diff --git a/esp-hal/CHANGELOG.md b/esp-hal/CHANGELOG.md
index e09fd05882..9eace1da82 100644
--- a/esp-hal/CHANGELOG.md
+++ b/esp-hal/CHANGELOG.md
@@ -26,6 +26,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 - `gpio::{GpioPin, AnyPin, Flex, Output, OutputOpenDrain}::split()` to obtain peripheral interconnect signals. (#2418)
 - `gpio::Input::{split(), into_peripheral_output()}` when used with output pins. (#2418)
 - `gpio::Output::peripheral_input()` (#2418)
+- GPIO ETM tasks and events now accept `InputSignal` and `OutputSignal` (#2427)
 
 ### Changed
 
@@ -67,11 +68,11 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 - Removed the pin type parameters from `lcd_cam::lcd::i8080::{TxEightBits, TxSixteenBits}` (#2388)
 - Removed the pin type parameters from `lcd_cam::cam::{RxEightBits, RxSixteenBits}` (#2388)
 - `gpio::{Input, Output, OutputOpenDrain, Flex, GpioPin}::{peripheral_input, into_peripheral_output}` have been removed. (#2418)
-- The `GpioEtm` prefix has been removed from `gpio::etm` types (#?)
-- The `TimerEtm` prefix has been removed from `timer::timg::etm` types (#?)
-- The `SysTimerEtm` prefix has been removed from `timer::systimer::etm` types (#?)
-- The `GpioEtmEventRising`, `GpioEtmEventFalling`, `GpioEtmEventAny` types have been replaced with `Event` (#?)
-- The `TaskSet`, `TaskClear`, `TaskToggle` types have been replaced with `Event` (#?)
+- The `GpioEtm` prefix has been removed from `gpio::etm` types (#2427)
+- The `TimerEtm` prefix has been removed from `timer::timg::etm` types (#2427)
+- The `SysTimerEtm` prefix has been removed from `timer::systimer::etm` types (#2427)
+- The `GpioEtmEventRising`, `GpioEtmEventFalling`, `GpioEtmEventAny` types have been replaced with `Event` (#2427)
+- The `TaskSet`, `TaskClear`, `TaskToggle` types have been replaced with `Task` (#2427)
 
 ## [0.21.1]
 
diff --git a/esp-hal/MIGRATING-0.21.md b/esp-hal/MIGRATING-0.21.md
index d11bfe8f79..88bdb73827 100644
--- a/esp-hal/MIGRATING-0.21.md
+++ b/esp-hal/MIGRATING-0.21.md
@@ -193,7 +193,7 @@ The previous signal function have been replaced by `split`. This change affects
 +let (input_signal, output_signal) = gpioN.split();
 ```
 
-# ETM simplifications
+## ETM changes
 
 - The types are no longer prefixed with `GpioEtm`, `TimerEtm` or `SysTimerEtm`. You can still use
   import aliasses in case you need to differentiate due to name collisions
diff --git a/esp-hal/src/etm.rs b/esp-hal/src/etm.rs
index 1e8322c185..8f6c9c47ef 100644
--- a/esp-hal/src/etm.rs
+++ b/esp-hal/src/etm.rs
@@ -24,10 +24,8 @@
 //! ```rust, no_run
 #![doc = crate::before_snippet!()]
 //! # use esp_hal::gpio::Io;
-//! # use esp_hal::gpio::etm::GpioEtmChannels;
+//! # use esp_hal::gpio::etm::{Channels, InputConfig, OutputConfig};
 //! # use esp_hal::etm::Etm;
-//! # use esp_hal::gpio::etm::GpioEtmInputConfig;
-//! # use esp_hal::gpio::etm::GpioEtmOutputConfig;
 //! # use esp_hal::gpio::Pull;
 //! # use esp_hal::gpio::Level;
 //!
@@ -36,18 +34,18 @@
 //! let button = io.pins.gpio9;
 //!
