diff --git a/CHANGELOG.md b/CHANGELOG.md
index 3f284ca..df7ec74 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -8,6 +8,12 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 # [unreleased]
 
+# [v0.16.1] 2025-09-26
+
+## Fixed
+
+`SpHeader::packet_len` is public now.
+
 # [v0.16.0] 2025-09-24
 
 - Bump Rust MSRV to v1.83
@@ -644,7 +650,8 @@ The timestamp of `PusTm` is now optional. See Added and Changed section for deta
 Initial release with CCSDS Space Packet Primary Header implementation and basic PUS TC and TM
 implementations.
 
-[unreleased]: https://egit.irs.uni-stuttgart.de/rust/spacepackets/compare/v0.16.0...HEAD
+[unreleased]: https://egit.irs.uni-stuttgart.de/rust/spacepackets/compare/v0.16.1...HEAD
+[v0.16.1]: https://egit.irs.uni-stuttgart.de/rust/spacepackets/compare/v0.16.0...v0.16.1
 [v0.16.0]: https://egit.irs.uni-stuttgart.de/rust/spacepackets/compare/v0.15.0...v0.16.0
 [v0.15.0]: https://egit.irs.uni-stuttgart.de/rust/spacepackets/compare/v0.14.0...v0.15.0
 [v0.14.0]: https://egit.irs.uni-stuttgart.de/rust/spacepackets/compare/v0.13.1...v0.14.0
diff --git a/Cargo.toml b/Cargo.toml
index 7dcb657..b91cca0 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name = "spacepackets"
-version = "0.16.0"
+version = "0.16.1"
 edition = "2021"
 rust-version = "1.83"
 authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
diff --git a/justfile b/justfile
index 656706e..822505e 100644
--- a/justfile
+++ b/justfile
@@ -1,4 +1,4 @@
-all: check build test clippy fmt docs coverage
+all: check build embedded test clippy fmt docs coverage
 
 clippy:
   cargo clippy -- -D warnings
@@ -9,6 +9,9 @@ fmt:
 check:
   cargo check --all-features
 
+embedded:
+  cargo build --target thumbv7em-none-eabihf --no-default-features
+
 test:
   cargo nextest r --all-features
   cargo test --doc
diff --git a/src/lib.rs b/src/lib.rs
index ea4f156..c9dfa6f 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -506,7 +506,7 @@ impl SpHeader {
 
     /// Retrieve the total packet size based on the data length field
     #[inline]
-    fn packet_len(&self) -> usize {
+    pub fn packet_len(&self) -> usize {
         usize::from(self.data_len()) + Self::HEADER_LEN + 1
     }
 
@@ -584,6 +584,11 @@ impl CcsdsPacket for SpHeader {
         self.version
     }
 
+    #[inline]
+    fn packet_len(&self) -> usize {
+        self.packet_len()
+    }
+
     #[inline]
     fn packet_id(&self) -> PacketId {
         self.packet_id