Merge #963

963: Remove some uses of the `futures` crate r=Dirbaio a=Dirbaio

- use `Future` from `core`
- `poll_fn` is now stable in `core` since Rust 1.64 (out today)
- Use `join` from `embassy-futures`.


Co-authored-by: Dario Nieuwenhuis <[email protected]>

47 files changed, 54 insertions, 56 deletions

diff --git a/embassy-executor/src/spawner.rs b/embassy-executor/src/spawner.rs
index 25a0d7dbb..400d973ff 100644
--- a/embassy-executor/src/spawner.rs
+++ b/embassy-executor/src/spawner.rs
@@ -1,10 +1,9 @@
+use core::future::poll_fn;
 use core::marker::PhantomData;
 use core::mem;
 use core::ptr::NonNull;
 use core::task::Poll;
 
-use futures_util::future::poll_fn;
-
 use super::raw;
 
 /// Token to spawn a newly-created task in an executor.
diff --git a/embassy-lora/src/stm32wl/mod.rs b/embassy-lora/src/stm32wl/mod.rs
index 4d11244b6..e28fa2c1a 100644
--- a/embassy-lora/src/stm32wl/mod.rs
+++ b/embassy-lora/src/stm32wl/mod.rs
@@ -1,5 +1,5 @@
 //! A radio driver integration for the radio found on STM32WL family devices.
-use core::future::Future;
+use core::future::{poll_fn, Future};
 use core::task::Poll;
 
 use embassy_hal_common::{into_ref, Peripheral, PeripheralRef};
@@ -11,7 +11,6 @@ use embassy_stm32::subghz::{
     Status, SubGhz, TcxoMode, TcxoTrim, Timeout, TxParams,
 };
 use embassy_sync::waitqueue::AtomicWaker;
-use futures::future::poll_fn;
 use lorawan_device::async_device::radio::{Bandwidth, PhyRxTx, RfConfig, RxQuality, SpreadingFactor, TxConfig};
 use lorawan_device::async_device::Timings;
 
diff --git a/embassy-net/src/stack.rs b/embassy-net/src/stack.rs
index 8d2dd4bca..3a7610758 100644
--- a/embassy-net/src/stack.rs
+++ b/embassy-net/src/stack.rs
@@ -1,10 +1,9 @@
 use core::cell::UnsafeCell;
-use core::future::Future;
+use core::future::{poll_fn, Future};
 use core::task::{Context, Poll};
 
 use embassy_sync::waitqueue::WakerRegistration;
 use embassy_time::{Instant, Timer};
-use futures::future::poll_fn;
 use futures::pin_mut;
 use heapless::Vec;
 #[cfg(feature = "dhcpv4")]
diff --git a/embassy-net/src/tcp.rs b/embassy-net/src/tcp.rs
index 0fa873602..f8fff3e2d 100644
--- a/embassy-net/src/tcp.rs
+++ b/embassy-net/src/tcp.rs
@@ -1,8 +1,8 @@
 use core::cell::UnsafeCell;
+use core::future::poll_fn;
 use core::mem;
 use core::task::Poll;
 
-use futures::future::poll_fn;
 use smoltcp::iface::{Interface, SocketHandle};
 use smoltcp::socket::tcp;
 use smoltcp::time::Duration;
@@ -103,7 +103,7 @@ impl<'a> TcpSocket<'a> {
             Err(tcp::ConnectError::Unaddressable) => return Err(ConnectError::NoRoute),
         }
 
-        futures::future::poll_fn(|cx| unsafe {
+        poll_fn(|cx| unsafe {
             self.io.with_mut(|s, _| match s.state() {
                 tcp::State::Closed | tcp::State::TimeWait => Poll::Ready(Err(ConnectError::ConnectionReset)),
                 tcp::State::Listen => unreachable!(),
@@ -128,7 +128,7 @@ impl<'a> TcpSocket<'a> {
             Err(tcp::ListenError::Unaddressable) => return Err(AcceptError::InvalidPort),
         }
 
-        futures::future::poll_fn(|cx| unsafe {
+        poll_fn(|cx| unsafe {
             self.io.with_mut(|s, _| match s.state() {
                 tcp::State::Listen | tcp::State::SynSent | tcp::State::SynReceived => {
                     s.register_send_waker(cx.waker());
diff --git a/embassy-net/src/udp.rs b/embassy-net/src/udp.rs
index 78b09a492..f2e33493c 100644
--- a/embassy-net/src/udp.rs
+++ b/embassy-net/src/udp.rs
@@ -1,8 +1,8 @@
 use core::cell::UnsafeCell;
+use core::future::poll_fn;
 use core::mem;
 use core::task::Poll;
 
-use futures::future::poll_fn;
 use smoltcp::iface::{Interface, SocketHandle};
 use smoltcp::socket::udp::{self, PacketMetadata};
 use smoltcp::wire::{IpEndpoint, IpListenEndpoint};
diff --git a/embassy-nrf/src/buffered_uarte.rs b/embassy-nrf/src/buffered_uarte.rs
index c3cba2470..fec875cb8 100644
--- a/embassy-nrf/src/buffered_uarte.rs
+++ b/embassy-nrf/src/buffered_uarte.rs
@@ -15,7 +15,7 @@
 
 use core::cell::RefCell;
 use core::cmp::min;
-use core::future::Future;
+use core::future::{poll_fn, Future};
 use core::sync::atomic::{compiler_fence, Ordering};
 use core::task::Poll;
 
