diff --git a/esp-hal/CHANGELOG.md b/esp-hal/CHANGELOG.md
index fd0d45413a9..e5137010b71 100644
--- a/esp-hal/CHANGELOG.md
+++ b/esp-hal/CHANGELOG.md
@@ -9,6 +9,8 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ### Added
 
+- ESP32-C6 / ESP32-H2: Implement `ETM` for general purpose timers (#1274)
+
 ### Fixed
 
 - Reserve `esp32` ROM stacks to prevent the trashing of dram2 section (#1289)
diff --git a/esp-hal/src/timer.rs b/esp-hal/src/timer.rs
index ee8a10e9cae..ad97998c5c9 100644
--- a/esp-hal/src/timer.rs
+++ b/esp-hal/src/timer.rs
@@ -79,9 +79,13 @@ pub trait TimerGroupInstance {
     fn register_block() -> *const RegisterBlock;
     fn configure_src_clk();
     fn configure_wdt_src_clk();
+    fn id() -> u8;
 }
 
 impl TimerGroupInstance for TIMG0 {
+    fn id() -> u8 {
+        0
+    }
     #[inline(always)]
     fn register_block() -> *const RegisterBlock {
         crate::peripherals::TIMG0::PTR
@@ -132,6 +136,9 @@ impl TimerGroupInstance for TIMG0 {
 
