diff --git a/src/adc.rs b/src/adc.rs
index 90fb59c7c72..30f3bcf95e6 100644
--- a/src/adc.rs
+++ b/src/adc.rs
@@ -948,7 +948,10 @@ pub mod continuous {
 
     impl AdcMeasurement {
         pub const INIT: Self = AdcMeasurement(unsafe {
-            core::mem::transmute([0u8; core::mem::size_of::<adc_digi_output_data_t>()])
+            core::mem::transmute::<
+                [u8; core::mem::size_of::<adc_digi_output_data_t>()],
+                adc_digi_output_data_t,
+            >([0u8; core::mem::size_of::<adc_digi_output_data_t>()])
         });
 
         pub const fn new() -> Self {
diff --git a/src/can.rs b/src/can.rs
index 5d7c6ae1be1..a9cd2546fee 100644
--- a/src/can.rs
+++ b/src/can.rs
@@ -726,27 +726,55 @@ static READ_NOTIFICATION: Notification = Notification::new();
 static WRITE_NOTIFICATION: Notification = Notification::new();
 static ALERT_NOTIFICATION: Notification = Notification::new();
 
+/// Twai message flags
+#[derive(Debug, EnumSetType)]
+pub enum Flags {
+    /// Message is in Extended Frame Format (29bit ID)
+    Extended,
+    ///  Message is a Remote Frame (Remote Transmission Request)
+    Remote,
+    /// Transmit message using Single Shot Transmission
+    /// (Message will not be retransmitted upon error or loss of arbitration).
+    /// Unused for received message.
+    SingleShot,
+    /// Transmit message using Self Reception Request
+    /// (Transmitted message will also received by the same node).
+    /// Unused for received message.
+    SelfReception,
+    /// Message's Data length code is larger than 8.
+    /// This will break compliance with TWAI
+    DlcNonComp,
+    None,
+}
+
 pub struct Frame(twai_message_t);
 
 impl Frame {
-    pub fn new(id: u32, extended: bool, data: &[u8]) -> Option<Self> {
+    pub fn new(id: u32, flags: EnumSet<Flags>, data: &[u8]) -> Option<Self> {
         let dlc = data.len();
 
         if dlc <= 8 {
             // unions are not very well supported in rust
             // therefore setting those union flags is quite hairy
-            let mut flags = twai_message_t__bindgen_ty_1::default();
-
-            // set bits in an union
-            if extended {
-                unsafe { flags.__bindgen_anon_1.set_extd(1) };
+            let mut twai_flags = twai_message_t__bindgen_ty_1::default();
+
+            // Iterate over the flags set and set the corresponding bits in the union
+            for flag in flags.iter() {
+                match flag {
+                    Flags::Extended => unsafe { twai_flags.__bindgen_anon_1.set_extd(1) },
+                    Flags::Remote => unsafe { twai_flags.__bindgen_anon_1.set_rtr(1) },
+                    Flags::SingleShot => unsafe { twai_flags.__bindgen_anon_1.set_ss(1) },
+                    Flags::SelfReception => unsafe { twai_flags.__bindgen_anon_1.set_self(1) },
+                    Flags::DlcNonComp => unsafe { twai_flags.__bindgen_anon_1.set_dlc_non_comp(1) },
+                    Flags::None => {}
+                }
             }
 
             let mut payload = [0; 8];
             payload[..dlc].copy_from_slice(data);
 
             let twai_message = twai_message_t {
-                __bindgen_anon_1: flags,
+                __bindgen_anon_1: twai_flags,
                 identifier: id,
                 data_length_code: dlc as u8,
                 data: payload,
@@ -828,12 +856,12 @@ impl core::fmt::Display for Frame {
 
 impl embedded_hal_0_2::can::Frame for Frame {
     fn new(id: impl Into<embedded_hal_0_2::can::Id>, data: &[u8]) -> Option<Self> {
-        let (id, extended) = match id.into() {
-            embedded_hal_0_2::can::Id::Standard(id) => (id.as_raw() as u32, false),
-            embedded_hal_0_2::can::Id::Extended(id) => (id.as_raw(), true),
+        let (id, flags) = match id.into() {
+            embedded_hal_0_2::can::Id::Standard(id) => (id.as_raw() as u32, Flags::None),
+            embedded_hal_0_2::can::Id::Extended(id) => (id.as_raw(), Flags::Extended),
         };
 