@@ -23,7 +23,6 @@ use embassy_cortex_m::peripheral::{PeripheralMutex, PeripheralState, StateStorag
 use embassy_hal_common::ring_buffer::RingBuffer;
 use embassy_hal_common::{into_ref, PeripheralRef};
 use embassy_sync::waitqueue::WakerRegistration;
-use futures::future::poll_fn;
 // Re-export SVD variants to allow user to directly set values
 pub use pac::uarte0::{baudrate::BAUDRATE_A as Baudrate, config::PARITY_A as Parity};
 
diff --git a/embassy-nrf/src/gpiote.rs b/embassy-nrf/src/gpiote.rs
index d99f592b0..b418be9d5 100644
--- a/embassy-nrf/src/gpiote.rs
+++ b/embassy-nrf/src/gpiote.rs
@@ -1,10 +1,9 @@
 use core::convert::Infallible;
-use core::future::Future;
+use core::future::{poll_fn, Future};
 use core::task::{Context, Poll};
 
 use embassy_hal_common::{impl_peripheral, Peripheral, PeripheralRef};
 use embassy_sync::waitqueue::AtomicWaker;
-use futures::future::poll_fn;
 
 use crate::gpio::sealed::Pin as _;
 use crate::gpio::{AnyPin, Flex, Input, Output, Pin as GpioPin};
diff --git a/embassy-nrf/src/qdec.rs b/embassy-nrf/src/qdec.rs
index 762e09715..253c85c32 100644
--- a/embassy-nrf/src/qdec.rs
+++ b/embassy-nrf/src/qdec.rs
@@ -1,10 +1,10 @@
 //! Quadrature decoder interface
 
+use core::future::poll_fn;
 use core::task::Poll;
 
 use embassy_hal_common::{into_ref, PeripheralRef};
 use embassy_sync::waitqueue::AtomicWaker;
-use futures::future::poll_fn;
 
 use crate::gpio::sealed::Pin as _;
 use crate::gpio::{AnyPin, Pin as GpioPin};
diff --git a/embassy-nrf/src/qspi.rs b/embassy-nrf/src/qspi.rs
index c97cb1656..ea0a17031 100644
--- a/embassy-nrf/src/qspi.rs
+++ b/embassy-nrf/src/qspi.rs
@@ -1,11 +1,11 @@
 #![macro_use]
 
+use core::future::poll_fn;
 use core::ptr;
 use core::task::Poll;
 
 use embassy_hal_common::drop::DropBomb;
 use embassy_hal_common::{into_ref, PeripheralRef};
-use futures::future::poll_fn;
 
 use crate::gpio::{self, Pin as GpioPin};
 use crate::interrupt::{Interrupt, InterruptExt};
diff --git a/embassy-nrf/src/rng.rs b/embassy-nrf/src/rng.rs
index 42da51d0f..e0caeaaee 100644
--- a/embassy-nrf/src/rng.rs
+++ b/embassy-nrf/src/rng.rs
@@ -1,3 +1,4 @@
+use core::future::poll_fn;
 use core::ptr;
 use core::sync::atomic::{AtomicPtr, Ordering};
 use core::task::Poll;
@@ -5,7 +6,6 @@ use core::task::Poll;
 use embassy_hal_common::drop::OnDrop;
 use embassy_hal_common::{into_ref, PeripheralRef};
 use embassy_sync::waitqueue::AtomicWaker;
-use futures::future::poll_fn;
 
 use crate::interrupt::InterruptExt;
 use crate::peripherals::RNG;
diff --git a/embassy-nrf/src/saadc.rs b/embassy-nrf/src/saadc.rs
index 9bc89eb38..d1c82423e 100644
--- a/embassy-nrf/src/saadc.rs
+++ b/embassy-nrf/src/saadc.rs
@@ -1,12 +1,12 @@
 #![macro_use]
 
+use core::future::poll_fn;
 use core::sync::atomic::{compiler_fence, Ordering};
 use core::task::Poll;
 
 use embassy_hal_common::drop::OnDrop;
 use embassy_hal_common::{impl_peripheral, into_ref, PeripheralRef};
 use embassy_sync::waitqueue::AtomicWaker;
-use futures::future::poll_fn;
 use pac::{saadc, SAADC};
 use saadc::ch::config::{GAIN_A, REFSEL_A, RESP_A, TACQ_A};
 // We treat the positive and negative channels with the same enum values to keep our type tidy and given they are the same
diff --git a/embassy-nrf/src/spim.rs b/embassy-nrf/src/spim.rs
index 2955182e4..51cd73a47 100644
--- a/embassy-nrf/src/spim.rs
+++ b/embassy-nrf/src/spim.rs
@@ -1,12 +1,12 @@
 #![macro_use]
 
+use core::future::poll_fn;
 use core::sync::atomic::{compiler_fence, Ordering};
 use core::task::Poll;
 
 use embassy_embedded_hal::SetConfig;
 use embassy_hal_common::{into_ref, PeripheralRef};
 pub use embedded_hal_02::spi::{Mode, Phase, Polarity, MODE_0, MODE_1, MODE_2, MODE_3};
-use futures::future::poll_fn;
 pub use pac::spim0::frequency::FREQUENCY_A as Frequency;
 
 use crate::chip::FORCE_COPY_BUFFER_SIZE;
diff --git a/embassy-nrf/src/temp.rs b/embassy-nrf/src/temp.rs
index d520fd686..7a7f61b51 100644
--- a/embassy-nrf/src/temp.rs
+++ b/embassy-nrf/src/temp.rs
@@ -1,12 +1,12 @@
 //! Temperature sensor interface.
 
