Merge pull request #3593 from bugadani/refactor

Rework time-driver contract.

97 files changed, 1012 insertions, 1628 deletions

diff --git a/.github/ci/test.sh b/.github/ci/test.sh
index 0fe088bfe..0fd6820d2 100755
--- a/.github/ci/test.sh
+++ b/.github/ci/test.sh
@@ -17,7 +17,7 @@ cargo test --manifest-path ./embassy-futures/Cargo.toml
 cargo test --manifest-path ./embassy-sync/Cargo.toml
 cargo test --manifest-path ./embassy-embedded-hal/Cargo.toml
 cargo test --manifest-path ./embassy-hal-internal/Cargo.toml
-cargo test --manifest-path ./embassy-time/Cargo.toml --features generic-queue,mock-driver
+cargo test --manifest-path ./embassy-time/Cargo.toml --features mock-driver,embassy-time-queue-driver/generic-queue-8
 cargo test --manifest-path ./embassy-time-driver/Cargo.toml
 
 cargo test --manifest-path ./embassy-boot/Cargo.toml
diff --git a/ci-nightly.sh b/ci-nightly.sh
index bdb364f53..1b69cc18e 100755
--- a/ci-nightly.sh
+++ b/ci-nightly.sh
@@ -13,20 +13,13 @@ cargo batch  \
     --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features nightly,log \
     --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features nightly,defmt \
     --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv6m-none-eabi --features nightly,defmt \
-    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv6m-none-eabi --features nightly,defmt,arch-cortex-m,executor-thread,executor-interrupt,integrated-timers \
+    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv6m-none-eabi --features nightly,defmt,arch-cortex-m,executor-thread,executor-interrupt \
     --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features nightly,arch-cortex-m \
-    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features nightly,arch-cortex-m,integrated-timers \
     --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features nightly,arch-cortex-m,executor-thread \
-    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features nightly,arch-cortex-m,executor-thread,integrated-timers \
     --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features nightly,arch-cortex-m,executor-interrupt \
-    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features nightly,arch-cortex-m,executor-interrupt,integrated-timers \
     --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features nightly,arch-cortex-m,executor-thread,executor-interrupt \
-    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features nightly,arch-cortex-m,executor-thread,executor-interrupt,integrated-timers \
     --- build --release --manifest-path embassy-executor/Cargo.toml --target riscv32imac-unknown-none-elf --features nightly,arch-riscv32 \
-    --- build --release --manifest-path embassy-executor/Cargo.toml --target riscv32imac-unknown-none-elf --features nightly,arch-riscv32,integrated-timers \
     --- build --release --manifest-path embassy-executor/Cargo.toml --target riscv32imac-unknown-none-elf --features nightly,arch-riscv32,executor-thread \
-    --- build --release --manifest-path embassy-executor/Cargo.toml --target riscv32imac-unknown-none-elf --features nightly,arch-riscv32,executor-thread,integrated-timers \
     --- build --release --manifest-path examples/nrf52840-rtic/Cargo.toml --target thumbv7em-none-eabi --out-dir out/examples/nrf52840-rtic \
 
 cargo build --release --manifest-path embassy-executor/Cargo.toml --target avr-unknown-gnu-atmega328 -Z build-std=core,alloc --features nightly,arch-avr,avr-device/atmega328p
-cargo build --release --manifest-path embassy-executor/Cargo.toml --target avr-unknown-gnu-atmega328 -Z build-std=core,alloc --features nightly,arch-avr,integrated-timers,avr-device/atmega328p
diff --git a/ci-xtensa.sh b/ci-xtensa.sh
index 32d362def..056e85d48 100755
--- a/ci-xtensa.sh
+++ b/ci-xtensa.sh
@@ -14,17 +14,16 @@ cargo batch \
     --- build --release --manifest-path embassy-executor/Cargo.toml --target xtensa-esp32-none-elf --features log \
     --- build --release --manifest-path embassy-executor/Cargo.toml --target xtensa-esp32-none-elf --features defmt \
     --- build --release --manifest-path embassy-executor/Cargo.toml --target xtensa-esp32s2-none-elf --features defmt \
-    --- build --release --manifest-path embassy-executor/Cargo.toml --target xtensa-esp32-none-elf --features defmt,arch-spin,executor-thread,integrated-timers \
-    --- build --release --manifest-path embassy-executor/Cargo.toml --target xtensa-esp32s2-none-elf --features defmt,arch-spin,executor-thread,integrated-timers \
-    --- build --release --manifest-path embassy-executor/Cargo.toml --target xtensa-esp32s3-none-elf --features defmt,arch-spin,executor-thread,integrated-timers \
+    --- build --release --manifest-path embassy-executor/Cargo.toml --target xtensa-esp32-none-elf --features defmt,arch-spin,executor-thread \
+    --- build --release --manifest-path embassy-executor/Cargo.toml --target xtensa-esp32s2-none-elf --features defmt,arch-spin,executor-thread \
+    --- build --release --manifest-path embassy-executor/Cargo.toml --target xtensa-esp32s3-none-elf --features defmt,arch-spin,executor-thread \
     --- build --release --manifest-path embassy-executor/Cargo.toml --target xtensa-esp32-none-elf --features arch-spin \
-    --- build --release --manifest-path embassy-executor/Cargo.toml --target xtensa-esp32-none-elf --features arch-spin,integrated-timers \
     --- build --release --manifest-path embassy-executor/Cargo.toml --target xtensa-esp32-none-elf --features arch-spin,rtos-trace \
-    --- build --release --manifest-path embassy-executor/Cargo.toml --target xtensa-esp32-none-elf --features arch-spin,integrated-timers,rtos-trace \
     --- build --release --manifest-path embassy-executor/Cargo.toml --target xtensa-esp32-none-elf --features arch-spin,executor-thread \
-    --- build --release --manifest-path embassy-executor/Cargo.toml --target xtensa-esp32-none-elf --features arch-spin,executor-thread,integrated-timers \
     --- build --release --manifest-path embassy-sync/Cargo.toml --target xtensa-esp32s2-none-elf --features defmt \
-    --- build --release --manifest-path embassy-time/Cargo.toml --target xtensa-esp32s2-none-elf --features defmt,defmt-timestamp-uptime,generic-queue-8,mock-driver \
+    --- build --release --manifest-path embassy-time/Cargo.toml --target xtensa-esp32s2-none-elf --features defmt,defmt-timestamp-uptime,mock-driver \
+    --- build --release --manifest-path embassy-time-queue-driver/Cargo.toml --target xtensa-esp32s2-none-elf \
+    --- build --release --manifest-path embassy-time-queue-driver/Cargo.toml --target xtensa-esp32s2-none-elf --features generic-queue-8 \
     --- build --release --manifest-path embassy-net/Cargo.toml --target xtensa-esp32-none-elf --features defmt,tcp,udp,dns,proto-ipv4,medium-ethernet,packet-trace \
     --- build --release --manifest-path embassy-net/Cargo.toml --target xtensa-esp32-none-elf --features defmt,tcp,udp,dns,proto-ipv4,multicast,medium-ethernet \
     --- build --release --manifest-path embassy-net/Cargo.toml --target xtensa-esp32-none-elf --features defmt,tcp,udp,dns,dhcpv4,medium-ethernet \
@@ -36,4 +35,4 @@ cargo batch \
     --- build --release --manifest-path embassy-net/Cargo.toml --target xtensa-esp32-none-elf --features defmt,tcp,udp,dns,proto-ipv4,proto-ipv6,medium-ethernet \
     --- build --release --manifest-path embassy-net/Cargo.toml --target xtensa-esp32-none-elf --features defmt,tcp,udp,dns,proto-ipv4,proto-ipv6,medium-ip \
     --- build --release --manifest-path embassy-net/Cargo.toml --target xtensa-esp32-none-elf --features defmt,tcp,udp,dns,proto-ipv4,proto-ipv6,medium-ip,medium-ethernet \
-    --- build --release --manifest-path embassy-net/Cargo.toml --target xtensa-esp32-none-elf --features defmt,tcp,udp,dns,proto-ipv4,proto-ipv6,medium-ip,medium-ethernet,medium-ieee802154 \
\ No newline at end of file
+    --- build --release --manifest-path embassy-net/Cargo.toml --target xtensa-esp32-none-elf --features defmt,tcp,udp,dns,proto-ipv4,proto-ipv6,medium-ip,medium-ethernet,medium-ieee802154 \
diff --git a/ci.sh b/ci.sh
index 307e268c4..6b523193c 100755
--- a/ci.sh
+++ b/ci.sh
@@ -29,23 +29,18 @@ cargo batch \
     --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features log \
     --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features defmt \
     --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv6m-none-eabi --features defmt \
-    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv6m-none-eabi --features defmt,arch-cortex-m,executor-thread,executor-interrupt,integrated-timers \
+    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv6m-none-eabi --features defmt,arch-cortex-m,executor-thread,executor-interrupt \
     --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features arch-cortex-m \
-    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features arch-cortex-m,integrated-timers \
     --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features arch-cortex-m,rtos-trace \
-    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features arch-cortex-m,integrated-timers,rtos-trace \
     --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features arch-cortex-m,executor-thread \
-    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features arch-cortex-m,executor-thread,integrated-timers \
     --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features arch-cortex-m,executor-interrupt \
-    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features arch-cortex-m,executor-interrupt,integrated-timers \
     --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features arch-cortex-m,executor-thread,executor-interrupt \
-    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features arch-cortex-m,executor-thread,executor-interrupt,integrated-timers \
     --- build --release --manifest-path embassy-executor/Cargo.toml --target riscv32imac-unknown-none-elf --features arch-riscv32 \
-    --- build --release --manifest-path embassy-executor/Cargo.toml --target riscv32imac-unknown-none-elf --features arch-riscv32,integrated-timers \
     --- build --release --manifest-path embassy-executor/Cargo.toml --target riscv32imac-unknown-none-elf --features arch-riscv32,executor-thread \
-    --- build --release --manifest-path embassy-executor/Cargo.toml --target riscv32imac-unknown-none-elf --features arch-riscv32,executor-thread,integrated-timers \
     --- build --release --manifest-path embassy-sync/Cargo.toml --target thumbv6m-none-eabi --features defmt \
-    --- build --release --manifest-path embassy-time/Cargo.toml --target thumbv6m-none-eabi --features defmt,defmt-timestamp-uptime,generic-queue-8,mock-driver \
+    --- build --release --manifest-path embassy-time/Cargo.toml --target thumbv6m-none-eabi --features defmt,defmt-timestamp-uptime,mock-driver \
+    --- build --release --manifest-path embassy-time-queue-driver/Cargo.toml --target thumbv6m-none-eabi \
+    --- build --release --manifest-path embassy-time-queue-driver/Cargo.toml --target thumbv6m-none-eabi --features generic-queue-8 \
     --- build --release --manifest-path embassy-net/Cargo.toml --target thumbv7em-none-eabi --features defmt,tcp,udp,dns,proto-ipv4,medium-ethernet,packet-trace \
     --- build --release --manifest-path embassy-net/Cargo.toml --target thumbv7em-none-eabi --features defmt,tcp,udp,dns,proto-ipv4,multicast,medium-ethernet \
     --- build --release --manifest-path embassy-net/Cargo.toml --target thumbv7em-none-eabi --features defmt,tcp,udp,dns,dhcpv4,medium-ethernet \
@@ -307,6 +302,9 @@ rm out/tests/stm32wb55rg/wpan_ble
 # unstable, I think it's running out of RAM?
 rm out/tests/stm32f207zg/eth
 
+# temporarily disabled, hard faults for unknown reasons
+rm out/tests/stm32f207zg/usart_rx_ringbuffered
+
 # doesn't work, gives "noise error", no idea why. usart_dma does pass.
 rm out/tests/stm32u5a5zj/usart
 
diff --git a/docs/examples/basic/Cargo.toml b/docs/examples/basic/Cargo.toml
index d46431b9a..daf83873d 100644
--- a/docs/examples/basic/Cargo.toml
+++ b/docs/examples/basic/Cargo.toml
@@ -6,7 +6,7 @@ version = "0.1.0"
 license = "MIT OR Apache-2.0"
 
 [dependencies]
-embassy-executor = { version = "0.6.3", path = "../../../embassy-executor", features = ["defmt", "integrated-timers", "arch-cortex-m", "executor-thread"] }
+embassy-executor = { version = "0.6.3", path = "../../../embassy-executor", features = ["defmt", "arch-cortex-m", "executor-thread"] }
 embassy-time = { version = "0.3.2", path = "../../../embassy-time", features = ["defmt"] }
 embassy-nrf = { version = "0.2.0", path = "../../../embassy-nrf", features = ["defmt", "nrf52840", "time-driver-rtc1", "gpiote"] }
 
diff --git a/docs/pages/new_project.adoc b/docs/pages/new_project.adoc
index f8dd848be..63340016b 100644
--- a/docs/pages/new_project.adoc
+++ b/docs/pages/new_project.adoc
@@ -80,7 +80,7 @@ At the time of writing, embassy is already published to crates.io. Therefore, de
 ----
 [dependencies]
 embassy-stm32 = { version = "0.1.0", features =  ["defmt", "time-driver-any", "stm32g474re", "memory-x", "unstable-pac", "exti"] }
-embassy-executor = { version = "0.6.3", features = ["nightly", "arch-cortex-m", "executor-thread", "defmt", "integrated-timers"] }
+embassy-executor = { version = "0.6.3", features = ["nightly", "arch-cortex-m", "executor-thread", "defmt"] }
 embassy-time = { version = "0.3.2", features = ["defmt", "defmt-timestamp-uptime", "tick-hz-32_768"] }
 ----
 
@@ -100,7 +100,7 @@ An example Cargo.toml file might look as follows:
 ----
 [dependencies]
 embassy-stm32 = {version = "0.1.0", features =  ["defmt", "time-driver-any", "stm32g474re", "memory-x", "unstable-pac", "exti"]}
-embassy-executor = { version = "0.3.3", features = ["nightly", "arch-cortex-m", "executor-thread", "defmt", "integrated-timers"] }
+embassy-executor = { version = "0.3.3", features = ["nightly", "arch-cortex-m", "executor-thread", "defmt"] }
 embassy-time = { version = "0.2", features = ["defmt", "defmt-timestamp-uptime", "tick-hz-32_768"] }
 
 [patch.crates-io]
diff --git a/embassy-executor/CHANGELOG.md b/embassy-executor/CHANGELOG.md
index 00b1bef28..068156210 100644
--- a/embassy-executor/CHANGELOG.md
+++ b/embassy-executor/CHANGELOG.md
@@ -7,7 +7,9 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ## Unreleased
 
-- `raw::Executor` now has an `fn initialize` that must be called once before starting to poll it.
+- embassy-executor no longer provides an `embassy-time-queue-driver` implementation
+- Added `TaskRef::executor` to obtain a reference to a task's executor
+- integrated-timers are no longer processed when polling the executor.
 
 ## 0.6.3 - 2024-11-12
 
diff --git a/embassy-executor/Cargo.toml b/embassy-executor/Cargo.toml
index 0a5360e5d..60fe7087a 100644
--- a/embassy-executor/Cargo.toml
+++ b/embassy-executor/Cargo.toml
@@ -35,7 +35,6 @@ rtos-trace = { version = "0.1.3", optional = true }
 
 embassy-executor-macros = { version = "0.6.2", path = "../embassy-executor-macros" }
 embassy-time-driver = { version = "0.1.0", path = "../embassy-time-driver", optional = true }
-embassy-time-queue-driver = { version = "0.1.0", path = "../embassy-time-queue-driver", optional = true }
 critical-section = "1.1"
 
 document-features = "0.2.7"
@@ -67,9 +66,6 @@ nightly = ["embassy-executor-macros/nightly"]
 # See: https://github.com/embassy-rs/embassy/pull/1263
 turbowakers = []
 
-## Use the executor-integrated `embassy-time` timer queue.
-integrated-timers = ["dep:embassy-time-driver", "dep:embassy-time-queue-driver"]
-
 #! ### Architecture
 _arch = [] # some arch was picked
 ## std
@@ -94,7 +90,7 @@ executor-interrupt = []
 ## Enable tracing support (adds some overhead)
 trace = []
 ## Enable support for rtos-trace framework
-rtos-trace = ["dep:rtos-trace", "trace"]
+rtos-trace = ["dep:rtos-trace", "trace", "dep:embassy-time-driver"]
 
 #! ### Task Arena Size
 #! Sets the [task arena](#task-arena) size. Necessary if you’re not using `nightly`.
diff --git a/embassy-executor/src/arch/avr.rs b/embassy-executor/src/arch/avr.rs
index 7f9ed4421..70085d04d 100644
--- a/embassy-executor/src/arch/avr.rs
+++ b/embassy-executor/src/arch/avr.rs
@@ -53,10 +53,6 @@ mod thread {
         ///
         /// This function never returns.
         pub fn run(&'static mut self, init: impl FnOnce(Spawner)) -> ! {
-            unsafe {
-                self.inner.initialize();
-            }
-
             init(self.inner.spawner());
 
             loop {
diff --git a/embassy-executor/src/arch/cortex_m.rs b/embassy-executor/src/arch/cortex_m.rs
index 0c2af88a6..5c517e0a2 100644
--- a/embassy-executor/src/arch/cortex_m.rs
+++ b/embassy-executor/src/arch/cortex_m.rs
@@ -98,9 +98,6 @@ mod thread {
         ///
         /// This function never returns.
         pub fn run(&'static mut self, init: impl FnOnce(Spawner)) -> ! {
-            unsafe {
-                self.inner.initialize();
-            }
             init(self.inner.spawner());
 
             loop {
@@ -210,9 +207,6 @@ mod interrupt {
             }
 
             let executor = unsafe { (&*self.executor.get()).assume_init_ref() };
-            unsafe {
-                executor.initialize();
-            }
 
             unsafe { NVIC::unmask(irq) }
 
diff --git a/embassy-executor/src/arch/riscv32.rs b/embassy-executor/src/arch/riscv32.rs
index 715e5f3cf..01e63a9fd 100644
--- a/embassy-executor/src/arch/riscv32.rs
+++ b/embassy-executor/src/arch/riscv32.rs
@@ -54,10 +54,6 @@ mod thread {
         ///
         /// This function never returns.
         pub fn run(&'static mut self, init: impl FnOnce(Spawner)) -> ! {
-            unsafe {
-                self.inner.initialize();
-            }
-
             init(self.inner.spawner());
 
             loop {
diff --git a/embassy-executor/src/arch/spin.rs b/embassy-executor/src/arch/spin.rs
index 54c7458b3..340023620 100644
--- a/embassy-executor/src/arch/spin.rs
+++ b/embassy-executor/src/arch/spin.rs
@@ -48,10 +48,6 @@ mod thread {
         ///
         /// This function never returns.
         pub fn run(&'static mut self, init: impl FnOnce(Spawner)) -> ! {
-            unsafe {
-                self.inner.initialize();
-            }
-
             init(self.inner.spawner());
 
             loop {
diff --git a/embassy-executor/src/arch/std.rs b/embassy-executor/src/arch/std.rs
index 948c7711b..b02b15988 100644
--- a/embassy-executor/src/arch/std.rs
+++ b/embassy-executor/src/arch/std.rs
@@ -55,10 +55,6 @@ mod thread {
         ///
         /// This function never returns.
         pub fn run(&'static mut self, init: impl FnOnce(Spawner)) -> ! {
-            unsafe {
-                self.inner.initialize();
-            }
-
             init(self.inner.spawner());
 
             loop {
diff --git a/embassy-executor/src/arch/wasm.rs b/embassy-executor/src/arch/wasm.rs
index 35025f11f..f9d0f935c 100644
--- a/embassy-executor/src/arch/wasm.rs
+++ b/embassy-executor/src/arch/wasm.rs
@@ -71,10 +71,6 @@ mod thread {
         /// - a local variable in a function you know never returns (like `fn main() -> !`), upgrading its lifetime with `transmute`. (unsafe)
         pub fn start(&'static mut self, init: impl FnOnce(Spawner)) {
             unsafe {
-                self.inner.initialize();
-            }
-
-            unsafe {
                 let executor = &self.inner;
                 let future = Closure::new(move |_| {
                     executor.poll();
diff --git a/embassy-executor/src/raw/mod.rs b/embassy-executor/src/raw/mod.rs
index 3f93eae6f..7da14468d 100644
--- a/embassy-executor/src/raw/mod.rs
+++ b/embassy-executor/src/raw/mod.rs
@@ -16,8 +16,7 @@ mod run_queue;
 #[cfg_attr(not(target_has_atomic = "8"), path = "state_critical_section.rs")]
 mod state;
 
-#[cfg(feature = "integrated-timers")]
-mod timer_queue;
+pub mod timer_queue;
 #[cfg(feature = "trace")]
 mod trace;
 pub(crate) mod util;
@@ -31,9 +30,6 @@ use core::pin::Pin;
 use core::ptr::NonNull;
 use core::task::{Context, Poll};
 
-#[cfg(feature = "integrated-timers")]
-use embassy_time_driver::AlarmHandle;
-
 use self::run_queue::{RunQueue, RunQueueItem};
 use self::state::State;
 use self::util::{SyncUnsafeCell, UninitCell};
@@ -47,14 +43,12 @@ pub(crate) struct TaskHeader {
     pub(crate) executor: SyncUnsafeCell<Option<&'static SyncExecutor>>,
     poll_fn: SyncUnsafeCell<Option<unsafe fn(TaskRef)>>,
 
-    #[cfg(feature = "integrated-timers")]
-    pub(crate) expires_at: SyncUnsafeCell<u64>,
-    #[cfg(feature = "integrated-timers")]
+    /// Integrated timer queue storage. This field should not be accessed outside of the timer queue.
     pub(crate) timer_queue_item: timer_queue::TimerQueueItem,
 }
 
 /// This is essentially a `&'static TaskStorage<F>` where the type of the future has been erased.
-#[derive(Clone, Copy)]
+#[derive(Clone, Copy, PartialEq)]
 pub struct TaskRef {
     ptr: NonNull<TaskHeader>,
 }
@@ -76,10 +70,53 @@ impl TaskRef {
         }
     }
 
+    /// # Safety
+    ///
+    /// The result of this function must only be compared
+    /// for equality, or stored, but not used.
+    pub const unsafe fn dangling() -> Self {
+        Self {
+            ptr: NonNull::dangling(),
+        }
+    }
+
     pub(crate) fn header(self) -> &'static TaskHeader {
         unsafe { self.ptr.as_ref() }
     }
 
+    /// Returns a reference to the executor that the task is currently running on.
+    pub unsafe fn executor(self) -> Option<&'static Executor> {
+        self.header().executor.get().map(|e| Executor::wrap(e))
+    }
+
+    /// Returns a reference to the timer queue item.
+    pub fn timer_queue_item(&self) -> &'static timer_queue::TimerQueueItem {
+        &self.header().timer_queue_item
+    }
+
+    /// Mark the task as timer-queued. Return whether it should be actually enqueued
+    /// using `_embassy_time_schedule_wake`.
+    ///
+    /// Entering this state prevents the task from being respawned while in a timer queue.
+    ///
+    /// Safety:
+    ///
+    /// This functions should only be called by the timer queue driver, before
+    /// enqueueing the timer item.
+    pub unsafe fn timer_enqueue(&self) -> timer_queue::TimerEnqueueOperation {
+        self.header().state.timer_enqueue()
+    }
+
+    /// Unmark the task as timer-queued.
+    ///
+    /// Safety:
+    ///
+    /// This functions should only be called by the timer queue implementation, after the task has
+    /// been removed from the timer queue.
+    pub unsafe fn timer_dequeue(&self) {
+        self.header().state.timer_dequeue()
+    }
+
     /// The returned pointer is valid for the entire TaskStorage.
     pub(crate) fn as_ptr(self) -> *const TaskHeader {
         self.ptr.as_ptr()
@@ -120,9 +157,6 @@ impl<F: Future + 'static> TaskStorage<F> {
                 // Note: this is lazily initialized so that a static `TaskStorage` will go in `.bss`
                 poll_fn: SyncUnsafeCell::new(None),
 
-                #[cfg(feature = "integrated-timers")]
-                expires_at: SyncUnsafeCell::new(0),
-                #[cfg(feature = "integrated-timers")]
                 timer_queue_item: timer_queue::TimerQueueItem::new(),
             },
             future: UninitCell::uninit(),
@@ -159,10 +193,25 @@ impl<F: Future + 'static> TaskStorage<F> {
         match future.poll(&mut cx) {
             Poll::Ready(_) => {
                 this.future.drop_in_place();
+
+                // Mark this task to be timer queued.
+                // We're splitting the enqueue in two parts, so that we can change task state
+                // to something that prevent re-queueing.
+                let op = this.raw.state.timer_enqueue();
+
+                // Now mark the task as not spawned, so that
+                // - it can be spawned again once it has been removed from the timer queue
+                // - it can not be timer-queued again
+                // We must do this before scheduling the wake, to prevent the task from being
+                // dequeued by the time driver while it's still SPAWNED.
                 this.raw.state.despawn();
 
-                #[cfg(feature = "integrated-timers")]
-                this.raw.expires_at.set(u64::MAX);
+                // Now let's finish enqueueing. While we shouldn't get an `Ignore` here, it's
+                // better to be safe.
+                if op == timer_queue::TimerEnqueueOperation::Enqueue {
+                    // Schedule the task in the past, so it gets dequeued ASAP.
+                    unsafe { _embassy_time_schedule_wake(0, &waker) }
+                }
             }
             Poll::Pending => {}
         }
@@ -181,6 +230,10 @@ impl<F: Future + 'static> TaskStorage<F> {
     }
 }
 
+extern "Rust" {
+    fn _embassy_time_schedule_wake(at: u64, waker: &core::task::Waker);
+}
+
 /// An uninitialized [`TaskStorage`].
 pub struct AvailableTask<F: Future + 'static> {
     task: &'static TaskStorage<F>,
@@ -316,34 +369,16 @@ impl Pender {
 pub(crate) struct SyncExecutor {
     run_queue: RunQueue,
     pender: Pender,
-
-    #[cfg(feature = "integrated-timers")]
-    pub(crate) timer_queue: timer_queue::TimerQueue,
-    #[cfg(feature = "integrated-timers")]
-    alarm: AlarmHandle,
 }
 
 impl SyncExecutor {
     pub(crate) fn new(pender: Pender) -> Self {
-        #[cfg(feature = "integrated-timers")]
-        let alarm = unsafe { unwrap!(embassy_time_driver::allocate_alarm()) };
-
         Self {
             run_queue: RunQueue::new(),
             pender,
-
-            #[cfg(feature = "integrated-timers")]
-            timer_queue: timer_queue::TimerQueue::new(),
-            #[cfg(feature = "integrated-timers")]
-            alarm,
         }
     }
 
