diff --git a/.github/ci/test.sh b/.github/ci/test.sh
index a7140cfd9..d014e4bd7 100755
--- a/.github/ci/test.sh
+++ b/.github/ci/test.sh
@@ -21,7 +21,9 @@ cargo test --manifest-path ./embassy-boot/boot/Cargo.toml --features nightly
 cargo test --manifest-path ./embassy-boot/boot/Cargo.toml --features nightly,ed25519-dalek
 cargo test --manifest-path ./embassy-boot/boot/Cargo.toml --features nightly,ed25519-salty
 
-#cargo test --manifest-path ./embassy-nrf/Cargo.toml --no-default-features --features nightly,nrf52840,time-driver-rtc1 ## broken doctests
+cargo test --manifest-path ./embassy-nrf/Cargo.toml --no-default-features --features nightly,nrf52840,time-driver-rtc1,gpiote
+
+cargo test --manifest-path ./embassy-rp/Cargo.toml --no-default-features --features nightly,time-driver
 
 cargo test --manifest-path ./embassy-stm32/Cargo.toml --no-default-features --features nightly,stm32f429vg,exti,time-driver-any,exti
 cargo test --manifest-path ./embassy-stm32/Cargo.toml --no-default-features --features nightly,stm32f732ze,exti,time-driver-any,exti
diff --git a/embassy-boot/nrf/Cargo.toml b/embassy-boot/nrf/Cargo.toml
index e46736889..8186a9958 100644
--- a/embassy-boot/nrf/Cargo.toml
+++ b/embassy-boot/nrf/Cargo.toml
@@ -17,7 +17,7 @@ target = "thumbv7em-none-eabi"
 defmt = { version = "0.3", optional = true }
 
 embassy-sync = { path = "../../embassy-sync" }
-embassy-nrf = { path = "../../embassy-nrf", default-features = false }
+embassy-nrf = { path = "../../embassy-nrf" }
 embassy-boot = { path = "../boot", default-features = false }
 cortex-m = { version = "0.7.6" }
 cortex-m-rt = { version = "0.7" }
diff --git a/embassy-nrf/Cargo.toml b/embassy-nrf/Cargo.toml
index 15d0f6872..83900d4d0 100644
--- a/embassy-nrf/Cargo.toml
+++ b/embassy-nrf/Cargo.toml
@@ -16,6 +16,18 @@ flavors = [
 ]
 
 [features]
+default = [
+    "nrf52805-pac?/rt",
+    "nrf52810-pac?/rt",
+    "nrf52811-pac?/rt",
+    "nrf52820-pac?/rt",
+    "nrf52832-pac?/rt",
+    "nrf52833-pac?/rt",
+    "nrf52840-pac?/rt",
+    "nrf5340-app-pac?/rt",
+    "nrf5340-net-pac?/rt",
+    "nrf9160-pac?/rt",
+]
 
 time = ["dep:embassy-time"]
 
@@ -103,13 +115,14 @@ embedded-storage = "0.3.0"
 embedded-storage-async = { version = "0.4.0", optional = true }
 cfg-if = "1.0.0"
 
-nrf52805-pac  = { version = "0.12.0", optional = true, features = [ "rt" ] }
-nrf52810-pac  = { version = "0.12.0", optional = true, features = [ "rt" ] }
-nrf52811-pac  = { version = "0.12.0", optional = true, features = [ "rt" ] }
-nrf52820-pac  = { version = "0.12.0", optional = true, features = [ "rt" ] }
-nrf52832-pac  = { version = "0.12.0", optional = true, features = [ "rt" ] }
-nrf52833-pac  = { version = "0.12.0", optional = true, features = [ "rt" ] }
-nrf52840-pac  = { version = "0.12.0", optional = true, features = [ "rt" ] }
-nrf5340-app-pac = { version = "0.12.0", optional = true, features = [ "rt" ] }
-nrf5340-net-pac = { version = "0.12.0", optional = true, features = [ "rt" ] }
-nrf9160-pac = { version = "0.12.0", optional = true, features = [ "rt" ] }
+nrf52805-pac  = { version = "0.12.0", optional = true }
+nrf52810-pac  = { version = "0.12.0", optional = true }
+nrf52811-pac  = { version = "0.12.0", optional = true }
+nrf52820-pac  = { version = "0.12.0", optional = true }
+nrf52832-pac  = { version = "0.12.0", optional = true }
+nrf52833-pac  = { version = "0.12.0", optional = true }
+nrf52840-pac  = { version = "0.12.0", optional = true }
+nrf5340-app-pac = { version = "0.12.0", optional = true }
+nrf5340-net-pac = { version = "0.12.0", optional = true }
+nrf9160-pac = { version = "0.12.0", optional = true }
+
diff --git a/embassy-nrf/README.md b/embassy-nrf/README.md
index a31cfae68..129ec0c01 100644
--- a/embassy-nrf/README.md
+++ b/embassy-nrf/README.md
@@ -13,7 +13,7 @@ with peripherals. It takes care of sending/receiving data over a variety of bus
 However, EasyDMA requires the buffers used to transmit and receive data to reside in RAM. Unfortunately, Rust
 slices will not always do so. The following example using the SPI peripheral shows a common situation where this might happen:
 