+use core::future::poll_fn;
 use core::task::Poll;
 
 use embassy_hal_common::drop::OnDrop;
 use embassy_hal_common::{into_ref, PeripheralRef};
 use embassy_sync::waitqueue::AtomicWaker;
 use fixed::types::I30F2;
-use futures::future::poll_fn;
 
 use crate::interrupt::InterruptExt;
 use crate::peripherals::TEMP;
diff --git a/embassy-nrf/src/timer.rs b/embassy-nrf/src/timer.rs
index 3de5a8962..bc8710640 100644
--- a/embassy-nrf/src/timer.rs
+++ b/embassy-nrf/src/timer.rs
@@ -1,12 +1,12 @@
 #![macro_use]
 
+use core::future::poll_fn;
 use core::marker::PhantomData;
 use core::task::Poll;
 
 use embassy_hal_common::drop::OnDrop;
 use embassy_hal_common::{into_ref, PeripheralRef};
 use embassy_sync::waitqueue::AtomicWaker;
-use futures::future::poll_fn;
 
 use crate::interrupt::{Interrupt, InterruptExt};
 use crate::ppi::{Event, Task};
diff --git a/embassy-nrf/src/twim.rs b/embassy-nrf/src/twim.rs
index 3d4af753a..7c6ca1d30 100644
--- a/embassy-nrf/src/twim.rs
+++ b/embassy-nrf/src/twim.rs
@@ -6,7 +6,7 @@
 //!
 //! - nRF52832: Section 33
 //! - nRF52840: Section 6.31
-use core::future::Future;
+use core::future::{poll_fn, Future};
 use core::sync::atomic::compiler_fence;
 use core::sync::atomic::Ordering::SeqCst;
 use core::task::Poll;
@@ -16,7 +16,6 @@ use embassy_hal_common::{into_ref, PeripheralRef};
 use embassy_sync::waitqueue::AtomicWaker;
 #[cfg(feature = "time")]
 use embassy_time::{Duration, Instant};
-use futures::future::poll_fn;
 
 use crate::chip::{EASY_DMA_SIZE, FORCE_COPY_BUFFER_SIZE};
 use crate::gpio::Pin as GpioPin;
diff --git a/embassy-nrf/src/uarte.rs b/embassy-nrf/src/uarte.rs
index c250e24ca..5f9c4f17d 100644
--- a/embassy-nrf/src/uarte.rs
+++ b/embassy-nrf/src/uarte.rs
@@ -13,12 +13,12 @@
 //! memory may be used given that buffers are passed in directly to its read and write
 //! methods.
 
+use core::future::poll_fn;
 use core::sync::atomic::{compiler_fence, Ordering};
 use core::task::Poll;
 
 use embassy_hal_common::drop::OnDrop;
 use embassy_hal_common::{into_ref, PeripheralRef};
-use futures::future::poll_fn;
 use pac::uarte0::RegisterBlock;
 // Re-export SVD variants to allow user to directly set values.
 pub use pac::uarte0::{baudrate::BAUDRATE_A as Baudrate, config::PARITY_A as Parity};
diff --git a/embassy-nrf/src/usb.rs b/embassy-nrf/src/usb.rs
index 688326e9c..0685d419c 100644
--- a/embassy-nrf/src/usb.rs
+++ b/embassy-nrf/src/usb.rs
@@ -1,5 +1,6 @@
 #![macro_use]
 
+use core::future::{poll_fn, Future};
 use core::marker::PhantomData;
 use core::mem::MaybeUninit;
 use core::sync::atomic::{compiler_fence, AtomicBool, AtomicU32, Ordering};
@@ -11,8 +12,6 @@ use embassy_sync::waitqueue::AtomicWaker;
 pub use embassy_usb;
 use embassy_usb::driver::{self, EndpointError, Event, Unsupported};
 use embassy_usb::types::{EndpointAddress, EndpointInfo, EndpointType, UsbDirection};
-use futures::future::poll_fn;
-use futures::Future;
 use pac::usbd::RegisterBlock;
 
