Merge remote-tracking branch 'origin/main' into nrf-pdm

13 files changed, 985 insertions, 558 deletions

diff --git a/embassy-executor/src/arch/cortex_m.rs b/embassy-executor/src/arch/cortex_m.rs
index 4b27a264e..94c8134d6 100644
--- a/embassy-executor/src/arch/cortex_m.rs
+++ b/embassy-executor/src/arch/cortex_m.rs
@@ -1,59 +1,224 @@
-use core::arch::asm;
-use core::marker::PhantomData;
-use core::ptr;
-
-use super::{raw, Spawner};
-
-/// Thread mode executor, using WFE/SEV.
-///
-/// This is the simplest and most common kind of executor. It runs on
-/// thread mode (at the lowest priority level), and uses the `WFE` ARM instruction
-/// to sleep when it has no more work to do. When a task is woken, a `SEV` instruction
-/// is executed, to make the `WFE` exit from sleep and poll the task.
-///
-/// This executor allows for ultra low power consumption for chips where `WFE`
-/// triggers low-power sleep without extra steps. If your chip requires extra steps,
-/// you may use [`raw::Executor`] directly to program custom behavior.
-pub struct Executor {
-    inner: raw::Executor,
-    not_send: PhantomData<*mut ()>,
+#[cfg(feature = "executor-thread")]
+pub use thread::*;
+#[cfg(feature = "executor-thread")]
+mod thread {
+    use core::arch::asm;
+    use core::marker::PhantomData;
+
+    #[cfg(feature = "nightly")]
+    pub use embassy_macros::main_cortex_m as main;
+
+    use crate::raw::{Pender, PenderInner};
+    use crate::{raw, Spawner};
+
+    #[derive(Copy, Clone)]
+    pub(crate) struct ThreadPender;
+
+    impl ThreadPender {
+        pub(crate) fn pend(self) {
+            unsafe { core::arch::asm!("sev") }
+        }
+    }
+
+    /// Thread mode executor, using WFE/SEV.
+    ///
+    /// This is the simplest and most common kind of executor. It runs on
+    /// thread mode (at the lowest priority level), and uses the `WFE` ARM instruction
+    /// to sleep when it has no more work to do. When a task is woken, a `SEV` instruction
+    /// is executed, to make the `WFE` exit from sleep and poll the task.
+    ///
+    /// This executor allows for ultra low power consumption for chips where `WFE`
+    /// triggers low-power sleep without extra steps. If your chip requires extra steps,
+    /// you may use [`raw::Executor`] directly to program custom behavior.
+    pub struct Executor {
+        inner: raw::Executor,
+        not_send: PhantomData<*mut ()>,
+    }
+
+    impl Executor {
+        /// Create a new Executor.
+        pub fn new() -> Self {
+            Self {
+                inner: raw::Executor::new(Pender(PenderInner::Thread(ThreadPender))),
+                not_send: PhantomData,
+            }
+        }
+
+        /// Run the executor.
+        ///
+        /// The `init` closure is called with a [`Spawner`] that spawns tasks on
+        /// this executor. Use it to spawn the initial task(s). After `init` returns,
+        /// the executor starts running the tasks.
+        ///
+        /// To spawn more tasks later, you may keep copies of the [`Spawner`] (it is `Copy`),
+        /// for example by passing it as an argument to the initial tasks.
+        ///
+        /// This function requires `&'static mut self`. This means you have to store the
+        /// Executor instance in a place where it'll live forever and grants you mutable
+        /// access. There's a few ways to do this:
+        ///
+        /// - a [StaticCell](https://docs.rs/static_cell/latest/static_cell/) (safe)
+        /// - a `static mut` (unsafe)
+        /// - a local variable in a function you know never returns (like `fn main() -> !`), upgrading its lifetime with `transmute`. (unsafe)
+        ///
+        /// This function never returns.
+        pub fn run(&'static mut self, init: impl FnOnce(Spawner)) -> ! {
+            init(self.inner.spawner());
+
+            loop {
+                unsafe {
+                    self.inner.poll();
+                    asm!("wfe");
+                };
+            }
+        }
+    }
 }
 
-impl Executor {
-    /// Create a new Executor.
-    pub fn new() -> Self {
-        Self {
-            inner: raw::Executor::new(|_| unsafe { asm!("sev") }, ptr::null_mut()),
-            not_send: PhantomData,
+#[cfg(feature = "executor-interrupt")]
+pub use interrupt::*;
+#[cfg(feature = "executor-interrupt")]
+mod interrupt {
+    use core::cell::UnsafeCell;
+    use core::mem::MaybeUninit;
+
+    use atomic_polyfill::{AtomicBool, Ordering};
+    use cortex_m::interrupt::InterruptNumber;
+    use cortex_m::peripheral::NVIC;
+
+    use crate::raw::{self, Pender, PenderInner};
+
+    #[derive(Clone, Copy)]
+    pub(crate) struct InterruptPender(u16);
+
+    impl InterruptPender {
+        pub(crate) fn pend(self) {
+            // STIR is faster, but is only available in v7 and higher.
+            #[cfg(not(armv6m))]
+            {
+                let mut nvic: cortex_m::peripheral::NVIC = unsafe { core::mem::transmute(()) };
+                nvic.request(self);
+            }
+
+            #[cfg(armv6m)]
+            cortex_m::peripheral::NVIC::pend(self);
         }
     }
 