-        Self::new(id, extended, data)
+        Self::new(id, flags.into(), data)
     }
 
     fn new_remote(id: impl Into<embedded_hal_0_2::can::Id>, dlc: usize) -> Option<Self> {
@@ -884,12 +912,12 @@ impl embedded_hal_0_2::can::Frame for Frame {
 
 impl embedded_can::Frame for Frame {
     fn new(id: impl Into<embedded_can::Id>, data: &[u8]) -> Option<Self> {
-        let (id, extended) = match id.into() {
-            embedded_can::Id::Standard(id) => (id.as_raw() as u32, false),
-            embedded_can::Id::Extended(id) => (id.as_raw(), true),
+        let (id, flags) = match id.into() {
+            embedded_can::Id::Standard(id) => (id.as_raw() as u32, Flags::None),
+            embedded_can::Id::Extended(id) => (id.as_raw(), Flags::Extended),
         };
 
-        Self::new(id, extended, data)
+        Self::new(id, flags.into(), data)
     }
 
     fn new_remote(id: impl Into<embedded_can::Id>, dlc: usize) -> Option<Self> {
diff --git a/src/gpio.rs b/src/gpio.rs
index 7774139fabd..8a5dfa0d58d 100644
--- a/src/gpio.rs
+++ b/src/gpio.rs
@@ -1089,7 +1089,10 @@ impl<'d, T: Pin, MODE> PinDriver<'d, T, MODE> {
 
         let callback: alloc::boxed::Box<dyn FnMut() + Send + 'd> = alloc::boxed::Box::new(callback);
         unsafe {
-            chip::PIN_ISR_HANDLER[self.pin.pin() as usize] = Some(core::mem::transmute(callback));
+            chip::PIN_ISR_HANDLER[self.pin.pin() as usize] = Some(core::mem::transmute::<
+                alloc::boxed::Box<dyn FnMut() + Send>,
+                alloc::boxed::Box<dyn FnMut() + Send>,
+            >(callback));
         }
 
