diff --git a/examples/rp2040_local_i2c_init/Cargo.lock b/examples/rp2040_local_i2c_init/Cargo.lock
index d4c01558aa..66666f85f8 100644
--- a/examples/rp2040_local_i2c_init/Cargo.lock
+++ b/examples/rp2040_local_i2c_init/Cargo.lock
@@ -10,9 +10,9 @@ checksum = "96d30a06541fbafbc7f82ed10c06164cfbd2c401138f6addd8404629c4b16711"
 
 [[package]]
 name = "atomic-polyfill"
-version = "1.0.3"
+version = "1.0.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8cf2bce30dfe09ef0bfaef228b9d414faaf7e563035494d7fe092dba54b300f4"
+checksum = "c314e70d181aa6053b26e3f7fbf86d1dfff84f816a6175b967666b3506ef7289"
 dependencies = [
  "critical-section",
 ]
@@ -38,6 +38,18 @@ version = "0.13.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "46afbd2983a5d5a7bd740ccb198caf5b82f45c40c09c0eed36052d91cb92e719"
 
+[[package]]
+name = "bitfield"
+version = "0.14.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2d7e60934ceec538daadb9d8432424ed043a904d8e0243f3c6446bce549a46ac"
+
+[[package]]
+name = "byteorder"
+version = "1.5.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1fd0f2584146f6f2ef48085050886acf353beff7305ebd1ae69500e27c67f64b"
+
 [[package]]
 name = "cfg-if"
 version = "1.0.0"
@@ -51,7 +63,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "8ec610d8f49840a5b376c69663b6369e71f4b34484b9b2eb29fb918d92516cb9"
 dependencies = [
  "bare-metal 0.2.5",
- "bitfield",
+ "bitfield 0.13.2",
  "embedded-hal 0.2.7",
  "volatile-register",
 ]
@@ -78,18 +90,18 @@ dependencies = [
 
 [[package]]
 name = "crc-any"
-version = "2.4.4"
+version = "2.4.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c01a5e1f881f6fb6099a7bdf949e946719fd4f1fefa56264890574febf0eb6d0"
+checksum = "774646b687f63643eb0f4bf13dc263cb581c8c9e57973b6ddf78bda3994d88df"
 dependencies = [
  "debug-helper",
 ]
 
 [[package]]
 name = "critical-section"
-version = "1.1.2"
+version = "1.1.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7059fff8937831a9ae6f0fe4d658ffabf58f2ca96aa9dec1c889f936f705f216"
+checksum = "6548a0ad5d2549e111e1f6a11a6c2e2d00ce6a3dafe22948d67c2b443f775e52"
 
 [[package]]
 name = "debug-helper"
@@ -99,9 +111,9 @@ checksum = "f578e8e2c440e7297e008bb5486a3a8a194775224bbc23729b0dbdfaeebf162e"
 
 [[package]]
 name = "either"
-version = "1.10.0"
+version = "1.8.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "11157ac094ffbdde99aa67b23417ebdd801842852b500e395a45a9c0aac03e4a"
+checksum = "7fcaabb2fef8c910e7f4c7ce9f67a1283a1715879a7c230ca9d6d1ae31f16d91"
 
 [[package]]
 name = "embedded-dma"
@@ -138,10 +150,26 @@ dependencies = [
 ]
 
 [[package]]
-name = "equivalent"
-version = "1.0.1"
+name = "embedded-hal-nb"
+version = "1.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5443807d6dff69373d433ab9ef5378ad8df50ca6298caf15de6e52e24aaf54d5"
+checksum = "fba4268c14288c828995299e59b12babdbe170f6c6d73731af1b4648142e8605"
+dependencies = [
+ "embedded-hal 1.0.0",
+ "nb 1.1.0",
+]
+
+[[package]]
+name = "embedded-io"
+version = "0.6.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "edd0f118536f44f5ccd48bcb8b111bdc3de888b58c74639dfb034a357d0f206d"
+
+[[package]]
+name = "equivalent"
+version = "1.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "88bffebc5d80432c9b140ee17875ff173a8ab62faad5b257da912bd2f6c1c0a1"
 
 [[package]]
 name = "frunk"
@@ -167,7 +195,7 @@ checksum = "b0fa992f1656e1707946bbba340ad244f0814009ef8c0118eb7b658395f19a2e"
 dependencies = [
  "frunk_proc_macro_helpers",
  "quote",
- "syn 2.0.51",
+ "syn 2.0.53",
 ]
 
 [[package]]
@@ -179,7 +207,7 @@ dependencies = [
  "frunk_core",
  "proc-macro2",
  "quote",
- "syn 2.0.51",
+ "syn 2.0.53",
 ]
 