 //! // setup ETM
-//! let gpio_ext = GpioEtmChannels::new(peripherals.GPIO_SD);
+//! let gpio_ext = Channels::new(peripherals.GPIO_SD);
 //! let led_task = gpio_ext.channel0_task.toggle(
-//! &mut led,
-//! GpioEtmOutputConfig {
-//!     open_drain: false,
-//!     pull: Pull::None,
-//!     initial_state: Level::Low,
-//! },
+//!     &mut led,
+//!     OutputConfig {
+//!         open_drain: false,
+//!         pull: Pull::None,
+//!         initial_state: Level::Low,
+//!     },
 //! );
 //! let button_event = gpio_ext
 //! .channel0_event
-//! .falling_edge(button, GpioEtmInputConfig { pull: Pull::Down });
+//! .falling_edge(button, InputConfig { pull: Pull::Down });
 //!
 //! let etm = Etm::new(peripherals.SOC_ETM);
 //! let channel0 = etm.channel0;
diff --git a/esp-hal/src/gpio/etm.rs b/esp-hal/src/gpio/etm.rs
index 20ccf6c89e..c92a2c5286 100644
--- a/esp-hal/src/gpio/etm.rs
+++ b/esp-hal/src/gpio/etm.rs
@@ -32,7 +32,7 @@
 //! # use esp_hal::gpio::etm::OutputConfig;
 //! # use esp_hal::gpio::Pull;
 //! # use esp_hal::gpio::Level;
-//!
+//! #
 //! # let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
 //! # let mut led = io.pins.gpio1;
 //! # let button = io.pins.gpio9;
@@ -55,7 +55,11 @@
 use core::marker::PhantomData;
 
 use crate::{
-    gpio::{Level, Pull},
+    gpio::{
+        interconnect::{InputSignal, OutputSignal},
+        Level,
+        Pull,
+    },
     peripheral::{Peripheral, PeripheralRef},
     peripherals::GPIO_SD,
     private,
@@ -147,7 +151,7 @@ impl<const C: u8> EventChannel<C> {
     /// Trigger at rising edge
     pub fn rising_edge<'d>(
         self,
-        pin: impl Peripheral<P = impl super::InputPin> + 'd,
+        pin: impl Peripheral<P = impl Into<InputSignal>> + 'd,
         pin_config: InputConfig,
     ) -> Event<'d> {
         self.into_event(pin, pin_config, EventKind::Rising)
@@ -156,7 +160,7 @@ impl<const C: u8> EventChannel<C> {
     /// Trigger at falling edge
     pub fn falling_edge<'d>(
         self,
-        pin: impl Peripheral<P = impl super::InputPin> + 'd,
+        pin: impl Peripheral<P = impl Into<InputSignal>> + 'd,
         pin_config: InputConfig,
     ) -> Event<'d> {
         self.into_event(pin, pin_config, EventKind::Falling)
@@ -165,7 +169,7 @@ impl<const C: u8> EventChannel<C> {
     /// Trigger at any edge
     pub fn any_edge<'d>(
         self,
-        pin: impl Peripheral<P = impl super::InputPin> + 'd,
+        pin: impl Peripheral<P = impl Into<InputSignal>> + 'd,
         pin_config: InputConfig,
     ) -> Event<'d> {
         self.into_event(pin, pin_config, EventKind::Any)
@@ -173,11 +177,11 @@ impl<const C: u8> EventChannel<C> {
 
     fn into_event<'d>(
         self,
-        pin: impl Peripheral<P = impl super::InputPin> + 'd,
+        pin: impl Peripheral<P = impl Into<InputSignal>> + 'd,
         pin_config: InputConfig,
         kind: EventKind,
     ) -> Event<'d> {
-        crate::into_ref!(pin);
+        crate::into_mapped_ref!(pin);
 
         pin.init_input(pin_config.pull, private::Internal);
 
@@ -255,7 +259,7 @@ impl<const C: u8> TaskChannel<C> {
     /// Task to set a high level