         Ok(())
diff --git a/src/lib.rs b/src/lib.rs
index 8b63af4b359..0f7fea8ecd0 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -39,7 +39,7 @@ pub mod ledc;
 #[cfg(any(all(esp32, esp_idf_eth_use_esp32_emac), esp_idf_eth_use_openeth))]
 pub mod mac;
 pub mod modem;
-#[cfg(any(esp32, esp32s2, esp32s3))]
+#[cfg(any(esp32, esp32s2, esp32s3, esp32c6))]
 pub mod pcnt;
 pub mod peripheral;
 pub mod peripherals;
diff --git a/src/peripherals.rs b/src/peripherals.rs
index 202e3263d5d..14a63811372 100644
--- a/src/peripherals.rs
+++ b/src/peripherals.rs
@@ -8,7 +8,7 @@ use crate::ledc;
 #[cfg(any(all(esp32, esp_idf_eth_use_esp32_emac), esp_idf_eth_use_openeth))]
 use crate::mac;
 use crate::modem;
-#[cfg(any(esp32, esp32s2, esp32s3))]
+#[cfg(any(esp32, esp32s2, esp32s3, esp32c6))]
 use crate::pcnt;
 use crate::rmt;
 use crate::spi;
@@ -48,14 +48,14 @@ pub struct Peripherals {
     pub adc1: adc::ADC1,
     #[cfg(any(esp32, esp32s2, esp32s3, esp32c3))]
     pub adc2: adc::ADC2,
-    // TODO: Check the pulse counter story for c2, h2, c5, c6, and p4
-    #[cfg(any(esp32, esp32s2, esp32s3))]
+    // TODO: Check the pulse counter story for c2, h2, c5, and p4
+    #[cfg(any(esp32, esp32s2, esp32s3, esp32c6))]
     pub pcnt0: pcnt::PCNT0,
-    #[cfg(any(esp32, esp32s2, esp32s3))]
+    #[cfg(any(esp32, esp32s2, esp32s3, esp32c6))]
     pub pcnt1: pcnt::PCNT1,
-    #[cfg(any(esp32, esp32s2, esp32s3))]
+    #[cfg(any(esp32, esp32s2, esp32s3, esp32c6))]
     pub pcnt2: pcnt::PCNT2,
-    #[cfg(any(esp32, esp32s2, esp32s3))]
+    #[cfg(any(esp32, esp32s2, esp32s3, esp32c6))]
     pub pcnt3: pcnt::PCNT3,
     #[cfg(esp32)]
     pub pcnt4: pcnt::PCNT4,
@@ -144,13 +144,13 @@ impl Peripherals {
             adc1: adc::ADC1::new(),
             #[cfg(any(esp32, esp32s2, esp32s3, esp32c3))]
             adc2: adc::ADC2::new(),
-            #[cfg(any(esp32, esp32s2, esp32s3))]
+            #[cfg(any(esp32, esp32s2, esp32s3, esp32c6))]
             pcnt0: pcnt::PCNT0::new(),
-            #[cfg(any(esp32, esp32s2, esp32s3))]
+            #[cfg(any(esp32, esp32s2, esp32s3, esp32c6))]
             pcnt1: pcnt::PCNT1::new(),
-            #[cfg(any(esp32, esp32s2, esp32s3))]
+            #[cfg(any(esp32, esp32s2, esp32s3, esp32c6))]
             pcnt2: pcnt::PCNT2::new(),
-            #[cfg(any(esp32, esp32s2, esp32s3))]
+            #[cfg(any(esp32, esp32s2, esp32s3, esp32c6))]
             pcnt3: pcnt::PCNT3::new(),
             #[cfg(esp32)]
             pcnt4: pcnt::PCNT4::new(),
diff --git a/src/rmt.rs b/src/rmt.rs
index 8bc92f6b989..286fd94f690 100644
--- a/src/rmt.rs
+++ b/src/rmt.rs
@@ -868,7 +868,9 @@ impl<const N: usize> FixedLengthSignal<N> {
             .get_mut(index)
             .ok_or_else(|| EspError::from(ERR_ERANGE).unwrap())?;
 
-        Symbol(*item).update(pair.0, pair.1);
+        let mut symbol = Symbol(*item);
+        symbol.update(pair.0, pair.1);
+        *item = symbol.0;
         Ok(())
     }
 }
diff --git a/src/spi.rs b/src/spi.rs
index e70c62a5b5a..b541f7c3652 100644
--- a/src/spi.rs
+++ b/src/spi.rs
@@ -40,7 +40,7 @@ use core::cmp::{max, min, Ordering};
 use core::future::Future;
 use core::iter::once;
 use core::marker::PhantomData;
-use core::{ptr, u8};
+use core::ptr;
 
 use embassy_sync::mutex::Mutex;
 use embedded_hal::spi::{SpiBus, SpiDevice};
diff --git a/src/task.rs b/src/task.rs
index 252dfa64fcc..68e47264aeb 100644
--- a/src/task.rs
+++ b/src/task.rs
@@ -524,13 +524,6 @@ impl<'a> Drop for CriticalSectionGuard<'a> {
     }
 }
 
-#[cfg(any(
-    all(
-        not(any(esp_idf_version_major = "4", esp_idf_version = "5.0")),
-        esp_idf_esp_task_wdt_en
-    ),
-    any(esp_idf_version_major = "4", esp_idf_version = "5.0")
-))]
 pub mod watchdog {
     //! ## Example
     //!
diff --git a/src/timer.rs b/src/timer.rs
index 36d58f940d2..1514427810e 100644
--- a/src/timer.rs
+++ b/src/timer.rs
@@ -398,7 +398,10 @@ impl<'d> TimerDriver<'d> {
 
         unsafe {
             ISR_HANDLERS[(self.group() * timer_idx_t_TIMER_MAX + self.index()) as usize] =
-                Some(core::mem::transmute(callback));
+                Some(core::mem::transmute::<
+                    Box<dyn FnMut() + Send>,
+                    Box<dyn FnMut() + Send>,
+                >(callback));
         }
 