 [[package]]
@@ -193,21 +221,21 @@ dependencies = [
 
 [[package]]
 name = "futures-core"
-version = "0.3.30"
+version = "0.3.28"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "dfc6580bb841c5a68e9ef15c77ccc837b40a7504914d52e47b8b0e9bbda25a1d"
+checksum = "4bca583b7e26f571124fe5b7561d49cb2868d79116cfa0eefce955557c6fee8c"
 
 [[package]]
 name = "futures-task"
-version = "0.3.30"
+version = "0.3.28"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "38d84fa142264698cdce1a9f9172cf383a0c82de1bddcf3092901442c4097004"
+checksum = "76d3d132be6c0e6aa1534069c705a74a5997a356c0dc2f86a47765e5617c5b65"
 
 [[package]]
 name = "futures-util"
-version = "0.3.30"
+version = "0.3.28"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3d6401deb83407ab3da39eba7e33987a73c3df0c82b4bb5813ee871c19c41d48"
+checksum = "26b01e40b772d54cf6c6d721c1d1abd0647a0106a12ecaa1c186273392a69533"
 dependencies = [
  "futures-core",
  "futures-task",
@@ -222,16 +250,35 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "1d758ba1b47b00caf47f24925c0074ecb20d6dfcffe7f6d53395c0465674841a"
 
 [[package]]
-name = "hashbrown"
-version = "0.14.3"
+name = "hash32"
+version = "0.3.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "290f1a1d9242c78d09ce40a5e87e7554ee637af1351968159f4952f028f75604"
+checksum = "47d60b12902ba28e2730cd37e95b8c9223af2808df9e902d4df49588d1470606"
+dependencies = [
+ "byteorder",
+]
+
+[[package]]
+name = "hashbrown"
+version = "0.14.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2c6201b9ff9fd90a5a3bac2e56a830d0caa509576f0e503818ee82c181b3437a"
+
+[[package]]
+name = "heapless"
+version = "0.8.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0bfb9eb618601c89945a70e254898da93b13be0388091d42117462b265bb3fad"
+dependencies = [
+ "hash32",
+ "stable_deref_trait",
+]
 
 [[package]]
 name = "indexmap"
-version = "2.2.3"
+version = "2.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "233cf39063f058ea2caae4091bf4a3ef70a653afbc026f5c4a4135d114e3c177"
+checksum = "d5477fe2230a79769d8dc68e0eabf5437907c0457a5614a9e8dddb67f65eb65d"
 dependencies = [
  "equivalent",
  "hashbrown",
@@ -292,15 +339,15 @@ dependencies = [
 
 [[package]]
 name = "paste"
-version = "1.0.14"
+version = "1.0.12"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "de3145af08024dea9fa9914f381a17b8fc6034dfb00f3a84013f7ff43f29ed4c"
+checksum = "9f746c4065a8fa3fe23974dd82f15431cc8d40779821001404d10d2e79ca7d79"
 
 [[package]]
 name = "pin-project-lite"
-version = "0.2.13"
+version = "0.2.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8afb450f006bf6385ca15ef45d71d2288452bc3683ce2e2cacc0d18e4be60b58"
+checksum = "e0a7ae3ac2f1173085d398531c705756c94a4c56843785df85a60c1a0afac116"
 
 [[package]]
 name = "pin-utils"
@@ -351,9 +398,9 @@ dependencies = [
 
 [[package]]
 name = "proc-macro2"
-version = "1.0.78"
+version = "1.0.79"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e2422ad645d89c99f8f3e6b88a9fdeca7fabeac836b1002371c4367c8f984aae"
+checksum = "e835ff2298f5721608eb1a980ecaee1aef2c132bf95ecc026a11b7bf3c01c02e"
 dependencies = [
  "unicode-ident",
 ]
@@ -375,9 +422,9 @@ checksum = "ec0be4795e2f6a28069bec0b5ff3e2ac9bafc99e6a9a7dc3547996c5c816922c"
 
 [[package]]
 name = "rp-pico"
-version = "0.8.0"
+version = "0.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6341771e6f8e5d130b2b3cbc23435b7847761adf198af09f4b2a60407d43bd56"
+checksum = "b9342d3ac7011ac688300979e9b52a81f0add1d05feb02868cf94bfee0705b28"
 dependencies = [
  "cortex-m-rt",
  "fugit",
@@ -397,14 +444,19 @@ dependencies = [
 