 use crate::interrupt::{Interrupt, InterruptExt};
diff --git a/embassy-rp/Cargo.toml b/embassy-rp/Cargo.toml
index 63997c99f..885a4746d 100644
--- a/embassy-rp/Cargo.toml
+++ b/embassy-rp/Cargo.toml
@@ -33,6 +33,7 @@ unstable-traits = ["embedded-hal-1"]
 embassy-sync = { version = "0.1.0", path = "../embassy-sync" }
 embassy-executor = { version = "0.1.0", path = "../embassy-executor" }
 embassy-time = { version = "0.1.0", path = "../embassy-time", features = [ "tick-hz-1_000_000" ] }
+embassy-futures = { version = "0.1.0", path = "../embassy-futures" }
 embassy-cortex-m = { version = "0.1.0", path = "../embassy-cortex-m", features = ["prio-bits-2"]}
 embassy-hal-common = {version = "0.1.0", path = "../embassy-hal-common" }
 embassy-embedded-hal = {version = "0.1.0", path = "../embassy-embedded-hal" }
diff --git a/embassy-rp/src/dma.rs b/embassy-rp/src/dma.rs
index 7ad1a6bfe..410c48666 100644
--- a/embassy-rp/src/dma.rs
+++ b/embassy-rp/src/dma.rs
@@ -1,3 +1,4 @@
+use core::future::Future;
 use core::pin::Pin;
 use core::sync::atomic::{compiler_fence, Ordering};
 use core::task::{Context, Poll};
@@ -5,7 +6,6 @@ use core::task::{Context, Poll};
 use embassy_cortex_m::interrupt::{Interrupt, InterruptExt};
 use embassy_hal_common::{impl_peripheral, into_ref, Peripheral, PeripheralRef};
 use embassy_sync::waitqueue::AtomicWaker;
-use futures::Future;
 use pac::dma::vals::DataSize;
 
 use crate::pac::dma::vals;
diff --git a/embassy-rp/src/spi.rs b/embassy-rp/src/spi.rs
index 3cf823573..03293e064 100644
--- a/embassy-rp/src/spi.rs
+++ b/embassy-rp/src/spi.rs
@@ -1,9 +1,9 @@
 use core::marker::PhantomData;
 
 use embassy_embedded_hal::SetConfig;
+use embassy_futures::join::join;
 use embassy_hal_common::{into_ref, PeripheralRef};
 pub use embedded_hal_02::spi::{Phase, Polarity};
-use futures::future::join;
 
 use crate::dma::{AnyChannel, Channel};
 use crate::gpio::sealed::Pin as _;
diff --git a/embassy-rp/src/usb.rs b/embassy-rp/src/usb.rs
index 82eafdefd..a7ec5fb79 100644
--- a/embassy-rp/src/usb.rs
+++ b/embassy-rp/src/usb.rs
@@ -1,3 +1,4 @@
+use core::future::{poll_fn, Future};
 use core::marker::PhantomData;
 use core::slice;
 use core::sync::atomic::Ordering;
@@ -8,8 +9,6 @@ use embassy_hal_common::into_ref;
 use embassy_sync::waitqueue::AtomicWaker;
 use embassy_usb::driver::{self, EndpointAllocError, EndpointError, Event, Unsupported};
 use embassy_usb::types::{EndpointAddress, EndpointInfo, EndpointType, UsbDirection};
-use futures::future::poll_fn;
-use futures::Future;
 
 use crate::interrupt::{Interrupt, InterruptExt};
 use crate::{pac, peripherals, Peripheral, RegExt};
diff --git a/embassy-stm32/Cargo.toml b/embassy-stm32/Cargo.toml
index b4c19f32e..484496f24 100644
--- a/embassy-stm32/Cargo.toml
+++ b/embassy-stm32/Cargo.toml
@@ -34,6 +34,7 @@ flavors = [
 embassy-sync = { version = "0.1.0", path = "../embassy-sync" }
 embassy-executor = { version = "0.1.0", path = "../embassy-executor" }
 embassy-time = { version = "0.1.0", path = "../embassy-time", optional = true }
+embassy-futures = { version = "0.1.0", path = "../embassy-futures" }
 embassy-cortex-m = { version = "0.1.0", path = "../embassy-cortex-m", features = ["prio-bits-4"]}
 embassy-hal-common = {version = "0.1.0", path = "../embassy-hal-common" }
 embassy-embedded-hal = {version = "0.1.0", path = "../embassy-embedded-hal" }
diff --git a/embassy-stm32/src/dcmi.rs b/embassy-stm32/src/dcmi.rs
index fb9dc9d08..20e1a4070 100644
--- a/embassy-stm32/src/dcmi.rs
+++ b/embassy-stm32/src/dcmi.rs
@@ -1,8 +1,8 @@
+use core::future::poll_fn;
 use core::task::Poll;
 
 use embassy_hal_common::{into_ref, PeripheralRef};
 use embassy_sync::waitqueue::AtomicWaker;
-use futures::future::poll_fn;
 
 use crate::gpio::sealed::AFType;
 use crate::gpio::Speed;
@@ -429,7 +429,7 @@ where
             }
         });
 
-        let (_, result) = futures::future::join(dma_read, result).await;
+        let (_, result) = embassy_futures::join::join(dma_read, result).await;
 
         unsafe { Self::toggle(false) };
 
@@ -537,7 +537,7 @@ where
 
         unsafe { Self::toggle(true) };
 