-    /// Run the executor.
+    unsafe impl cortex_m::interrupt::InterruptNumber for InterruptPender {
+        fn number(self) -> u16 {
+            self.0
+        }
+    }
+
+    /// Interrupt mode executor.
     ///
-    /// The `init` closure is called with a [`Spawner`] that spawns tasks on
-    /// this executor. Use it to spawn the initial task(s). After `init` returns,
-    /// the executor starts running the tasks.
+    /// This executor runs tasks in interrupt mode. The interrupt handler is set up
+    /// to poll tasks, and when a task is woken the interrupt is pended from software.
     ///
-    /// To spawn more tasks later, you may keep copies of the [`Spawner`] (it is `Copy`),
-    /// for example by passing it as an argument to the initial tasks.
+    /// This allows running async tasks at a priority higher than thread mode. One
+    /// use case is to leave thread mode free for non-async tasks. Another use case is
+    /// to run multiple executors: one in thread mode for low priority tasks and another in
+    /// interrupt mode for higher priority tasks. Higher priority tasks will preempt lower
+    /// priority ones.
     ///
-    /// This function requires `&'static mut self`. This means you have to store the
-    /// Executor instance in a place where it'll live forever and grants you mutable
-    /// access. There's a few ways to do this:
+    /// It is even possible to run multiple interrupt mode executors at different priorities,
+    /// by assigning different priorities to the interrupts. For an example on how to do this,
+    /// See the 'multiprio' example for 'embassy-nrf'.
     ///
-    /// - a [StaticCell](https://docs.rs/static_cell/latest/static_cell/) (safe)
-    /// - a `static mut` (unsafe)
-    /// - a local variable in a function you know never returns (like `fn main() -> !`), upgrading its lifetime with `transmute`. (unsafe)
+    /// To use it, you have to pick an interrupt that won't be used by the hardware.
+    /// Some chips reserve some interrupts for this purpose, sometimes named "software interrupts" (SWI).
+    /// If this is not the case, you may use an interrupt from any unused peripheral.
     ///
-    /// This function never returns.
-    pub fn run(&'static mut self, init: impl FnOnce(Spawner)) -> ! {
-        init(self.inner.spawner());
+    /// It is somewhat more complex to use, it's recommended to use the thread-mode
+    /// [`Executor`] instead, if it works for your use case.
+    pub struct InterruptExecutor {
+        started: AtomicBool,
+        executor: UnsafeCell<MaybeUninit<raw::Executor>>,
+    }
+
+    unsafe impl Send for InterruptExecutor {}
+    unsafe impl Sync for InterruptExecutor {}
+
+    impl InterruptExecutor {
+        /// Create a new, not started `InterruptExecutor`.
+        #[inline]
+        pub const fn new() -> Self {
+            Self {
+                started: AtomicBool::new(false),
+                executor: UnsafeCell::new(MaybeUninit::uninit()),
+            }
+        }
+
+        /// Executor interrupt callback.
+        ///
+        /// # Safety
+        ///
+        /// You MUST call this from the interrupt handler, and from nowhere else.
+        pub unsafe fn on_interrupt(&'static self) {
+            let executor = unsafe { (&*self.executor.get()).assume_init_ref() };
+            executor.poll();
+        }
+
+        /// Start the executor.
+        ///
+        /// This initializes the executor, enables the interrupt, and returns.
+        /// The executor keeps running in the background through the interrupt.
+        ///
+        /// This returns a [`SendSpawner`] you can use to spawn tasks on it. A [`SendSpawner`]
+        /// is returned instead of a [`Spawner`](embassy_executor::Spawner) because the executor effectively runs in a
+        /// different "thread" (the interrupt), so spawning tasks on it is effectively
+        /// sending them.
+        ///
+        /// To obtain a [`Spawner`](embassy_executor::Spawner) for this executor, use [`Spawner::for_current_executor()`](embassy_executor::Spawner::for_current_executor()) from
+        /// a task running in it.
+        ///
+        /// # Interrupt requirements
+        ///
+        /// You must write the interrupt handler yourself, and make it call [`on_interrupt()`](Self::on_interrupt).
+        ///
+        /// This method already enables (unmasks) the interrupt, you must NOT do it yourself.
+        ///
+        /// You must set the interrupt priority before calling this method. You MUST NOT
+        /// do it after.
+        ///
+        pub fn start(&'static self, irq: impl InterruptNumber) -> crate::SendSpawner {
+            if self
+                .started
+                .compare_exchange(false, true, Ordering::Acquire, Ordering::Relaxed)
+                .is_err()
+            {
+                panic!("InterruptExecutor::start() called multiple times on the same executor.");
+            }
 