         Ok(())
diff --git a/src/uart.rs b/src/uart.rs
index 3b16ba6a065..b9c29ea89c4 100644
--- a/src/uart.rs
+++ b/src/uart.rs
@@ -217,6 +217,7 @@ pub mod config {
         #[cfg(esp_idf_soc_uart_support_xtal_clk)]
         Crystal,
         /// UART source clock from `XTAL`
+        #[allow(non_camel_case_types)]
         #[cfg(esp_idf_soc_uart_support_pll_f80m_clk)]
         PLL_F80M,
         /// UART source clock from `REF_TICK`
diff --git a/src/ulp.rs b/src/ulp.rs
index f838894abe5..c808356ac09 100644
--- a/src/ulp.rs
+++ b/src/ulp.rs
@@ -21,15 +21,13 @@ impl Default for SleepTimer {
         esp_idf_ulp_coproc_enabled,
         esp_idf_ulp_coproc_type_fsm
     ),
-    all(esp_idf_version_major = "4", esp32, esp_idf_esp32_ulp_coproc_enabled),
+    all(esp32, esp_idf_esp32_ulp_coproc_enabled),
     all(
-        esp_idf_version_major = "4",
         esp32s2,
         esp_idf_esp32s2_ulp_coproc_enabled,
         not(esp_idf_esp32s2_ulp_coproc_riscv)
     ),
     all(
-        esp_idf_version_major = "4",
         esp32s3,
         esp_idf_esp32s3_ulp_coproc_enabled,
         not(esp_idf_esp32s3_ulp_coproc_riscv)
@@ -47,15 +45,13 @@ pub struct Word {
         esp_idf_ulp_coproc_enabled,
         esp_idf_ulp_coproc_type_fsm
     ),
-    all(esp_idf_version_major = "4", esp32, esp_idf_esp32_ulp_coproc_enabled),
+    all(esp32, esp_idf_esp32_ulp_coproc_enabled),
     all(
-        esp_idf_version_major = "4",
         esp32s2,
         esp_idf_esp32s2_ulp_coproc_enabled,
         not(esp_idf_esp32s2_ulp_coproc_riscv)
     ),
     all(
-        esp_idf_version_major = "4",
         esp32s3,
         esp_idf_esp32s3_ulp_coproc_enabled,
         not(esp_idf_esp32s3_ulp_coproc_riscv)
@@ -77,49 +73,25 @@ impl Word {
 
 #[cfg(any(
     all(not(esp_idf_version_major = "4"), esp_idf_ulp_coproc_enabled),
-    all(esp_idf_version_major = "4", esp32, esp_idf_esp32_ulp_coproc_enabled),
-    all(
-        esp_idf_version_major = "4",
-        esp32s2,
-        esp_idf_esp32s2_ulp_coproc_enabled
-    ),
-    all(
-        esp_idf_version_major = "4",
-        esp32s3,
-        esp_idf_esp32s3_ulp_coproc_enabled
-    )
+    all(esp32, esp_idf_esp32_ulp_coproc_enabled),
+    all(esp32s2, esp_idf_esp32s2_ulp_coproc_enabled),
+    all(esp32s3, esp_idf_esp32s3_ulp_coproc_enabled)
 ))]
 pub struct UlpDriver<'d>(crate::peripheral::PeripheralRef<'d, ULP>);
 
