
 embassy-time = { version = "0.5.0", path = "../../embassy-time", features = ["defmt", "defmt-timestamp-uptime"] }
-embassy-rp = { version = "0.8.0", path = "../../embassy-rp", features = ["defmt", "unstable-pac", "time-driver", "critical-section-impl", "rp235xa", "binary-info"] }
+embassy-rp = { version = "0.9.0", path = "../../embassy-rp", features = ["defmt", "unstable-pac", "time-driver", "critical-section-impl", "rp235xa", "binary-info"] }
 embassy-usb = { version = "0.5.1", path = "../../embassy-usb", features = ["defmt"] }
 embassy-net = { version = "0.7.1", path = "../../embassy-net", features = ["defmt", "icmp", "tcp", "udp", "raw", "dhcpv4", "medium-ethernet", "dns"] }
 embassy-net-wiznet = { version = "0.2.1", path = "../../embassy-net-wiznet", features = ["defmt"] }
 embassy-futures = { version = "0.1.2", path = "../../embassy-futures" }
 embassy-usb-logger = { version = "0.5.1", path = "../../embassy-usb-logger" }
-cyw43 = { version = "0.5.0", path = "../../cyw43", features = ["defmt", "firmware-logs"] }
-cyw43-pio = { version = "0.8.0", path = "../../cyw43-pio", features = ["defmt"] }
+cyw43 = { version = "0.6.0", path = "../../cyw43", features = ["defmt", "firmware-logs"] }
+cyw43-pio = { version = "0.9.0", path = "../../cyw43-pio", features = ["defmt"] }
 
 defmt = "1.0.1"
 defmt-rtt = "1.0.0"
diff --git a/tests/rp/Cargo.toml b/tests/rp/Cargo.toml
index 640e58f11..4dfe6904e 100644
--- a/tests/rp/Cargo.toml
+++ b/tests/rp/Cargo.toml
@@ -16,7 +16,7 @@ teleprobe-meta = "1.1"
 embassy-sync = { version = "0.7.2", path = "../../embassy-sync", features = ["defmt"] }
 embassy-executor = { version = "0.9.0", path = "../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "defmt"] }
 embassy-time = { version = "0.5.0", path = "../../embassy-time", features = ["defmt", ] }
-embassy-rp = { version = "0.8.0", path = "../../embassy-rp", features = [ "defmt", "unstable-pac", "time-driver", "critical-section-impl", "intrinsics", "rom-v2-intrinsics", "run-from-ram"]  }
+embassy-rp = { version = "0.9.0", path = "../../embassy-rp", features = [ "defmt", "unstable-pac", "time-driver", "critical-section-impl", "intrinsics", "rom-v2-intrinsics", "run-from-ram"]  }
 embassy-futures = { version = "0.1.2", path = "../../embassy-futures" }
 embassy-net = { version = "0.7.1", path = "../../embassy-net", features = ["defmt",  "tcp", "udp", "dhcpv4", "medium-ethernet"] }
 embassy-net-wiznet = { version = "0.2.1", path = "../../embassy-net-wiznet", features = ["defmt"] }