-```no_run
+```rust,ignore
 // As we pass a slice to the function whose contents will not ever change,
 // the compiler writes it into the flash and thus the pointer to it will
 // reference static memory. Since EasyDMA requires slices to reside in RAM,
diff --git a/embassy-nrf/src/qdec.rs b/embassy-nrf/src/qdec.rs
index 4d2a09198..c845492fc 100644
--- a/embassy-nrf/src/qdec.rs
+++ b/embassy-nrf/src/qdec.rs
@@ -154,10 +154,19 @@ impl<'d, T: Instance> Qdec<'d, T> {
     /// # Example
     ///
     /// ```no_run
-    /// let irq = interrupt::take!(QDEC);
+    /// use embassy_nrf::qdec::{self, Qdec};
+    /// use embassy_nrf::{bind_interrupts, peripherals};
+    ///
+    /// bind_interrupts!(struct Irqs {
+    ///     QDEC => qdec::InterruptHandler<peripherals::QDEC>;
+    /// });
+    ///
+    /// # async {
+    /// # let p: embassy_nrf::Peripherals = todo!();
     /// let config = qdec::Config::default();
-    /// let mut q = Qdec::new(p.QDEC, p.P0_31, p.P0_30, config);
+    /// let mut q = Qdec::new(p.QDEC, Irqs, p.P0_31, p.P0_30, config);
     /// let delta = q.read().await;
+    /// # };
     /// ```
     pub async fn read(&mut self) -> i16 {
         let t = T::regs();
diff --git a/embassy-nrf/src/temp.rs b/embassy-nrf/src/temp.rs
index 3a75ec629..0653710af 100644
--- a/embassy-nrf/src/temp.rs
+++ b/embassy-nrf/src/temp.rs
@@ -56,8 +56,19 @@ impl<'d> Temp<'d> {
     /// # Example
     ///
     /// ```no_run
-    /// let mut t = Temp::new(p.TEMP, interrupt::take!(TEMP));
+    /// use embassy_nrf::{bind_interrupts, temp};
+    /// use embassy_nrf::temp::Temp;
+    /// use embassy_time::{Duration, Timer};
+    ///
+    /// bind_interrupts!(struct Irqs {
+    ///     TEMP => temp::InterruptHandler;
+    /// });
+    ///
+    /// # async {
+    /// # let p: embassy_nrf::Peripherals = todo!();
+    /// let mut t = Temp::new(p.TEMP, Irqs);
     /// let v: u16 = t.read().await.to_num::<u16>();
+    /// # };
     /// ```
     pub async fn read(&mut self) -> I30F2 {
         // In case the future is dropped, stop the task and reset events.
diff --git a/embassy-rp/Cargo.toml b/embassy-rp/Cargo.toml
index e395a994f..e032dfdae 100644
--- a/embassy-rp/Cargo.toml
+++ b/embassy-rp/Cargo.toml
@@ -13,6 +13,8 @@ flavors = [
 ]
 
 [features]
+default = [ "rp-pac/rt" ]
+
 defmt = ["dep:defmt", "embassy-usb-driver?/defmt", "embassy-hal-common/defmt"]
 
 # critical section that is safe for multicore use
@@ -70,7 +72,7 @@ embedded-storage = { version = "0.3" }
 rand_core = "0.6.4"
 fixed = "1.23.1"
 