-    pub(crate) unsafe fn initialize(&'static self) {
-        #[cfg(feature = "integrated-timers")]
-        embassy_time_driver::set_alarm_callback(self.alarm, Self::alarm_callback, self as *const _ as *mut ());
-    }
-
     /// Enqueue a task in the task queue
     ///
     /// # Safety
@@ -360,12 +395,6 @@ impl SyncExecutor {
         }
     }
 
-    #[cfg(feature = "integrated-timers")]
-    fn alarm_callback(ctx: *mut ()) {
-        let this: &Self = unsafe { &*(ctx as *const Self) };
-        this.pender.pend();
-    }
-
     pub(super) unsafe fn spawn(&'static self, task: TaskRef) {
         task.header().executor.set(Some(self));
 
@@ -379,56 +408,27 @@ impl SyncExecutor {
     ///
     /// Same as [`Executor::poll`], plus you must only call this on the thread this executor was created.
     pub(crate) unsafe fn poll(&'static self) {
-        #[allow(clippy::never_loop)]
-        loop {
-            #[cfg(feature = "integrated-timers")]
-            self.timer_queue
-                .dequeue_expired(embassy_time_driver::now(), wake_task_no_pend);
-
-            self.run_queue.dequeue_all(|p| {
-                let task = p.header();
-
-                #[cfg(feature = "integrated-timers")]
-                task.expires_at.set(u64::MAX);
-
-                if !task.state.run_dequeue() {
-                    // If task is not running, ignore it. This can happen in the following scenario:
-                    //   - Task gets dequeued, poll starts
-                    //   - While task is being polled, it gets woken. It gets placed in the queue.
-                    //   - Task poll finishes, returning done=true
-                    //   - RUNNING bit is cleared, but the task is already in the queue.
-                    return;
-                }
-
-                #[cfg(feature = "trace")]
-                trace::task_exec_begin(self, &p);
+        self.run_queue.dequeue_all(|p| {
+            let task = p.header();
+
+            if !task.state.run_dequeue() {
+                // If task is not running, ignore it. This can happen in the following scenario:
+                //   - Task gets dequeued, poll starts
+                //   - While task is being polled, it gets woken. It gets placed in the queue.
+                //   - Task poll finishes, returning done=true
+                //   - RUNNING bit is cleared, but the task is already in the queue.
+                return;
+            }
 
-                // Run the task
-                task.poll_fn.get().unwrap_unchecked()(p);
+            #[cfg(feature = "trace")]
+            trace::task_exec_begin(self, &p);
 
-                #[cfg(feature = "trace")]
-                trace::task_exec_end(self, &p);
+            // Run the task
+            task.poll_fn.get().unwrap_unchecked()(p);
 
-                // Enqueue or update into timer_queue
-                #[cfg(feature = "integrated-timers")]
-                self.timer_queue.update(p);
-            });
-
-            #[cfg(feature = "integrated-timers")]
-            {
-                // If this is already in the past, set_alarm might return false
-                // In that case do another poll loop iteration.
-                let next_expiration = self.timer_queue.next_expiration();
-                if embassy_time_driver::set_alarm(self.alarm, next_expiration) {
-                    break;
-                }
-            }
-
-            #[cfg(not(feature = "integrated-timers"))]
-            {
-                break;
-            }
-        }
+            #[cfg(feature = "trace")]
+            trace::task_exec_end(self, &p);
+        });
 
         #[cfg(feature = "trace")]
         trace::executor_idle(self)
@@ -494,15 +494,6 @@ impl Executor {
         }
     }
 
-    /// Initializes the executor.
-    ///
-    /// # Safety
-    ///
-    /// This function must be called once before any other method is called.
-    pub unsafe fn initialize(&'static self) {
-        self.inner.initialize();
-    }
-
     /// Spawn a task in this executor.
     ///
     /// # Safety
@@ -575,21 +566,3 @@ pub fn wake_task_no_pend(task: TaskRef) {
         }
     }
 }
-
-#[cfg(feature = "integrated-timers")]
-struct TimerQueue;
-
-#[cfg(feature = "integrated-timers")]
-impl embassy_time_queue_driver::TimerQueue for TimerQueue {
-    fn schedule_wake(&'static self, at: u64, waker: &core::task::Waker) {
-        let task = waker::task_from_waker(waker);
-        let task = task.header();
-        unsafe {
-            let expires_at = task.expires_at.get();
-            task.expires_at.set(expires_at.min(at));
-        }
-    }
-}
-
-#[cfg(feature = "integrated-timers")]
-embassy_time_queue_driver::timer_queue_impl!(static TIMER_QUEUE: TimerQueue = TimerQueue);
diff --git a/embassy-executor/src/raw/state_atomics.rs b/embassy-executor/src/raw/state_atomics.rs
index e1279ac0b..15eb9a368 100644
--- a/embassy-executor/src/raw/state_atomics.rs
+++ b/embassy-executor/src/raw/state_atomics.rs
@@ -1,11 +1,12 @@
 use core::sync::atomic::{AtomicU32, Ordering};
 
+use super::timer_queue::TimerEnqueueOperation;
+
 /// Task is spawned (has a future)
 pub(crate) const STATE_SPAWNED: u32 = 1 << 0;
 /// Task is in the executor run queue
 pub(crate) const STATE_RUN_QUEUED: u32 = 1 << 1;
 /// Task is in the executor timer queue
-#[cfg(feature = "integrated-timers")]
 pub(crate) const STATE_TIMER_QUEUED: u32 = 1 << 2;
 
 pub(crate) struct State {
@@ -56,18 +57,31 @@ impl State {
         state & STATE_SPAWNED != 0
     }
 
-    /// Mark the task as timer-queued. Return whether it was newly queued (i.e. not queued before)
-    #[cfg(feature = "integrated-timers")]
+    /// Mark the task as timer-queued. Return whether it can be enqueued.
     #[inline(always)]
-    pub fn timer_enqueue(&self) -> bool {
-        let old_state = self.state.fetch_or(STATE_TIMER_QUEUED, Ordering::AcqRel);
-        old_state & STATE_TIMER_QUEUED == 0
+    pub fn timer_enqueue(&self) -> TimerEnqueueOperation {
+        if self
+            .state
+            .fetch_update(Ordering::SeqCst, Ordering::SeqCst, |state| {
+                // If not started, ignore it
+                if state & STATE_SPAWNED == 0 {
+                    None
+                } else {
+                    // Mark it as enqueued
+                    Some(state | STATE_TIMER_QUEUED)
+                }
+            })
+            .is_ok()
+        {
+            TimerEnqueueOperation::Enqueue
+        } else {
+            TimerEnqueueOperation::Ignore
+        }
     }
 
     /// Unmark the task as timer-queued.
-    #[cfg(feature = "integrated-timers")]
     #[inline(always)]
     pub fn timer_dequeue(&self) {
-        self.state.fetch_and(!STATE_TIMER_QUEUED, Ordering::AcqRel);
+        self.state.fetch_and(!STATE_TIMER_QUEUED, Ordering::Relaxed);
     }
 }
diff --git a/embassy-executor/src/raw/state_atomics_arm.rs b/embassy-executor/src/raw/state_atomics_arm.rs
index e4dfe5093..7a152e8c0 100644
--- a/embassy-executor/src/raw/state_atomics_arm.rs
+++ b/embassy-executor/src/raw/state_atomics_arm.rs
@@ -1,9 +1,12 @@
 use core::arch::asm;
 use core::sync::atomic::{compiler_fence, AtomicBool, AtomicU32, Ordering};
 
+use super::timer_queue::TimerEnqueueOperation;
+
 // Must be kept in sync with the layout of `State`!
 pub(crate) const STATE_SPAWNED: u32 = 1 << 0;
 pub(crate) const STATE_RUN_QUEUED: u32 = 1 << 8;
+pub(crate) const STATE_TIMER_QUEUED: u32 = 1 << 16;
 
 #[repr(C, align(4))]
 pub(crate) struct State {
@@ -87,15 +90,29 @@ impl State {
         r
     }
 
-    /// Mark the task as timer-queued. Return whether it was newly queued (i.e. not queued before)
-    #[cfg(feature = "integrated-timers")]
+    /// Mark the task as timer-queued. Return whether it can be enqueued.
     #[inline(always)]
-    pub fn timer_enqueue(&self) -> bool {
-        !self.timer_queued.swap(true, Ordering::Relaxed)
+    pub fn timer_enqueue(&self) -> TimerEnqueueOperation {
+        if self
+            .as_u32()
+            .fetch_update(Ordering::SeqCst, Ordering::SeqCst, |state| {
+                // If not started, ignore it
+                if state & STATE_SPAWNED == 0 {
+                    None
+                } else {
+                    // Mark it as enqueued
+                    Some(state | STATE_TIMER_QUEUED)
+                }
+            })
+            .is_ok()
+        {
+            TimerEnqueueOperation::Enqueue
+        } else {
+            TimerEnqueueOperation::Ignore
+        }
     }
 
     /// Unmark the task as timer-queued.
-    #[cfg(feature = "integrated-timers")]
     #[inline(always)]
     pub fn timer_dequeue(&self) {
         self.timer_queued.store(false, Ordering::Relaxed);
diff --git a/embassy-executor/src/raw/state_critical_section.rs b/embassy-executor/src/raw/state_critical_section.rs
index c3cc1b0b7..367162ba2 100644
--- a/embassy-executor/src/raw/state_critical_section.rs
+++ b/embassy-executor/src/raw/state_critical_section.rs
@@ -2,12 +2,13 @@ use core::cell::Cell;
 
 use critical_section::Mutex;
 
+use super::timer_queue::TimerEnqueueOperation;
+
 /// Task is spawned (has a future)
 pub(crate) const STATE_SPAWNED: u32 = 1 << 0;
 /// Task is in the executor run queue
 pub(crate) const STATE_RUN_QUEUED: u32 = 1 << 1;
 /// Task is in the executor timer queue
-#[cfg(feature = "integrated-timers")]
 pub(crate) const STATE_TIMER_QUEUED: u32 = 1 << 2;
 
 pub(crate) struct State {
@@ -73,19 +74,22 @@ impl State {
         })
     }
 
-    /// Mark the task as timer-queued. Return whether it was newly queued (i.e. not queued before)
-    #[cfg(feature = "integrated-timers")]
+    /// Mark the task as timer-queued. Return whether it can be enqueued.
     #[inline(always)]
-    pub fn timer_enqueue(&self) -> bool {
+    pub fn timer_enqueue(&self) -> TimerEnqueueOperation {
         self.update(|s| {
-            let ok = *s & STATE_TIMER_QUEUED == 0;
-            *s |= STATE_TIMER_QUEUED;
-            ok
+            // FIXME: we need to split SPAWNED into two phases, to prevent enqueueing a task that is
+            // just being spawned, because its executor pointer may still be changing.
+            if *s & STATE_SPAWNED == STATE_SPAWNED {
+                *s |= STATE_TIMER_QUEUED;
+                TimerEnqueueOperation::Enqueue
+            } else {
+                TimerEnqueueOperation::Ignore
+            }
         })
     }
 
     /// Unmark the task as timer-queued.
-    #[cfg(feature = "integrated-timers")]
     #[inline(always)]
     pub fn timer_dequeue(&self) {
         self.update(|s| *s &= !STATE_TIMER_QUEUED);
diff --git a/embassy-executor/src/raw/timer_queue.rs b/embassy-executor/src/raw/timer_queue.rs
index 94a5f340b..2ba0e00a9 100644
--- a/embassy-executor/src/raw/timer_queue.rs
+++ b/embassy-executor/src/raw/timer_queue.rs
@@ -1,76 +1,39 @@
-use core::cmp::min;
+//! Timer queue operations.
+
+use core::cell::Cell;
 
 use super::TaskRef;
-use crate::raw::util::SyncUnsafeCell;
 
-pub(crate) struct TimerQueueItem {
-    next: SyncUnsafeCell<Option<TaskRef>>,
-}
+/// An item in the timer queue.
+pub struct TimerQueueItem {
+    /// The next item in the queue.
+    ///
+    /// If this field contains `Some`, the item is in the queue. The last item in the queue has a
+    /// value of `Some(dangling_pointer)`
+    pub next: Cell<Option<TaskRef>>,
 
-impl TimerQueueItem {
-    pub const fn new() -> Self {
-        Self {
-            next: SyncUnsafeCell::new(None),
-        }
-    }
+    /// The time at which this item expires.
+    pub expires_at: Cell<u64>,
 }
 
-pub(crate) struct TimerQueue {
-    head: SyncUnsafeCell<Option<TaskRef>>,
-}
+unsafe impl Sync for TimerQueueItem {}
 
-impl TimerQueue {
-    pub const fn new() -> Self {
+impl TimerQueueItem {
+    pub(crate) const fn new() -> Self {
         Self {
-            head: SyncUnsafeCell::new(None),
-        }
-    }
-
-    pub(crate) unsafe fn update(&self, p: TaskRef) {
-        let task = p.header();
-        if task.expires_at.get() != u64::MAX {
-            if task.state.timer_enqueue() {
-                task.timer_queue_item.next.set(self.head.get());
-                self.head.set(Some(p));
-            }
+            next: Cell::new(None),
+            expires_at: Cell::new(0),
         }
     }
+}
 
-    pub(crate) unsafe fn next_expiration(&self) -> u64 {
-        let mut res = u64::MAX;
-        self.retain(|p| {
-            let task = p.header();
-            let expires = task.expires_at.get();
-            res = min(res, expires);
-            expires != u64::MAX
-        });
-        res
-    }
-
-    pub(crate) unsafe fn dequeue_expired(&self, now: u64, on_task: impl Fn(TaskRef)) {
-        self.retain(|p| {
-            let task = p.header();
-            if task.expires_at.get() <= now {
-                on_task(p);
-                false
-            } else {
-                true
-            }
-        });
-    }
-
-    pub(crate) unsafe fn retain(&self, mut f: impl FnMut(TaskRef) -> bool) {
-        let mut prev = &self.head;
-        while let Some(p) = prev.get() {
-            let task = p.header();
-            if f(p) {
-                // Skip to next
-                prev = &task.timer_queue_item.next;
-            } else {
-                // Remove it
-                prev.set(task.timer_queue_item.next.get());
-                task.state.timer_dequeue();
-            }
-        }
-    }
+/// The operation to perform after `timer_enqueue` is called.
+#[derive(Debug, Copy, Clone, PartialEq)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+#[must_use]
+pub enum TimerEnqueueOperation {
+    /// Enqueue the task (or update its expiration time).
+    Enqueue,
+    /// The task must not be enqueued in the timer queue.
+    Ignore,
 }
diff --git a/embassy-executor/src/raw/trace.rs b/embassy-executor/src/raw/trace.rs
index c7bcf9c11..b34387b58 100644
--- a/embassy-executor/src/raw/trace.rs
+++ b/embassy-executor/src/raw/trace.rs
@@ -61,29 +61,23 @@ pub(crate) fn executor_idle(executor: &SyncExecutor) {
     rtos_trace::trace::system_idle();
 }
 
-#[cfg(all(feature = "rtos-trace", feature = "integrated-timers"))]
-const fn gcd(a: u64, b: u64) -> u64 {
-    if b == 0 {
-        a
-    } else {
-        gcd(b, a % b)
-    }
-}
-
 #[cfg(feature = "rtos-trace")]
 impl rtos_trace::RtosTraceOSCallbacks for crate::raw::SyncExecutor {
     fn task_list() {
         // We don't know what tasks exist, so we can't send them.
     }
-    #[cfg(feature = "integrated-timers")]
     fn time() -> u64 {
+        const fn gcd(a: u64, b: u64) -> u64 {
+            if b == 0 {
+                a
+            } else {
+                gcd(b, a % b)
+            }
+        }
+
         const GCD_1M: u64 = gcd(embassy_time_driver::TICK_HZ, 1_000_000);
         embassy_time_driver::now() * (1_000_000 / GCD_1M) / (embassy_time_driver::TICK_HZ / GCD_1M)
     }
-    #[cfg(not(feature = "integrated-timers"))]
-    fn time() -> u64 {
-        0
-    }
 }
 
 #[cfg(feature = "rtos-trace")]
diff --git a/embassy-executor/tests/test.rs b/embassy-executor/tests/test.rs
index 8054bf7eb..992ab3da9 100644
--- a/embassy-executor/tests/test.rs
+++ b/embassy-executor/tests/test.rs
@@ -40,9 +40,6 @@ fn setup() -> (&'static Executor, Trace) {
     let trace = Trace::new();
     let context = Box::leak(Box::new(trace.clone())) as *mut _ as *mut ();
     let executor = &*Box::leak(Box::new(Executor::new(context)));
-    unsafe {
-        executor.initialize();
-    }
 
     (executor, trace)
 }
@@ -153,3 +150,7 @@ fn executor_task_cfg_args() {
         let (_, _, _) = (a, b, c);
     }
 }
+
+// We need this for the test to compile, even though we don't want to use timers at the moment.
+#[no_mangle]
+fn _embassy_time_schedule_wake(_at: u64, _waker: &core::task::Waker) {}
diff --git a/embassy-nrf/Cargo.toml b/embassy-nrf/Cargo.toml
index 9da050a22..48f80bb5e 100644
--- a/embassy-nrf/Cargo.toml
+++ b/embassy-nrf/Cargo.toml
@@ -119,7 +119,7 @@ _nrf52 = ["_ppi"]
 _nrf51 = ["_ppi"]
 _nrf91 = []
 
-_time-driver = ["dep:embassy-time-driver", "embassy-time-driver?/tick-hz-32_768"]
+_time-driver = ["dep:embassy-time-driver", "embassy-time-driver?/tick-hz-32_768", "dep:embassy-time-queue-driver"]
 
 # trustzone state.
 _s = []
@@ -135,6 +135,7 @@ _nrf52832_anomaly_109 = []
 
 [dependencies]
 embassy-time-driver = { version = "0.1", path = "../embassy-time-driver", optional = true }
+embassy-time-queue-driver = { version = "0.1", path = "../embassy-time-queue-driver", optional = true }
 embassy-time = { version = "0.3.2", path = "../embassy-time", optional = true }
 embassy-sync = { version = "0.6.1", path = "../embassy-sync" }
 embassy-hal-internal = {version = "0.2.0", path = "../embassy-hal-internal", features = ["cortex-m", "prio-bits-3"] }
diff --git a/embassy-nrf/src/time_driver.rs b/embassy-nrf/src/time_driver.rs
index 9ba38ec1b..a27fae9a8 100644
--- a/embassy-nrf/src/time_driver.rs
+++ b/embassy-nrf/src/time_driver.rs
@@ -1,11 +1,11 @@
-use core::cell::Cell;
-use core::sync::atomic::{compiler_fence, AtomicU32, AtomicU8, Ordering};
-use core::{mem, ptr};
+use core::cell::{Cell, RefCell};
+use core::sync::atomic::{compiler_fence, AtomicU32, Ordering};
 
 use critical_section::CriticalSection;
 use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
 use embassy_sync::blocking_mutex::CriticalSectionMutex as Mutex;
-use embassy_time_driver::{AlarmHandle, Driver};
+use embassy_time_driver::Driver;
+use embassy_time_queue_driver::Queue;
 
 use crate::interrupt::InterruptExt;
 use crate::{interrupt, pac};
@@ -94,11 +94,6 @@ mod test {
 
 struct AlarmState {
     timestamp: Cell<u64>,
-
-    // This is really a Option<(fn(*mut ()), *mut ())>
-    // but fn pointers aren't allowed in const yet
-    callback: Cell<*const ()>,
-    ctx: Cell<*mut ()>,
 }
 
 unsafe impl Send for AlarmState {}
@@ -107,26 +102,22 @@ impl AlarmState {
     const fn new() -> Self {
         Self {
             timestamp: Cell::new(u64::MAX),
-            callback: Cell::new(ptr::null()),
-            ctx: Cell::new(ptr::null_mut()),
         }
     }
 }
 
-const ALARM_COUNT: usize = 3;
-
 struct RtcDriver {
     /// Number of 2^23 periods elapsed since boot.
     period: AtomicU32,
-    alarm_count: AtomicU8,
     /// Timestamp at which to fire alarm. u64::MAX if no alarm is scheduled.
-    alarms: Mutex<[AlarmState; ALARM_COUNT]>,
+    alarms: Mutex<AlarmState>,
+    queue: Mutex<RefCell<Queue>>,
 }
 
 embassy_time_driver::time_driver_impl!(static DRIVER: RtcDriver = RtcDriver {
     period: AtomicU32::new(0),
-    alarm_count: AtomicU8::new(0),
-    alarms: Mutex::const_new(CriticalSectionRawMutex::new(), [const {AlarmState::new()}; ALARM_COUNT]),
+    alarms: Mutex::const_new(CriticalSectionRawMutex::new(), AlarmState::new()),
+    queue: Mutex::new(RefCell::new(Queue::new())),
 });
 
 impl RtcDriver {
@@ -169,13 +160,12 @@ impl RtcDriver {
             self.next_period();
         }
 
-        for n in 0..ALARM_COUNT {
-            if r.events_compare(n).read() == 1 {
-                r.events_compare(n).write_value(0);
-                critical_section::with(|cs| {
-                    self.trigger_alarm(n, cs);
-                })
-            }
+        let n = 0;
+        if r.events_compare(n).read() == 1 {
+            r.events_compare(n).write_value(0);
+            critical_section::with(|cs| {
+                self.trigger_alarm(cs);
+            });
         }
     }
 
@@ -186,38 +176,80 @@ impl RtcDriver {
             self.period.store(period, Ordering::Relaxed);
             let t = (period as u64) << 23;
 
-            for n in 0..ALARM_COUNT {
-                let alarm = &self.alarms.borrow(cs)[n];
-                let at = alarm.timestamp.get();
+            let n = 0;
+            let alarm = &self.alarms.borrow(cs);
+            let at = alarm.timestamp.get();
 
-                if at < t + 0xc00000 {
-                    // just enable it. `set_alarm` has already set the correct CC val.
-                    r.intenset().write(|w| w.0 = compare_n(n));
-                }
+            if at < t + 0xc00000 {
+                // just enable it. `set_alarm` has already set the correct CC val.
+                r.intenset().write(|w| w.0 = compare_n(n));
             }
         })
     }
 
-    fn get_alarm<'a>(&'a self, cs: CriticalSection<'a>, alarm: AlarmHandle) -> &'a AlarmState {
-        // safety: we're allowed to assume the AlarmState is created by us, and
-        // we never create one that's out of bounds.
-        unsafe { self.alarms.borrow(cs).get_unchecked(alarm.id() as usize) }
-    }
-
-    fn trigger_alarm(&self, n: usize, cs: CriticalSection) {
+    fn trigger_alarm(&self, cs: CriticalSection) {
+        let n = 0;
         let r = rtc();
         r.intenclr().write(|w| w.0 = compare_n(n));
 
-        let alarm = &self.alarms.borrow(cs)[n];
+        let alarm = &self.alarms.borrow(cs);
         alarm.timestamp.set(u64::MAX);
 
         // Call after clearing alarm, so the callback can set another alarm.
+        let mut next = self.queue.borrow(cs).borrow_mut().next_expiration(self.now());
+        while !self.set_alarm(cs, next) {
+            next = self.queue.borrow(cs).borrow_mut().next_expiration(self.now());
+        }
+    }
+
+    fn set_alarm(&self, cs: CriticalSection, timestamp: u64) -> bool {
+        let n = 0;
+        let alarm = &self.alarms.borrow(cs);
+        alarm.timestamp.set(timestamp);
+
+        let r = rtc();
+
+        let t = self.now();
+        if timestamp <= t {
+            // If alarm timestamp has passed the alarm will not fire.
+            // Disarm the alarm and return `false` to indicate that.
+            r.intenclr().write(|w| w.0 = compare_n(n));
+
+            alarm.timestamp.set(u64::MAX);
+
+            return false;
+        }
+
+        // If it hasn't triggered yet, setup it in the compare channel.
+
+        // Write the CC value regardless of whether we're going to enable it now or not.
+        // This way, when we enable it later, the right value is already set.
+
+        // nrf52 docs say:
+        //    If the COUNTER is N, writing N or N+1 to a CC register may not trigger a COMPARE event.
+        // To workaround this, we never write a timestamp smaller than N+3.
+        // N+2 is not safe because rtc can tick from N to N+1 between calling now() and writing cc.
+        //
+        // It is impossible for rtc to tick more than once because
+        //  - this code takes less time than 1 tick
+        //  - it runs with interrupts disabled so nothing else can preempt it.
+        //
+        // This means that an alarm can be delayed for up to 2 ticks (from t+1 to t+3), but this is allowed
+        // by the Alarm trait contract. What's not allowed is triggering alarms *before* their scheduled time,
+        // and we don't do that here.
+        let safe_timestamp = timestamp.max(t + 3);
+        r.cc(n).write(|w| w.set_compare(safe_timestamp as u32 & 0xFFFFFF));
+
+        let diff = timestamp - t;
+        if diff < 0xc00000 {
+            r.intenset().write(|w| w.0 = compare_n(n));
+        } else {
+            // If it's too far in the future, don't setup the compare channel yet.
+            // It will be setup later by `next_period`.
+            r.intenclr().write(|w| w.0 = compare_n(n));
+        }
 
-        // safety:
-        // - we can ignore the possiblity of `f` being unset (null) because of the safety contract of `allocate_alarm`.
-        // - other than that we only store valid function pointers into alarm.callback
-        let f: fn(*mut ()) = unsafe { mem::transmute(alarm.callback.get()) };
-        f(alarm.ctx.get());
+        true
     }
 }
 
@@ -230,76 +262,16 @@ impl Driver for RtcDriver {
         calc_now(period, counter)
     }
 
-    unsafe fn allocate_alarm(&self) -> Option<AlarmHandle> {
-        critical_section::with(|_| {
-            let id = self.alarm_count.load(Ordering::Relaxed);
-            if id < ALARM_COUNT as u8 {
-                self.alarm_count.store(id + 1, Ordering::Relaxed);
-                Some(AlarmHandle::new(id))
-            } else {
-                None
-            }
-        })
-    }
-
-    fn set_alarm_callback(&self, alarm: AlarmHandle, callback: fn(*mut ()), ctx: *mut ()) {
-        critical_section::with(|cs| {
-            let alarm = self.get_alarm(cs, alarm);
-
-            alarm.callback.set(callback as *const ());
-            alarm.ctx.set(ctx);
-        })
-    }
-
-    fn set_alarm(&self, alarm: AlarmHandle, timestamp: u64) -> bool {
+    fn schedule_wake(&self, at: u64, waker: &core::task::Waker) {
         critical_section::with(|cs| {
-            let n = alarm.id() as _;
-            let alarm = self.get_alarm(cs, alarm);
-            alarm.timestamp.set(timestamp);
+            let mut queue = self.queue.borrow(cs).borrow_mut();
 