-        let (_, result) = futures::future::join(dma_result, result).await;
+        let (_, result) = embassy_futures::join::join(dma_result, result).await;
 
         unsafe { Self::toggle(false) };
 
diff --git a/embassy-stm32/src/i2c/v2.rs b/embassy-stm32/src/i2c/v2.rs
index db4924461..b7c89931c 100644
--- a/embassy-stm32/src/i2c/v2.rs
+++ b/embassy-stm32/src/i2c/v2.rs
@@ -1,4 +1,5 @@
 use core::cmp;
+use core::future::poll_fn;
 use core::task::Poll;
 
 use atomic_polyfill::{AtomicUsize, Ordering};
@@ -6,7 +7,6 @@ use embassy_embedded_hal::SetConfig;
 use embassy_hal_common::drop::OnDrop;
 use embassy_hal_common::{into_ref, PeripheralRef};
 use embassy_sync::waitqueue::AtomicWaker;
-use futures::future::poll_fn;
 
 use crate::dma::NoDma;
 use crate::gpio::sealed::AFType;
diff --git a/embassy-stm32/src/rng.rs b/embassy-stm32/src/rng.rs
index 520f2ab9a..10fc4a75e 100644
--- a/embassy-stm32/src/rng.rs
+++ b/embassy-stm32/src/rng.rs
@@ -1,10 +1,10 @@
 #![macro_use]
 
+use core::future::poll_fn;
 use core::task::Poll;
 
 use embassy_hal_common::{into_ref, PeripheralRef};
 use embassy_sync::waitqueue::AtomicWaker;
-use futures::future::poll_fn;
 use rand_core::{CryptoRng, RngCore};
 
 use crate::{pac, peripherals, Peripheral};
diff --git a/embassy-stm32/src/sdmmc/mod.rs b/embassy-stm32/src/sdmmc/mod.rs
index 67758c492..a8bc6385f 100644
--- a/embassy-stm32/src/sdmmc/mod.rs
+++ b/embassy-stm32/src/sdmmc/mod.rs
@@ -1,12 +1,12 @@
 #![macro_use]
 
 use core::default::Default;
+use core::future::poll_fn;
 use core::task::Poll;
 
 use embassy_hal_common::drop::OnDrop;
 use embassy_hal_common::{into_ref, PeripheralRef};
 use embassy_sync::waitqueue::AtomicWaker;
-use futures::future::poll_fn;
 use sdio_host::{BusWidth, CardCapacity, CardStatus, CurrentState, SDStatus, CID, CSD, OCR, SCR};
 
 use crate::dma::NoDma;
diff --git a/embassy-stm32/src/spi/mod.rs b/embassy-stm32/src/spi/mod.rs
index 02e6020b0..556d12305 100644
--- a/embassy-stm32/src/spi/mod.rs
+++ b/embassy-stm32/src/spi/mod.rs
@@ -3,9 +3,9 @@
 use core::ptr;
 
 use embassy_embedded_hal::SetConfig;
+use embassy_futures::join::join;
 use embassy_hal_common::{into_ref, PeripheralRef};
 pub use embedded_hal_02::spi::{Mode, Phase, Polarity, MODE_0, MODE_1, MODE_2, MODE_3};
-use futures::future::join;
 
 use self::sealed::WordSize;
 use crate::dma::{slice_ptr_parts, NoDma, Transfer};
diff --git a/embassy-stm32/src/usart/buffered.rs b/embassy-stm32/src/usart/buffered.rs
index 5f6dabb3b..46c49a997 100644
--- a/embassy-stm32/src/usart/buffered.rs
+++ b/embassy-stm32/src/usart/buffered.rs
@@ -1,11 +1,10 @@
-use core::future::Future;
+use core::future::{poll_fn, Future};
 use core::task::Poll;
 
 use atomic_polyfill::{compiler_fence, Ordering};
 use embassy_cortex_m::peripheral::{PeripheralMutex, PeripheralState, StateStorage};
 use embassy_hal_common::ring_buffer::RingBuffer;
 use embassy_sync::waitqueue::WakerRegistration;
-use futures::future::poll_fn;
 
 use super::*;
 
diff --git a/embassy-stm32/src/usb/usb.rs b/embassy-stm32/src/usb/usb.rs
index db965824a..e5ee1181c 100644
--- a/embassy-stm32/src/usb/usb.rs
+++ b/embassy-stm32/src/usb/usb.rs
@@ -1,5 +1,6 @@
 #![macro_use]
 
+use core::future::{poll_fn, Future};
 use core::marker::PhantomData;
 use core::sync::atomic::Ordering;
 use core::task::Poll;
@@ -10,8 +11,6 @@ use embassy_sync::waitqueue::AtomicWaker;
 use embassy_time::{block_for, Duration};
 use embassy_usb::driver::{self, EndpointAllocError, EndpointError, Event, Unsupported};
 use embassy_usb::types::{EndpointAddress, EndpointInfo, EndpointType, UsbDirection};
-use futures::future::poll_fn;
-use futures::Future;
 use pac::common::{Reg, RW};
 use pac::usb::vals::{EpType, Stat};
 
diff --git a/embassy-sync/src/mutex.rs b/embassy-sync/src/mutex.rs
index 92101c6b5..fcf056d36 100644
--- a/embassy-sync/src/mutex.rs
+++ b/embassy-sync/src/mutex.rs
@@ -2,11 +2,10 @@
 //!
 //! This module provides a mutex that can be used to synchronize data between asynchronous tasks.
 use core::cell::{RefCell, UnsafeCell};
+use core::future::poll_fn;
 use core::ops::{Deref, DerefMut};
 use core::task::Poll;
 