 #[cfg(timg1)]
 impl TimerGroupInstance for TIMG1 {
+    fn id() -> u8 {
+        1
+    }
     #[inline(always)]
     fn register_block() -> *const RegisterBlock {
         crate::peripherals::TIMG1::PTR
@@ -878,3 +885,91 @@ where
         self.feed();
     }
 }
+
+#[cfg(soc_etm)]
+pub mod etm {
+    use super::*;
+    use crate::{
+        etm::{EtmEvent, EtmTask},
+        private::Sealed,
+    };
+
+    pub struct TimerEtmEvent {
+        id: u8,
+    }
+
+    pub struct TimerEtmTask {
+        id: u8,
+    }
+
+    impl EtmEvent for TimerEtmEvent {
+        fn id(&self) -> u8 {
+            self.id
+        }
+    }
+
+    impl Sealed for TimerEtmEvent {}
+
+    impl EtmTask for TimerEtmTask {
+        fn id(&self) -> u8 {
+            self.id
+        }
+    }
+
+    impl Sealed for TimerEtmTask {}
+
+    /// General purpose timer ETM events
+    pub trait TimerEtmEvents<TG> {
+        fn on_alarm(&self) -> TimerEtmEvent;
+    }
+
+    /// General purpose timer ETM tasks
+    pub trait TimerEtmTasks<TG> {
+        fn cnt_start(&self) -> TimerEtmTask;
+        fn cnt_stop(&self) -> TimerEtmTask;
+        fn cnt_reload(&self) -> TimerEtmTask;
+        fn cnt_cap(&self) -> TimerEtmTask;
+        fn alarm_start(&self) -> TimerEtmTask;
+    }
+
+    impl<TG> TimerEtmEvents<TG> for Timer0<TG>
+    where
+        TG: TimerGroupInstance,
+    {
+        /// ETM event triggered on alarm
+        fn on_alarm(&self) -> TimerEtmEvent {
+            TimerEtmEvent { id: 48 + TG::id() }
+        }
+    }
+
+    impl<TG> TimerEtmTasks<TG> for Timer0<TG>
+    where
+        TG: TimerGroupInstance,
+    {
+        /// ETM task to start the counter
+        fn cnt_start(&self) -> TimerEtmTask {
+            TimerEtmTask { id: 88 + TG::id() }
+        }
+
+        /// ETM task to start the alarm
+        fn alarm_start(&self) -> TimerEtmTask {
+            TimerEtmTask { id: 90 + TG::id() }
+        }
+
+        /// ETM task to stop the counter
+        fn cnt_stop(&self) -> TimerEtmTask {
+            TimerEtmTask { id: 92 + TG::id() }
+        }
+
+        /// ETM task to reload the counter
+        fn cnt_reload(&self) -> TimerEtmTask {
+            TimerEtmTask { id: 94 + TG::id() }
+        }
+
+        /// ETM task to load the counter with the value stored when the last
+        /// `now()` was called
+        fn cnt_cap(&self) -> TimerEtmTask {
+            TimerEtmTask { id: 96 + TG::id() }
+        }
+    }
+}
diff --git a/examples/src/bin/etm_timer.rs b/examples/src/bin/etm_timer.rs
new file mode 100644
index 00000000000..391e08942c3
--- /dev/null
+++ b/examples/src/bin/etm_timer.rs
@@ -0,0 +1,90 @@
+//! This shows how to use the general purpose timers ETM tasks and events
+//! Notice you need to import the traits esp_hal::timer::etm::{TimerEtmEvents, TimerEtmTasks}
+
+//% CHIPS: esp32c6 esp32h2
+
+#![no_std]
+#![no_main]
+
+use core::cell::RefCell;
+
+use critical_section::Mutex;
+use esp_backtrace as _;
+use esp_hal::{
+    clock::ClockControl,
+    delay::Delay,
+    etm::Etm,
+    interrupt::{self, Priority},
+    peripherals::{Interrupt, Peripherals, TIMG0},
+    prelude::*,
+    timer::{
+        etm::{TimerEtmEvents, TimerEtmTasks},
+        Timer,
+        Timer0,
+        TimerGroup,
+    },
+};
+
+static TIMER0: Mutex<RefCell<Option<Timer<Timer0<TIMG0>>>>> = Mutex::new(RefCell::new(None));
+
+#[entry]
+fn main() -> ! {
+    let peripherals = Peripherals::take();
+    let system = peripherals.SYSTEM.split();
+    let clocks = ClockControl::boot_defaults(system.clock_control).freeze();
+
+    let timg0 = TimerGroup::new(peripherals.TIMG0, &clocks);
+    let mut timer0 = timg0.timer0;
+
+    // Configure ETM to stop timer0 when alarm is triggered
+    let event = timer0.on_alarm();
+    let task = timer0.cnt_stop();
+
+    let etm = Etm::new(peripherals.SOC_ETM);
+
+    let channel0 = etm.channel0;
+
+    let _configured_channel = channel0.setup(&event, &task);
+
+    // Setup alarm at 100ms
+    // 80 / 2 (default divider) timer clock cycles == 1 us
+    timer0.load_alarm_value(100 * 1_000 * 40);
+    timer0.set_alarm_active(true);
+
+    // Enable interrupt that will be triggered by the alarm
+    interrupt::enable(Interrupt::TG0_T0_LEVEL, Priority::Priority1).unwrap();
+
+    timer0.listen();
+    timer0.set_counter_active(true);
+
+    critical_section::with(|cs| {
+        TIMER0.borrow_ref_mut(cs).replace(timer0);
+    });
+
+    let delay = Delay::new(&clocks);
+
+    loop {
+        delay.delay_millis(500u32);
+
+        critical_section::with(|cs| {
+            let mut timer0 = TIMER0.borrow_ref_mut(cs);
+            let timer0 = timer0.as_mut().unwrap();
+            // Counter value should be the same than in interrupt
+            esp_println::println!("counter in main: {}", timer0.now());
+        });
+    }
+}
+
+#[interrupt]
+fn TG0_T0_LEVEL() {
+    critical_section::with(|cs| {
+        let mut timer0 = TIMER0.borrow_ref_mut(cs);
+        let timer0 = timer0.as_mut().unwrap();
+
+        timer0.clear_interrupt();
+
+        // Counter value should be a very small number as the alarm triggered a counter reload to 0
+        // and ETM stopped the counter quickly after
+        esp_println::println!("counter in interrupt: {}", timer0.now());
+    });
+}