-            let r = rtc();
-
-            let t = self.now();
-            if timestamp <= t {
-                // If alarm timestamp has passed the alarm will not fire.
-                // Disarm the alarm and return `false` to indicate that.
-                r.intenclr().write(|w| w.0 = compare_n(n));
-
-                alarm.timestamp.set(u64::MAX);
-
-                return false;
-            }
-
-            // If it hasn't triggered yet, setup it in the compare channel.
-
-            // Write the CC value regardless of whether we're going to enable it now or not.
-            // This way, when we enable it later, the right value is already set.
-
-            // nrf52 docs say:
-            //    If the COUNTER is N, writing N or N+1 to a CC register may not trigger a COMPARE event.
-            // To workaround this, we never write a timestamp smaller than N+3.
-            // N+2 is not safe because rtc can tick from N to N+1 between calling now() and writing cc.
-            //
-            // It is impossible for rtc to tick more than once because
-            //  - this code takes less time than 1 tick
-            //  - it runs with interrupts disabled so nothing else can preempt it.
-            //
-            // This means that an alarm can be delayed for up to 2 ticks (from t+1 to t+3), but this is allowed
-            // by the Alarm trait contract. What's not allowed is triggering alarms *before* their scheduled time,
-            // and we don't do that here.
-            let safe_timestamp = timestamp.max(t + 3);
-            r.cc(n).write(|w| w.set_compare(safe_timestamp as u32 & 0xFFFFFF));
-
-            let diff = timestamp - t;
-            if diff < 0xc00000 {
-                r.intenset().write(|w| w.0 = compare_n(n));
-            } else {
-                // If it's too far in the future, don't setup the compare channel yet.
-                // It will be setup later by `next_period`.
-                r.intenclr().write(|w| w.0 = compare_n(n));
+            if queue.schedule_wake(at, waker) {
+                let mut next = queue.next_expiration(self.now());
+                while !self.set_alarm(cs, next) {
+                    next = queue.next_expiration(self.now());
+                }
             }
-
-            true
         })
     }
 }
diff --git a/embassy-rp/Cargo.toml b/embassy-rp/Cargo.toml
index 3809f1894..94de82fa9 100644
--- a/embassy-rp/Cargo.toml
+++ b/embassy-rp/Cargo.toml
@@ -40,7 +40,7 @@ critical-section-impl = ["critical-section/restore-state-u8"]
 unstable-pac = []
 
 ## Enable the timer for use with `embassy-time` with a 1MHz tick rate.
-time-driver = ["dep:embassy-time-driver", "embassy-time-driver?/tick-hz-1_000_000"]
+time-driver = ["dep:embassy-time-driver", "embassy-time-driver?/tick-hz-1_000_000", "dep:embassy-time-queue-driver"]
 
 ## Enable ROM function cache. This will store the address of a ROM function when first used, improving performance of subsequent calls.
 rom-func-cache = []
@@ -110,6 +110,7 @@ binary-info = ["rt", "dep:rp-binary-info", "rp-binary-info?/binary-info"]
 [dependencies]
 embassy-sync = { version = "0.6.1", path = "../embassy-sync" }
 embassy-time-driver = { version = "0.1", path = "../embassy-time-driver", optional = true }
+embassy-time-queue-driver = { version = "0.1", path = "../embassy-time-queue-driver", optional = true }
 embassy-time = { version = "0.3.2", path = "../embassy-time" }
 embassy-futures = { version = "0.1.0", path = "../embassy-futures" }
 embassy-hal-internal = {version = "0.2.0", path = "../embassy-hal-internal", features = ["cortex-m", "prio-bits-2"] }
diff --git a/embassy-rp/src/time_driver.rs b/embassy-rp/src/time_driver.rs
index 40fc71bb1..a0eaec10e 100644
--- a/embassy-rp/src/time_driver.rs
+++ b/embassy-rp/src/time_driver.rs
@@ -1,11 +1,11 @@
 //! Timer driver.
-use core::cell::Cell;
+use core::cell::{Cell, RefCell};
 
-use atomic_polyfill::{AtomicU8, Ordering};
 use critical_section::CriticalSection;
 use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
 use embassy_sync::blocking_mutex::Mutex;
-use embassy_time_driver::{AlarmHandle, Driver};
+use embassy_time_driver::Driver;
+use embassy_time_queue_driver::Queue;
 #[cfg(feature = "rp2040")]
 use pac::TIMER;
 #[cfg(feature = "_rp235x")]
@@ -16,23 +16,19 @@ use crate::{interrupt, pac};
 
 struct AlarmState {
     timestamp: Cell<u64>,
-    callback: Cell<Option<(fn(*mut ()), *mut ())>>,
 }
 unsafe impl Send for AlarmState {}
 
-const ALARM_COUNT: usize = 4;
-
 struct TimerDriver {
-    alarms: Mutex<CriticalSectionRawMutex, [AlarmState; ALARM_COUNT]>,
-    next_alarm: AtomicU8,
+    alarms: Mutex<CriticalSectionRawMutex, AlarmState>,
+    queue: Mutex<CriticalSectionRawMutex, RefCell<Queue>>,
 }
 
 embassy_time_driver::time_driver_impl!(static DRIVER: TimerDriver = TimerDriver{
-    alarms:  Mutex::const_new(CriticalSectionRawMutex::new(), [const{AlarmState {
+    alarms:  Mutex::const_new(CriticalSectionRawMutex::new(), AlarmState {
         timestamp: Cell::new(0),
-        callback: Cell::new(None),
-    }}; ALARM_COUNT]),
-    next_alarm: AtomicU8::new(0),
+    }),
+    queue: Mutex::new(RefCell::new(Queue::new()))
 });
 
 impl Driver for TimerDriver {
@@ -47,64 +43,53 @@ impl Driver for TimerDriver {
         }
     }
 
-    unsafe fn allocate_alarm(&self) -> Option<AlarmHandle> {
-        let id = self.next_alarm.fetch_update(Ordering::AcqRel, Ordering::Acquire, |x| {
-            if x < ALARM_COUNT as u8 {
-                Some(x + 1)
-            } else {
-                None
-            }
-        });
-
-        match id {
-            Ok(id) => Some(AlarmHandle::new(id)),
-            Err(_) => None,
-        }
-    }
-
-    fn set_alarm_callback(&self, alarm: AlarmHandle, callback: fn(*mut ()), ctx: *mut ()) {
-        let n = alarm.id() as usize;
-        critical_section::with(|cs| {
-            let alarm = &self.alarms.borrow(cs)[n];
-            alarm.callback.set(Some((callback, ctx)));
-        })
-    }
-
-    fn set_alarm(&self, alarm: AlarmHandle, timestamp: u64) -> bool {
-        let n = alarm.id() as usize;
+    fn schedule_wake(&self, at: u64, waker: &core::task::Waker) {
         critical_section::with(|cs| {
-            let alarm = &self.alarms.borrow(cs)[n];
-            alarm.timestamp.set(timestamp);
+            let mut queue = self.queue.borrow(cs).borrow_mut();
 
-            // Arm it.
-            // Note that we're not checking the high bits at all. This means the irq may fire early
-            // if the alarm is more than 72 minutes (2^32 us) in the future. This is OK, since on irq fire
-            // it is checked if the alarm time has passed.
-            TIMER.alarm(n).write_value(timestamp as u32);
-
-            let now = self.now();
-            if timestamp <= now {
-                // If alarm timestamp has passed the alarm will not fire.
-                // Disarm the alarm and return `false` to indicate that.
-                TIMER.armed().write(|w| w.set_armed(1 << n));
-
-                alarm.timestamp.set(u64::MAX);
-
-                false
-            } else {
-                true
+            if queue.schedule_wake(at, waker) {
+                let mut next = queue.next_expiration(self.now());
+                while !self.set_alarm(cs, next) {
+                    next = queue.next_expiration(self.now());
+                }
             }
         })
     }
 }
 
 impl TimerDriver {
-    fn check_alarm(&self, n: usize) {
+    fn set_alarm(&self, cs: CriticalSection, timestamp: u64) -> bool {
+        let n = 0;
+        let alarm = &self.alarms.borrow(cs);
+        alarm.timestamp.set(timestamp);
+
+        // Arm it.
+        // Note that we're not checking the high bits at all. This means the irq may fire early
+        // if the alarm is more than 72 minutes (2^32 us) in the future. This is OK, since on irq fire
+        // it is checked if the alarm time has passed.
+        TIMER.alarm(n).write_value(timestamp as u32);
+
+        let now = self.now();
+        if timestamp <= now {
+            // If alarm timestamp has passed the alarm will not fire.
+            // Disarm the alarm and return `false` to indicate that.
+            TIMER.armed().write(|w| w.set_armed(1 << n));
+
+            alarm.timestamp.set(u64::MAX);
+
+            false
+        } else {
+            true
+        }
+    }
+
+    fn check_alarm(&self) {
+        let n = 0;
         critical_section::with(|cs| {
-            let alarm = &self.alarms.borrow(cs)[n];
+            let alarm = &self.alarms.borrow(cs);
             let timestamp = alarm.timestamp.get();
             if timestamp <= self.now() {
-                self.trigger_alarm(n, cs)
+                self.trigger_alarm(cs)
             } else {
                 // Not elapsed, arm it again.
                 // This can happen if it was set more than 2^32 us in the future.
@@ -116,16 +101,10 @@ impl TimerDriver {
         TIMER.intr().write(|w| w.set_alarm(n, true));
     }
 
-    fn trigger_alarm(&self, n: usize, cs: CriticalSection) {
-        // disarm
-        TIMER.armed().write(|w| w.set_armed(1 << n));
-
-        let alarm = &self.alarms.borrow(cs)[n];
-        alarm.timestamp.set(u64::MAX);
-
-        // Call after clearing alarm, so the callback can set another alarm.
-        if let Some((f, ctx)) = alarm.callback.get() {
-            f(ctx);
+    fn trigger_alarm(&self, cs: CriticalSection) {
+        let mut next = self.queue.borrow(cs).borrow_mut().next_expiration(self.now());
+        while !self.set_alarm(cs, next) {
+            next = self.queue.borrow(cs).borrow_mut().next_expiration(self.now());
         }
     }
 }
@@ -134,79 +113,32 @@ impl TimerDriver {
 pub unsafe fn init() {
     // init alarms
     critical_section::with(|cs| {
-        let alarms = DRIVER.alarms.borrow(cs);
-        for a in alarms {
-            a.timestamp.set(u64::MAX);
-        }
+        let alarm = DRIVER.alarms.borrow(cs);
+        alarm.timestamp.set(u64::MAX);
     });
 
-    // enable all irqs
+    // enable irq
     TIMER.inte().write(|w| {
         w.set_alarm(0, true);
-        w.set_alarm(1, true);
-        w.set_alarm(2, true);
-        w.set_alarm(3, true);
     });
     #[cfg(feature = "rp2040")]
     {
         interrupt::TIMER_IRQ_0.enable();
-        interrupt::TIMER_IRQ_1.enable();
-        interrupt::TIMER_IRQ_2.enable();
-        interrupt::TIMER_IRQ_3.enable();
     }
     #[cfg(feature = "_rp235x")]
     {
         interrupt::TIMER0_IRQ_0.enable();
-        interrupt::TIMER0_IRQ_1.enable();
-        interrupt::TIMER0_IRQ_2.enable();
-        interrupt::TIMER0_IRQ_3.enable();
     }
 }
 
 #[cfg(all(feature = "rt", feature = "rp2040"))]
 #[interrupt]
 fn TIMER_IRQ_0() {
-    DRIVER.check_alarm(0)
-}
-
-#[cfg(all(feature = "rt", feature = "rp2040"))]
-#[interrupt]
-fn TIMER_IRQ_1() {
-    DRIVER.check_alarm(1)
-}
-
-#[cfg(all(feature = "rt", feature = "rp2040"))]
-#[interrupt]
-fn TIMER_IRQ_2() {
-    DRIVER.check_alarm(2)
-}
-
-#[cfg(all(feature = "rt", feature = "rp2040"))]
-#[interrupt]
-fn TIMER_IRQ_3() {
-    DRIVER.check_alarm(3)
+    DRIVER.check_alarm()
 }
 
 #[cfg(all(feature = "rt", feature = "_rp235x"))]
 #[interrupt]
 fn TIMER0_IRQ_0() {
-    DRIVER.check_alarm(0)
-}
-
-#[cfg(all(feature = "rt", feature = "_rp235x"))]
-#[interrupt]
-fn TIMER0_IRQ_1() {
-    DRIVER.check_alarm(1)
-}
-
-#[cfg(all(feature = "rt", feature = "_rp235x"))]
-#[interrupt]
-fn TIMER0_IRQ_2() {
-    DRIVER.check_alarm(2)
-}
-
-#[cfg(all(feature = "rt", feature = "_rp235x"))]
-#[interrupt]
-fn TIMER0_IRQ_3() {
-    DRIVER.check_alarm(3)
+    DRIVER.check_alarm()
 }
diff --git a/embassy-stm32/Cargo.toml b/embassy-stm32/Cargo.toml
index 8b4e7c929..47e9e8bb9 100644
--- a/embassy-stm32/Cargo.toml
+++ b/embassy-stm32/Cargo.toml
@@ -45,6 +45,7 @@ rustdoc-args = ["--cfg", "docsrs"]
 embassy-sync = { version = "0.6.1", path = "../embassy-sync" }
 embassy-time = { version = "0.3.2", path = "../embassy-time", optional = true }
 embassy-time-driver = { version = "0.1", path = "../embassy-time-driver", optional = true }
+embassy-time-queue-driver = { version = "0.1", path = "../embassy-time-queue-driver", optional = true }
 embassy-futures = { version = "0.1.0", path = "../embassy-futures" }
 embassy-hal-internal = {version = "0.2.0", path = "../embassy-hal-internal", features = ["cortex-m", "prio-bits-4"] }
 embassy-embedded-hal = {version = "0.2.0", path = "../embassy-embedded-hal", default-features = false }
@@ -149,7 +150,7 @@ time = ["dep:embassy-time", "embassy-embedded-hal/time"]
 
 # Features starting with `_` are for internal use only. They're not intended
 # to be enabled by other crates, and are not covered by semver guarantees.
-_time-driver = ["dep:embassy-time-driver", "time"]
+_time-driver = ["dep:embassy-time-driver", "time", "dep:embassy-time-queue-driver"]
 
 ## Use any time driver
 time-driver-any = ["_time-driver"]
diff --git a/embassy-stm32/src/low_power.rs b/embassy-stm32/src/low_power.rs
index 0b87bd95a..7734365f1 100644
--- a/embassy-stm32/src/low_power.rs
+++ b/embassy-stm32/src/low_power.rs
@@ -256,9 +256,6 @@ impl Executor {
     /// This function never returns.
     pub fn run(&'static mut self, init: impl FnOnce(Spawner)) -> ! {
         let executor = unsafe { EXECUTOR.as_mut().unwrap() };
-        unsafe {
-            executor.inner.initialize();
-        }
         init(executor.inner.spawner());
 
         loop {
diff --git a/embassy-stm32/src/time_driver.rs b/embassy-stm32/src/time_driver.rs
index 00aa3cfa4..a4c333d82 100644
--- a/embassy-stm32/src/time_driver.rs
+++ b/embassy-stm32/src/time_driver.rs
@@ -1,13 +1,13 @@
 #![allow(non_snake_case)]
 
-use core::cell::Cell;
-use core::sync::atomic::{compiler_fence, AtomicU32, AtomicU8, Ordering};
-use core::{mem, ptr};
+use core::cell::{Cell, RefCell};
+use core::sync::atomic::{compiler_fence, AtomicU32, Ordering};
 
 use critical_section::CriticalSection;
 use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
 use embassy_sync::blocking_mutex::Mutex;
-use embassy_time_driver::{AlarmHandle, Driver, TICK_HZ};
+use embassy_time_driver::{Driver, TICK_HZ};
+use embassy_time_queue_driver::Queue;
 use stm32_metapac::timer::{regs, TimGp16};
 
 use crate::interrupt::typelevel::Interrupt;
@@ -24,18 +24,6 @@ use crate::{interrupt, peripherals};
 // additional CC capabilities to provide timer alarms to embassy-time. embassy-time requires AT LEAST
 // one alarm to be allocatable, which means timers that only have CC1, such as TIM16/TIM17, are not
 // candidates for use as an embassy-time driver provider. (a.k.a 1CH and 1CH_CMP are not, others are good.)
-//
-// The values of ALARM_COUNT below are not the TOTAL CC registers available, but rather the number
-// available after reserving CC1 for regular time keeping. For example, TIM2 has four CC registers:
-// CC1, CC2, CC3, and CC4, so it can provide ALARM_COUNT = 3.
-
-cfg_if::cfg_if! {
-    if #[cfg(any(time_driver_tim9, time_driver_tim12, time_driver_tim15, time_driver_tim21, time_driver_tim22))] {
-        const ALARM_COUNT: usize = 1;
-    } else {
-        const ALARM_COUNT: usize = 3;
-    }
-}
 
 #[cfg(time_driver_tim1)]
 type T = peripherals::TIM1;
@@ -208,11 +196,6 @@ fn calc_now(period: u32, counter: u16) -> u64 {
 
 struct AlarmState {
     timestamp: Cell<u64>,
-
-    // This is really a Option<(fn(*mut ()), *mut ())>
-    // but fn pointers aren't allowed in const yet
-    callback: Cell<*const ()>,
-    ctx: Cell<*mut ()>,
 }
 
 unsafe impl Send for AlarmState {}
@@ -221,8 +204,6 @@ impl AlarmState {
     const fn new() -> Self {
         Self {
             timestamp: Cell::new(u64::MAX),
-            callback: Cell::new(ptr::null()),
-            ctx: Cell::new(ptr::null_mut()),
         }
     }
 }
@@ -230,19 +211,18 @@ impl AlarmState {
 pub(crate) struct RtcDriver {
     /// Number of 2^15 periods elapsed since boot.
     period: AtomicU32,
-    alarm_count: AtomicU8,
-    /// Timestamp at which to fire alarm. u64::MAX if no alarm is scheduled.
-    alarms: Mutex<CriticalSectionRawMutex, [AlarmState; ALARM_COUNT]>,
+    alarm: Mutex<CriticalSectionRawMutex, AlarmState>,
     #[cfg(feature = "low-power")]
     rtc: Mutex<CriticalSectionRawMutex, Cell<Option<&'static Rtc>>>,
+    queue: Mutex<CriticalSectionRawMutex, RefCell<Queue>>,
 }
 
 embassy_time_driver::time_driver_impl!(static DRIVER: RtcDriver = RtcDriver {
     period: AtomicU32::new(0),
-    alarm_count: AtomicU8::new(0),
-    alarms: Mutex::const_new(CriticalSectionRawMutex::new(), [const{AlarmState::new()}; ALARM_COUNT]),
+    alarm: Mutex::const_new(CriticalSectionRawMutex::new(), AlarmState::new()),
     #[cfg(feature = "low-power")]
     rtc: Mutex::const_new(CriticalSectionRawMutex::new(), Cell::new(None)),
+    queue: Mutex::new(RefCell::new(Queue::new()))
 });
 
 impl RtcDriver {
@@ -288,7 +268,6 @@ impl RtcDriver {
     fn on_interrupt(&self) {
         let r = regs_gp16();
 
-        // XXX: reduce the size of this critical section ?
         critical_section::with(|cs| {
             let sr = r.sr().read();
             let dier = r.dier().read();
@@ -308,10 +287,9 @@ impl RtcDriver {
                 self.next_period();
             }
 
-            for n in 0..ALARM_COUNT {
-                if sr.ccif(n + 1) && dier.ccie(n + 1) {
-                    self.trigger_alarm(n, cs);
-                }
+            let n = 0;
+            if sr.ccif(n + 1) && dier.ccie(n + 1) {
+                self.trigger_alarm(cs);
             }
         })
     }
@@ -326,36 +304,23 @@ impl RtcDriver {
 
         critical_section::with(move |cs| {
             r.dier().modify(move |w| {
-                for n in 0..ALARM_COUNT {
-                    let alarm = &self.alarms.borrow(cs)[n];
-                    let at = alarm.timestamp.get();
-
-                    if at < t + 0xc000 {
-                        // just enable it. `set_alarm` has already set the correct CCR val.
-                        w.set_ccie(n + 1, true);
-                    }
+                let n = 0;
+                let alarm = self.alarm.borrow(cs);
+                let at = alarm.timestamp.get();
+
+                if at < t + 0xc000 {
+                    // just enable it. `set_alarm` has already set the correct CCR val.
+                    w.set_ccie(n + 1, true);
                 }
             })
         })
     }
 
-    fn get_alarm<'a>(&'a self, cs: CriticalSection<'a>, alarm: AlarmHandle) -> &'a AlarmState {
-        // safety: we're allowed to assume the AlarmState is created by us, and
-        // we never create one that's out of bounds.
-        unsafe { self.alarms.borrow(cs).get_unchecked(alarm.id() as usize) }
-    }
-
-    fn trigger_alarm(&self, n: usize, cs: CriticalSection) {
-        let alarm = &self.alarms.borrow(cs)[n];
-        alarm.timestamp.set(u64::MAX);
-
-        // Call after clearing alarm, so the callback can set another alarm.
-
-        // safety:
-        // - we can ignore the possibility of `f` being unset (null) because of the safety contract of `allocate_alarm`.
-        // - other than that we only store valid function pointers into alarm.callback
-        let f: fn(*mut ()) = unsafe { mem::transmute(alarm.callback.get()) };
-        f(alarm.ctx.get());
+    fn trigger_alarm(&self, cs: CriticalSection) {
+        let mut next = self.queue.borrow(cs).borrow_mut().next_expiration(self.now());
+        while !self.set_alarm(cs, next) {
+            next = self.queue.borrow(cs).borrow_mut().next_expiration(self.now());
+        }
     }
 
     /*
@@ -367,14 +332,7 @@ impl RtcDriver {
     fn time_until_next_alarm(&self, cs: CriticalSection) -> embassy_time::Duration {
         let now = self.now() + 32;
 
-        embassy_time::Duration::from_ticks(
-            self.alarms
-                .borrow(cs)
-                .iter()
-                .map(|alarm: &AlarmState| alarm.timestamp.get().saturating_sub(now))
-                .min()
-                .unwrap_or(u64::MAX),
-        )
+        embassy_time::Duration::from_ticks(self.alarm.borrow(cs).timestamp.get().saturating_sub(now))
     }
 
     #[cfg(feature = "low-power")]
@@ -409,15 +367,12 @@ impl RtcDriver {
         self.period.store(period, Ordering::SeqCst);
         regs_gp16().cnt().write(|w| w.set_cnt(cnt as u16));
 
-        // Now, recompute all alarms
-        for i in 0..self.alarm_count.load(Ordering::Relaxed) as usize {
-            let alarm_handle = unsafe { AlarmHandle::new(i as u8) };
-            let alarm = self.get_alarm(cs, alarm_handle);
+        // Now, recompute alarm
+        let alarm = self.alarm.borrow(cs);
 
-            if !self.set_alarm(alarm_handle, alarm.timestamp.get()) {
-                // If the alarm timestamp has passed, we need to trigger it
-                self.trigger_alarm(i, cs);
-            }
+        if !self.set_alarm(cs, alarm.timestamp.get()) {
+            // If the alarm timestamp has passed, we need to trigger it
+            self.trigger_alarm(cs);
         }
     }
 
@@ -489,82 +444,71 @@ impl RtcDriver {
             regs_gp16().cr1().modify(|w| w.set_cen(true));
         })
     }
-}
 
-impl Driver for RtcDriver {
-    fn now(&self) -> u64 {
+    fn set_alarm(&self, cs: CriticalSection, timestamp: u64) -> bool {
         let r = regs_gp16();
 
-        let period = self.period.load(Ordering::Relaxed);
-        compiler_fence(Ordering::Acquire);
-        let counter = r.cnt().read().cnt();
-        calc_now(period, counter)
-    }
+        let n = 0;
+        self.alarm.borrow(cs).timestamp.set(timestamp);
 
-    unsafe fn allocate_alarm(&self) -> Option<AlarmHandle> {
-        critical_section::with(|_| {
-            let id = self.alarm_count.load(Ordering::Relaxed);
-            if id < ALARM_COUNT as u8 {
-                self.alarm_count.store(id + 1, Ordering::Relaxed);
-                Some(AlarmHandle::new(id))
-            } else {
-                None
-            }
-        })
-    }
+        let t = self.now();
+        if timestamp <= t {
+            // If alarm timestamp has passed the alarm will not fire.
+            // Disarm the alarm and return `false` to indicate that.
+            r.dier().modify(|w| w.set_ccie(n + 1, false));
 
-    fn set_alarm_callback(&self, alarm: AlarmHandle, callback: fn(*mut ()), ctx: *mut ()) {
-        critical_section::with(|cs| {
-            let alarm = self.get_alarm(cs, alarm);
+            self.alarm.borrow(cs).timestamp.set(u64::MAX);
 
-            alarm.callback.set(callback as *const ());
-            alarm.ctx.set(ctx);
-        })
-    }
+            return false;
+        }
 
-    fn set_alarm(&self, alarm: AlarmHandle, timestamp: u64) -> bool {
-        critical_section::with(|cs| {
-            let r = regs_gp16();
+        // Write the CCR value regardless of whether we're going to enable it now or not.
+        // This way, when we enable it later, the right value is already set.
+        r.ccr(n + 1).write(|w| w.set_ccr(timestamp as u16));
 
-            let n = alarm.id() as usize;
-            let alarm = self.get_alarm(cs, alarm);
-            alarm.timestamp.set(timestamp);
+        // Enable it if it'll happen soon. Otherwise, `next_period` will enable it.
+        let diff = timestamp - t;
+        r.dier().modify(|w| w.set_ccie(n + 1, diff < 0xc000));
 