     pub fn set<'d>(
         self,
-        pin: impl Peripheral<P = impl super::OutputPin> + 'd,
+        pin: impl Peripheral<P = impl Into<OutputSignal>> + 'd,
         pin_config: OutputConfig,
     ) -> Task<'d> {
         self.into_task(pin, pin_config, TaskKind::Set)
@@ -264,7 +268,7 @@ impl<const C: u8> TaskChannel<C> {
     /// Task to set a low level
     pub fn clear<'d>(
         self,
-        pin: impl Peripheral<P = impl super::OutputPin> + 'd,
+        pin: impl Peripheral<P = impl Into<OutputSignal>> + 'd,
         pin_config: OutputConfig,
     ) -> Task<'d> {
         self.into_task(pin, pin_config, TaskKind::Clear)
@@ -273,7 +277,7 @@ impl<const C: u8> TaskChannel<C> {
     /// Task to toggle the level
     pub fn toggle<'d>(
         self,
-        pin: impl Peripheral<P = impl super::OutputPin> + 'd,
+        pin: impl Peripheral<P = impl Into<OutputSignal>> + 'd,
         pin_config: OutputConfig,
     ) -> Task<'d> {
         self.into_task(pin, pin_config, TaskKind::Toggle)
@@ -281,11 +285,11 @@ impl<const C: u8> TaskChannel<C> {
 
     fn into_task<'d>(
         self,
-        pin: impl Peripheral<P = impl super::OutputPin> + 'd,
+        pin: impl Peripheral<P = impl Into<OutputSignal>> + 'd,
         pin_config: OutputConfig,
         kind: TaskKind,
     ) -> Task<'d> {
-        crate::into_ref!(pin);
+        crate::into_mapped_ref!(pin);
 
         pin.set_output_high(pin_config.initial_state.into(), private::Internal);
         if pin_config.open_drain {
diff --git a/esp-hal/src/gpio/interconnect.rs b/esp-hal/src/gpio/interconnect.rs
index 4f95a927cc..b86b76c2ae 100644
--- a/esp-hal/src/gpio/interconnect.rs
+++ b/esp-hal/src/gpio/interconnect.rs
@@ -60,6 +60,15 @@ pub struct InputSignal {
     is_inverted: bool,
 }
 
+impl<P> From<P> for InputSignal
+where
+    P: InputPin,
+{
+    fn from(input: P) -> Self {
+        Self::new(input.degrade())
+    }
+}
+
 impl Clone for InputSignal {
     fn clone(&self) -> Self {
         Self {
@@ -87,6 +96,11 @@ impl InputSignal {
         }
     }
 
+    /// Returns the GPIO number of the underlying pin.
+    pub fn number(&self) -> u8 {
+        self.pin.number()
+    }
+
     /// Returns the current signal level.
     pub fn get_level(&self) -> Level {
         self.is_input_high(private::Internal).into()
@@ -120,9 +134,7 @@ impl InputSignal {
                 w.in_sel().bits(input)
             });
     }
-}
 
-impl InputSignal {
     /// Connect the pin to a peripheral input signal.
     ///
     /// Since there can only be one input signal connected to a peripheral at a
@@ -191,6 +203,15 @@ pub struct OutputSignal {
     is_inverted: bool,
 }
 
+impl<P> From<P> for OutputSignal
+where
+    P: OutputPin,
+{
+    fn from(input: P) -> Self {
+        Self::new(input.degrade())
+    }
+}
+
 impl Peripheral for OutputSignal {
     type P = Self;
 
@@ -212,6 +233,11 @@ impl OutputSignal {
         }
     }
 
+    /// Returns the GPIO number of the underlying pin.
+    pub fn number(&self) -> u8 {
+        self.pin.number()
+    }
+
     /// Inverts the peripheral's output signal.