-use futures_util::future::poll_fn;
-
 use crate::blocking_mutex::raw::RawMutex;
 use crate::blocking_mutex::Mutex as BlockingMutex;
 use crate::waitqueue::WakerRegistration;
diff --git a/embassy-sync/src/signal.rs b/embassy-sync/src/signal.rs
index 34201d03a..b4d99513a 100644
--- a/embassy-sync/src/signal.rs
+++ b/embassy-sync/src/signal.rs
@@ -1,6 +1,6 @@
 //! A synchronization primitive for passing the latest value to a task.
 use core::cell::UnsafeCell;
-use core::future::Future;
+use core::future::{poll_fn, Future};
 use core::mem;
 use core::task::{Context, Poll, Waker};
 
@@ -94,7 +94,7 @@ impl<T: Send> Signal<T> {
 
     /// Future that completes when this Signal has been signaled.
     pub fn wait(&self) -> impl Future<Output = T> + '_ {
-        futures_util::future::poll_fn(move |cx| self.poll_wait(cx))
+        poll_fn(move |cx| self.poll_wait(cx))
     }
 
     /// non-blocking method to check whether this signal has been signaled.
diff --git a/examples/nrf-rtos-trace/src/bin/rtos_trace.rs b/examples/nrf-rtos-trace/src/bin/rtos_trace.rs
index 7d1ad87c8..cf8b2f808 100644
--- a/examples/nrf-rtos-trace/src/bin/rtos_trace.rs
+++ b/examples/nrf-rtos-trace/src/bin/rtos_trace.rs
@@ -2,6 +2,7 @@
 #![no_main]
 #![feature(type_alias_impl_trait)]
 
+use core::future::poll_fn;
 use core::task::Poll;
 
 use embassy_executor::Spawner;
@@ -46,7 +47,7 @@ async fn run2() {
 
 #[embassy_executor::task]
 async fn run3() {
-    futures::future::poll_fn(|cx| {
+    poll_fn(|cx| {
         cx.waker().wake_by_ref();
         Poll::<()>::Pending
     })
diff --git a/examples/nrf/src/bin/executor_fairness_test.rs b/examples/nrf/src/bin/executor_fairness_test.rs
index 9ae030d07..2a28f2763 100644
--- a/examples/nrf/src/bin/executor_fairness_test.rs
+++ b/examples/nrf/src/bin/executor_fairness_test.rs
@@ -2,6 +2,7 @@
 #![no_main]
 #![feature(type_alias_impl_trait)]
 
+use core::future::poll_fn;
 use core::task::Poll;
 
 use defmt::{info, unwrap};
@@ -26,7 +27,7 @@ async fn run2() {
 
 #[embassy_executor::task]
 async fn run3() {
-    futures::future::poll_fn(|cx| {
+    poll_fn(|cx| {
         cx.waker().wake_by_ref();
         Poll::<()>::Pending
     })
diff --git a/examples/nrf/src/bin/usb_hid_keyboard.rs b/examples/nrf/src/bin/usb_hid_keyboard.rs
index 4761fcf66..70318b78f 100644
--- a/examples/nrf/src/bin/usb_hid_keyboard.rs
+++ b/examples/nrf/src/bin/usb_hid_keyboard.rs
@@ -7,6 +7,7 @@ use core::sync::atomic::{AtomicBool, Ordering};
 
 use defmt::*;
 use embassy_executor::Spawner;
+use embassy_futures::join::join;
 use embassy_futures::select::{select, Either};
 use embassy_nrf::gpio::{Input, Pin, Pull};
 use embassy_nrf::usb::{Driver, PowerUsb};
@@ -15,7 +16,6 @@ use embassy_sync::signal::Signal;
 use embassy_usb::control::OutResponse;
 use embassy_usb::{Builder, Config, DeviceStateHandler};
 use embassy_usb_hid::{HidReaderWriter, ReportId, RequestHandler, State};
-use futures::future::join;
 use usbd_hid::descriptor::{KeyboardReport, SerializedDescriptor};
 use {defmt_rtt as _, panic_probe as _};
 
diff --git a/examples/nrf/src/bin/usb_hid_mouse.rs b/examples/nrf/src/bin/usb_hid_mouse.rs
index f1b57a17f..65fbda1cf 100644
--- a/examples/nrf/src/bin/usb_hid_mouse.rs
+++ b/examples/nrf/src/bin/usb_hid_mouse.rs
@@ -6,13 +6,13 @@ use core::mem;
 
 use defmt::*;
 use embassy_executor::Spawner;
+use embassy_futures::join::join;
 use embassy_nrf::usb::{Driver, PowerUsb};
 use embassy_nrf::{interrupt, pac};
 use embassy_time::{Duration, Timer};
 use embassy_usb::control::OutResponse;
 use embassy_usb::{Builder, Config};
 use embassy_usb_hid::{HidWriter, ReportId, RequestHandler, State};
-use futures::future::join;
 use usbd_hid::descriptor::{MouseReport, SerializedDescriptor};
 use {defmt_rtt as _, panic_probe as _};
 
diff --git a/examples/nrf/src/bin/usb_serial.rs b/examples/nrf/src/bin/usb_serial.rs
index f9526cbc4..a740b4e0a 100644
--- a/examples/nrf/src/bin/usb_serial.rs
+++ b/examples/nrf/src/bin/usb_serial.rs
@@ -6,12 +6,12 @@ use core::mem;
 
 use defmt::{info, panic};
 use embassy_executor::Spawner;
+use embassy_futures::join::join;
 use embassy_nrf::usb::{Driver, Instance, PowerUsb, UsbSupply};
 use embassy_nrf::{interrupt, pac};
 use embassy_usb::driver::EndpointError;
 use embassy_usb::{Builder, Config};
 use embassy_usb_serial::{CdcAcmClass, State};
-use futures::future::join;
 use {defmt_rtt as _, panic_probe as _};
 