-            let t = self.now();
-            if timestamp <= t {
-                // If alarm timestamp has passed the alarm will not fire.
-                // Disarm the alarm and return `false` to indicate that.
-                r.dier().modify(|w| w.set_ccie(n + 1, false));
+        // Reevaluate if the alarm timestamp is still in the future
+        let t = self.now();
+        if timestamp <= t {
+            // If alarm timestamp has passed since we set it, we have a race condition and
+            // the alarm may or may not have fired.
+            // Disarm the alarm and return `false` to indicate that.
+            // It is the caller's responsibility to handle this ambiguity.
+            r.dier().modify(|w| w.set_ccie(n + 1, false));
 
-                alarm.timestamp.set(u64::MAX);
+            self.alarm.borrow(cs).timestamp.set(u64::MAX);
 
-                return false;
-            }
+            return false;
+        }
 
-            // Write the CCR value regardless of whether we're going to enable it now or not.
-            // This way, when we enable it later, the right value is already set.
-            r.ccr(n + 1).write(|w| w.set_ccr(timestamp as u16));
+        // We're confident the alarm will ring in the future.
+        true
+    }
+}
 
-            // Enable it if it'll happen soon. Otherwise, `next_period` will enable it.
-            let diff = timestamp - t;
-            r.dier().modify(|w| w.set_ccie(n + 1, diff < 0xc000));
+impl Driver for RtcDriver {
+    fn now(&self) -> u64 {
+        let r = regs_gp16();
 
-            // Reevaluate if the alarm timestamp is still in the future
-            let t = self.now();
-            if timestamp <= t {
-                // If alarm timestamp has passed since we set it, we have a race condition and
-                // the alarm may or may not have fired.
-                // Disarm the alarm and return `false` to indicate that.
-                // It is the caller's responsibility to handle this ambiguity.
-                r.dier().modify(|w| w.set_ccie(n + 1, false));
+        let period = self.period.load(Ordering::Relaxed);
+        compiler_fence(Ordering::Acquire);
+        let counter = r.cnt().read().cnt();
+        calc_now(period, counter)
+    }
 
-                alarm.timestamp.set(u64::MAX);
+    fn schedule_wake(&self, at: u64, waker: &core::task::Waker) {
+        critical_section::with(|cs| {
+            let mut queue = self.queue.borrow(cs).borrow_mut();
 
-                return false;
+            if queue.schedule_wake(at, waker) {
+                let mut next = queue.next_expiration(self.now());
+                while !self.set_alarm(cs, next) {
+                    next = queue.next_expiration(self.now());
+                }
             }
-
-            // We're confident the alarm will ring in the future.
-            true
         })
     }
 }
diff --git a/embassy-time-driver/CHANGELOG.md b/embassy-time-driver/CHANGELOG.md
new file mode 100644
index 000000000..2af1dc736
--- /dev/null
+++ b/embassy-time-driver/CHANGELOG.md
@@ -0,0 +1,15 @@
+# Changelog for embassy-time-driver
+
+All notable changes to this project will be documented in this file.
+
+The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/),
+and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0.html).
+
+## Unreleased
+
+- The `allocate_alarm`, `set_alarm_callback`, `set_alarm` functions have been removed.
+- `schedule_wake` has been added to the `Driver` trait.
+
+## 0.1.0 - 2024-01-11
+
+Initial release
diff --git a/embassy-time-driver/src/lib.rs b/embassy-time-driver/src/lib.rs
index 12f40b9b9..57a9f7587 100644
--- a/embassy-time-driver/src/lib.rs
+++ b/embassy-time-driver/src/lib.rs
@@ -17,28 +17,12 @@
 //! Otherwise, don’t enable any `tick-hz-*` feature to let the user configure the tick rate themselves by
 //! enabling a feature on `embassy-time`.
 //!
-//! # Linkage details
-//!
-//! Instead of the usual "trait + generic params" approach, calls from embassy to the driver are done via `extern` functions.
-//!
-//! `embassy` internally defines the driver functions as `extern "Rust" { fn _embassy_time_now() -> u64; }` and calls them.
-//! The driver crate defines the functions as `#[no_mangle] fn _embassy_time_now() -> u64`. The linker will resolve the
-//! calls from the `embassy` crate to call into the driver crate.
-//!
-//! If there is none or multiple drivers in the crate tree, linking will fail.
-//!
-//! This method has a few key advantages for something as foundational as timekeeping:
-//!
-//! - The time driver is available everywhere easily, without having to thread the implementation
-//!   through generic parameters. This is especially helpful for libraries.
-//! - It means comparing `Instant`s will always make sense: if there were multiple drivers
-//!   active, one could compare an `Instant` from driver A to an `Instant` from driver B, which
-//!   would yield incorrect results.
-//!
-//! # Example
+//! ### Example
 //!
 //! ```
-//! use embassy_time_driver::{Driver, AlarmHandle};
+//! use core::task::Waker;
+//!
+//! use embassy_time_driver::Driver;
 //!
 //! struct MyDriver{} // not public!
 //!
@@ -46,23 +30,79 @@
 //!     fn now(&self) -> u64 {
 //!         todo!()
 //!     }
-//!     unsafe fn allocate_alarm(&self) -> Option<AlarmHandle> {
-//!         todo!()
-//!     }
-//!     fn set_alarm_callback(&self, alarm: AlarmHandle, callback: fn(*mut ()), ctx: *mut ()) {
-//!         todo!()
-//!     }
-//!     fn set_alarm(&self, alarm: AlarmHandle, timestamp: u64) -> bool {
+//!
+//!     fn schedule_wake(&self, at: u64, waker: &Waker) {
 //!         todo!()
 //!     }
 //! }
 //!
 //! embassy_time_driver::time_driver_impl!(static DRIVER: MyDriver = MyDriver{});
 //! ```
+//!
+//! ## Implementing the timer queue
+//!
+//! The simplest (but suboptimal) way to implement a timer queue is to define a single queue in the
+//! time driver. Declare a field protected by an appropriate mutex (e.g. `critical_section::Mutex`).
+//!
+//! Then, you'll need to adapt the `schedule_wake` method to use this queue.
+//!
+//! ```ignore
+//! use core::cell::RefCell;
+//! use core::task::Waker;
+//!
+//! use embassy_time_queue_driver::Queue;
+//! use embassy_time_driver::Driver;
+//!
+//! struct MyDriver {
+//!     timer_queue: critical_section::Mutex<RefCell<Queue>>,
+//! }
+//!
+//! impl MyDriver {
+//!    fn set_alarm(&self, cs: &CriticalSection, at: u64) -> bool {
+//!        todo!()
+//!    }
+//! }
+//!
+//! impl Driver for MyDriver {
+//!     // fn now(&self) -> u64 { ... }
+//!
+//!     fn schedule_wake(&self, at: u64, waker: &Waker) {
+//!         critical_section::with(|cs| {
+//!             let mut queue = self.queue.borrow(cs).borrow_mut();
+//!             if queue.schedule_wake(at, waker) {
+//!                 let mut next = queue.next_expiration(self.now());
+//!                 while !self.set_alarm(cs, next) {
+//!                     next = queue.next_expiration(self.now());
+//!                 }
+//!             }
+//!         });
+//!     }
+//! }
+//! ```
+//!
+//! # Linkage details
+//!
+//! Instead of the usual "trait + generic params" approach, calls from embassy to the driver are done via `extern` functions.
+//!
+//! `embassy` internally defines the driver function as `extern "Rust" { fn _embassy_time_now() -> u64; }` and calls it.
+//! The driver crate defines the function as `#[no_mangle] fn _embassy_time_now() -> u64`. The linker will resolve the
+//! calls from the `embassy` crate to call into the driver crate.
+//!
+//! If there is none or multiple drivers in the crate tree, linking will fail.
+//!
+//! This method has a few key advantages for something as foundational as timekeeping:
+//!
+//! - The time driver is available everywhere easily, without having to thread the implementation
+//!   through generic parameters. This is especially helpful for libraries.
+//! - It means comparing `Instant`s will always make sense: if there were multiple drivers
+//!   active, one could compare an `Instant` from driver A to an `Instant` from driver B, which
+//!   would yield incorrect results.
 
 //! ## Feature flags
 #![doc = document_features::document_features!(feature_label = r#"<span class="stab portability"><code>{feature}</code></span>"#)]
 
+use core::task::Waker;
+
 mod tick;
 
 /// Ticks per second of the global timebase.
@@ -70,28 +110,6 @@ mod tick;
 /// This value is specified by the [`tick-*` Cargo features](crate#tick-rate)
 pub const TICK_HZ: u64 = tick::TICK_HZ;
 
-/// Alarm handle, assigned by the driver.
-#[derive(Clone, Copy)]
-pub struct AlarmHandle {
-    id: u8,
-}
-
-impl AlarmHandle {
-    /// Create an AlarmHandle
-    ///
-    /// Safety: May only be called by the current global Driver impl.
-    /// The impl is allowed to rely on the fact that all `AlarmHandle` instances
-    /// are created by itself in unsafe code (e.g. indexing operations)
-    pub unsafe fn new(id: u8) -> Self {
-        Self { id }
-    }
-
-    /// Get the ID of the AlarmHandle.
-    pub fn id(&self) -> u8 {
-        self.id
-    }
-}
-
 /// Time driver
 pub trait Driver: Send + Sync + 'static {
     /// Return the current timestamp in ticks.
@@ -106,75 +124,13 @@ pub trait Driver: Send + Sync + 'static {
     ///   or chaining multiple timers together.
     fn now(&self) -> u64;
 
-    /// Try allocating an alarm handle. Returns None if no alarms left.
-    /// Initially the alarm has no callback set, and a null `ctx` pointer.
-    ///
-    /// The allocated alarm is a reusable resource and can be used multiple times.
-    /// Once the alarm has fired, it remains allocated and can be set again without needing
-    /// to be reallocated.
-    ///
-    /// # Safety
-    /// It is UB to make the alarm fire before setting a callback.
-    unsafe fn allocate_alarm(&self) -> Option<AlarmHandle>;
-
-    /// Set the callback function to be called when the alarm triggers.
-    /// The callback may be called from any context (interrupt or thread mode).
-    ///
-    /// The callback is maintained after the alarm has fired. Callers do not need
-    /// to set a callback again before setting another alarm, unless they want to
-    /// change the callback function or context.
-    fn set_alarm_callback(&self, alarm: AlarmHandle, callback: fn(*mut ()), ctx: *mut ());
-
-    /// Set an alarm at the given timestamp.
-    ///
-    /// ## Behavior
-    ///
-    /// If `timestamp` is in the future, `set_alarm` schedules calling the callback function
-    /// at that time, and returns `true`.
-    ///
-    /// If `timestamp` is in the past, `set_alarm` has two allowed behaviors. Implementations can pick whether to:
-    ///
-    /// - Schedule calling the callback function "immediately", as if the requested timestamp was "now+epsilon" and return `true`, or
-    /// - Not schedule the callback, and return `false`.
-    ///
-    /// Callers must ensure to behave correctly with either behavior.
-    ///
-    /// When callback is called, it is guaranteed that `now()` will return a value greater than or equal to `timestamp`.
-    ///
-    /// ## Reentrancy
-    ///
-    /// Calling the callback from `set_alarm` synchronously is not allowed. If the implementation chooses the first option above,
-    /// it must still call the callback from another context (i.e. an interrupt handler or background thread), it's not allowed
-    /// to call it synchronously in the context `set_alarm` is running.
-    ///
-    /// The reason for the above is callers are explicitly permitted to do both of:
-    /// - Lock a mutex in the alarm callback.
-    /// - Call `set_alarm` while having that mutex locked.
-    ///
-    /// If `set_alarm` called the callback synchronously, it'd cause a deadlock or panic because it'd cause the
-    /// mutex to be locked twice reentrantly in the same context.
-    ///
-    /// ## Overwriting alarms
-    ///
-    /// Only one alarm can be active at a time for each `AlarmHandle`. This overwrites any previously-set alarm if any.
-    ///
-    /// ## Unsetting the alarm
-    ///
-    /// There is no `unset_alarm` API. Instead, callers can call `set_alarm` with `timestamp` set to `u64::MAX`.
-    ///
-    /// This allows for more efficient implementations, since they don't need to distinguish between the "alarm set" and
-    /// "alarm not set" cases, thanks to the fact "Alarm set for u64::MAX" is effectively equivalent for "alarm not set".
-    ///
-    /// This means implementations need to be careful to avoid timestamp overflows. The recommendation is to make `timestamp`
-    /// be in the same units as hardware ticks to avoid any conversions, which makes avoiding overflow easier.
-    fn set_alarm(&self, alarm: AlarmHandle, timestamp: u64) -> bool;
+    /// Schedules a waker to be awoken at moment `at`.
+    /// If this moment is in the past, the waker might be awoken immediately.
+    fn schedule_wake(&self, at: u64, waker: &Waker);
 }
 
 extern "Rust" {
     fn _embassy_time_now() -> u64;
-    fn _embassy_time_allocate_alarm() -> Option<AlarmHandle>;
-    fn _embassy_time_set_alarm_callback(alarm: AlarmHandle, callback: fn(*mut ()), ctx: *mut ());
-    fn _embassy_time_set_alarm(alarm: AlarmHandle, timestamp: u64) -> bool;
 }
 
 /// See [`Driver::now`]
@@ -182,23 +138,6 @@ pub fn now() -> u64 {
     unsafe { _embassy_time_now() }
 }
 
-/// See [`Driver::allocate_alarm`]
-///
-/// Safety: it is UB to make the alarm fire before setting a callback.
-pub unsafe fn allocate_alarm() -> Option<AlarmHandle> {
-    _embassy_time_allocate_alarm()
-}
-
-/// See [`Driver::set_alarm_callback`]
-pub fn set_alarm_callback(alarm: AlarmHandle, callback: fn(*mut ()), ctx: *mut ()) {
-    unsafe { _embassy_time_set_alarm_callback(alarm, callback, ctx) }
-}
-
-/// See [`Driver::set_alarm`]
-pub fn set_alarm(alarm: AlarmHandle, timestamp: u64) -> bool {
-    unsafe { _embassy_time_set_alarm(alarm, timestamp) }
-}
-
 /// Set the time Driver implementation.
 ///
 /// See the module documentation for an example.
@@ -213,18 +152,8 @@ macro_rules! time_driver_impl {
         }
 
         #[no_mangle]
-        unsafe fn _embassy_time_allocate_alarm() -> Option<$crate::AlarmHandle> {
-            <$t as $crate::Driver>::allocate_alarm(&$name)
-        }
-
-        #[no_mangle]
-        fn _embassy_time_set_alarm_callback(alarm: $crate::AlarmHandle, callback: fn(*mut ()), ctx: *mut ()) {
-            <$t as $crate::Driver>::set_alarm_callback(&$name, alarm, callback, ctx)
-        }
-
-        #[no_mangle]
-        fn _embassy_time_set_alarm(alarm: $crate::AlarmHandle, timestamp: u64) -> bool {
-            <$t as $crate::Driver>::set_alarm(&$name, alarm, timestamp)
+        fn _embassy_time_schedule_wake(at: u64, waker: &core::task::Waker) {
+            <$t as $crate::Driver>::schedule_wake(&$name, at, waker);
         }
     };
 }
diff --git a/embassy-time-queue-driver/CHANGELOG.md b/embassy-time-queue-driver/CHANGELOG.md
new file mode 100644
index 000000000..a99f250ed
--- /dev/null
+++ b/embassy-time-queue-driver/CHANGELOG.md
@@ -0,0 +1,15 @@
+# Changelog for embassy-time-queue-driver
+
+All notable changes to this project will be documented in this file.
+
+The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/),
+and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0.html).
+
+## Unreleased
+
+- Added `generic-queue-N` features.
+- Added `embassy_time_queue_driver::Queue` struct which uses integrated or a generic storage (configured using `generic-queue-N`).
+
+## 0.1.0 - 2024-01-11
+
+Initial release
diff --git a/embassy-time-queue-driver/Cargo.toml b/embassy-time-queue-driver/Cargo.toml
index 9ce9d79bb..a104f5c39 100644
--- a/embassy-time-queue-driver/Cargo.toml
+++ b/embassy-time-queue-driver/Cargo.toml
@@ -20,6 +20,38 @@ categories = [
 # This is especially common when mixing crates from crates.io and git.
 links = "embassy-time-queue"
 
+[dependencies]
+heapless = "0.8"
+embassy-executor = { version = "0.6.3", path = "../embassy-executor" }
+
+[features]
+#! ### Generic Queue
+
+#! By default this crate uses a timer queue implementation that is faster but depends on `embassy-executor`.
+#! It will panic if you try to await any timer when using another executor.
+#! 
+#! Alternatively, you can choose to use a "generic" timer queue implementation that works on any executor.
+#! To enable it, enable any of the features below.
+#! 
+#! The features also set how many timers are used for the generic queue. At most one
+#! `generic-queue-*` feature can be enabled. If none is enabled, a default of 64 timers is used.
+#!
+#! When using embassy-time from libraries, you should *not* enable any `generic-queue-*` feature, to allow the
+#! end user to pick.
+
+## Generic Queue with 8 timers
+generic-queue-8 = ["_generic-queue"]
+## Generic Queue with 16 timers
+generic-queue-16 = ["_generic-queue"]
+## Generic Queue with 32 timers
+generic-queue-32 = ["_generic-queue"]
+## Generic Queue with 64 timers
+generic-queue-64 = ["_generic-queue"]
+## Generic Queue with 128 timers
+generic-queue-128 = ["_generic-queue"]
+
+_generic-queue = []
+
 [package.metadata.embassy_docs]
 src_base = "https://github.com/embassy-rs/embassy/blob/embassy-time-queue-driver-v$VERSION/embassy-time-queue-driver/src/"
 src_base_git = "https://github.com/embassy-rs/embassy/blob/$COMMIT/embassy-time-queue-driver/src/"
diff --git a/embassy-time-queue-driver/src/lib.rs b/embassy-time-queue-driver/src/lib.rs
index 50736e8c7..97c81a124 100644
--- a/embassy-time-queue-driver/src/lib.rs
+++ b/embassy-time-queue-driver/src/lib.rs
@@ -2,38 +2,25 @@
 #![doc = include_str!("../README.md")]
 #![warn(missing_docs)]
 
-//! ## Implementing a timer queue
+//! This crate is an implementation detail of `embassy-time-driver`.
 //!
-//! - Define a struct `MyTimerQueue`
-//! - Implement [`TimerQueue`] for it
-//! - Register it as the global timer queue with [`timer_queue_impl`](crate::timer_queue_impl).
+//! As a HAL user, you should only depend on this crate if your application does not use
+//! `embassy-executor` and your HAL does not configure a generic queue by itself.
 //!
-//! ## Example
-//!
-//! ```
-//! use core::task::Waker;
-//!
-//! use embassy_time::Instant;
-//! use embassy_time::queue::{TimerQueue};
-//!
-//! struct MyTimerQueue{}; // not public!
-//!
-//! impl TimerQueue for MyTimerQueue {
-//!     fn schedule_wake(&'static self, at: u64, waker: &Waker) {
-//!         todo!()
-//!     }
-//! }
-//!
-//! embassy_time_queue_driver::timer_queue_impl!(static QUEUE: MyTimerQueue = MyTimerQueue{});
-//! ```
+//! As a HAL implementer, you need to depend on this crate if you want to implement a time driver,
+//! but how you should do so is documented in `embassy-time-driver`.
+
 use core::task::Waker;
 
-/// Timer queue
-pub trait TimerQueue {
-    /// Schedules a waker in the queue to be awoken at moment `at`.
-    /// If this moment is in the past, the waker might be awoken immediately.
-    fn schedule_wake(&'static self, at: u64, waker: &Waker);
-}
+#[cfg(feature = "_generic-queue")]
+pub mod queue_generic;
+#[cfg(not(feature = "_generic-queue"))]
+pub mod queue_integrated;
+
+#[cfg(feature = "_generic-queue")]
+pub use queue_generic::Queue;
+#[cfg(not(feature = "_generic-queue"))]
+pub use queue_integrated::Queue;
 
 extern "Rust" {
     fn _embassy_time_schedule_wake(at: u64, waker: &Waker);
@@ -41,20 +28,22 @@ extern "Rust" {
 
 /// Schedule the given waker to be woken at `at`.
 pub fn schedule_wake(at: u64, waker: &Waker) {
-    unsafe { _embassy_time_schedule_wake(at, waker) }
-}
-
-/// Set the TimerQueue implementation.
-///
-/// See the module documentation for an example.
-#[macro_export]
-macro_rules! timer_queue_impl {
-    (static $name:ident: $t: ty = $val:expr) => {
-        static $name: $t = $val;
-
-        #[no_mangle]
-        fn _embassy_time_schedule_wake(at: u64, waker: &core::task::Waker) {
-            <$t as $crate::TimerQueue>::schedule_wake(&$name, at, waker);
+    // This function is not implemented in embassy-time-driver because it needs access to executor
+    // internals. The function updates task state, then delegates to the implementation provided
+    // by the time driver.
+    #[cfg(not(feature = "_generic-queue"))]
+    {
+        use embassy_executor::raw::task_from_waker;
+        use embassy_executor::raw::timer_queue::TimerEnqueueOperation;
+        // The very first thing we must do, before we even access the timer queue, is to
+        // mark the task a TIMER_QUEUED. This ensures that the task that is being scheduled
+        // can not be respawn while we are accessing the timer queue.
+        let task = task_from_waker(waker);
+        if unsafe { task.timer_enqueue() } == TimerEnqueueOperation::Ignore {
+            // We are not allowed to enqueue the task in the timer queue. This is because the
+            // task is not spawned, and so it makes no sense to schedule it.
+            return;
         }
-    };
+    }
+    unsafe { _embassy_time_schedule_wake(at, waker) }
 }
diff --git a/embassy-time-queue-driver/src/queue_generic.rs b/embassy-time-queue-driver/src/queue_generic.rs
new file mode 100644
index 000000000..232035bc6
--- /dev/null
+++ b/embassy-time-queue-driver/src/queue_generic.rs
@@ -0,0 +1,146 @@
+//! Generic timer queue implementations.
+//!
+//! Time queue drivers may use this to simplify their implementation.
+
+use core::cmp::{min, Ordering};
+use core::task::Waker;
+
+use heapless::Vec;
+
+#[derive(Debug)]
+struct Timer {
+    at: u64,
+    waker: Waker,
+}
+
+impl PartialEq for Timer {
+    fn eq(&self, other: &Self) -> bool {
+        self.at == other.at
+    }
+}
+
+impl Eq for Timer {}
+
+impl PartialOrd for Timer {
+    fn partial_cmp(&self, other: &Self) -> Option<Ordering> {
+        self.at.partial_cmp(&other.at)
+    }
+}
+
+impl Ord for Timer {
+    fn cmp(&self, other: &Self) -> Ordering {
+        self.at.cmp(&other.at)
+    }
+}
+
+/// A timer queue with a pre-determined capacity.
+pub struct ConstGenericQueue<const QUEUE_SIZE: usize> {
+    queue: Vec<Timer, QUEUE_SIZE>,
+}
+
+impl<const QUEUE_SIZE: usize> ConstGenericQueue<QUEUE_SIZE> {
+    /// Creates a new timer queue.
+    pub const fn new() -> Self {
+        Self { queue: Vec::new() }
+    }
+
+    /// Schedules a task to run at a specific time, and returns whether any changes were made.
+    ///
+    /// If this function returns `true`, the called should find the next expiration time and set
+    /// a new alarm for that time.
+    pub fn schedule_wake(&mut self, at: u64, waker: &Waker) -> bool {
+        self.queue
+            .iter_mut()
+            .find(|timer| timer.waker.will_wake(waker))
+            .map(|timer| {
+                if timer.at > at {
+                    timer.at = at;
+                    true
+                } else {
+                    false
+                }
+            })
+            .unwrap_or_else(|| {
+                let mut timer = Timer {
+                    waker: waker.clone(),
+                    at,
+                };
+
+                loop {
+                    match self.queue.push(timer) {
+                        Ok(()) => break,
+                        Err(e) => timer = e,
+                    }
+
+                    self.queue.pop().unwrap().waker.wake();
+                }
+
+                true
+            })
+    }
+
+    /// Dequeues expired timers and returns the next alarm time.
+    pub fn next_expiration(&mut self, now: u64) -> u64 {
+        let mut next_alarm = u64::MAX;
+
+        let mut i = 0;
+        while i < self.queue.len() {
+            let timer = &self.queue[i];
+            if timer.at <= now {
+                let timer = self.queue.swap_remove(i);
+                timer.waker.wake();
+            } else {
+                next_alarm = min(next_alarm, timer.at);
+                i += 1;
+            }
+        }
+
+        next_alarm
+    }
+}
+
+#[cfg(feature = "generic-queue-8")]
+const QUEUE_SIZE: usize = 8;
+#[cfg(feature = "generic-queue-16")]
+const QUEUE_SIZE: usize = 16;
+#[cfg(feature = "generic-queue-32")]
+const QUEUE_SIZE: usize = 32;
+#[cfg(feature = "generic-queue-64")]
+const QUEUE_SIZE: usize = 64;
+#[cfg(feature = "generic-queue-128")]
+const QUEUE_SIZE: usize = 128;
+#[cfg(not(any(
+    feature = "generic-queue-8",
+    feature = "generic-queue-16",
+    feature = "generic-queue-32",
+    feature = "generic-queue-64",
+    feature = "generic-queue-128"
+)))]
+const QUEUE_SIZE: usize = 64;
+
+/// A timer queue with a pre-determined capacity.
+pub struct Queue {
+    queue: ConstGenericQueue<QUEUE_SIZE>,
+}
+
+impl Queue {
+    /// Creates a new timer queue.
+    pub const fn new() -> Self {
+        Self {
+            queue: ConstGenericQueue::new(),
+        }
+    }
+
+    /// Schedules a task to run at a specific time, and returns whether any changes were made.
+    ///
+    /// If this function returns `true`, the called should find the next expiration time and set
+    /// a new alarm for that time.
+    pub fn schedule_wake(&mut self, at: u64, waker: &Waker) -> bool {
+        self.queue.schedule_wake(at, waker)
+    }
+
+    /// Dequeues expired timers and returns the next alarm time.
+    pub fn next_expiration(&mut self, now: u64) -> u64 {
+        self.queue.next_expiration(now)
+    }
+}
diff --git a/embassy-time-queue-driver/src/queue_integrated.rs b/embassy-time-queue-driver/src/queue_integrated.rs
new file mode 100644
index 000000000..6bb4c0c1a
--- /dev/null
+++ b/embassy-time-queue-driver/src/queue_integrated.rs
@@ -0,0 +1,90 @@
+//! Timer queue operations.
+use core::cell::Cell;
+use core::cmp::min;
+use core::task::Waker;
+
+use embassy_executor::raw::TaskRef;
+
+/// A timer queue, with items integrated into tasks.
+pub struct Queue {
+    head: Cell<Option<TaskRef>>,
+}
+
+impl Queue {
+    /// Creates a new timer queue.
+    pub const fn new() -> Self {
+        Self { head: Cell::new(None) }
+    }
+
+    /// Schedules a task to run at a specific time.
+    ///
+    /// If this function returns `true`, the called should find the next expiration time and set
+    /// a new alarm for that time.
+    pub fn schedule_wake(&mut self, at: u64, waker: &Waker) -> bool {
+        let task = embassy_executor::raw::task_from_waker(waker);
+        let item = task.timer_queue_item();
+        if item.next.get().is_none() {
+            // If not in the queue, add it and update.
+            let prev = self.head.replace(Some(task));
+            item.next.set(if prev.is_none() {
+                Some(unsafe { TaskRef::dangling() })
+            } else {
+                prev
+            });
+            item.expires_at.set(at);
+            true
+        } else if at <= item.expires_at.get() {
+            // If expiration is sooner than previously set, update.
+            item.expires_at.set(at);
+            true
+        } else {
+            // Task does not need to be updated.
+            false
+        }
+    }
+
+    /// Dequeues expired timers and returns the next alarm time.
+    ///
+    /// The provided callback will be called for each expired task. Tasks that never expire
+    /// will be removed, but the callback will not be called.
+    pub fn next_expiration(&mut self, now: u64) -> u64 {
+        let mut next_expiration = u64::MAX;
+
+        self.retain(|p| {
+            let item = p.timer_queue_item();
+            let expires = item.expires_at.get();
+
+            if expires <= now {
+                // Timer expired, process task.
+                embassy_executor::raw::wake_task(p);
+                false
+            } else {
+                // Timer didn't yet expire, or never expires.
+                next_expiration = min(next_expiration, expires);
+                expires != u64::MAX
+            }
+        });
+
+        next_expiration
+    }
+
+    fn retain(&self, mut f: impl FnMut(TaskRef) -> bool) {
+        let mut prev = &self.head;
+        while let Some(p) = prev.get() {
+            if unsafe { p == TaskRef::dangling() } {
+                // prev was the last item, stop
+                break;
+            }
+            let item = p.timer_queue_item();
+            if f(p) {
+                // Skip to next
+                prev = &item.next;
+            } else {
+                // Remove it
+                prev.set(item.next.get());
+                item.next.set(None);
+                unsafe { p.timer_dequeue() };
+            }
+        }
+    }
+}
diff --git a/embassy-time/CHANGELOG.md b/embassy-time/CHANGELOG.md
index 3b4d93387..a6acb1ad6 100644
--- a/embassy-time/CHANGELOG.md
+++ b/embassy-time/CHANGELOG.md
@@ -7,10 +7,13 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ## Unreleased
 
+- The `generic-queue` and related features have been removed (moved to embassy-time-queue-driver)
+- embassy-time no longer provides an `embassy-time-queue-driver` implementation
+
 ## 0.3.2 - 2024-08-05
 
 - Implement with_timeout()/with_deadline() method style call on Future
-- Add collapse_debuginfo to fmt.rs macros. 
+- Add collapse_debuginfo to fmt.rs macros.
 