     ///
     /// Calling this function multiple times toggles the setting.
@@ -268,9 +294,7 @@ impl OutputSignal {
                 w.oen_inv_sel().bit(invert_enable)
             });
     }
-}
 
-impl OutputSignal {
     /// Connect the pin to a peripheral input signal.
     ///
     /// Since there can only be one signal connected to a peripheral input at a
@@ -434,9 +458,7 @@ where
     P: InputPin,
 {
     fn from(input: P) -> Self {
-        Self(InputConnectionInner::Input(InputSignal::new(
-            input.degrade(),
-        )))
+        Self(InputConnectionInner::Input(InputSignal::from(input)))
     }
 }
 
@@ -527,9 +549,7 @@ where
     P: OutputPin,
 {
     fn from(input: P) -> Self {
-        Self(OutputConnectionInner::Output(OutputSignal::new(
-            input.degrade(),
-        )))
+        Self(OutputConnectionInner::Output(OutputSignal::from(input)))
     }
 }
 
diff --git a/examples/src/bin/etm_blinky_systimer.rs b/examples/src/bin/etm_blinky_systimer.rs
index afe20d18f4..65b141bfb5 100644
--- a/examples/src/bin/etm_blinky_systimer.rs
+++ b/examples/src/bin/etm_blinky_systimer.rs
@@ -12,7 +12,7 @@ use esp_backtrace as _;
 use esp_hal::{
     etm::Etm,
     gpio::{
-        etm::{GpioEtmChannels, GpioEtmOutputConfig},
+        etm::{Channels, OutputConfig},
         Io,
         Level,
         Pull,
@@ -35,10 +35,10 @@ fn main() -> ! {
     let mut led = io.pins.gpio1;
 
     // setup ETM
-    let gpio_ext = GpioEtmChannels::new(peripherals.GPIO_SD);
+    let gpio_ext = Channels::new(peripherals.GPIO_SD);
     let led_task = gpio_ext.channel0_task.toggle(
         &mut led,
-        GpioEtmOutputConfig {
+        OutputConfig {
             open_drain: false,
             pull: Pull::None,
             initial_state: Level::High,
diff --git a/examples/src/bin/etm_gpio.rs b/examples/src/bin/etm_gpio.rs
index 112fa2db78..83cf726c4a 100644
--- a/examples/src/bin/etm_gpio.rs
+++ b/examples/src/bin/etm_gpio.rs
@@ -12,7 +12,7 @@ use esp_backtrace as _;
 use esp_hal::{
     etm::Etm,
     gpio::{
-        etm::{GpioEtmChannels, GpioEtmInputConfig, GpioEtmOutputConfig},
+        etm::{Channels, InputConfig, OutputConfig},
         Io,
         Level,
         Output,
@@ -26,16 +26,17 @@ fn main() -> ! {
     let peripherals = esp_hal::init(esp_hal::Config::default());
 
     let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
+
     let mut led = Output::new(io.pins.gpio1, Level::Low);
     let button = io.pins.gpio9;
 
     led.set_high();
 
     // setup ETM
-    let gpio_ext = GpioEtmChannels::new(peripherals.GPIO_SD);
+    let gpio_ext = Channels::new(peripherals.GPIO_SD);
     let led_task = gpio_ext.channel0_task.toggle(
-        &mut led,
-        GpioEtmOutputConfig {
+        led,
+        OutputConfig {
             open_drain: false,
             pull: Pull::None,
             initial_state: Level::Low,
@@ -43,7 +44,7 @@ fn main() -> ! {
     );
     let button_event = gpio_ext
         .channel0_event
-        .falling_edge(button, GpioEtmInputConfig { pull: Pull::Down });
+        .falling_edge(button, InputConfig { pull: Pull::Down });
 
     let etm = Etm::new(peripherals.SOC_ETM);
     let channel0 = etm.channel0;