 #[embassy_executor::main]
diff --git a/examples/rp/Cargo.toml b/examples/rp/Cargo.toml
index 17393322c..24c3cdd67 100644
--- a/examples/rp/Cargo.toml
+++ b/examples/rp/Cargo.toml
@@ -13,6 +13,7 @@ embassy-usb = { version = "0.1.0", path = "../../embassy-usb", features = ["defm
 embassy-usb-serial = { version = "0.1.0", path = "../../embassy-usb-serial", features = ["defmt"] }
 embassy-net = { version = "0.1.0", path = "../../embassy-net", features = ["defmt", "nightly", "tcp", "dhcpv4", "medium-ethernet", "pool-16"] }
 embassy-usb-ncm = { version = "0.1.0", path = "../../embassy-usb-ncm", features = ["defmt"] }
+embassy-futures = { version = "0.1.0", path = "../../embassy-futures" }
 
 defmt = "0.3"
 defmt-rtt = "0.3"
diff --git a/examples/rp/src/bin/usb_serial.rs b/examples/rp/src/bin/usb_serial.rs
index 00cf3e93f..bf92a1636 100644
--- a/examples/rp/src/bin/usb_serial.rs
+++ b/examples/rp/src/bin/usb_serial.rs
@@ -4,12 +4,12 @@
 
 use defmt::{info, panic};
 use embassy_executor::Spawner;
+use embassy_futures::join::join;
 use embassy_rp::interrupt;
 use embassy_rp::usb::{Driver, Instance};
 use embassy_usb::driver::EndpointError;
 use embassy_usb::{Builder, Config};
 use embassy_usb_serial::{CdcAcmClass, State};
-use futures::future::join;
 use {defmt_rtt as _, panic_probe as _};
 
 #[embassy_executor::main]
diff --git a/examples/stm32f1/Cargo.toml b/examples/stm32f1/Cargo.toml
index 33ac63db1..895e043dd 100644
--- a/examples/stm32f1/Cargo.toml
+++ b/examples/stm32f1/Cargo.toml
@@ -10,6 +10,7 @@ embassy-time = { version = "0.1.0", path = "../../embassy-time", features = ["de
 embassy-stm32 = { version = "0.1.0", path = "../../embassy-stm32", features = ["nightly", "defmt", "stm32f103c8", "unstable-pac", "memory-x", "time-driver-any"]  }
 embassy-usb = { version = "0.1.0", path = "../../embassy-usb", features = ["defmt"] }
 embassy-usb-serial = { version = "0.1.0", path = "../../embassy-usb-serial", features = ["defmt"] }
+embassy-futures = { version = "0.1.0", path = "../../embassy-futures" }
 
 defmt = "0.3"
 defmt-rtt = "0.3"
diff --git a/examples/stm32f1/src/bin/usb_serial.rs b/examples/stm32f1/src/bin/usb_serial.rs
index a9c46068f..a14e728ba 100644
--- a/examples/stm32f1/src/bin/usb_serial.rs
+++ b/examples/stm32f1/src/bin/usb_serial.rs
@@ -4,6 +4,7 @@
 
 use defmt::{panic, *};
 use embassy_executor::Spawner;
+use embassy_futures::join::join;
 use embassy_stm32::gpio::{Level, Output, Speed};
 use embassy_stm32::time::Hertz;
 use embassy_stm32::usb::{Driver, Instance};
@@ -12,7 +13,6 @@ use embassy_time::{Duration, Timer};
 use embassy_usb::driver::EndpointError;
 use embassy_usb::Builder;
 use embassy_usb_serial::{CdcAcmClass, State};
-use futures::future::join;
 use {defmt_rtt as _, panic_probe as _};
 
 #[embassy_executor::main]
diff --git a/examples/stm32f3/Cargo.toml b/examples/stm32f3/Cargo.toml
index 208f39080..27f5c260a 100644
--- a/examples/stm32f3/Cargo.toml
+++ b/examples/stm32f3/Cargo.toml
@@ -11,6 +11,7 @@ embassy-stm32 = { version = "0.1.0", path = "../../embassy-stm32", features = ["
 embassy-usb = { version = "0.1.0", path = "../../embassy-usb", features = ["defmt"] }
 embassy-usb-serial = { version = "0.1.0", path = "../../embassy-usb-serial", features = ["defmt"] }
 embassy-usb-hid = { version = "0.1.0", path = "../../embassy-usb-hid", features = ["defmt"] }
+embassy-futures = { version = "0.1.0", path = "../../embassy-futures" }
 
 defmt = "0.3"
 defmt-rtt = "0.3"
diff --git a/examples/stm32f3/src/bin/usb_serial.rs b/examples/stm32f3/src/bin/usb_serial.rs
index d3702fc35..b9fd20e2b 100644
--- a/examples/stm32f3/src/bin/usb_serial.rs
+++ b/examples/stm32f3/src/bin/usb_serial.rs
@@ -4,6 +4,7 @@
 
 use defmt::{panic, *};
 use embassy_executor::Spawner;
+use embassy_futures::join::join;
 use embassy_stm32::gpio::{Level, Output, Speed};
 use embassy_stm32::time::mhz;
 use embassy_stm32::usb::{Driver, Instance};
@@ -12,7 +13,6 @@ use embassy_time::{Duration, Timer};
 use embassy_usb::driver::EndpointError;
 use embassy_usb::Builder;
 use embassy_usb_serial::{CdcAcmClass, State};
-use futures::future::join;
 use {defmt_rtt as _, panic_probe as _};
 