 [[package]]
 name = "rp2040-hal"
-version = "0.9.2"
+version = "0.10.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1ff2b9ae7e6dd6720fd9f64250c9087260e50fe98b6b032ccca65be3581167ca"
+checksum = "449f2ce321925c3931ca8da415d5037ac7882194675d0a7087777b61c31d72b7"
 dependencies = [
+ "bitfield 0.14.0",
  "cortex-m",
  "critical-section",
  "embedded-dma",
  "embedded-hal 0.2.7",
+ "embedded-hal 1.0.0",
+ "embedded-hal-async",
+ "embedded-hal-nb",
+ "embedded-io",
  "frunk",
  "fugit",
  "itertools",
@@ -433,9 +485,9 @@ dependencies = [
 
 [[package]]
 name = "rp2040-pac"
-version = "0.5.0"
+version = "0.6.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "12d9d8375815f543f54835d01160d4e47f9e2cae75f17ff8f1ec19ce1da96e4c"
+checksum = "83cbcd3f7a0ca7bbe61dc4eb7e202842bee4e27b769a7bf3a4a72fa399d6e404"
 dependencies = [
  "cortex-m",
  "cortex-m-rt",
@@ -458,7 +510,7 @@ dependencies = [
 
 [[package]]
 name = "rtic"
-version = "2.0.1"
+version = "2.1.1"
 dependencies = [
  "atomic-polyfill",
  "bare-metal 1.0.0",
@@ -484,13 +536,13 @@ checksum = "d9369355b04d06a3780ec0f51ea2d225624db777acbc60abd8ca4832da5c1a42"
 
 [[package]]
 name = "rtic-macros"
-version = "2.0.1"
+version = "2.1.0"
 dependencies = [
  "indexmap",
  "proc-macro-error",
  "proc-macro2",
  "quote",
- "syn 2.0.51",
+ "syn 2.0.53",
 ]
 
 [[package]]
@@ -500,7 +552,6 @@ dependencies = [
  "atomic-polyfill",
  "cfg-if",
  "cortex-m",
- "embedded-hal 1.0.0",
  "fugit",
  "rp2040-pac",
  "rtic-time",
@@ -561,9 +612,9 @@ dependencies = [
 
 [[package]]
 name = "syn"
-version = "2.0.51"
+version = "2.0.53"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6ab617d94515e94ae53b8406c628598680aa0c9587474ecbe58188f7b345d66c"
+checksum = "7383cd0e49fff4b6b90ca5670bfd3e9d6a733b3f90c686605aa7eec8c4996032"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -572,15 +623,19 @@ dependencies = [
 
 [[package]]
 name = "unicode-ident"
-version = "1.0.12"
+version = "1.0.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3354b9ac3fae1ff6755cb6db53683adb661634f67557942dea4facebec0fee4b"
+checksum = "b15811caf2415fb889178633e7724bad2509101cde276048e013b9def5e51fa0"
 
 [[package]]
 name = "usb-device"
-version = "0.2.9"
+version = "0.3.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1f6cc3adc849b5292b4075fc0d5fdcf2f24866e88e336dd27a8943090a520508"
+checksum = "98816b1accafbb09085168b90f27e93d790b4bfa19d883466b5e53315b5f06a6"
+dependencies = [
+ "heapless",
+ "portable-atomic",
+]
 
 [[package]]
 name = "vcell"
@@ -602,9 +657,9 @@ checksum = "6a02e4885ed3bc0f2de90ea6dd45ebcbb66dacffe03547fadbb0eeae2770887d"
 
 [[package]]
 name = "volatile-register"
-version = "0.2.2"
+version = "0.2.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "de437e2a6208b014ab52972a27e59b33fa2920d3e00fe05026167a1c509d19cc"
+checksum = "9ee8f19f9d74293faf70901bc20ad067dc1ad390d2cbf1e3f75f721ffee908b6"
 dependencies = [
  "vcell",
 ]
diff --git a/examples/rp2040_local_i2c_init/Cargo.toml b/examples/rp2040_local_i2c_init/Cargo.toml
index 300bedee08..2f893dc47d 100644
--- a/examples/rp2040_local_i2c_init/Cargo.toml
+++ b/examples/rp2040_local_i2c_init/Cargo.toml
@@ -22,7 +22,7 @@ features = ["rp2040"]
 cortex-m = "0.7"
 embedded-hal = { version = "0.2.7", features = ["unproven"] }
 fugit = "0.3"
-rp-pico = "0.8.0"
+rp-pico = "0.9.0"
 panic-probe = "0.3"
 
 [profile.dev]
diff --git a/examples/rp2040_local_i2c_init/src/main.rs b/examples/rp2040_local_i2c_init/src/main.rs
index 799376c214..7ae51fb276 100644
--- a/examples/rp2040_local_i2c_init/src/main.rs
+++ b/examples/rp2040_local_i2c_init/src/main.rs
@@ -14,7 +14,7 @@ mod app {
         gpio::{
             self,
             bank0::{Gpio2, Gpio25, Gpio3},
-            FunctionSioOutput, PullNone, PullUp,
+            FunctionSio, PullNone, PullUp, SioOutput,
         },
         pac,
         sio::Sio,
@@ -41,7 +41,7 @@ mod app {
 