 ## 0.3.1 - 2024-01-11
 
diff --git a/embassy-time/Cargo.toml b/embassy-time/Cargo.toml
index 8c7de9840..e3074119f 100644
--- a/embassy-time/Cargo.toml
+++ b/embassy-time/Cargo.toml
@@ -42,29 +42,6 @@ defmt-timestamp-uptime-tus = ["defmt"]
 ## Create a `MockDriver` that can be manually advanced for testing purposes.
 mock-driver = ["tick-hz-1_000_000"]
 
-#! ### Generic Queue
-
-## Create a global, generic queue that can be used with any executor.
-## To use this you must have a time driver provided.
-generic-queue = []
-
-#! The following features set how many timers are used for the generic queue. At most one
-#! `generic-queue-*` feature can be enabled. If none is enabled, a default of 64 timers is used.
-#!
-#! When using embassy-time from libraries, you should *not* enable any `generic-queue-*` feature, to allow the
-#! end user to pick.
-
-## Generic Queue with 8 timers
-generic-queue-8 = ["generic-queue"]
-## Generic Queue with 16 timers
-generic-queue-16 = ["generic-queue"]
-## Generic Queue with 32 timers
-generic-queue-32 = ["generic-queue"]
-## Generic Queue with 64 timers
-generic-queue-64 = ["generic-queue"]
-## Generic Queue with 128 timers
-generic-queue-128 = ["generic-queue"]
-
 #! ### Tick Rate
 #!
 #! At most 1 `tick-*` feature can be enabled. If none is enabled, a default of 1MHz is used.
@@ -419,7 +396,6 @@ embedded-hal-async = { version = "1.0" }
 futures-util = { version = "0.3.17", default-features = false }
 critical-section = "1.1"
 cfg-if = "1.0.0"
-heapless = "0.8"
 
 document-features = "0.2.7"
 
diff --git a/embassy-time/src/driver_mock.rs b/embassy-time/src/driver_mock.rs
index 8587f9172..138d60499 100644
--- a/embassy-time/src/driver_mock.rs
+++ b/embassy-time/src/driver_mock.rs
@@ -1,7 +1,9 @@
 use core::cell::RefCell;
+use core::task::Waker;
 
 use critical_section::Mutex as CsMutex;
-use embassy_time_driver::{AlarmHandle, Driver};
+use embassy_time_driver::Driver;
+use embassy_time_queue_driver::Queue;
 
 use crate::{Duration, Instant};
 
@@ -52,29 +54,13 @@ impl MockDriver {
     /// Advances the time by the specified [`Duration`].
     /// Calling any alarm callbacks that are due.
     pub fn advance(&self, duration: Duration) {
-        let notify = {
-            critical_section::with(|cs| {
-                let mut inner = self.0.borrow_ref_mut(cs);
-
-                inner.now += duration;
-
-                let now = inner.now.as_ticks();
-
-                inner
-                    .alarm
-                    .as_mut()
-                    .filter(|alarm| alarm.timestamp <= now)
-                    .map(|alarm| {
-                        alarm.timestamp = u64::MAX;
-
-                        (alarm.callback, alarm.ctx)
-                    })
-            })
-        };
+        critical_section::with(|cs| {
+            let inner = &mut *self.0.borrow_ref_mut(cs);
 
-        if let Some((callback, ctx)) = notify {
-            (callback)(ctx);
-        }
+            inner.now += duration;
+            // wake expired tasks.
+            inner.queue.next_expiration(inner.now.as_ticks());
+        })
     }
 }
 
@@ -83,87 +69,37 @@ impl Driver for MockDriver {
         critical_section::with(|cs| self.0.borrow_ref(cs).now).as_ticks()
     }
 
-    unsafe fn allocate_alarm(&self) -> Option<AlarmHandle> {
+    fn schedule_wake(&self, at: u64, waker: &Waker) {
         critical_section::with(|cs| {
-            let mut inner = self.0.borrow_ref_mut(cs);
-
-            if inner.alarm.is_some() {
-                None
-            } else {
-                inner.alarm.replace(AlarmState::new());
-
-                Some(AlarmHandle::new(0))
-            }
-        })
-    }
-
-    fn set_alarm_callback(&self, _alarm: AlarmHandle, callback: fn(*mut ()), ctx: *mut ()) {
-        critical_section::with(|cs| {
-            let mut inner = self.0.borrow_ref_mut(cs);
-
-            let Some(alarm) = inner.alarm.as_mut() else {
-                panic!("Alarm not allocated");
-            };
-
-            alarm.callback = callback;
-            alarm.ctx = ctx;
-        });
-    }
-
-    fn set_alarm(&self, _alarm: AlarmHandle, timestamp: u64) -> bool {
-        critical_section::with(|cs| {
-            let mut inner = self.0.borrow_ref_mut(cs);
-
-            if timestamp <= inner.now.as_ticks() {
-                false
-            } else {
-                let Some(alarm) = inner.alarm.as_mut() else {
-                    panic!("Alarm not allocated");
-                };
-
-                alarm.timestamp = timestamp;
-                true
-            }
+            let inner = &mut *self.0.borrow_ref_mut(cs);
+            // enqueue it
+            inner.queue.schedule_wake(at, waker);
+            // wake it if it's in the past.
+            inner.queue.next_expiration(inner.now.as_ticks());
         })
     }
 }
 
 struct InnerMockDriver {
     now: Instant,
-    alarm: Option<AlarmState>,
+    queue: Queue,
 }
 
 impl InnerMockDriver {
     const fn new() -> Self {
         Self {
             now: Instant::from_ticks(0),
-            alarm: None,
-        }
-    }
-}
-
-struct AlarmState {
-    timestamp: u64,
-    callback: fn(*mut ()),
-    ctx: *mut (),
-}
-
-impl AlarmState {
-    const fn new() -> Self {
-        Self {
-            timestamp: u64::MAX,
-            callback: Self::noop,
-            ctx: core::ptr::null_mut(),
+            queue: Queue::new(),
         }
     }
-
-    fn noop(_ctx: *mut ()) {}
 }
 
-unsafe impl Send for AlarmState {}
-
 #[cfg(test)]
 mod tests {
+    use core::sync::atomic::{AtomicBool, Ordering};
+    use std::sync::Arc;
+    use std::task::Wake;
+
     use serial_test::serial;
 
     use super::*;
@@ -185,37 +121,25 @@ mod tests {
 
     #[test]
     #[serial]
-    fn test_set_alarm_not_in_future() {
+    fn test_schedule_wake() {
         setup();
 
-        let driver = MockDriver::get();
-        let alarm = unsafe { AlarmHandle::new(0) };
-        assert_eq!(false, driver.set_alarm(alarm, driver.now()));
-    }
+        static CALLBACK_CALLED: AtomicBool = AtomicBool::new(false);
 
-    #[test]
-    #[serial]
-    fn test_alarm() {
-        setup();
-
-        let driver = MockDriver::get();
-        let alarm = unsafe { driver.allocate_alarm() }.expect("No alarms available");
-        static mut CALLBACK_CALLED: bool = false;
-        let ctx = &mut () as *mut ();
-        driver.set_alarm_callback(alarm, |_| unsafe { CALLBACK_CALLED = true }, ctx);
-        driver.set_alarm(alarm, driver.now() + 1);
-        assert_eq!(false, unsafe { CALLBACK_CALLED });
-        driver.advance(Duration::from_secs(1));
-        assert_eq!(true, unsafe { CALLBACK_CALLED });
-    }
+        struct MockWaker;
 
-    #[test]
-    #[serial]
-    fn test_allocate_alarm() {
-        setup();
+        impl Wake for MockWaker {
+            fn wake(self: Arc<Self>) {
+                CALLBACK_CALLED.store(true, Ordering::Relaxed);
+            }
+        }
+        let waker = Arc::new(MockWaker).into();
 
         let driver = MockDriver::get();
-        assert!(unsafe { driver.allocate_alarm() }.is_some());
-        assert!(unsafe { driver.allocate_alarm() }.is_none());
+
+        driver.schedule_wake(driver.now() + 1, &waker);
+        assert_eq!(false, CALLBACK_CALLED.load(Ordering::Relaxed));
+        driver.advance(Duration::from_secs(1));
+        assert_eq!(true, CALLBACK_CALLED.load(Ordering::Relaxed));
     }
 }
diff --git a/embassy-time/src/driver_std.rs b/embassy-time/src/driver_std.rs
index cbef7aae1..35888fddd 100644
--- a/embassy-time/src/driver_std.rs
+++ b/embassy-time/src/driver_std.rs
@@ -1,160 +1,66 @@
-use core::sync::atomic::{AtomicU8, Ordering};
-use std::cell::{RefCell, UnsafeCell};
-use std::mem::MaybeUninit;
-use std::sync::{Condvar, Mutex, Once};
+use std::sync::{Condvar, Mutex};
+use std::thread;
 use std::time::{Duration as StdDuration, Instant as StdInstant};
-use std::{mem, ptr, thread};
 
-use critical_section::Mutex as CsMutex;
-use embassy_time_driver::{AlarmHandle, Driver};
+use embassy_time_driver::Driver;
+use embassy_time_queue_driver::Queue;
 
-const ALARM_COUNT: usize = 4;
-
-struct AlarmState {
-    timestamp: u64,
-
-    // This is really a Option<(fn(*mut ()), *mut ())>
-    // but fn pointers aren't allowed in const yet
-    callback: *const (),
-    ctx: *mut (),
+struct TimeDriver {
+    signaler: Signaler,
+    inner: Mutex<Inner>,
 }
 
-unsafe impl Send for AlarmState {}
-
-impl AlarmState {
-    const fn new() -> Self {
-        Self {
-            timestamp: u64::MAX,
-            callback: ptr::null(),
-            ctx: ptr::null_mut(),
-        }
-    }
-}
-
-struct TimeDriver {
-    alarm_count: AtomicU8,
-
-    once: Once,
-    // The STD Driver implementation requires the alarms' mutex to be reentrant, which the STD Mutex isn't
-    // Fortunately, mutexes based on the `critical-section` crate are reentrant, because the critical sections
-    // themselves are reentrant
-    alarms: UninitCell<CsMutex<RefCell<[AlarmState; ALARM_COUNT]>>>,
-    zero_instant: UninitCell<StdInstant>,
-    signaler: UninitCell<Signaler>,
+struct Inner {
+    zero_instant: Option<StdInstant>,
+    queue: Queue,
 }
 
 embassy_time_driver::time_driver_impl!(static DRIVER: TimeDriver = TimeDriver {
-    alarm_count: AtomicU8::new(0),
-
-    once: Once::new(),
-    alarms: UninitCell::uninit(),
-    zero_instant: UninitCell::uninit(),
-    signaler: UninitCell::uninit(),
+    inner: Mutex::new(Inner{
+        zero_instant: None,
+        queue: Queue::new(),
+    }),
+    signaler: Signaler::new(),
 });
 
-impl TimeDriver {
-    fn init(&self) {
-        self.once.call_once(|| unsafe {
-            self.alarms
-                .write(CsMutex::new(RefCell::new([const { AlarmState::new() }; ALARM_COUNT])));
-            self.zero_instant.write(StdInstant::now());
-            self.signaler.write(Signaler::new());
-
-            thread::spawn(Self::alarm_thread);
-        });
-    }
-
-    fn alarm_thread() {
-        let zero = unsafe { DRIVER.zero_instant.read() };
-        loop {
-            let now = DRIVER.now();
-
-            let next_alarm = critical_section::with(|cs| {
-                let alarms = unsafe { DRIVER.alarms.as_ref() }.borrow(cs);
-                loop {
-                    let pending = alarms
-                        .borrow_mut()
-                        .iter_mut()
-                        .find(|alarm| alarm.timestamp <= now)
-                        .map(|alarm| {
-                            alarm.timestamp = u64::MAX;
-
-                            (alarm.callback, alarm.ctx)
-                        });
-
-                    if let Some((callback, ctx)) = pending {
-                        // safety:
-                        // - we can ignore the possiblity of `f` being unset (null) because of the safety contract of `allocate_alarm`.
-                        // - other than that we only store valid function pointers into alarm.callback
-                        let f: fn(*mut ()) = unsafe { mem::transmute(callback) };
-                        f(ctx);
-                    } else {
-                        // No alarm due
-                        break;
-                    }
-                }
-
-                alarms
-                    .borrow()
-                    .iter()
-                    .map(|alarm| alarm.timestamp)
-                    .min()
-                    .unwrap_or(u64::MAX)
-            });
-
-            // Ensure we don't overflow
-            let until = zero
-                .checked_add(StdDuration::from_micros(next_alarm))
-                .unwrap_or_else(|| StdInstant::now() + StdDuration::from_secs(1));
-
-            unsafe { DRIVER.signaler.as_ref() }.wait_until(until);
-        }
+impl Inner {
+    fn init(&mut self) -> StdInstant {
+        *self.zero_instant.get_or_insert_with(|| {
+            thread::spawn(alarm_thread);
+            StdInstant::now()
+        })
     }
 }
 
 impl Driver for TimeDriver {
     fn now(&self) -> u64 {
-        self.init();
-
-        let zero = unsafe { self.zero_instant.read() };
+        let mut inner = self.inner.lock().unwrap();
+        let zero = inner.init();
         StdInstant::now().duration_since(zero).as_micros() as u64
     }
 
-    unsafe fn allocate_alarm(&self) -> Option<AlarmHandle> {
-        let id = self.alarm_count.fetch_update(Ordering::AcqRel, Ordering::Acquire, |x| {
-            if x < ALARM_COUNT as u8 {
-                Some(x + 1)
-            } else {
-                None
-            }
-        });
-
-        match id {
-            Ok(id) => Some(AlarmHandle::new(id)),
-            Err(_) => None,
+    fn schedule_wake(&self, at: u64, waker: &core::task::Waker) {
+        let mut inner = self.inner.lock().unwrap();
+        inner.init();
+        if inner.queue.schedule_wake(at, waker) {
+            self.signaler.signal();
         }
     }
+}
 
-    fn set_alarm_callback(&self, alarm: AlarmHandle, callback: fn(*mut ()), ctx: *mut ()) {
-        self.init();
-        critical_section::with(|cs| {
-            let mut alarms = unsafe { self.alarms.as_ref() }.borrow_ref_mut(cs);
-            let alarm = &mut alarms[alarm.id() as usize];
-            alarm.callback = callback as *const ();
-            alarm.ctx = ctx;
-        });
-    }
+fn alarm_thread() {
+    let zero = DRIVER.inner.lock().unwrap().zero_instant.unwrap();
+    loop {
+        let now = DRIVER.now();
+
+        let next_alarm = DRIVER.inner.lock().unwrap().queue.next_expiration(now);
 
-    fn set_alarm(&self, alarm: AlarmHandle, timestamp: u64) -> bool {
-        self.init();
-        critical_section::with(|cs| {
-            let mut alarms = unsafe { self.alarms.as_ref() }.borrow_ref_mut(cs);
-            let alarm = &mut alarms[alarm.id() as usize];
-            alarm.timestamp = timestamp;
-            unsafe { self.signaler.as_ref() }.signal();
-        });
+        // Ensure we don't overflow
+        let until = zero
+            .checked_add(StdDuration::from_micros(next_alarm))
+            .unwrap_or_else(|| StdInstant::now() + StdDuration::from_secs(1));
 
-        true
+        DRIVER.signaler.wait_until(until);
     }
 }
 
@@ -164,7 +70,7 @@ struct Signaler {
 }
 
 impl Signaler {
-    fn new() -> Self {
+    const fn new() -> Self {
         Self {
             mutex: Mutex::new(false),
             condvar: Condvar::new(),
@@ -196,35 +102,3 @@ impl Signaler {
         self.condvar.notify_one();
     }
 }
-
-pub(crate) struct UninitCell<T>(MaybeUninit<UnsafeCell<T>>);
-unsafe impl<T> Send for UninitCell<T> {}
-unsafe impl<T> Sync for UninitCell<T> {}
-
-impl<T> UninitCell<T> {
-    pub const fn uninit() -> Self {
-        Self(MaybeUninit::uninit())
-    }
-
-    pub unsafe fn as_ptr(&self) -> *const T {
-        (*self.0.as_ptr()).get()
-    }
-
-    pub unsafe fn as_mut_ptr(&self) -> *mut T {
-        (*self.0.as_ptr()).get()
-    }
-
-    pub unsafe fn as_ref(&self) -> &T {
-        &*self.as_ptr()
-    }
-
-    pub unsafe fn write(&self, val: T) {
-        ptr::write(self.as_mut_ptr(), val)
-    }
-}
-
-impl<T: Copy> UninitCell<T> {
-    pub unsafe fn read(&self) -> T {
-        ptr::read(self.as_mut_ptr())
-    }
-}
diff --git a/embassy-time/src/driver_wasm.rs b/embassy-time/src/driver_wasm.rs
index d65629e49..bcdd1670b 100644
--- a/embassy-time/src/driver_wasm.rs
+++ b/embassy-time/src/driver_wasm.rs
@@ -1,28 +1,17 @@
-use core::sync::atomic::{AtomicU8, Ordering};
-use std::cell::UnsafeCell;
-use std::mem::MaybeUninit;
-use std::ptr;
-use std::sync::{Mutex, Once};
+use std::sync::Mutex;
 
-use embassy_time_driver::{AlarmHandle, Driver};
+use embassy_time_driver::Driver;
+use embassy_time_queue_driver::Queue;
 use wasm_bindgen::prelude::*;
 use wasm_timer::Instant as StdInstant;
 
-const ALARM_COUNT: usize = 4;
-
 struct AlarmState {
     token: Option<f64>,
-    closure: Option<Closure<dyn FnMut() + 'static>>,
 }
 
-unsafe impl Send for AlarmState {}
-
 impl AlarmState {
     const fn new() -> Self {
-        Self {
-            token: None,
-            closure: None,
-        }
+        Self { token: None }
     }
 }
 
@@ -33,67 +22,38 @@ extern "C" {
 }
 
 struct TimeDriver {
-    alarm_count: AtomicU8,
-
-    once: Once,
-    alarms: UninitCell<Mutex<[AlarmState; ALARM_COUNT]>>,
-    zero_instant: UninitCell<StdInstant>,
+    inner: Mutex<Inner>,
 }
 
-embassy_time_driver::time_driver_impl!(static DRIVER: TimeDriver = TimeDriver {
-    alarm_count: AtomicU8::new(0),
-    once: Once::new(),
-    alarms: UninitCell::uninit(),
-    zero_instant: UninitCell::uninit(),
-});
-
-impl TimeDriver {
-    fn init(&self) {
-        self.once.call_once(|| unsafe {
-            self.alarms
-                .write(Mutex::new([const { AlarmState::new() }; ALARM_COUNT]));
-            self.zero_instant.write(StdInstant::now());
-        });
-    }
+struct Inner {
+    alarm: AlarmState,
+    zero_instant: Option<StdInstant>,
+    queue: Queue,
+    closure: Option<Closure<dyn FnMut()>>,
 }
 
-impl Driver for TimeDriver {
-    fn now(&self) -> u64 {
-        self.init();
+unsafe impl Send for Inner {}
 
-        let zero = unsafe { self.zero_instant.read() };
-        StdInstant::now().duration_since(zero).as_micros() as u64
-    }
-
-    unsafe fn allocate_alarm(&self) -> Option<AlarmHandle> {
-        let id = self.alarm_count.fetch_update(Ordering::AcqRel, Ordering::Acquire, |x| {
-            if x < ALARM_COUNT as u8 {
-                Some(x + 1)
-            } else {
-                None
-            }
-        });
+embassy_time_driver::time_driver_impl!(static DRIVER: TimeDriver = TimeDriver {
+    inner: Mutex::new(Inner{
+        zero_instant: None,
+        queue: Queue::new(),
+        alarm: AlarmState::new(),
+        closure: None,
+    }),
+});
 
-        match id {
-            Ok(id) => Some(AlarmHandle::new(id)),
-            Err(_) => None,
-        }
+impl Inner {
+    fn init(&mut self) -> StdInstant {
+        *self.zero_instant.get_or_insert_with(StdInstant::now)
     }
 
-    fn set_alarm_callback(&self, alarm: AlarmHandle, callback: fn(*mut ()), ctx: *mut ()) {
-        self.init();
-        let mut alarms = unsafe { self.alarms.as_ref() }.lock().unwrap();
-        let alarm = &mut alarms[alarm.id() as usize];
-        alarm.closure.replace(Closure::new(move || {
-            callback(ctx);
-        }));
+    fn now(&mut self) -> u64 {
+        StdInstant::now().duration_since(self.zero_instant.unwrap()).as_micros() as u64
     }
 
-    fn set_alarm(&self, alarm: AlarmHandle, timestamp: u64) -> bool {
-        self.init();
-        let mut alarms = unsafe { self.alarms.as_ref() }.lock().unwrap();
-        let alarm = &mut alarms[alarm.id() as usize];
-        if let Some(token) = alarm.token {
+    fn set_alarm(&mut self, timestamp: u64) -> bool {
+        if let Some(token) = self.alarm.token {
             clearTimeout(token);
         }
 
@@ -102,40 +62,42 @@ impl Driver for TimeDriver {
             false
         } else {
             let timeout = (timestamp - now) as u32;
-            alarm.token = Some(setTimeout(alarm.closure.as_ref().unwrap(), timeout / 1000));
+            let closure = self.closure.get_or_insert_with(|| Closure::new(dispatch));
+            self.alarm.token = Some(setTimeout(closure, timeout / 1000));
 
             true
         }
     }
 }
 
-pub(crate) struct UninitCell<T>(MaybeUninit<UnsafeCell<T>>);
-unsafe impl<T> Send for UninitCell<T> {}
-unsafe impl<T> Sync for UninitCell<T> {}
-
-impl<T> UninitCell<T> {
-    pub const fn uninit() -> Self {
-        Self(MaybeUninit::uninit())
-    }
-    unsafe fn as_ptr(&self) -> *const T {
-        (*self.0.as_ptr()).get()
-    }
-
-    pub unsafe fn as_mut_ptr(&self) -> *mut T {
-        (*self.0.as_ptr()).get()
-    }
-
-    pub unsafe fn as_ref(&self) -> &T {
-        &*self.as_ptr()
+impl Driver for TimeDriver {
+    fn now(&self) -> u64 {
+        let mut inner = self.inner.lock().unwrap();
+        let zero = inner.init();
+        StdInstant::now().duration_since(zero).as_micros() as u64
     }
 
-    pub unsafe fn write(&self, val: T) {
-        ptr::write(self.as_mut_ptr(), val)
+    fn schedule_wake(&self, at: u64, waker: &core::task::Waker) {
+        let mut inner = self.inner.lock().unwrap();
+        inner.init();
+        if inner.queue.schedule_wake(at, waker) {
+            let now = inner.now();
+            let mut next = inner.queue.next_expiration(now);
+            while !inner.set_alarm(next) {
+                let now = inner.now();
+                next = inner.queue.next_expiration(now);
+            }
+        }
     }
 }
 