-rp-pac = { version = "4", features = ["rt"] }
+rp-pac = { version = "4" }
 
 embedded-hal-02 = { package = "embedded-hal", version = "0.2.6", features = ["unproven"] }
 embedded-hal-1 = { package = "embedded-hal", version = "=1.0.0-alpha.10", optional = true}
@@ -81,3 +83,7 @@ paste = "1.0"
 pio-proc = {version= "0.2" }
 pio = {version= "0.2.1" }
 rp2040-boot2 = "0.3"
+
+[dev-dependencies]
+embassy-executor = { version = "0.2.0", path = "../embassy-executor", features = ["arch-std", "executor-thread"] }
+static_cell = "1.0"
diff --git a/embassy-rp/src/flash.rs b/embassy-rp/src/flash.rs
index 929bd028c..0410429e0 100644
--- a/embassy-rp/src/flash.rs
+++ b/embassy-rp/src/flash.rs
@@ -575,6 +575,7 @@ mod ram_helpers {
     #[inline(never)]
     #[link_section = ".data.ram_func"]
     unsafe fn read_flash_inner(cmd: FlashCommand, ptrs: *const FlashFunctionPointers) {
+        #[cfg(target_arch = "arm")]
         core::arch::asm!(
             "mov r10, r0", // cmd
             "mov r5, r1", // ptrs
diff --git a/embassy-rp/src/intrinsics.rs b/embassy-rp/src/intrinsics.rs
index 3baabb287..5b9c127ba 100644
--- a/embassy-rp/src/intrinsics.rs
+++ b/embassy-rp/src/intrinsics.rs
@@ -61,16 +61,17 @@ macro_rules! intrinsics_aliases {
 /// Like the compiler-builtins macro, it accepts a series of functions that
 /// looks like normal Rust code:
 ///
-///     intrinsics! {
-///         extern "C" fn foo(a: i32) -> u32 {
-///             // ...
-///         }
-///
-///         #[nonstandard_attribute]
-///         extern "C" fn bar(a: i32) -> u32 {
-///             // ...
-///         }
+/// ```rust,ignore
+/// intrinsics! {
+///     extern "C" fn foo(a: i32) -> u32 {
+///         // ...
 ///     }
+///     #[nonstandard_attribute]
+///     extern "C" fn bar(a: i32) -> u32 {
+///         // ...
+///     }
+/// }
+/// ```
 ///
 /// Each function can also be decorated with nonstandard attributes to control
 /// additional behaviour:
diff --git a/embassy-rp/src/multicore.rs b/embassy-rp/src/multicore.rs
index bbc775105..a13209f74 100644
--- a/embassy-rp/src/multicore.rs
+++ b/embassy-rp/src/multicore.rs
@@ -9,22 +9,41 @@
 //! the `embassy-sync` primitives and `CriticalSectionRawMutex`.
 //!
 //! # Usage
+//!
 //! ```no_run
+//! # #![feature(type_alias_impl_trait)]
+//! use embassy_rp::multicore::Stack;
+//! use static_cell::StaticCell;
+//! use embassy_executor::Executor;
+//!
 //! static mut CORE1_STACK: Stack<4096> = Stack::new();
 //! static EXECUTOR0: StaticCell<Executor> = StaticCell::new();
 //! static EXECUTOR1: StaticCell<Executor> = StaticCell::new();
 //!
+//! # // workaround weird error: `main` function not found in crate `rust_out`
+//! # let _ = ();
+//!
+//! #[embassy_executor::task]
+//! async fn core0_task() {
+//!     // ...
+//! }
+//!
+//! #[embassy_executor::task]
+//! async fn core1_task() {
+//!     // ...
+//! }
+//!
 //! #[cortex_m_rt::entry]
 //! fn main() -> ! {
 //!     let p = embassy_rp::init(Default::default());
 //!
-//!     spawn_core1(p.CORE1, unsafe { &mut CORE1_STACK }, move || {
+//!     embassy_rp::multicore::spawn_core1(p.CORE1, unsafe { &mut CORE1_STACK }, move || {
 //!         let executor1 = EXECUTOR1.init(Executor::new());
-//!         executor1.run(|spawner| unwrap!(spawner.spawn(core1_task())));
+//!         executor1.run(|spawner| spawner.spawn(core1_task()).unwrap());
 //!     });
 //!
 //!     let executor0 = EXECUTOR0.init(Executor::new());
-//!     executor0.run(|spawner| unwrap!(spawner.spawn(core0_task())));
+//!     executor0.run(|spawner| spawner.spawn(core0_task()).unwrap())
 //! }
 //! ```
 