 #[cfg(any(
     all(not(esp_idf_version_major = "4"), esp_idf_ulp_coproc_enabled),
-    all(esp_idf_version_major = "4", esp32, esp_idf_esp32_ulp_coproc_enabled),
-    all(
-        esp_idf_version_major = "4",
-        esp32s2,
-        esp_idf_esp32s2_ulp_coproc_enabled
-    ),
-    all(
-        esp_idf_version_major = "4",
-        esp32s3,
-        esp_idf_esp32s3_ulp_coproc_enabled
-    )
+    all(esp32, esp_idf_esp32_ulp_coproc_enabled),
+    all(esp32s2, esp_idf_esp32s2_ulp_coproc_enabled),
+    all(esp32s3, esp_idf_esp32s3_ulp_coproc_enabled)
 ))]
 unsafe impl<'d> Send for UlpDriver<'d> {}
 
 #[cfg(any(
     all(not(esp_idf_version_major = "4"), esp_idf_ulp_coproc_enabled),
-    all(esp_idf_version_major = "4", esp32, esp_idf_esp32_ulp_coproc_enabled),
-    all(
-        esp_idf_version_major = "4",
-        esp32s2,
-        esp_idf_esp32s2_ulp_coproc_enabled
-    ),
-    all(
-        esp_idf_version_major = "4",
-        esp32s3,
-        esp_idf_esp32s3_ulp_coproc_enabled
-    )
+    all(esp32, esp_idf_esp32_ulp_coproc_enabled),
+    all(esp32s2, esp_idf_esp32s2_ulp_coproc_enabled),
+    all(esp32s3, esp_idf_esp32s3_ulp_coproc_enabled)
 ))]
 impl<'d> UlpDriver<'d> {
     pub fn new(
@@ -196,15 +168,13 @@ impl<'d> UlpDriver<'d> {
         esp_idf_ulp_coproc_enabled,
         esp_idf_ulp_coproc_type_fsm
     ),
-    all(esp_idf_version_major = "4", esp32, esp_idf_esp32_ulp_coproc_enabled),
+    all(esp32, esp_idf_esp32_ulp_coproc_enabled),
     all(
-        esp_idf_version_major = "4",
         esp32s2,
         esp_idf_esp32s2_ulp_coproc_enabled,
         not(esp_idf_esp32s2_ulp_coproc_riscv)
     ),
     all(
-        esp_idf_version_major = "4",
         esp32s3,
         esp_idf_esp32s3_ulp_coproc_enabled,
         not(esp_idf_esp32s3_ulp_coproc_riscv)
@@ -305,17 +275,15 @@ impl<'d> UlpDriver<'d> {
         not(esp_idf_ulp_coproc_type_fsm)
     ),
     all(
-        esp_idf_version_major = "4",
         esp32s2,
         esp_idf_esp32s2_ulp_coproc_enabled,
         esp_idf_esp32s2_ulp_coproc_riscv
     ),
     all(
-        esp_idf_version_major = "4",
         esp32s3,
         esp_idf_esp32s3_ulp_coproc_enabled,
         esp_idf_esp32s3_ulp_coproc_riscv
-    )
+    ),
 ))]
 impl<'d> UlpDriver<'d> {
     pub unsafe fn load(&mut self, program: &[u8]) -> Result<(), esp_idf_sys::EspError> {
@@ -364,17 +332,9 @@ crate::impl_peripheral!(ULP);
 
 #[cfg(any(
     all(not(esp_idf_version_major = "4"), esp_idf_ulp_coproc_enabled),
-    all(esp_idf_version_major = "4", esp32, esp_idf_esp32_ulp_coproc_enabled),
-    all(
-        esp_idf_version_major = "4",
-        esp32s2,
-        esp_idf_esp32s2_ulp_coproc_enabled
-    ),
-    all(
-        esp_idf_version_major = "4",
-        esp32s3,
-        esp_idf_esp32s3_ulp_coproc_enabled
-    )
+    all(esp32, esp_idf_esp32_ulp_coproc_enabled),
+    all(esp32s2, esp_idf_esp32s2_ulp_coproc_enabled),
+    all(esp32s3, esp_idf_esp32s3_ulp_coproc_enabled)
 ))]
 impl ULP {
     const RTC_SLOW_MEM: u32 = 0x5000_0000_u32;