diff --git a/esp-hal-embassy/src/time_driver.rs b/esp-hal-embassy/src/time_driver.rs
index b46d5d0869..6b73f80010 100644
--- a/esp-hal-embassy/src/time_driver.rs
+++ b/esp-hal-embassy/src/time_driver.rs
@@ -100,25 +100,26 @@ impl Driver for EmbassyTimer {
     unsafe fn allocate_alarm(&self) -> Option<AlarmHandle> {
         critical_section::with(|cs| {
             for (i, alarm) in self.alarms.borrow(cs).iter().enumerate() {
-                if !alarm.allocated.get() {
-                    let mut timer = TIMERS.borrow_ref_mut(cs);
-                    // `allocate_alarm` may be called before `esp_hal_embassy::init()`, so
-                    // we need to check if we have timers.
-                    if let Some(timer) = &mut *timer {
-                        // If we do, bind the interrupt handler to the timer.
-                        // This ensures that alarms allocated after init are correctly bound to the
-                        // core that created the executor.
-                        let timer = unwrap!(
-                            timer.get_mut(i),
-                            "There are not enough timers to allocate a new alarm. Call `esp_hal_embassy::init()` with the correct number of timers."
-                        );
-                        timer.set_interrupt_handler(HANDLERS[i]);
-                    }
-
-                    // set alarm so it is not overwritten
-                    alarm.allocated.set(true);
-                    return Some(AlarmHandle::new(i as u8));
+                if alarm.allocated.get() {
+                    continue;
                 }
+                let mut timer = TIMERS.borrow_ref_mut(cs);
+                // `allocate_alarm` may be called before `esp_hal_embassy::init()`, so
+                // we need to check if we have timers.
+                if let Some(timer) = &mut *timer {
+                    // If we do, bind the interrupt handler to the timer.
+                    // This ensures that alarms allocated after init are correctly bound to the
+                    // core that created the executor.
+                    let timer = unwrap!(
+                        timer.get_mut(i),
+                        "There are not enough timers to allocate a new alarm. Call `esp_hal_embassy::init()` with the correct number of timers."
+                    );
+                    timer.set_interrupt_handler(HANDLERS[i]);
+                }
+
+                // set alarm so it is not overwritten
+                alarm.allocated.set(true);
+                return Some(AlarmHandle::new(i as u8));
             }
             None
         })
diff --git a/hil-test/tests/embassy_interrupt_executor.rs b/hil-test/tests/embassy_interrupt_executor.rs
index 4aad1a3865..042a17ff82 100644
--- a/hil-test/tests/embassy_interrupt_executor.rs
+++ b/hil-test/tests/embassy_interrupt_executor.rs
@@ -16,7 +16,7 @@ use esp_hal::{
         software::{SoftwareInterrupt, SoftwareInterruptControl},
         Priority,
     },
-    timer::timg::TimerGroup,
+    timer::AnyTimer,
 };
 use esp_hal_embassy::InterruptExecutor;
 use hil_test as _;
@@ -56,8 +56,31 @@ mod test {
     fn init() -> Context {
         let peripherals = esp_hal::init(esp_hal::Config::default());
 
-        let timg0 = TimerGroup::new(peripherals.TIMG0);
-        esp_hal_embassy::init(timg0.timer0);
+        cfg_if::cfg_if! {
+            if #[cfg(timg_timer1)] {
+                use esp_hal::timer::timg::TimerGroup;
+                let timg0 = TimerGroup::new(peripherals.TIMG0);
+                esp_hal_embassy::init([
+                    AnyTimer::from(timg0.timer0),
+                    AnyTimer::from(timg0.timer1),
+                ]);
+            } else if #[cfg(timg1)] {
+                use esp_hal::timer::timg::TimerGroup;
+                let timg0 = TimerGroup::new(peripherals.TIMG0);
+                let timg1 = TimerGroup::new(peripherals.TIMG1);
+                esp_hal_embassy::init([
+                    AnyTimer::from(timg0.timer0),
+                    AnyTimer::from(timg1.timer0),
+                ]);
+            } else if #[cfg(systimer)] {
+                use esp_hal::timer::systimer::{SystemTimer, Periodic};
+                let systimer = SystemTimer::new(peripherals.SYSTIMER).split::<Periodic>();
+                esp_hal_embassy::init([
+                    AnyTimer::from(systimer.alarm0),
+                    AnyTimer::from(systimer.alarm1),
+                ]);
+            }
+        }
 
         let sw_ints = SoftwareInterruptControl::new(peripherals.SW_INTERRUPT);
         Context {