diff --git a/embassy-rp/src/rtc/mod.rs b/embassy-rp/src/rtc/mod.rs
index c213ad174..e1d886d4a 100644
--- a/embassy-rp/src/rtc/mod.rs
+++ b/embassy-rp/src/rtc/mod.rs
@@ -121,7 +121,7 @@ impl<'d, T: Instance> RealTimeClock<'d, T> {
     /// # #[cfg(not(feature = "chrono"))]
     /// # fn main() {
     /// # use embassy_rp::rtc::{RealTimeClock, DateTimeFilter};
-    /// # let mut real_time_clock: RealTimeClock = unsafe { core::mem::zeroed() };
+    /// # let mut real_time_clock: RealTimeClock<embassy_rp::peripherals::RTC> = unsafe { core::mem::zeroed() };
     /// let now = real_time_clock.now().unwrap();
     /// real_time_clock.schedule_alarm(
     ///     DateTimeFilter::default()
diff --git a/examples/boot/bootloader/nrf/Cargo.toml b/examples/boot/bootloader/nrf/Cargo.toml
index cd0be5b48..8c2fb4c5f 100644
--- a/examples/boot/bootloader/nrf/Cargo.toml
+++ b/examples/boot/bootloader/nrf/Cargo.toml
@@ -9,8 +9,8 @@ license = "MIT OR Apache-2.0"
 defmt = { version = "0.3", optional = true }
 defmt-rtt = { version = "0.4", optional = true }
 
-embassy-nrf = { path = "../../../../embassy-nrf", default-features = false, features = ["nightly"] }
-embassy-boot-nrf = { path = "../../../../embassy-boot/nrf", default-features = false }
+embassy-nrf = { path = "../../../../embassy-nrf", features = ["nightly"] }
+embassy-boot-nrf = { path = "../../../../embassy-boot/nrf" }
 cortex-m = { version = "0.7.6", features = ["inline-asm", "critical-section-single-core"] }
 cortex-m-rt = { version = "0.7" }
 cfg-if = "1.0.0"
diff --git a/examples/boot/bootloader/rp/Cargo.toml b/examples/boot/bootloader/rp/Cargo.toml
index b4167bcd8..bf9226993 100644
--- a/examples/boot/bootloader/rp/Cargo.toml
+++ b/examples/boot/bootloader/rp/Cargo.toml
@@ -9,8 +9,8 @@ license = "MIT OR Apache-2.0"
 defmt = { version = "0.3", optional = true }
 defmt-rtt = { version = "0.4", optional = true }
 
-embassy-rp = { path = "../../../../embassy-rp", default-features = false, features = ["nightly"] }
-embassy-boot-rp = { path = "../../../../embassy-boot/rp", default-features = false }
+embassy-rp = { path = "../../../../embassy-rp", features = ["nightly"] }
+embassy-boot-rp = { path = "../../../../embassy-boot/rp" }
 embassy-time = { path = "../../../../embassy-time", features = ["nightly"] }
 
 cortex-m = { version = "0.7.6", features = ["inline-asm", "critical-section-single-core"] }
diff --git a/examples/boot/bootloader/stm32/Cargo.toml b/examples/boot/bootloader/stm32/Cargo.toml
index f2675aa73..fbc80b34c 100644
--- a/examples/boot/bootloader/stm32/Cargo.toml
+++ b/examples/boot/bootloader/stm32/Cargo.toml
@@ -9,8 +9,8 @@ license = "MIT OR Apache-2.0"
 defmt = { version = "0.3", optional = true }
 defmt-rtt = { version = "0.4", optional = true }
 
-embassy-stm32 = { path = "../../../../embassy-stm32", default-features = false, features = ["nightly"] }
-embassy-boot-stm32 = { path = "../../../../embassy-boot/stm32", default-features = false }
+embassy-stm32 = { path = "../../../../embassy-stm32", features = ["nightly"] }
+embassy-boot-stm32 = { path = "../../../../embassy-boot/stm32" }
 cortex-m = { version = "0.7.6", features = ["inline-asm", "critical-section-single-core"] }
 cortex-m-rt = { version = "0.7" }
 embedded-storage = "0.3.0"