 #[embassy_executor::main]
diff --git a/examples/stm32l5/Cargo.toml b/examples/stm32l5/Cargo.toml
index c451bd221..05945f6bf 100644
--- a/examples/stm32l5/Cargo.toml
+++ b/examples/stm32l5/Cargo.toml
@@ -15,6 +15,7 @@ embassy-usb-serial = { version = "0.1.0", path = "../../embassy-usb-serial", fea
 embassy-usb-hid = { version = "0.1.0", path = "../../embassy-usb-hid", features = ["defmt"] }
 embassy-usb-ncm = { version = "0.1.0", path = "../../embassy-usb-ncm", features = ["defmt"] }
 embassy-net = { version = "0.1.0", path = "../../embassy-net", features = ["defmt", "nightly", "tcp", "dhcpv4", "medium-ethernet", "pool-16"] }
+embassy-futures = { version = "0.1.0", path = "../../embassy-futures" }
 usbd-hid = "0.6.0"
 
 defmt = "0.3"
diff --git a/examples/stm32l5/src/bin/usb_hid_mouse.rs b/examples/stm32l5/src/bin/usb_hid_mouse.rs
index 0aca6f1cd..fa92ceae3 100644
--- a/examples/stm32l5/src/bin/usb_hid_mouse.rs
+++ b/examples/stm32l5/src/bin/usb_hid_mouse.rs
@@ -4,6 +4,7 @@
 
 use defmt::*;
 use embassy_executor::Spawner;
+use embassy_futures::join::join;
 use embassy_stm32::rcc::*;
 use embassy_stm32::usb::Driver;
 use embassy_stm32::{interrupt, Config};
@@ -11,7 +12,6 @@ use embassy_time::{Duration, Timer};
 use embassy_usb::control::OutResponse;
 use embassy_usb::Builder;
 use embassy_usb_hid::{HidWriter, ReportId, RequestHandler, State};
-use futures::future::join;
 use usbd_hid::descriptor::{MouseReport, SerializedDescriptor};
 use {defmt_rtt as _, panic_probe as _};
 
diff --git a/examples/stm32l5/src/bin/usb_serial.rs b/examples/stm32l5/src/bin/usb_serial.rs
index b576a7353..7484dc832 100644
--- a/examples/stm32l5/src/bin/usb_serial.rs
+++ b/examples/stm32l5/src/bin/usb_serial.rs
@@ -4,13 +4,13 @@
 
 use defmt::{panic, *};
 use embassy_executor::Spawner;
+use embassy_futures::join::join;
 use embassy_stm32::rcc::*;
 use embassy_stm32::usb::{Driver, Instance};
 use embassy_stm32::{interrupt, Config};
 use embassy_usb::driver::EndpointError;
 use embassy_usb::Builder;
 use embassy_usb_serial::{CdcAcmClass, State};
-use futures::future::join;
 use {defmt_rtt as _, panic_probe as _};
 
 #[embassy_executor::main]
diff --git a/tests/rp/Cargo.toml b/tests/rp/Cargo.toml
index 4d6877ccd..11ecb9169 100644
--- a/tests/rp/Cargo.toml
+++ b/tests/rp/Cargo.toml
@@ -8,6 +8,7 @@ embassy-sync = { version = "0.1.0", path = "../../embassy-sync", features = ["de
 embassy-executor = { version = "0.1.0", path = "../../embassy-executor", features = ["defmt", "integrated-timers"] }
 embassy-time = { version = "0.1.0", path = "../../embassy-time", features = ["defmt"] }
 embassy-rp = { version = "0.1.0", path = "../../embassy-rp", features = ["nightly", "defmt", "unstable-pac", "unstable-traits"]  }
+embassy-futures = { version = "0.1.0", path = "../../embassy-futures" }
 
 defmt = "0.3.0"
 defmt-rtt = "0.3.0"
diff --git a/tests/rp/src/bin/gpio_async.rs b/tests/rp/src/bin/gpio_async.rs
index 1eeaac1f6..f20b8fcbd 100644
--- a/tests/rp/src/bin/gpio_async.rs
+++ b/tests/rp/src/bin/gpio_async.rs
@@ -4,9 +4,9 @@
 
 use defmt::{assert, *};
 use embassy_executor::Spawner;
+use embassy_futures::join::join;
 use embassy_rp::gpio::{Input, Level, Output, Pull};
 use embassy_time::{Duration, Instant, Timer};
-use futures::future::join;
 use {defmt_rtt as _, panic_probe as _};
 
 #[embassy_executor::main]