-impl<T: Copy> UninitCell<T> {
-    pub unsafe fn read(&self) -> T {
-        ptr::read(self.as_mut_ptr())
+fn dispatch() {
+    let inner = &mut *DRIVER.inner.lock().unwrap();
+
+    let now = inner.now();
+    let mut next = inner.queue.next_expiration(now);
+    while !inner.set_alarm(next) {
+        let now = inner.now();
+        next = inner.queue.next_expiration(now);
     }
 }
diff --git a/embassy-time/src/lib.rs b/embassy-time/src/lib.rs
index 8d0648ce5..80a359413 100644
--- a/embassy-time/src/lib.rs
+++ b/embassy-time/src/lib.rs
@@ -25,8 +25,6 @@ pub use driver_mock::MockDriver;
 mod driver_std;
 #[cfg(feature = "wasm")]
 mod driver_wasm;
-#[cfg(feature = "generic-queue")]
-mod queue_generic;
 
 pub use delay::{block_for, Delay};
 pub use duration::Duration;
diff --git a/embassy-time/src/queue_generic.rs b/embassy-time/src/queue_generic.rs
deleted file mode 100644
index 0068edae8..000000000
--- a/embassy-time/src/queue_generic.rs
+++ /dev/null
@@ -1,346 +0,0 @@
-use core::cell::RefCell;
-use core::cmp::{min, Ordering};
-use core::task::Waker;
-
-use critical_section::Mutex;
-use embassy_time_driver::{allocate_alarm, set_alarm, set_alarm_callback, AlarmHandle};
-use embassy_time_queue_driver::TimerQueue;
-use heapless::Vec;
-
-use crate::Instant;
-
-#[cfg(feature = "generic-queue-8")]
-const QUEUE_SIZE: usize = 8;
-#[cfg(feature = "generic-queue-16")]
-const QUEUE_SIZE: usize = 16;
-#[cfg(feature = "generic-queue-32")]
-const QUEUE_SIZE: usize = 32;
-#[cfg(feature = "generic-queue-64")]
-const QUEUE_SIZE: usize = 64;
-#[cfg(feature = "generic-queue-128")]
-const QUEUE_SIZE: usize = 128;
-#[cfg(not(any(
-    feature = "generic-queue-8",
-    feature = "generic-queue-16",
-    feature = "generic-queue-32",
-    feature = "generic-queue-64",
-    feature = "generic-queue-128"
-)))]
-const QUEUE_SIZE: usize = 64;
-
-#[derive(Debug)]
-struct Timer {
-    at: Instant,
-    waker: Waker,
-}
-
-impl PartialEq for Timer {
-    fn eq(&self, other: &Self) -> bool {
-        self.at == other.at
-    }
-}
-
-impl Eq for Timer {}
-
-impl PartialOrd for Timer {
-    fn partial_cmp(&self, other: &Self) -> Option<Ordering> {
-        self.at.partial_cmp(&other.at)
-    }
-}
-
-impl Ord for Timer {
-    fn cmp(&self, other: &Self) -> Ordering {
-        self.at.cmp(&other.at)
-    }
-}
-
-struct InnerQueue {
-    queue: Vec<Timer, QUEUE_SIZE>,
-    alarm: AlarmHandle,
-}
-
-impl InnerQueue {
-    fn schedule_wake(&mut self, at: Instant, waker: &Waker) {
-        self.queue
-            .iter_mut()
-            .find(|timer| timer.waker.will_wake(waker))
-            .map(|timer| {
-                timer.at = min(timer.at, at);
-            })
-            .unwrap_or_else(|| {
-                let mut timer = Timer {
-                    waker: waker.clone(),
-                    at,
-                };
-
-                loop {
-                    match self.queue.push(timer) {
-                        Ok(()) => break,
-                        Err(e) => timer = e,
-                    }
-
-                    self.queue.pop().unwrap().waker.wake();
-                }
-            });
-
-        // Don't wait for the alarm callback to trigger and directly
-        // dispatch all timers that are already due
-        //
-        // Then update the alarm if necessary
-        self.dispatch();
-    }
-
-    fn dispatch(&mut self) {
-        loop {
-            let now = Instant::now();
-
-            let mut next_alarm = Instant::MAX;
-
-            let mut i = 0;
-            while i < self.queue.len() {
-                let timer = &self.queue[i];
-                if timer.at <= now {
-                    let timer = self.queue.swap_remove(i);
-                    timer.waker.wake();
-                } else {
-                    next_alarm = min(next_alarm, timer.at);
-                    i += 1;
-                }
-            }
-
-            if self.update_alarm(next_alarm) {
-                break;
-            }
-        }
-    }
-
-    fn update_alarm(&mut self, next_alarm: Instant) -> bool {
-        if next_alarm == Instant::MAX {
-            true
-        } else {
-            set_alarm(self.alarm, next_alarm.as_ticks())
-        }
-    }
-
-    fn handle_alarm(&mut self) {
-        self.dispatch();
-    }
-}
-
-struct Queue {
-    inner: Mutex<RefCell<Option<InnerQueue>>>,
-}
-
-impl Queue {
-    const fn new() -> Self {
-        Self {
-            inner: Mutex::new(RefCell::new(None)),
-        }
-    }
-
-    fn schedule_wake(&'static self, at: Instant, waker: &Waker) {
-        critical_section::with(|cs| {
-            let mut inner = self.inner.borrow_ref_mut(cs);
-
-            inner
-                .get_or_insert_with(|| {
-                    let handle = unsafe { allocate_alarm() }.unwrap();
-                    set_alarm_callback(handle, Self::handle_alarm_callback, self as *const _ as _);
-                    InnerQueue {
-                        queue: Vec::new(),
-                        alarm: handle,
-                    }
-                })
-                .schedule_wake(at, waker)
-        });
-    }
-
-    fn handle_alarm(&self) {
-        critical_section::with(|cs| self.inner.borrow_ref_mut(cs).as_mut().unwrap().handle_alarm())
-    }
-
-    fn handle_alarm_callback(ctx: *mut ()) {
-        unsafe { (ctx as *const Self).as_ref().unwrap() }.handle_alarm();
-    }
-}
-
-impl TimerQueue for Queue {
-    fn schedule_wake(&'static self, at: u64, waker: &Waker) {
-        Queue::schedule_wake(self, Instant::from_ticks(at), waker);
-    }
-}
-
-embassy_time_queue_driver::timer_queue_impl!(static QUEUE: Queue = Queue::new());
-
-#[cfg(test)]
-#[cfg(feature = "mock-driver")]
-mod tests {
-    use core::sync::atomic::{AtomicBool, Ordering};
-    use core::task::Waker;
-    use std::sync::Arc;
-    use std::task::Wake;
-
-    use serial_test::serial;
-
-    use crate::driver_mock::MockDriver;
-    use crate::queue_generic::QUEUE;
-    use crate::{Duration, Instant};
-
-    struct TestWaker {
-        pub awoken: AtomicBool,
-    }
-
-    impl Wake for TestWaker {
-        fn wake(self: Arc<Self>) {
-            self.awoken.store(true, Ordering::Relaxed);
-        }
-
-        fn wake_by_ref(self: &Arc<Self>) {
-            self.awoken.store(true, Ordering::Relaxed);
-        }
-    }
-
-    fn test_waker() -> (Arc<TestWaker>, Waker) {
-        let arc = Arc::new(TestWaker {
-            awoken: AtomicBool::new(false),
-        });
-        let waker = Waker::from(arc.clone());
-
-        (arc, waker)
-    }
-
-    fn setup() {
-        MockDriver::get().reset();
-        critical_section::with(|cs| *QUEUE.inner.borrow_ref_mut(cs) = None);
-    }
-
-    fn queue_len() -> usize {
-        critical_section::with(|cs| {
-            QUEUE
-                .inner
-                .borrow_ref(cs)
-                .as_ref()
-                .map(|inner| inner.queue.iter().count())
-                .unwrap_or(0)
-        })
-    }
-
-    #[test]
-    #[serial]
-    fn test_schedule() {
-        setup();
-
-        assert_eq!(queue_len(), 0);
-
-        let (flag, waker) = test_waker();
-
-        QUEUE.schedule_wake(Instant::from_secs(1), &waker);
-
-        assert!(!flag.awoken.load(Ordering::Relaxed));
-        assert_eq!(queue_len(), 1);
-    }
-
-    #[test]
-    #[serial]
-    fn test_schedule_same() {
-        setup();
-
-        let (_flag, waker) = test_waker();
-
-        QUEUE.schedule_wake(Instant::from_secs(1), &waker);
-
-        assert_eq!(queue_len(), 1);
-
-        QUEUE.schedule_wake(Instant::from_secs(1), &waker);
-
-        assert_eq!(queue_len(), 1);
-
-        QUEUE.schedule_wake(Instant::from_secs(100), &waker);
-
-        assert_eq!(queue_len(), 1);
-
-        let (_flag2, waker2) = test_waker();
-
-        QUEUE.schedule_wake(Instant::from_secs(100), &waker2);
-
-        assert_eq!(queue_len(), 2);
-    }
-
-    #[test]
-    #[serial]
-    fn test_trigger() {
-        setup();
-
-        let (flag, waker) = test_waker();
-
-        QUEUE.schedule_wake(Instant::from_secs(100), &waker);
-
-        assert!(!flag.awoken.load(Ordering::Relaxed));
-
-        MockDriver::get().advance(Duration::from_secs(99));
-
-        assert!(!flag.awoken.load(Ordering::Relaxed));
-
-        assert_eq!(queue_len(), 1);
-
-        MockDriver::get().advance(Duration::from_secs(1));
-
-        assert!(flag.awoken.load(Ordering::Relaxed));
-
-        assert_eq!(queue_len(), 0);
-    }
-
-    #[test]
-    #[serial]
-    fn test_immediate_trigger() {
-        setup();
-
-        let (flag, waker) = test_waker();
-
-        QUEUE.schedule_wake(Instant::from_secs(100), &waker);
-
-        MockDriver::get().advance(Duration::from_secs(50));
-
-        let (flag2, waker2) = test_waker();
-
-        QUEUE.schedule_wake(Instant::from_secs(40), &waker2);
-
-        assert!(!flag.awoken.load(Ordering::Relaxed));
-        assert!(flag2.awoken.load(Ordering::Relaxed));
-        assert_eq!(queue_len(), 1);
-    }
-
-    #[test]
-    #[serial]
-    fn test_queue_overflow() {
-        setup();
-
-        for i in 1..super::QUEUE_SIZE {
-            let (flag, waker) = test_waker();
-
-            QUEUE.schedule_wake(Instant::from_secs(310), &waker);
-
-            assert_eq!(queue_len(), i);
-            assert!(!flag.awoken.load(Ordering::Relaxed));
-        }
-
-        let (flag, waker) = test_waker();
-
-        QUEUE.schedule_wake(Instant::from_secs(300), &waker);
-
-        assert_eq!(queue_len(), super::QUEUE_SIZE);
-        assert!(!flag.awoken.load(Ordering::Relaxed));
-
-        let (flag2, waker2) = test_waker();
-
-        QUEUE.schedule_wake(Instant::from_secs(305), &waker2);
-
-        assert_eq!(queue_len(), super::QUEUE_SIZE);
-        assert!(flag.awoken.load(Ordering::Relaxed));
-
-        let (_flag3, waker3) = test_waker();
-        QUEUE.schedule_wake(Instant::from_secs(320), &waker3);
-        assert_eq!(queue_len(), super::QUEUE_SIZE);
-        assert!(flag2.awoken.load(Ordering::Relaxed));
-    }
-}
diff --git a/examples/boot/application/nrf/Cargo.toml b/examples/boot/application/nrf/Cargo.toml
index 046571e05..45ad341fc 100644
--- a/examples/boot/application/nrf/Cargo.toml
+++ b/examples/boot/application/nrf/Cargo.toml
@@ -6,7 +6,7 @@ license = "MIT OR Apache-2.0"
 
 [dependencies]
 embassy-sync = { version = "0.6.1", path = "../../../../embassy-sync" }
-embassy-executor = { version = "0.6.3", path = "../../../../embassy-executor", features = ["task-arena-size-16384", "arch-cortex-m", "executor-thread", "integrated-timers", "arch-cortex-m", "executor-thread"] }
+embassy-executor = { version = "0.6.3", path = "../../../../embassy-executor", features = ["task-arena-size-16384", "arch-cortex-m", "executor-thread", "arch-cortex-m", "executor-thread"] }
 embassy-time = { version = "0.3.2", path = "../../../../embassy-time", features = [] }
 embassy-nrf = { version = "0.2.0", path = "../../../../embassy-nrf", features = ["time-driver-rtc1", "gpiote", ] }
 embassy-boot = { version = "0.3.0", path = "../../../../embassy-boot", features = [] }
diff --git a/examples/boot/application/rp/Cargo.toml b/examples/boot/application/rp/Cargo.toml
index f859ddbc6..ec99f2605 100644
--- a/examples/boot/application/rp/Cargo.toml
+++ b/examples/boot/application/rp/Cargo.toml
@@ -6,7 +6,7 @@ license = "MIT OR Apache-2.0"
 
 [dependencies]
 embassy-sync = { version = "0.6.1", path = "../../../../embassy-sync" }
-embassy-executor = { version = "0.6.3", path = "../../../../embassy-executor", features = ["task-arena-size-16384", "arch-cortex-m", "executor-thread", "integrated-timers", "arch-cortex-m", "executor-thread"] }
+embassy-executor = { version = "0.6.3", path = "../../../../embassy-executor", features = ["task-arena-size-16384", "arch-cortex-m", "executor-thread", "arch-cortex-m", "executor-thread"] }
 embassy-time = { version = "0.3.2", path = "../../../../embassy-time", features = [] }
 embassy-rp = { version = "0.2.0", path = "../../../../embassy-rp", features = ["time-driver", "rp2040"] }
 embassy-boot-rp = { version = "0.3.0", path = "../../../../embassy-boot-rp", features = [] }
diff --git a/examples/boot/application/stm32f3/Cargo.toml b/examples/boot/application/stm32f3/Cargo.toml
index d5b26d698..d2138db87 100644
--- a/examples/boot/application/stm32f3/Cargo.toml
+++ b/examples/boot/application/stm32f3/Cargo.toml
@@ -6,7 +6,7 @@ license = "MIT OR Apache-2.0"
 
 [dependencies]
 embassy-sync = { version = "0.6.1", path = "../../../../embassy-sync" }
-embassy-executor = { version = "0.6.3", path = "../../../../embassy-executor", features = ["task-arena-size-8192", "arch-cortex-m", "executor-thread", "integrated-timers"] }
+embassy-executor = { version = "0.6.3", path = "../../../../embassy-executor", features = ["task-arena-size-8192", "arch-cortex-m", "executor-thread"] }
 embassy-time = { version = "0.3.2", path = "../../../../embassy-time", features = [ "tick-hz-32_768"] }
 embassy-stm32 = { version = "0.1.0", path = "../../../../embassy-stm32", features = ["stm32f303re", "time-driver-any", "exti"]  }
 embassy-boot-stm32 = { version = "0.2.0", path = "../../../../embassy-boot-stm32" }
diff --git a/examples/boot/application/stm32f7/Cargo.toml b/examples/boot/application/stm32f7/Cargo.toml
index d13692aa8..b86c66f5d 100644
--- a/examples/boot/application/stm32f7/Cargo.toml
+++ b/examples/boot/application/stm32f7/Cargo.toml
@@ -6,7 +6,7 @@ license = "MIT OR Apache-2.0"
 
 [dependencies]
 embassy-sync = { version = "0.6.1", path = "../../../../embassy-sync" }
-embassy-executor = { version = "0.6.3", path = "../../../../embassy-executor", features = ["task-arena-size-8192", "arch-cortex-m", "executor-thread", "integrated-timers"] }
+embassy-executor = { version = "0.6.3", path = "../../../../embassy-executor", features = ["task-arena-size-8192", "arch-cortex-m", "executor-thread"] }
 embassy-time = { version = "0.3.2", path = "../../../../embassy-time", features = [ "tick-hz-32_768"] }
 embassy-stm32 = { version = "0.1.0", path = "../../../../embassy-stm32", features = ["stm32f767zi", "time-driver-any", "exti"]  }
 embassy-boot-stm32 = { version = "0.2.0", path = "../../../../embassy-boot-stm32", features = [] }
diff --git a/examples/boot/application/stm32h7/Cargo.toml b/examples/boot/application/stm32h7/Cargo.toml
index a2de827aa..e2e2fe711 100644
--- a/examples/boot/application/stm32h7/Cargo.toml
+++ b/examples/boot/application/stm32h7/Cargo.toml
@@ -6,7 +6,7 @@ license = "MIT OR Apache-2.0"
 
 [dependencies]
 embassy-sync = { version = "0.6.1", path = "../../../../embassy-sync" }
-embassy-executor = { version = "0.6.3", path = "../../../../embassy-executor", features = ["task-arena-size-8192", "arch-cortex-m", "executor-thread", "integrated-timers"] }
+embassy-executor = { version = "0.6.3", path = "../../../../embassy-executor", features = ["task-arena-size-8192", "arch-cortex-m", "executor-thread"] }
 embassy-time = { version = "0.3.2", path = "../../../../embassy-time", features = [ "tick-hz-32_768"] }
 embassy-stm32 = { version = "0.1.0", path = "../../../../embassy-stm32", features = ["stm32h743zi", "time-driver-any", "exti"]  }
 embassy-boot-stm32 = { version = "0.2.0", path = "../../../../embassy-boot-stm32", features = [] }
diff --git a/examples/boot/application/stm32l0/Cargo.toml b/examples/boot/application/stm32l0/Cargo.toml
index ddfddf652..7e9c52ffa 100644
--- a/examples/boot/application/stm32l0/Cargo.toml
+++ b/examples/boot/application/stm32l0/Cargo.toml
@@ -6,7 +6,7 @@ license = "MIT OR Apache-2.0"
 
 [dependencies]
 embassy-sync = { version = "0.6.1", path = "../../../../embassy-sync" }
-embassy-executor = { version = "0.6.3", path = "../../../../embassy-executor", features = ["task-arena-size-8192", "arch-cortex-m", "executor-thread", "integrated-timers"] }
+embassy-executor = { version = "0.6.3", path = "../../../../embassy-executor", features = ["task-arena-size-8192", "arch-cortex-m", "executor-thread"] }
 embassy-time = { version = "0.3.2", path = "../../../../embassy-time", features = [ "tick-hz-32_768"] }
 embassy-stm32 = { version = "0.1.0", path = "../../../../embassy-stm32", features = ["stm32l072cz", "time-driver-any", "exti", "memory-x"]  }
 embassy-boot-stm32 = { version = "0.2.0", path = "../../../../embassy-boot-stm32", features = [] }
diff --git a/examples/boot/application/stm32l1/Cargo.toml b/examples/boot/application/stm32l1/Cargo.toml
index 4780c20f4..42353a24c 100644
--- a/examples/boot/application/stm32l1/Cargo.toml
+++ b/examples/boot/application/stm32l1/Cargo.toml
@@ -6,7 +6,7 @@ license = "MIT OR Apache-2.0"
 
 [dependencies]
 embassy-sync = { version = "0.6.1", path = "../../../../embassy-sync" }
-embassy-executor = { version = "0.6.3", path = "../../../../embassy-executor", features = ["task-arena-size-8192", "arch-cortex-m", "executor-thread", "integrated-timers"] }
+embassy-executor = { version = "0.6.3", path = "../../../../embassy-executor", features = ["task-arena-size-8192", "arch-cortex-m", "executor-thread"] }
 embassy-time = { version = "0.3.2", path = "../../../../embassy-time", features = [ "tick-hz-32_768"] }
 embassy-stm32 = { version = "0.1.0", path = "../../../../embassy-stm32", features = ["stm32l151cb-a", "time-driver-any", "exti"]  }
 embassy-boot-stm32 = { version = "0.2.0", path = "../../../../embassy-boot-stm32", features = [] }
diff --git a/examples/boot/application/stm32l4/Cargo.toml b/examples/boot/application/stm32l4/Cargo.toml
index 0a31d6b62..cf0b0242a 100644
--- a/examples/boot/application/stm32l4/Cargo.toml
+++ b/examples/boot/application/stm32l4/Cargo.toml
@@ -6,7 +6,7 @@ license = "MIT OR Apache-2.0"
 
 [dependencies]
 embassy-sync = { version = "0.6.1", path = "../../../../embassy-sync" }
-embassy-executor = { version = "0.6.3", path = "../../../../embassy-executor", features = ["task-arena-size-8192", "arch-cortex-m", "executor-thread", "integrated-timers"] }
+embassy-executor = { version = "0.6.3", path = "../../../../embassy-executor", features = ["task-arena-size-8192", "arch-cortex-m", "executor-thread"] }
 embassy-time = { version = "0.3.2", path = "../../../../embassy-time", features = [ "tick-hz-32_768"] }
 embassy-stm32 = { version = "0.1.0", path = "../../../../embassy-stm32", features = ["stm32l475vg", "time-driver-any", "exti"]  }
 embassy-boot-stm32 = { version = "0.2.0", path = "../../../../embassy-boot-stm32", features = [] }
diff --git a/examples/boot/application/stm32wb-dfu/Cargo.toml b/examples/boot/application/stm32wb-dfu/Cargo.toml
index 67f6bde11..ea2879fb5 100644
--- a/examples/boot/application/stm32wb-dfu/Cargo.toml
+++ b/examples/boot/application/stm32wb-dfu/Cargo.toml
@@ -6,7 +6,7 @@ license = "MIT OR Apache-2.0"
 
 [dependencies]
 embassy-sync = { version = "0.6.1", path = "../../../../embassy-sync" }
-embassy-executor = { version = "0.6.3", path = "../../../../embassy-executor", features = ["task-arena-size-8192", "arch-cortex-m", "executor-thread", "integrated-timers"] }
+embassy-executor = { version = "0.6.3", path = "../../../../embassy-executor", features = ["task-arena-size-8192", "arch-cortex-m", "executor-thread"] }
 embassy-time = { version = "0.3.2", path = "../../../../embassy-time", features = [ "tick-hz-32_768"] }
 embassy-stm32 = { version = "0.1.0", path = "../../../../embassy-stm32", features = ["stm32wb55rg", "time-driver-any", "exti"]  }
 embassy-boot-stm32 = { version = "0.2.0", path = "../../../../embassy-boot-stm32", features = [] }
diff --git a/examples/boot/application/stm32wl/Cargo.toml b/examples/boot/application/stm32wl/Cargo.toml
index da27d4601..6417b8430 100644
--- a/examples/boot/application/stm32wl/Cargo.toml
+++ b/examples/boot/application/stm32wl/Cargo.toml
@@ -6,7 +6,7 @@ license = "MIT OR Apache-2.0"
 
 [dependencies]
 embassy-sync = { version = "0.6.1", path = "../../../../embassy-sync" }
-embassy-executor = { version = "0.6.3", path = "../../../../embassy-executor", features = ["task-arena-size-8192", "arch-cortex-m", "executor-thread", "integrated-timers"] }
+embassy-executor = { version = "0.6.3", path = "../../../../embassy-executor", features = ["task-arena-size-8192", "arch-cortex-m", "executor-thread"] }
 embassy-time = { version = "0.3.2", path = "../../../../embassy-time", features = [ "tick-hz-32_768"] }
 embassy-stm32 = { version = "0.1.0", path = "../../../../embassy-stm32", features = ["stm32wl55jc-cm4", "time-driver-any", "exti"]  }
 embassy-boot-stm32 = { version = "0.2.0", path = "../../../../embassy-boot-stm32", features = [] }
diff --git a/examples/nrf-rtos-trace/Cargo.toml b/examples/nrf-rtos-trace/Cargo.toml
index 449056409..6d13d668a 100644
--- a/examples/nrf-rtos-trace/Cargo.toml
+++ b/examples/nrf-rtos-trace/Cargo.toml
@@ -16,7 +16,7 @@ log = [
 
 [dependencies]
 embassy-sync = { version = "0.6.1", path = "../../embassy-sync" }
-embassy-executor = { version = "0.6.3", path = "../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "rtos-trace", "integrated-timers"] }
+embassy-executor = { version = "0.6.3", path = "../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "rtos-trace"] }
 embassy-time = { version = "0.3.2", path = "../../embassy-time" }
 embassy-nrf = { version = "0.2.0", path = "../../embassy-nrf", features = ["nrf52840", "time-driver-rtc1", "gpiote", "unstable-pac"] }
 
diff --git a/examples/nrf51/Cargo.toml b/examples/nrf51/Cargo.toml
index 05e702773..8d995cfd8 100644
--- a/examples/nrf51/Cargo.toml
+++ b/examples/nrf51/Cargo.toml
@@ -5,7 +5,7 @@ version = "0.1.0"
 license = "MIT OR Apache-2.0"
 
