diff --git a/rp2040-hal/CHANGELOG.md b/rp2040-hal/CHANGELOG.md
index 7ca7162..0e09b66 100644
--- a/rp2040-hal/CHANGELOG.md
+++ b/rp2040-hal/CHANGELOG.md
@@ -10,6 +10,10 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 ### Added
 
 - `rp2040-e5` feature enabling the workaround for errata 5 on the USB device peripheral.
+- Support for critical-section 1.0.0.
+  Critical-section 0.2 is still supported (ie. a custom-impl is provided, compatible
+  with the 1.0.0 implementation), to avoid a breaking change. It will be removed
+  later.
 
 ### Changed
 
diff --git a/rp2040-hal/Cargo.toml b/rp2040-hal/Cargo.toml
index 30d5503..65fba4c 100644
--- a/rp2040-hal/Cargo.toml
+++ b/rp2040-hal/Cargo.toml
@@ -13,7 +13,7 @@ license = "MIT OR Apache-2.0"
 cortex-m = "0.7.2"
 cortex-m-rt = ">=0.6.15,<0.8"
 embedded-hal = { version = "0.2.5", features = ["unproven"] }
-eh1_0_alpha = { version = "=1.0.0-alpha.8", package="embedded-hal", optional=true }
+eh1_0_alpha = { package = "embedded-hal", version = "=1.0.0-alpha.8",  optional = true }
 embedded-time = "0.12.0"
 itertools = { version = "0.10.1", default-features = false }
 nb = "1.0"
@@ -25,7 +25,8 @@ usb-device = "0.2.9"
 vcell = "0.1"
 void = { version = "1.0.2", default-features = false }
 rand_core = "0.6.3"
-critical-section = { version = "0.2.4", features = ["custom-impl"] }
+critical-section_0_2 = { package = "critical-section", version = "0.2.4", features = ["custom-impl"] }
+critical-section = { version = "1.0.0", features = ["restore-state-u8"] }
 
 futures = { version = "0.3", default-features = false, optional = true }
 chrono = { version = "0.4", default-features = false, optional = true }
diff --git a/rp2040-hal/README.md b/rp2040-hal/README.md
index 6f5db1d..2299492 100644
--- a/rp2040-hal/README.md
+++ b/rp2040-hal/README.md
@@ -105,6 +105,11 @@ at the same time.
 The new blocking [SPI traits](https://docs.rs/embedded-hal/1.0.0-alpha.8/embedded_hal/spi/blocking/index.html)
 are not yet implemented.
 
+### Support for critical-section 0.2
+
+While `rp2040-hal` uses critical-section 1.0, it still provides support for version 0.2.
+That version is deprecated, and support will be removed in a future release. Please upgrade.
+
 <!-- CONTRIBUTING -->
 ## Contributing
 
diff --git a/rp2040-hal/src/critical_section_impl.rs b/rp2040-hal/src/critical_section_impl.rs
index e26cfd9..3eaa241 100644
--- a/rp2040-hal/src/critical_section_impl.rs
+++ b/rp2040-hal/src/critical_section_impl.rs
@@ -1,7 +1,8 @@
 use core::sync::atomic::{AtomicU8, Ordering};
 
 struct RpSpinlockCs;
-critical_section::custom_impl!(RpSpinlockCs);
+critical_section_0_2::custom_impl!(RpSpinlockCs);
+critical_section::set_impl!(RpSpinlockCs);
 
 /// Marker value to indicate no-one has the lock.
 ///
@@ -21,7 +22,27 @@ static mut LOCK_OWNER: AtomicU8 = AtomicU8::new(LOCK_UNOWNED);
 /// The value 2 indicates that we aren't the outermost call, and should not release the spinlock or re-enable interrupts in `release`
 const LOCK_ALREADY_OWNED: u8 = 2;
 
+unsafe impl critical_section_0_2::Impl for RpSpinlockCs {
+    unsafe fn acquire() -> u8 {
+        RpSpinlockCs::acquire()
+    }
+
+    unsafe fn release(token: u8) {
+        RpSpinlockCs::release(token);
+    }
+}
+
 unsafe impl critical_section::Impl for RpSpinlockCs {
+    unsafe fn acquire() -> u8 {
+        RpSpinlockCs::acquire()
+    }
+
+    unsafe fn release(token: u8) {
+        RpSpinlockCs::release(token);
+    }
+}
+
+impl RpSpinlockCs {
     unsafe fn acquire() -> u8 {
         // Store the initial interrupt state and current core id in stack variables
         let interrupts_active = cortex_m::register::primask::read().is_active();
diff --git a/rp2040-hal/src/usb.rs b/rp2040-hal/src/usb.rs
index 9c4b9ed..0609695 100644
--- a/rp2040-hal/src/usb.rs
+++ b/rp2040-hal/src/usb.rs
@@ -113,7 +113,7 @@ use crate::pac::USBCTRL_DPRAM;
 use crate::pac::USBCTRL_REGS;
 use crate::resets::SubsystemReset;
 