     #[local]
     struct Local {
-        led: gpio::Pin<Gpio25, FunctionSioOutput, PullNone>,
+        led: gpio::Pin<Gpio25, FunctionSio<SioOutput>, PullNone>,
         i2c: &'static mut I2CBus,
     }
 
@@ -82,14 +82,14 @@ mod app {
         led.set_low().unwrap();
 
         // Init I2C pins
-        let sda_pin = gpioa
+        let sda_pin: gpio::Pin<_, gpio::FunctionI2C, _> = gpioa
             .gpio2
             .into_pull_up_disabled()
-            .into_function::<gpio::FunctionI2C>();
-        let scl_pin = gpioa
+            .reconfigure();
+        let scl_pin: gpio::Pin<_, gpio::FunctionI2C, _> = gpioa
             .gpio3
             .into_pull_up_disabled()
-            .into_function::<gpio::FunctionI2C>();
+            .reconfigure();
 
         // Init I2C itself, using MaybeUninit to overwrite the previously
         // uninitialized i2c_ctx variable without dropping its value
diff --git a/rtic-monotonics/CHANGELOG.md b/rtic-monotonics/CHANGELOG.md
index f114a18384..14d239d4e4 100644
--- a/rtic-monotonics/CHANGELOG.md
+++ b/rtic-monotonics/CHANGELOG.md
@@ -13,6 +13,7 @@ For each category, *Added*, *Changed*, *Fixed* add new entries at the top!
 - Most timer tick rates are now configurable
 - Tweak `build.rs` to avoid warnings in Nightly 1.78+
 - Removed unused `rust-toolchain.toml`
+- RP2040 PAC 0.6 support
 
 ## v1.5.0 - 2024-01-10
 
diff --git a/rtic-monotonics/Cargo.toml b/rtic-monotonics/Cargo.toml
index 81df2402b8..c9756dc2d2 100644
--- a/rtic-monotonics/Cargo.toml
+++ b/rtic-monotonics/Cargo.toml
@@ -42,7 +42,7 @@ cortex-m = { version = "0.7.6", optional = true }
 critical-section = { version = "1", optional = true }
 
 # RP2040
-rp2040-pac = { version = ">=0.2.0,<0.6", optional = true }
+rp2040-pac = { version = "0.6", optional = true }
 
 # nRF52
 nrf52810-pac = { version = "0.12.2", optional = true }
diff --git a/rtic-monotonics/src/rp2040.rs b/rtic-monotonics/src/rp2040.rs
index d4f590fedc..9c5a1ddfe4 100644
--- a/rtic-monotonics/src/rp2040.rs
+++ b/rtic-monotonics/src/rp2040.rs
@@ -51,9 +51,9 @@ impl TimerBackend {
     ///
     /// Use the prelude macros instead.
     pub fn _start(timer: TIMER, resets: &RESETS) {
-        resets.reset.modify(|_, w| w.timer().clear_bit());
-        while resets.reset_done.read().timer().bit_is_clear() {}
-        timer.inte.modify(|_, w| w.alarm_0().bit(true));
+        resets.reset().modify(|_, w| w.timer().clear_bit());
+        while resets.reset_done().read().timer().bit_is_clear() {}
+        timer.inte().modify(|_, w| w.alarm_0().bit(true));
 
         TIMER_QUEUE.initialize(Self {});
 
@@ -76,10 +76,10 @@ impl TimerQueueBackend for TimerBackend {
     fn now() -> Self::Ticks {
         let timer = Self::timer();
 
-        let mut hi0 = timer.timerawh.read().bits();
+        let mut hi0 = timer.timerawh().read().bits();
         loop {
-            let low = timer.timerawl.read().bits();
-            let hi1 = timer.timerawh.read().bits();
+            let low = timer.timerawl().read().bits();
+            let hi1 = timer.timerawh().read().bits();
             if hi0 == hi1 {
                 break ((u64::from(hi0) << 32) | u64::from(low));
             }
@@ -102,12 +102,12 @@ impl TimerQueueBackend for TimerBackend {
         };
 
         Self::timer()
-            .alarm0
+            .alarm0()
             .write(|w| unsafe { w.bits(val as u32) });
     }
 
     fn clear_compare_flag() {
-        Self::timer().intr.modify(|_, w| w.alarm_0().bit(true));
+        Self::timer().intr().modify(|_, w| w.alarm_0().bit(true));
     }
 
     fn pend_interrupt() {