 [dependencies]
-embassy-executor = { version = "0.6.3", path = "../../embassy-executor", features = ["task-arena-size-4096", "arch-cortex-m", "executor-thread", "executor-interrupt", "defmt", "integrated-timers"] }
+embassy-executor = { version = "0.6.3", path = "../../embassy-executor", features = ["task-arena-size-4096", "arch-cortex-m", "executor-thread", "executor-interrupt", "defmt"] }
 embassy-time = { version = "0.3.2", path = "../../embassy-time", features = ["defmt", "defmt-timestamp-uptime"] }
 embassy-nrf = { version = "0.2.0", path = "../../embassy-nrf", features = ["defmt", "nrf51", "gpiote", "time-driver-rtc1", "unstable-pac", "time", "rt"] }
 
diff --git a/examples/nrf52810/Cargo.toml b/examples/nrf52810/Cargo.toml
index b0b73417b..fa2a27aaa 100644
--- a/examples/nrf52810/Cargo.toml
+++ b/examples/nrf52810/Cargo.toml
@@ -7,7 +7,7 @@ license = "MIT OR Apache-2.0"
 [dependencies]
 embassy-futures = { version = "0.1.0", path = "../../embassy-futures" }
 embassy-sync = { version = "0.6.1", path = "../../embassy-sync", features = ["defmt"] }
-embassy-executor = { version = "0.6.3", path = "../../embassy-executor", features = ["task-arena-size-8192", "arch-cortex-m", "executor-thread", "executor-interrupt", "defmt", "integrated-timers"] }
+embassy-executor = { version = "0.6.3", path = "../../embassy-executor", features = ["task-arena-size-8192", "arch-cortex-m", "executor-thread", "executor-interrupt", "defmt"] }
 embassy-time = { version = "0.3.2", path = "../../embassy-time", features = ["defmt", "defmt-timestamp-uptime"] }
 embassy-nrf = { version = "0.2.0", path = "../../embassy-nrf", features = ["defmt", "nrf52810", "time-driver-rtc1", "gpiote", "unstable-pac", "time"] }
 
diff --git a/examples/nrf52840-rtic/Cargo.toml b/examples/nrf52840-rtic/Cargo.toml
index 290b2fdb1..6b15b24da 100644
--- a/examples/nrf52840-rtic/Cargo.toml
+++ b/examples/nrf52840-rtic/Cargo.toml
@@ -9,7 +9,8 @@ rtic = { version = "2", features = ["thumbv7-backend"] }
 
 embassy-futures = { version = "0.1.0", path = "../../embassy-futures" }
 embassy-sync = { version = "0.6.1", path = "../../embassy-sync", features = ["defmt"] }
-embassy-time = { version = "0.3.2", path = "../../embassy-time", features = [ "defmt", "defmt-timestamp-uptime", "generic-queue"] }
+embassy-time = { version = "0.3.2", path = "../../embassy-time", features = [ "defmt", "defmt-timestamp-uptime"] }
+embassy-time-queue-driver = { version = "0.1.0", path = "../../embassy-time-queue-driver", features = ["generic-queue-8"] }
 embassy-nrf = { version = "0.2.0", path = "../../embassy-nrf", features = [ "defmt", "nrf52840", "time-driver-rtc1", "gpiote", "unstable-pac", "time"] }
 
 defmt = "0.3"
diff --git a/examples/nrf52840/Cargo.toml b/examples/nrf52840/Cargo.toml
index 701911a30..fa29d52b9 100644
--- a/examples/nrf52840/Cargo.toml
+++ b/examples/nrf52840/Cargo.toml
@@ -7,7 +7,7 @@ license = "MIT OR Apache-2.0"
 [dependencies]
 embassy-futures = { version = "0.1.0", path = "../../embassy-futures" }
 embassy-sync = { version = "0.6.1", path = "../../embassy-sync", features = ["defmt"] }
-embassy-executor = { version = "0.6.3", path = "../../embassy-executor", features = ["task-arena-size-32768", "arch-cortex-m", "executor-thread", "executor-interrupt", "defmt", "integrated-timers"] }
+embassy-executor = { version = "0.6.3", path = "../../embassy-executor", features = ["task-arena-size-32768", "arch-cortex-m", "executor-thread", "executor-interrupt", "defmt"] }
 embassy-time = { version = "0.3.2", path = "../../embassy-time", features = ["defmt", "defmt-timestamp-uptime"] }
 embassy-nrf = { version = "0.2.0", path = "../../embassy-nrf", features = ["defmt", "nrf52840", "time-driver-rtc1", "gpiote", "unstable-pac", "time"] }
 embassy-net = { version = "0.5.0", path = "../../embassy-net", features = ["defmt", "tcp", "dhcpv4", "medium-ethernet"] }
diff --git a/examples/nrf5340/Cargo.toml b/examples/nrf5340/Cargo.toml
index 13442405d..1792b277c 100644
--- a/examples/nrf5340/Cargo.toml
+++ b/examples/nrf5340/Cargo.toml
@@ -7,7 +7,7 @@ license = "MIT OR Apache-2.0"
 [dependencies]
 embassy-futures = { version = "0.1.0", path = "../../embassy-futures" }
 embassy-sync = { version = "0.6.1", path = "../../embassy-sync", features = ["defmt"] }
-embassy-executor = { version = "0.6.3", path = "../../embassy-executor", features = ["task-arena-size-32768", "arch-cortex-m", "executor-thread", "defmt", "integrated-timers"] }
+embassy-executor = { version = "0.6.3", path = "../../embassy-executor", features = ["task-arena-size-32768", "arch-cortex-m", "executor-thread", "defmt"] }
 embassy-time = { version = "0.3.2", path = "../../embassy-time", features = ["defmt", "defmt-timestamp-uptime"] }
 embassy-nrf = { version = "0.2.0", path = "../../embassy-nrf", features = ["defmt", "nrf5340-app-s", "time-driver-rtc1", "gpiote", "unstable-pac"] }
 embassy-net = { version = "0.5.0", path = "../../embassy-net", features = ["defmt", "tcp", "dhcpv4", "medium-ethernet"] }
diff --git a/examples/nrf54l15/Cargo.toml b/examples/nrf54l15/Cargo.toml
index 6d11269f7..7288ef6af 100644
--- a/examples/nrf54l15/Cargo.toml
+++ b/examples/nrf54l15/Cargo.toml
@@ -5,7 +5,7 @@ version = "0.1.0"
 license = "MIT OR Apache-2.0"
 
 [dependencies]
-embassy-executor = { version = "0.6.3", path = "../../embassy-executor", features = ["task-arena-size-32768", "arch-cortex-m", "executor-thread", "executor-interrupt", "defmt", "integrated-timers"] }
+embassy-executor = { version = "0.6.3", path = "../../embassy-executor", features = ["task-arena-size-32768", "arch-cortex-m", "executor-thread", "executor-interrupt", "defmt"] }
 embassy-time = { version = "0.3.2", path = "../../embassy-time", features = ["defmt", "defmt-timestamp-uptime"] }
 embassy-nrf = { version = "0.2.0", path = "../../embassy-nrf", features = ["defmt", "nrf54l15-app-s", "time-driver-rtc1", "gpiote", "unstable-pac", "time"] }
 
diff --git a/examples/nrf9151/ns/Cargo.toml b/examples/nrf9151/ns/Cargo.toml
index 96bf6700d..0353cf598 100644
--- a/examples/nrf9151/ns/Cargo.toml
+++ b/examples/nrf9151/ns/Cargo.toml
@@ -5,7 +5,7 @@ version = "0.1.0"
 license = "MIT OR Apache-2.0"
 
 [dependencies]
-embassy-executor = { version = "0.6.3", path = "../../../embassy-executor", features = ["task-arena-size-32768", "arch-cortex-m", "executor-thread", "executor-interrupt", "defmt", "integrated-timers"] }
+embassy-executor = { version = "0.6.3", path = "../../../embassy-executor", features = ["task-arena-size-32768", "arch-cortex-m", "executor-thread", "executor-interrupt", "defmt"] }
 embassy-time = { version = "0.3.2", path = "../../../embassy-time", features = ["defmt", "defmt-timestamp-uptime"] }
 embassy-nrf = { version = "0.2.0", path = "../../../embassy-nrf", features = ["defmt", "nrf9120-ns", "time-driver-rtc1", "gpiote", "unstable-pac", "time"] }
 
diff --git a/examples/nrf9151/s/Cargo.toml b/examples/nrf9151/s/Cargo.toml
index f7adf259d..5d2302574 100644
--- a/examples/nrf9151/s/Cargo.toml
+++ b/examples/nrf9151/s/Cargo.toml
@@ -5,7 +5,7 @@ version = "0.1.0"
 license = "MIT OR Apache-2.0"
 
 [dependencies]
-embassy-executor = { version = "0.6.3", path = "../../../embassy-executor", features = ["task-arena-size-32768", "arch-cortex-m", "executor-thread", "executor-interrupt", "defmt", "integrated-timers"] }
+embassy-executor = { version = "0.6.3", path = "../../../embassy-executor", features = ["task-arena-size-32768", "arch-cortex-m", "executor-thread", "executor-interrupt", "defmt"] }
 embassy-time = { version = "0.3.2", path = "../../../embassy-time", features = ["defmt", "defmt-timestamp-uptime"] }
 embassy-nrf = { version = "0.2.0", path = "../../../embassy-nrf", features = ["defmt", "nrf9120-s", "time-driver-rtc1", "gpiote", "unstable-pac", "time"] }
 
diff --git a/examples/nrf9160/Cargo.toml b/examples/nrf9160/Cargo.toml
index 3b404c730..b52cd4af0 100644
--- a/examples/nrf9160/Cargo.toml
+++ b/examples/nrf9160/Cargo.toml
@@ -5,7 +5,7 @@ version = "0.1.0"
 license = "MIT OR Apache-2.0"
 
 [dependencies]
-embassy-executor = { version = "0.6.3", path = "../../embassy-executor", features = ["task-arena-size-32768", "arch-cortex-m", "executor-thread", "executor-interrupt", "defmt", "integrated-timers"] }
+embassy-executor = { version = "0.6.3", path = "../../embassy-executor", features = ["task-arena-size-32768", "arch-cortex-m", "executor-thread", "executor-interrupt", "defmt"] }
 embassy-time = { version = "0.3.2", path = "../../embassy-time", features = ["defmt", "defmt-timestamp-uptime"] }
 embassy-nrf = { version = "0.2.0", path = "../../embassy-nrf", features = ["defmt", "nrf9160-s", "time-driver-rtc1", "gpiote", "unstable-pac", "time"] }
 embassy-net-nrf91 = { version = "0.1.0", path = "../../embassy-net-nrf91", features = ["defmt"] }
diff --git a/examples/rp/Cargo.toml b/examples/rp/Cargo.toml
index 2dce1676a..ce812b2e0 100644
--- a/examples/rp/Cargo.toml
+++ b/examples/rp/Cargo.toml
@@ -8,7 +8,7 @@ license = "MIT OR Apache-2.0"
 [dependencies]
 embassy-embedded-hal = { version = "0.2.0", path = "../../embassy-embedded-hal", features = ["defmt"] }
 embassy-sync = { version = "0.6.1", path = "../../embassy-sync", features = ["defmt"] }
-embassy-executor = { version = "0.6.3", path = "../../embassy-executor", features = ["task-arena-size-98304", "arch-cortex-m", "executor-thread", "executor-interrupt", "defmt", "integrated-timers"] }
+embassy-executor = { version = "0.6.3", path = "../../embassy-executor", features = ["task-arena-size-98304", "arch-cortex-m", "executor-thread", "executor-interrupt", "defmt"] }
 embassy-time = { version = "0.3.2", path = "../../embassy-time", features = ["defmt", "defmt-timestamp-uptime"] }
 embassy-rp = { version = "0.2.0", path = "../../embassy-rp", features = ["defmt", "unstable-pac", "time-driver", "critical-section-impl", "rp2040"] }
 embassy-usb = { version = "0.3.0", path = "../../embassy-usb", features = ["defmt"] }
diff --git a/examples/rp23/Cargo.toml b/examples/rp23/Cargo.toml
index 2fcad247d..72eef222d 100644
--- a/examples/rp23/Cargo.toml
+++ b/examples/rp23/Cargo.toml
@@ -8,7 +8,7 @@ license = "MIT OR Apache-2.0"
 [dependencies]
 embassy-embedded-hal = { version = "0.2.0", path = "../../embassy-embedded-hal", features = ["defmt"] }
 embassy-sync = { version = "0.6.1", path = "../../embassy-sync", features = ["defmt"] }
-embassy-executor = { version = "0.6.3", path = "../../embassy-executor", features = ["task-arena-size-98304", "arch-cortex-m", "executor-thread", "executor-interrupt", "defmt", "integrated-timers"] }
+embassy-executor = { version = "0.6.3", path = "../../embassy-executor", features = ["task-arena-size-98304", "arch-cortex-m", "executor-thread", "executor-interrupt", "defmt"] }
 embassy-time = { version = "0.3.2", path = "../../embassy-time", features = ["defmt", "defmt-timestamp-uptime"] }
 embassy-rp = { version = "0.2.0", path = "../../embassy-rp", features = ["defmt", "unstable-pac", "time-driver", "critical-section-impl", "rp235xa", "binary-info"] }
 embassy-usb = { version = "0.3.0", path = "../../embassy-usb", features = ["defmt"] }
diff --git a/examples/std/Cargo.toml b/examples/std/Cargo.toml
index 77948515a..e43fd77c8 100644
--- a/examples/std/Cargo.toml
+++ b/examples/std/Cargo.toml
@@ -6,7 +6,7 @@ license = "MIT OR Apache-2.0"
 
 [dependencies]
 embassy-sync = { version = "0.6.1", path = "../../embassy-sync", features = ["log"] }
-embassy-executor = { version = "0.6.3", path = "../../embassy-executor", features = ["task-arena-size-32768", "arch-std", "executor-thread", "log", "integrated-timers"] }
+embassy-executor = { version = "0.6.3", path = "../../embassy-executor", features = ["task-arena-size-32768", "arch-std", "executor-thread", "log"] }
 embassy-time = { version = "0.3.2", path = "../../embassy-time", features = ["log", "std", ] }
 embassy-net = { version = "0.5.0", path = "../../embassy-net", features=[ "std",  "log", "medium-ethernet", "medium-ip", "tcp", "udp", "dns", "dhcpv4", "proto-ipv6"] }
 embassy-net-tuntap = { version = "0.1.0", path = "../../embassy-net-tuntap" }
diff --git a/examples/stm32c0/Cargo.toml b/examples/stm32c0/Cargo.toml
index 895e668da..5ac3018e1 100644
--- a/examples/stm32c0/Cargo.toml
+++ b/examples/stm32c0/Cargo.toml
@@ -8,7 +8,7 @@ license = "MIT OR Apache-2.0"
 # Change stm32c031c6 to your chip name, if necessary.
 embassy-stm32 = { version = "0.1.0", path = "../../embassy-stm32", features = [ "defmt", "time-driver-any", "stm32c031c6", "memory-x", "unstable-pac", "exti"]  }
 embassy-sync = { version = "0.6.1", path = "../../embassy-sync", features = ["defmt"] }
-embassy-executor = { version = "0.6.3", path = "../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "defmt", "integrated-timers"] }
+embassy-executor = { version = "0.6.3", path = "../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "defmt"] }
 embassy-time = { version = "0.3.2", path = "../../embassy-time", features = ["defmt", "defmt-timestamp-uptime", "tick-hz-32_768"] }
 
 defmt = "0.3"
diff --git a/examples/stm32f0/Cargo.toml b/examples/stm32f0/Cargo.toml
index 056f8470d..af3ef7abb 100644
--- a/examples/stm32f0/Cargo.toml
+++ b/examples/stm32f0/Cargo.toml
@@ -13,7 +13,7 @@ defmt = "0.3"
 defmt-rtt = "0.4"
 panic-probe = { version = "0.3", features = ["print-defmt"] }
 embassy-sync = { version = "0.6.1", path = "../../embassy-sync", features = ["defmt"] }
-embassy-executor = { version = "0.6.3", path = "../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "executor-interrupt", "defmt", "integrated-timers"] }
+embassy-executor = { version = "0.6.3", path = "../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "executor-interrupt", "defmt"] }
 embassy-time = { version = "0.3.2", path = "../../embassy-time", features = ["defmt", "defmt-timestamp-uptime", "tick-hz-32_768"] }
 static_cell = "2"
 portable-atomic = { version = "1.5", features = ["unsafe-assume-single-core"] }
diff --git a/examples/stm32f1/Cargo.toml b/examples/stm32f1/Cargo.toml
index c081333d7..538e95dfb 100644
--- a/examples/stm32f1/Cargo.toml
+++ b/examples/stm32f1/Cargo.toml
@@ -8,7 +8,7 @@ license = "MIT OR Apache-2.0"
 # Change stm32f103c8 to your chip name, if necessary.
 embassy-stm32 = { version = "0.1.0", path = "../../embassy-stm32", features = [ "defmt", "stm32f103c8", "unstable-pac", "memory-x", "time-driver-any" ]  }
 embassy-sync = { version = "0.6.1", path = "../../embassy-sync", features = ["defmt"] }
-embassy-executor = { version = "0.6.3", path = "../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "defmt", "integrated-timers"] }
+embassy-executor = { version = "0.6.3", path = "../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "defmt"] }
 embassy-time = { version = "0.3.2", path = "../../embassy-time", features = ["defmt", "defmt-timestamp-uptime", "tick-hz-32_768"] }
 embassy-usb = { version = "0.3.0", path = "../../embassy-usb", features = ["defmt"] }
 embassy-futures = { version = "0.1.0", path = "../../embassy-futures" }
diff --git a/examples/stm32f2/Cargo.toml b/examples/stm32f2/Cargo.toml
index f7993497c..48d524b90 100644
--- a/examples/stm32f2/Cargo.toml
+++ b/examples/stm32f2/Cargo.toml
@@ -8,7 +8,7 @@ license = "MIT OR Apache-2.0"
 # Change stm32f207zg to your chip name, if necessary.
 embassy-stm32 = { version = "0.1.0", path = "../../embassy-stm32", features = [ "defmt", "stm32f207zg", "unstable-pac", "memory-x", "time-driver-any", "exti"]  }
 embassy-sync = { version = "0.6.1", path = "../../embassy-sync", features = ["defmt"] }
-embassy-executor = { version = "0.6.3", path = "../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "defmt", "integrated-timers"] }
+embassy-executor = { version = "0.6.3", path = "../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "defmt"] }
 embassy-time = { version = "0.3.2", path = "../../embassy-time", features = ["defmt", "defmt-timestamp-uptime", "tick-hz-32_768"] }
 
 defmt = "0.3"
diff --git a/examples/stm32f3/Cargo.toml b/examples/stm32f3/Cargo.toml
index a7b8935a9..66fb34223 100644
--- a/examples/stm32f3/Cargo.toml
+++ b/examples/stm32f3/Cargo.toml
@@ -8,7 +8,7 @@ license = "MIT OR Apache-2.0"
 # Change stm32f303ze to your chip name, if necessary.
 embassy-stm32 = { version = "0.1.0", path = "../../embassy-stm32", features = [ "defmt", "stm32f303ze", "unstable-pac", "memory-x", "time-driver-tim2", "exti"]  }
 embassy-sync = { version = "0.6.1", path = "../../embassy-sync", features = ["defmt"] }
-embassy-executor = { version = "0.6.3", path = "../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "executor-interrupt", "defmt", "integrated-timers"] }
+embassy-executor = { version = "0.6.3", path = "../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "executor-interrupt", "defmt"] }
 embassy-time = { version = "0.3.2", path = "../../embassy-time", features = ["defmt", "defmt-timestamp-uptime", "tick-hz-32_768"] }
 embassy-usb = { version = "0.3.0", path = "../../embassy-usb", features = ["defmt"] }
 embassy-futures = { version = "0.1.0", path = "../../embassy-futures" }
diff --git a/examples/stm32f334/Cargo.toml b/examples/stm32f334/Cargo.toml
index ed8348772..c6b311fa5 100644
--- a/examples/stm32f334/Cargo.toml
+++ b/examples/stm32f334/Cargo.toml
@@ -6,7 +6,7 @@ license = "MIT OR Apache-2.0"
 
 [dependencies]
 embassy-sync = { version = "0.6.1", path = "../../embassy-sync", features = ["defmt"] }
-embassy-executor = { version = "0.6.3", path = "../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "executor-interrupt", "defmt", "integrated-timers"] }
+embassy-executor = { version = "0.6.3", path = "../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "executor-interrupt", "defmt"] }
 embassy-time = { version = "0.3.2", path = "../../embassy-time", features = ["defmt", "defmt-timestamp-uptime", "tick-hz-32_768"] }
 embassy-stm32 = { version = "0.1.0", path = "../../embassy-stm32", features = [ "defmt", "stm32f334r8", "unstable-pac", "memory-x", "time-driver-any", "exti"]  }
 embassy-usb = { version = "0.3.0", path = "../../embassy-usb", features = ["defmt"] }
diff --git a/examples/stm32f4/Cargo.toml b/examples/stm32f4/Cargo.toml
index 2a0b7c507..4f0629fc6 100644
--- a/examples/stm32f4/Cargo.toml
+++ b/examples/stm32f4/Cargo.toml
@@ -8,7 +8,7 @@ license = "MIT OR Apache-2.0"
 # Change stm32f429zi to your chip name, if necessary.
 embassy-stm32 = { version = "0.1.0", path = "../../embassy-stm32", features = ["defmt", "stm32f429zi", "unstable-pac", "memory-x", "time-driver-tim4", "exti", "chrono"] }
 embassy-sync = { version = "0.6.1", path = "../../embassy-sync", features = ["defmt"] }
-embassy-executor = { version = "0.6.3", path = "../../embassy-executor", features = ["task-arena-size-32768", "arch-cortex-m", "executor-thread", "executor-interrupt", "defmt", "integrated-timers"] }
+embassy-executor = { version = "0.6.3", path = "../../embassy-executor", features = ["task-arena-size-32768", "arch-cortex-m", "executor-thread", "executor-interrupt", "defmt"] }
 embassy-time = { version = "0.3.2", path = "../../embassy-time", features = ["defmt", "defmt-timestamp-uptime", "tick-hz-32_768"] }
 embassy-usb = { version = "0.3.0", path = "../../embassy-usb", features = ["defmt" ] }
 embassy-net = { version = "0.5.0", path = "../../embassy-net", features = ["defmt", "tcp", "dhcpv4", "medium-ethernet", ] }
diff --git a/examples/stm32f469/Cargo.toml b/examples/stm32f469/Cargo.toml
index 382f7e485..a80409801 100644
--- a/examples/stm32f469/Cargo.toml
+++ b/examples/stm32f469/Cargo.toml
@@ -7,7 +7,7 @@ license = "MIT OR Apache-2.0"
 [dependencies]
 # Specific examples only for stm32f469
 embassy-stm32 = { version = "0.1.0", path = "../../embassy-stm32", features = ["defmt", "stm32f469ni", "unstable-pac", "memory-x", "time-driver-any", "exti", "chrono"] }
-embassy-executor = { version = "0.6.3", path = "../../embassy-executor", features = ["task-arena-size-32768", "arch-cortex-m", "executor-thread", "executor-interrupt", "defmt", "integrated-timers"] }
+embassy-executor = { version = "0.6.3", path = "../../embassy-executor", features = ["task-arena-size-32768", "arch-cortex-m", "executor-thread", "executor-interrupt", "defmt"] }
 embassy-time = { version = "0.3.2", path = "../../embassy-time", features = ["defmt", "defmt-timestamp-uptime", "tick-hz-32_768"] }
 
 defmt = "0.3"
diff --git a/examples/stm32f7/Cargo.toml b/examples/stm32f7/Cargo.toml
index 480694dca..520b8bc42 100644
--- a/examples/stm32f7/Cargo.toml
+++ b/examples/stm32f7/Cargo.toml
@@ -8,7 +8,7 @@ license = "MIT OR Apache-2.0"
 # Change stm32f777zi to your chip name, if necessary.
 embassy-stm32 = { version = "0.1.0", path = "../../embassy-stm32", features = ["defmt", "stm32f777zi", "memory-x", "unstable-pac", "time-driver-any", "exti"]  }
 embassy-sync = { version = "0.6.1", path = "../../embassy-sync", features = ["defmt"] }
-embassy-executor = { version = "0.6.3", path = "../../embassy-executor", features = ["task-arena-size-32768", "arch-cortex-m", "executor-thread", "defmt", "integrated-timers"] }
+embassy-executor = { version = "0.6.3", path = "../../embassy-executor", features = ["task-arena-size-32768", "arch-cortex-m", "executor-thread", "defmt"] }
 embassy-time = { version = "0.3.2", path = "../../embassy-time", features = ["defmt", "defmt-timestamp-uptime", "tick-hz-32_768"] }
 embassy-net = { version = "0.5.0", path = "../../embassy-net", features = ["defmt", "tcp", "dhcpv4", "medium-ethernet"] }
 embedded-io-async = { version = "0.6.1" }
diff --git a/examples/stm32g0/Cargo.toml b/examples/stm32g0/Cargo.toml
index 66cac1885..3d11610ce 100644
--- a/examples/stm32g0/Cargo.toml
+++ b/examples/stm32g0/Cargo.toml
@@ -8,7 +8,7 @@ license = "MIT OR Apache-2.0"
 # Change stm32g0b1re to your chip name, if necessary.
 embassy-stm32 = { version = "0.1.0", path = "../../embassy-stm32", features = [ "defmt", "time-driver-any", "stm32g0b1re", "memory-x", "unstable-pac", "exti"]  }
 embassy-sync = { version = "0.6.1", path = "../../embassy-sync", features = ["defmt"] }
-embassy-executor = { version = "0.6.3", path = "../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "defmt", "integrated-timers"] }
+embassy-executor = { version = "0.6.3", path = "../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "defmt"] }
 embassy-time = { version = "0.3.2", path = "../../embassy-time", features = ["defmt", "defmt-timestamp-uptime", "tick-hz-32_768"] }
 embassy-usb = { version = "0.3.0", path = "../../embassy-usb", default-features = false, features = ["defmt"] }
 embassy-futures = { version = "0.1.0", path = "../../embassy-futures" }
diff --git a/examples/stm32g4/Cargo.toml b/examples/stm32g4/Cargo.toml
index 36bef4787..87fa2c53a 100644
--- a/examples/stm32g4/Cargo.toml
+++ b/examples/stm32g4/Cargo.toml
@@ -8,7 +8,7 @@ license = "MIT OR Apache-2.0"
 # Change stm32g491re to your chip name, if necessary.
 embassy-stm32 = { version = "0.1.0", path = "../../embassy-stm32", features = [ "defmt", "time-driver-any", "stm32g491re", "memory-x", "unstable-pac", "exti"]  }
 embassy-sync = { version = "0.6.1", path = "../../embassy-sync", features = ["defmt"] }
-embassy-executor = { version = "0.6.3", path = "../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "defmt", "integrated-timers"] }
+embassy-executor = { version = "0.6.3", path = "../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "defmt"] }
 embassy-time = { version = "0.3.2", path = "../../embassy-time", features = ["defmt", "defmt-timestamp-uptime", "tick-hz-32_768"] }
 embassy-usb = { version = "0.3.0", path = "../../embassy-usb", features = ["defmt"] }
 embassy-futures = { version = "0.1.0", path = "../../embassy-futures" }
diff --git a/examples/stm32h5/Cargo.toml b/examples/stm32h5/Cargo.toml
index 1a5791c83..516d491e5 100644
--- a/examples/stm32h5/Cargo.toml
+++ b/examples/stm32h5/Cargo.toml
@@ -8,7 +8,7 @@ license = "MIT OR Apache-2.0"
 # Change stm32h563zi to your chip name, if necessary.
 embassy-stm32 = { version = "0.1.0", path = "../../embassy-stm32", features = ["defmt", "stm32h563zi", "memory-x", "time-driver-any", "exti", "unstable-pac", "low-power"] }
 embassy-sync = { version = "0.6.1", path = "../../embassy-sync", features = ["defmt"] }
-embassy-executor = { version = "0.6.3", path = "../../embassy-executor", features = ["task-arena-size-32768", "arch-cortex-m", "executor-thread", "defmt", "integrated-timers"] }
+embassy-executor = { version = "0.6.3", path = "../../embassy-executor", features = ["task-arena-size-32768", "arch-cortex-m", "executor-thread", "defmt"] }
 embassy-time = { version = "0.3.2", path = "../../embassy-time", features = ["defmt", "defmt-timestamp-uptime", "tick-hz-32_768"] }
 embassy-net = { version = "0.5.0", path = "../../embassy-net", features = ["defmt", "tcp", "dhcpv4", "medium-ethernet", "proto-ipv6"] }
 embassy-usb = { version = "0.3.0", path = "../../embassy-usb", features = ["defmt"] }
diff --git a/examples/stm32h7/Cargo.toml b/examples/stm32h7/Cargo.toml
index b90a6a455..68a0c3d88 100644
--- a/examples/stm32h7/Cargo.toml
+++ b/examples/stm32h7/Cargo.toml
@@ -9,7 +9,7 @@ license = "MIT OR Apache-2.0"
 embassy-stm32 = { version = "0.1.0", path = "../../embassy-stm32", features = ["defmt", "stm32h743bi", "time-driver-tim2", "exti", "memory-x", "unstable-pac", "chrono"] }
 embassy-sync = { version = "0.6.1", path = "../../embassy-sync", features = ["defmt"] }
 embassy-embedded-hal = { version = "0.2.0", path = "../../embassy-embedded-hal" }
-embassy-executor = { version = "0.6.3", path = "../../embassy-executor", features = ["task-arena-size-32768", "arch-cortex-m", "executor-thread", "executor-interrupt", "defmt", "integrated-timers"] }
+embassy-executor = { version = "0.6.3", path = "../../embassy-executor", features = ["task-arena-size-32768", "arch-cortex-m", "executor-thread", "executor-interrupt", "defmt"] }
 embassy-time = { version = "0.3.2", path = "../../embassy-time", features = ["defmt", "defmt-timestamp-uptime", "tick-hz-32_768"] }
 embassy-net = { version = "0.5.0", path = "../../embassy-net", features = ["defmt", "tcp", "dhcpv4", "medium-ethernet", "proto-ipv6", "dns"] }
 embassy-usb = { version = "0.3.0", path = "../../embassy-usb", features = ["defmt"] }
diff --git a/examples/stm32h723/Cargo.toml b/examples/stm32h723/Cargo.toml
index 6e3f0dd03..82f3cb9c2 100644
--- a/examples/stm32h723/Cargo.toml
+++ b/examples/stm32h723/Cargo.toml
@@ -8,7 +8,7 @@ license = "MIT OR Apache-2.0"
 # Change stm32h723zg to your chip name, if necessary.
 embassy-stm32 = { version = "0.1.0", path = "../../embassy-stm32", features = ["defmt", "stm32h723zg", "time-driver-tim2", "exti", "memory-x", "unstable-pac", "chrono"] }
 embassy-sync = { version = "0.6.1", path = "../../embassy-sync", features = ["defmt"] }
-embassy-executor = { version = "0.6.2", path = "../../embassy-executor", features = ["task-arena-size-32768", "arch-cortex-m", "executor-thread", "executor-interrupt", "defmt", "integrated-timers"] }
+embassy-executor = { version = "0.6.2", path = "../../embassy-executor", features = ["task-arena-size-32768", "arch-cortex-m", "executor-thread", "executor-interrupt", "defmt"] }
 embassy-time = { version = "0.3.2", path = "../../embassy-time", features = ["defmt", "defmt-timestamp-uptime", "tick-hz-32_768"] }
 embassy-futures = { version = "0.1.0", path = "../../embassy-futures" }
 