-use cortex_m::interrupt::{self, Mutex};
+use critical_section::{self, Mutex};
 
 use usb_device::{
     bus::{PollResult, UsbBus as UsbBusTrait},
@@ -471,7 +471,7 @@ impl UsbBus {
 
     /// Generates a resume request on the bus.
     pub fn remote_wakeup(&self) {
-        interrupt::free(|cs| {
+        critical_section::with(|cs| {
             let inner = self.inner.borrow(cs).borrow_mut();
             inner.ctrl_reg.sie_ctrl.modify(|_, w| w.resume().set_bit());
         });
@@ -487,7 +487,7 @@ impl UsbBusTrait for UsbBus {
         max_packet_size: u16,
         _interval: u8,
     ) -> UsbResult<EndpointAddress> {
-        interrupt::free(|cs| {
+        critical_section::with(|cs| {
             let mut inner = self.inner.borrow(cs).borrow_mut();
 
             inner.ep_allocate(ep_addr, ep_dir, ep_type, max_packet_size)
@@ -495,7 +495,7 @@ impl UsbBusTrait for UsbBus {
     }
 
     fn enable(&mut self) {
-        interrupt::free(|cs| {
+        critical_section::with(|cs| {
             let inner = self.inner.borrow(cs).borrow_mut();
             // at this stage ep's are expected to be in their reset state
             // TODO: is it worth having a debug_assert for that here?
@@ -524,7 +524,7 @@ impl UsbBusTrait for UsbBus {
         })
     }
     fn reset(&self) {
-        interrupt::free(|cs| {
+        critical_section::with(|cs| {
             let mut inner = self.inner.borrow(cs).borrow_mut();
 
             // clear reset flag
@@ -544,7 +544,7 @@ impl UsbBusTrait for UsbBus {
         })
     }
     fn set_device_address(&self, addr: u8) {
-        interrupt::free(|cs| {
+        critical_section::with(|cs| {
             let inner = self.inner.borrow(cs).borrow_mut();
             inner
                 .ctrl_reg
@@ -556,19 +556,19 @@ impl UsbBusTrait for UsbBus {
         })
     }
     fn write(&self, ep_addr: EndpointAddress, buf: &[u8]) -> UsbResult<usize> {
-        interrupt::free(|cs| {
+        critical_section::with(|cs| {
             let mut inner = self.inner.borrow(cs).borrow_mut();
             inner.ep_write(ep_addr, buf)
         })
     }
     fn read(&self, ep_addr: EndpointAddress, buf: &mut [u8]) -> UsbResult<usize> {
-        interrupt::free(|cs| {
+        critical_section::with(|cs| {
             let mut inner = self.inner.borrow(cs).borrow_mut();
             inner.ep_read(ep_addr, buf)
         })
     }
     fn set_stalled(&self, ep_addr: EndpointAddress, stalled: bool) {
-        interrupt::free(|cs| {
+        critical_section::with(|cs| {
             let inner = self.inner.borrow(cs).borrow_mut();
 
             if ep_addr.index() == 0 {
@@ -586,7 +586,7 @@ impl UsbBusTrait for UsbBus {
         })
     }
     fn is_stalled(&self, ep_addr: EndpointAddress) -> bool {
-        interrupt::free(|cs| {
+        critical_section::with(|cs| {
             let inner = self.inner.borrow(cs).borrow_mut();
             let index = ep_addr_to_ep_buf_ctrl_idx(ep_addr);
             inner.ctrl_dpram.ep_buffer_control[index]
@@ -598,7 +598,7 @@ impl UsbBusTrait for UsbBus {
     fn suspend(&self) {}
     fn resume(&self) {}
     fn poll(&self) -> PollResult {
-        interrupt::free(|cs| {
+        critical_section::with(|cs| {
             let mut inner = self.inner.borrow(cs).borrow_mut();
 
             #[cfg(feature = "rp2040-e5")]