diff --git a/examples/stm32h735/Cargo.toml b/examples/stm32h735/Cargo.toml
index a9c66ec48..a517b9727 100644
--- a/examples/stm32h735/Cargo.toml
+++ b/examples/stm32h735/Cargo.toml
@@ -8,7 +8,7 @@ license = "MIT OR Apache-2.0"
 embassy-stm32 = { version = "0.1.0", path = "../../embassy-stm32", features = ["defmt", "stm32h735ig", "time-driver-tim2", "exti", "memory-x", "unstable-pac", "chrono"] }
 embassy-sync = { version = "0.6.1", path = "../../embassy-sync", features = ["defmt"] }
 embassy-embedded-hal = { version = "0.2.0", path = "../../embassy-embedded-hal" }
-embassy-executor = { version = "0.6.3", path = "../../embassy-executor", features = ["task-arena-size-32768", "arch-cortex-m", "executor-thread", "executor-interrupt", "defmt", "integrated-timers"] }
+embassy-executor = { version = "0.6.3", path = "../../embassy-executor", features = ["task-arena-size-32768", "arch-cortex-m", "executor-thread", "executor-interrupt", "defmt"] }
 embassy-time = { version = "0.3.2", path = "../../embassy-time", features = ["defmt", "defmt-timestamp-uptime", "tick-hz-32_768"] }
 embassy-futures = { version = "0.1.0", path = "../../embassy-futures" }
 
diff --git a/examples/stm32h755cm4/Cargo.toml b/examples/stm32h755cm4/Cargo.toml
index 455dee98b..1d4d3eb85 100644
--- a/examples/stm32h755cm4/Cargo.toml
+++ b/examples/stm32h755cm4/Cargo.toml
@@ -9,7 +9,7 @@ license = "MIT OR Apache-2.0"
 embassy-stm32 = { version = "0.1.0", path = "../../embassy-stm32", features = ["defmt", "stm32h755zi-cm4", "time-driver-tim2", "exti", "memory-x", "unstable-pac", "chrono"] }
 embassy-sync = { version = "0.6.1", path = "../../embassy-sync", features = ["defmt"] }
 embassy-embedded-hal = { version = "0.2.0", path = "../../embassy-embedded-hal" }
-embassy-executor = { version = "0.6.3", path = "../../embassy-executor", features = ["task-arena-size-32768", "arch-cortex-m", "executor-thread", "executor-interrupt", "defmt", "integrated-timers"] }
+embassy-executor = { version = "0.6.3", path = "../../embassy-executor", features = ["task-arena-size-32768", "arch-cortex-m", "executor-thread", "executor-interrupt", "defmt"] }
 embassy-time = { version = "0.3.1", path = "../../embassy-time", features = ["defmt", "defmt-timestamp-uptime", "tick-hz-32_768"] }
 embassy-net = { version = "0.5.0", path = "../../embassy-net", features = ["defmt", "tcp", "dhcpv4", "medium-ethernet", "proto-ipv6", "dns"] }
 embassy-usb = { version = "0.3.0", path = "../../embassy-usb", features = ["defmt"] }
diff --git a/examples/stm32h755cm7/Cargo.toml b/examples/stm32h755cm7/Cargo.toml
index 4d6167ab2..76c88c806 100644
--- a/examples/stm32h755cm7/Cargo.toml
+++ b/examples/stm32h755cm7/Cargo.toml
@@ -9,7 +9,7 @@ license = "MIT OR Apache-2.0"
 embassy-stm32 = { version = "0.1.0", path = "../../embassy-stm32", features = ["defmt", "stm32h755zi-cm7", "time-driver-tim3", "exti", "memory-x", "unstable-pac", "chrono"] }
 embassy-sync = { version = "0.6.1", path = "../../embassy-sync", features = ["defmt"] }
 embassy-embedded-hal = { version = "0.2.0", path = "../../embassy-embedded-hal" }
-embassy-executor = { version = "0.6.3", path = "../../embassy-executor", features = ["task-arena-size-32768", "arch-cortex-m", "executor-thread", "executor-interrupt", "defmt", "integrated-timers"] }
+embassy-executor = { version = "0.6.3", path = "../../embassy-executor", features = ["task-arena-size-32768", "arch-cortex-m", "executor-thread", "executor-interrupt", "defmt"] }
 embassy-time = { version = "0.3.1", path = "../../embassy-time", features = ["defmt", "defmt-timestamp-uptime", "tick-hz-32_768"] }
 embassy-net = { version = "0.5.0", path = "../../embassy-net", features = ["defmt", "tcp", "dhcpv4", "medium-ethernet", "proto-ipv6", "dns"] }
 embassy-usb = { version = "0.3.0", path = "../../embassy-usb", features = ["defmt"] }
diff --git a/examples/stm32h7b0/Cargo.toml b/examples/stm32h7b0/Cargo.toml
index 41f0fb5ca..aba398fa5 100644
--- a/examples/stm32h7b0/Cargo.toml
+++ b/examples/stm32h7b0/Cargo.toml
@@ -8,7 +8,7 @@ license = "MIT OR Apache-2.0"
 embassy-stm32 = { version = "0.1.0", path = "../../embassy-stm32", features = ["defmt", "stm32h7b0vb", "time-driver-tim2", "exti", "memory-x", "unstable-pac", "chrono"] }
 embassy-sync = { version = "0.6.1", path = "../../embassy-sync", features = ["defmt"] }
 embassy-embedded-hal = { version = "0.2.0", path = "../../embassy-embedded-hal" }
-embassy-executor = { version = "0.6.3", path = "../../embassy-executor", features = ["task-arena-size-32768", "arch-cortex-m", "executor-thread", "executor-interrupt", "defmt", "integrated-timers"] }
+embassy-executor = { version = "0.6.3", path = "../../embassy-executor", features = ["task-arena-size-32768", "arch-cortex-m", "executor-thread", "executor-interrupt", "defmt"] }
 embassy-time = { version = "0.3.2", path = "../../embassy-time", features = ["defmt", "defmt-timestamp-uptime", "tick-hz-32_768"] }
 embassy-net = { version = "0.5.0", path = "../../embassy-net", features = ["defmt", "tcp", "dhcpv4", "medium-ethernet", "proto-ipv6", "dns"] }
 embassy-usb = { version = "0.3.0", path = "../../embassy-usb", features = ["defmt"] }
diff --git a/examples/stm32h7rs/Cargo.toml b/examples/stm32h7rs/Cargo.toml
index 24065dbce..1d957e2cc 100644
--- a/examples/stm32h7rs/Cargo.toml
+++ b/examples/stm32h7rs/Cargo.toml
@@ -8,7 +8,7 @@ license = "MIT OR Apache-2.0"
 # Change stm32h743bi to your chip name, if necessary.
 embassy-stm32 = { version = "0.1.0", path = "../../embassy-stm32", features = ["defmt", "stm32h7s3l8", "time-driver-tim2", "exti", "memory-x", "unstable-pac", "chrono"] }
 embassy-sync = { version = "0.6.1", path = "../../embassy-sync", features = ["defmt"] }
-embassy-executor = { version = "0.6.3", path = "../../embassy-executor", features = ["task-arena-size-32768", "arch-cortex-m", "executor-thread", "executor-interrupt", "defmt", "integrated-timers"] }
+embassy-executor = { version = "0.6.3", path = "../../embassy-executor", features = ["task-arena-size-32768", "arch-cortex-m", "executor-thread", "executor-interrupt", "defmt"] }
 embassy-time = { version = "0.3.2", path = "../../embassy-time", features = ["defmt", "defmt-timestamp-uptime", "tick-hz-32_768"] }
 embassy-net = { version = "0.5.0", path = "../../embassy-net", features = ["defmt", "tcp", "dhcpv4", "medium-ethernet", "proto-ipv6", "dns"] }
 embassy-usb = { version = "0.3.0", path = "../../embassy-usb", features = ["defmt"] }
diff --git a/examples/stm32l0/Cargo.toml b/examples/stm32l0/Cargo.toml
index 9d234804a..5cc312a50 100644
--- a/examples/stm32l0/Cargo.toml
+++ b/examples/stm32l0/Cargo.toml
@@ -8,7 +8,7 @@ license = "MIT OR Apache-2.0"
 # Change stm32l072cz to your chip name, if necessary.
 embassy-stm32 = { version = "0.1.0", path = "../../embassy-stm32", features = ["defmt", "stm32l073rz", "unstable-pac", "time-driver-any", "exti", "memory-x"]  }
 embassy-sync = { version = "0.6.1", path = "../../embassy-sync", features = ["defmt"] }
-embassy-executor = { version = "0.6.3", path = "../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "defmt", "integrated-timers"] }
+embassy-executor = { version = "0.6.3", path = "../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "defmt"] }
 embassy-time = { version = "0.3.2", path = "../../embassy-time", features = ["defmt", "defmt-timestamp-uptime", "tick-hz-32_768"] }
 
 defmt = "0.3"
diff --git a/examples/stm32l1/Cargo.toml b/examples/stm32l1/Cargo.toml
index 33e4f96e5..31b6785fa 100644
--- a/examples/stm32l1/Cargo.toml
+++ b/examples/stm32l1/Cargo.toml
@@ -6,7 +6,7 @@ license = "MIT OR Apache-2.0"
 
 [dependencies]
 embassy-sync = { version = "0.6.1", path = "../../embassy-sync", features = ["defmt"] }
-embassy-executor = { version = "0.6.3", path = "../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "defmt", "integrated-timers"] }
+embassy-executor = { version = "0.6.3", path = "../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "defmt"] }
 embassy-time = { version = "0.3.2", path = "../../embassy-time", features = ["defmt", "defmt-timestamp-uptime", "tick-hz-32_768"] }
 embassy-stm32 = { version = "0.1.0", path = "../../embassy-stm32", features = [ "defmt", "stm32l151cb-a", "time-driver-any", "memory-x"]  }
 embassy-usb = { version = "0.3.0", path = "../../embassy-usb", features = ["defmt"] }
diff --git a/examples/stm32l4/Cargo.toml b/examples/stm32l4/Cargo.toml
index 512bb8064..3fde18ecd 100644
--- a/examples/stm32l4/Cargo.toml
+++ b/examples/stm32l4/Cargo.toml
@@ -8,7 +8,7 @@ license = "MIT OR Apache-2.0"
 # Change stm32l4s5vi to your chip name, if necessary.
 embassy-stm32 = { version = "0.1.0", path = "../../embassy-stm32", features = [ "defmt", "unstable-pac", "stm32l4r5zi", "memory-x", "time-driver-any", "exti", "chrono"]  }
 embassy-sync = { version = "0.6.1", path = "../../embassy-sync", features = ["defmt"] }
-embassy-executor = { version = "0.6.3", path = "../../embassy-executor", features = ["task-arena-size-32768", "arch-cortex-m", "executor-thread", "defmt", "integrated-timers"] }
+embassy-executor = { version = "0.6.3", path = "../../embassy-executor", features = ["task-arena-size-32768", "arch-cortex-m", "executor-thread", "defmt"] }
 embassy-time = { version = "0.3.2", path = "../../embassy-time", features = ["defmt", "defmt-timestamp-uptime", "tick-hz-32_768", ] }
 embassy-embedded-hal = { version = "0.2.0", path = "../../embassy-embedded-hal" }
 embassy-usb = { version = "0.3.0", path = "../../embassy-usb", features = ["defmt"] }
diff --git a/examples/stm32l5/Cargo.toml b/examples/stm32l5/Cargo.toml
index e09311f9d..2b8a2c064 100644
--- a/examples/stm32l5/Cargo.toml
+++ b/examples/stm32l5/Cargo.toml
@@ -8,7 +8,7 @@ license = "MIT OR Apache-2.0"
 # Change stm32l552ze to your chip name, if necessary.
 embassy-stm32 = { version = "0.1.0", path = "../../embassy-stm32", features = [ "defmt", "unstable-pac", "stm32l552ze", "time-driver-any", "exti", "memory-x", "low-power"]  }
 embassy-sync = { version = "0.6.1", path = "../../embassy-sync", features = ["defmt"] }
-embassy-executor = { version = "0.6.3", path = "../../embassy-executor", features = ["task-arena-size-32768", "arch-cortex-m", "executor-thread", "defmt", "integrated-timers"] }
+embassy-executor = { version = "0.6.3", path = "../../embassy-executor", features = ["task-arena-size-32768", "arch-cortex-m", "executor-thread", "defmt"] }
 embassy-time = { version = "0.3.2", path = "../../embassy-time", features = ["defmt", "defmt-timestamp-uptime", "tick-hz-32_768"] }
 embassy-usb = { version = "0.3.0", path = "../../embassy-usb", features = ["defmt"] }
 embassy-net = { version = "0.5.0", path = "../../embassy-net", features = ["defmt",  "tcp", "dhcpv4", "medium-ethernet"] }
diff --git a/examples/stm32u0/Cargo.toml b/examples/stm32u0/Cargo.toml
index fef695c82..11953acfc 100644
--- a/examples/stm32u0/Cargo.toml
+++ b/examples/stm32u0/Cargo.toml
@@ -8,7 +8,7 @@ license = "MIT OR Apache-2.0"
 # Change stm32u083rc to your chip name, if necessary.
 embassy-stm32 = { version = "0.1.0", path = "../../embassy-stm32", features = [ "defmt", "time-driver-any", "stm32u083rc", "memory-x", "unstable-pac", "exti", "chrono"]  }
 embassy-sync = { version = "0.6.1", path = "../../embassy-sync", features = ["defmt"] }
-embassy-executor = { version = "0.6.3", path = "../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "defmt", "integrated-timers"] }
+embassy-executor = { version = "0.6.3", path = "../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "defmt"] }
 embassy-time = { version = "0.3.2", path = "../../embassy-time", features = ["defmt", "defmt-timestamp-uptime", "tick-hz-32_768"] }
 embassy-usb = { version = "0.3.0", path = "../../embassy-usb", default-features = false, features = ["defmt"] }
 embassy-futures = { version = "0.1.0", path = "../../embassy-futures" }
diff --git a/examples/stm32u5/Cargo.toml b/examples/stm32u5/Cargo.toml
index 528429f4c..68a17ce43 100644
--- a/examples/stm32u5/Cargo.toml
+++ b/examples/stm32u5/Cargo.toml
@@ -8,7 +8,7 @@ license = "MIT OR Apache-2.0"
 # Change stm32u5g9zj to your chip name, if necessary.
 embassy-stm32 = { version = "0.1.0", path = "../../embassy-stm32", features = ["defmt", "unstable-pac", "stm32u5g9zj", "time-driver-any", "memory-x" ]  }
 embassy-sync = { version = "0.6.1", path = "../../embassy-sync", features = ["defmt"] }
-embassy-executor = { version = "0.6.3", path = "../../embassy-executor", features = ["task-arena-size-32768", "arch-cortex-m", "executor-thread", "defmt", "integrated-timers"] }
+embassy-executor = { version = "0.6.3", path = "../../embassy-executor", features = ["task-arena-size-32768", "arch-cortex-m", "executor-thread", "defmt"] }
 embassy-time = { version = "0.3.2", path = "../../embassy-time", features = ["defmt", "defmt-timestamp-uptime", "tick-hz-32_768"] }
 embassy-usb = { version = "0.3.0", path = "../../embassy-usb", features = ["defmt"] }
 embassy-futures = { version = "0.1.0", path = "../../embassy-futures" }
diff --git a/examples/stm32wb/Cargo.toml b/examples/stm32wb/Cargo.toml
index 400c7b20c..ecc72397b 100644
--- a/examples/stm32wb/Cargo.toml
+++ b/examples/stm32wb/Cargo.toml
@@ -9,7 +9,7 @@ license = "MIT OR Apache-2.0"
 embassy-stm32 = { version = "0.1.0", path = "../../embassy-stm32", features = [ "defmt", "stm32wb55rg", "time-driver-any", "memory-x", "exti"]  }
 embassy-stm32-wpan = { version = "0.1.0", path = "../../embassy-stm32-wpan", features = ["defmt", "stm32wb55rg"] }
 embassy-sync = { version = "0.6.1", path = "../../embassy-sync", features = ["defmt"] }
-embassy-executor = { version = "0.6.3", path = "../../embassy-executor", features = ["task-arena-size-32768", "arch-cortex-m", "executor-thread", "defmt", "integrated-timers"] }
+embassy-executor = { version = "0.6.3", path = "../../embassy-executor", features = ["task-arena-size-32768", "arch-cortex-m", "executor-thread", "defmt"] }
 embassy-time = { version = "0.3.2", path = "../../embassy-time", features = ["defmt", "defmt-timestamp-uptime", "tick-hz-32_768"] }
 embassy-net = { version = "0.5.0", path = "../../embassy-net", features = ["defmt", "udp", "proto-ipv6", "medium-ieee802154", ], optional=true }
 
diff --git a/examples/stm32wba/Cargo.toml b/examples/stm32wba/Cargo.toml
index 9e4251ce1..7735dfdde 100644
--- a/examples/stm32wba/Cargo.toml
+++ b/examples/stm32wba/Cargo.toml
@@ -7,7 +7,7 @@ license = "MIT OR Apache-2.0"
 [dependencies]
 embassy-stm32 = { version = "0.1.0", path = "../../embassy-stm32", features = [ "defmt", "stm32wba52cg", "time-driver-any", "memory-x", "exti"]  }
 embassy-sync = { version = "0.6.1", path = "../../embassy-sync", features = ["defmt"] }
-embassy-executor = { version = "0.6.3", path = "../../embassy-executor", features = ["task-arena-size-32768", "arch-cortex-m", "executor-thread", "defmt", "integrated-timers"] }
+embassy-executor = { version = "0.6.3", path = "../../embassy-executor", features = ["task-arena-size-32768", "arch-cortex-m", "executor-thread", "defmt"] }
 embassy-time = { version = "0.3.2", path = "../../embassy-time", features = ["defmt", "defmt-timestamp-uptime", "tick-hz-32_768"] }
 embassy-net = { version = "0.5.0", path = "../../embassy-net", features = ["defmt", "udp", "proto-ipv6", "medium-ieee802154", ], optional=true }
 
diff --git a/examples/stm32wl/Cargo.toml b/examples/stm32wl/Cargo.toml
index 6507fd1eb..0182745e5 100644
--- a/examples/stm32wl/Cargo.toml
+++ b/examples/stm32wl/Cargo.toml
@@ -8,7 +8,7 @@ license = "MIT OR Apache-2.0"
 # Change stm32wl55jc-cm4 to your chip name, if necessary.
 embassy-stm32 = { version = "0.1.0", path = "../../embassy-stm32", features = ["defmt", "stm32wl55jc-cm4", "time-driver-any", "memory-x", "unstable-pac", "exti", "chrono"] }
 embassy-sync = { version = "0.6.1", path = "../../embassy-sync", features = ["defmt"] }
-embassy-executor = { version = "0.6.3", path = "../../embassy-executor", features = ["task-arena-size-4096", "arch-cortex-m", "executor-thread", "defmt", "integrated-timers"] }
+embassy-executor = { version = "0.6.3", path = "../../embassy-executor", features = ["task-arena-size-4096", "arch-cortex-m", "executor-thread", "defmt"] }
 embassy-time = { version = "0.3.2", path = "../../embassy-time", features = ["defmt", "defmt-timestamp-uptime", "tick-hz-32_768"] }
 embassy-embedded-hal = { version = "0.2.0", path = "../../embassy-embedded-hal" }
 
diff --git a/examples/wasm/Cargo.toml b/examples/wasm/Cargo.toml
index 5e4d352b5..f5dcdc0a2 100644
--- a/examples/wasm/Cargo.toml
+++ b/examples/wasm/Cargo.toml
@@ -9,7 +9,7 @@ crate-type = ["cdylib"]
 
 [dependencies]
 embassy-sync = { version = "0.6.1", path = "../../embassy-sync", features = ["log"] }
-embassy-executor = { version = "0.6.3", path = "../../embassy-executor", features = ["arch-wasm", "executor-thread", "log", "integrated-timers"] }
+embassy-executor = { version = "0.6.3", path = "../../embassy-executor", features = ["arch-wasm", "executor-thread", "log"] }
 embassy-time = { version = "0.3.2", path = "../../embassy-time", features = ["log", "wasm", ] }
 
 wasm-logger = "0.2.0"
diff --git a/tests/nrf/Cargo.toml b/tests/nrf/Cargo.toml
index 766318998..7af3d0649 100644
--- a/tests/nrf/Cargo.toml
+++ b/tests/nrf/Cargo.toml
@@ -9,7 +9,7 @@ teleprobe-meta = "1"
 
 embassy-futures = { version = "0.1.0", path = "../../embassy-futures" }
 embassy-sync = { version = "0.6.1", path = "../../embassy-sync", features = ["defmt", ] }
-embassy-executor = { version = "0.6.3", path = "../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "defmt", "integrated-timers"] }
+embassy-executor = { version = "0.6.3", path = "../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "defmt"] }
 embassy-time = { version = "0.3.2", path = "../../embassy-time", features = ["defmt",  "defmt-timestamp-uptime"] }
 embassy-nrf = { version = "0.2.0", path = "../../embassy-nrf", features = ["defmt",  "time-driver-rtc1", "gpiote", "unstable-pac"] }
 embedded-io-async = { version = "0.6.1", features = ["defmt-03"] }
diff --git a/tests/rp/Cargo.toml b/tests/rp/Cargo.toml
index 7fb791578..8cd40418a 100644
--- a/tests/rp/Cargo.toml
+++ b/tests/rp/Cargo.toml
@@ -8,7 +8,7 @@ license = "MIT OR Apache-2.0"
 teleprobe-meta = "1.1"
 
 embassy-sync = { version = "0.6.1", path = "../../embassy-sync", features = ["defmt"] }
-embassy-executor = { version = "0.6.3", path = "../../embassy-executor", features = ["task-arena-size-32768", "arch-cortex-m", "executor-thread", "defmt", "integrated-timers"] }
+embassy-executor = { version = "0.6.3", path = "../../embassy-executor", features = ["task-arena-size-32768", "arch-cortex-m", "executor-thread", "defmt"] }
 embassy-time = { version = "0.3.2", path = "../../embassy-time", features = ["defmt", ] }
 embassy-rp = { version = "0.2.0", path = "../../embassy-rp", features = [ "defmt", "unstable-pac", "time-driver", "critical-section-impl", "intrinsics", "rom-v2-intrinsics", "run-from-ram", "rp2040"]  }
 embassy-futures = { version = "0.1.0", path = "../../embassy-futures" }
diff --git a/tests/stm32/Cargo.toml b/tests/stm32/Cargo.toml
index 599f7c702..5ae6878cc 100644
--- a/tests/stm32/Cargo.toml
+++ b/tests/stm32/Cargo.toml
@@ -60,7 +60,7 @@ cm0 = ["portable-atomic/unsafe-assume-single-core"]
 teleprobe-meta = "1"
 
 embassy-sync = { version = "0.6.1", path = "../../embassy-sync", features = ["defmt"] }
-embassy-executor = { version = "0.6.3", path = "../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "defmt", "integrated-timers"] }
+embassy-executor = { version = "0.6.3", path = "../../embassy-executor", features = ["arch-cortex-m", "executor-thread", "defmt"] }
 embassy-time = { version = "0.3.2", path = "../../embassy-time", features = ["defmt", "tick-hz-131_072", "defmt-timestamp-uptime"] }
 embassy-stm32 = { version = "0.1.0", path = "../../embassy-stm32", features = [ "defmt", "unstable-pac", "memory-x", "time-driver-any"]  }
 embassy-futures = { version = "0.1.0", path = "../../embassy-futures" }