-        loop {
             unsafe {
-                self.inner.poll();
-                asm!("wfe");
-            };
+                (&mut *self.executor.get())
+                    .as_mut_ptr()
+                    .write(raw::Executor::new(Pender(PenderInner::Interrupt(InterruptPender(
+                        irq.number(),
+                    )))))
+            }
+
+            let executor = unsafe { (&*self.executor.get()).assume_init_ref() };
+
+            unsafe { NVIC::unmask(irq) }
+
+            executor.spawner().make_send()
+        }
+
+        /// Get a SendSpawner for this executor
+        ///
+        /// This returns a [`SendSpawner`] you can use to spawn tasks on this
+        /// executor.
+        ///
+        /// This MUST only be called on an executor that has already been spawned.
+        /// The function will panic otherwise.
+        pub fn spawner(&'static self) -> crate::SendSpawner {
+            if !self.started.load(Ordering::Acquire) {
+                panic!("InterruptExecutor::spawner() called on uninitialized executor.");
+            }
+            let executor = unsafe { (&*self.executor.get()).assume_init_ref() };
+            executor.spawner().make_send()
         }
     }
 }
diff --git a/embassy-executor/src/arch/riscv32.rs b/embassy-executor/src/arch/riscv32.rs
index 2a4b006da..ff7ec1575 100644
--- a/embassy-executor/src/arch/riscv32.rs
+++ b/embassy-executor/src/arch/riscv32.rs
@@ -1,73 +1,86 @@
-use core::marker::PhantomData;
-use core::ptr;
+#[cfg(feature = "executor-interrupt")]
+compile_error!("`executor-interrupt` is not supported with `arch-riscv32`.");
 
-use atomic_polyfill::{AtomicBool, Ordering};
+#[cfg(feature = "executor-thread")]
+pub use thread::*;
+#[cfg(feature = "executor-thread")]
+mod thread {
+    use core::marker::PhantomData;
+    use core::sync::atomic::{AtomicBool, Ordering};
 
-use super::{raw, Spawner};
+    #[cfg(feature = "nightly")]
+    pub use embassy_macros::main_riscv as main;
 
-/// global atomic used to keep track of whether there is work to do since sev() is not available on RISCV
-///
-static SIGNAL_WORK_THREAD_MODE: AtomicBool = AtomicBool::new(false);
+    use crate::raw::{Pender, PenderInner};
+    use crate::{raw, Spawner};
 
-/// RISCV32 Executor
-pub struct Executor {
-    inner: raw::Executor,
-    not_send: PhantomData<*mut ()>,
-}
+    #[derive(Copy, Clone)]
+    pub(crate) struct ThreadPender;
 
-impl Executor {
-    /// Create a new Executor.
-    pub fn new() -> Self {
-        Self {
-            // use Signal_Work_Thread_Mode as substitute for local interrupt register
-            inner: raw::Executor::new(
-                |_| {
-                    SIGNAL_WORK_THREAD_MODE.store(true, Ordering::SeqCst);
-                },
-                ptr::null_mut(),
-            ),
-            not_send: PhantomData,
+    impl ThreadPender {
+        #[allow(unused)]
+        pub(crate) fn pend(self) {
+            SIGNAL_WORK_THREAD_MODE.store(true, core::sync::atomic::Ordering::SeqCst);
         }
     }
 
-    /// Run the executor.
-    ///
-    /// The `init` closure is called with a [`Spawner`] that spawns tasks on
-    /// this executor. Use it to spawn the initial task(s). After `init` returns,
-    /// the executor starts running the tasks.
-    ///
-    /// To spawn more tasks later, you may keep copies of the [`Spawner`] (it is `Copy`),
-    /// for example by passing it as an argument to the initial tasks.
-    ///
-    /// This function requires `&'static mut self`. This means you have to store the
-    /// Executor instance in a place where it'll live forever and grants you mutable
-    /// access. There's a few ways to do this:
-    ///
-    /// - a [StaticCell](https://docs.rs/static_cell/latest/static_cell/) (safe)
-    /// - a `static mut` (unsafe)
-    /// - a local variable in a function you know never returns (like `fn main() -> !`), upgrading its lifetime with `transmute`. (unsafe)
-    ///
-    /// This function never returns.
-    pub fn run(&'static mut self, init: impl FnOnce(Spawner)) -> ! {
-        init(self.inner.spawner());
+    /// global atomic used to keep track of whether there is work to do since sev() is not available on RISCV
+    static SIGNAL_WORK_THREAD_MODE: AtomicBool = AtomicBool::new(false);
+
+    /// RISCV32 Executor
+    pub struct Executor {
+        inner: raw::Executor,
+        not_send: PhantomData<*mut ()>,
+    }
+
+    impl Executor {
+        /// Create a new Executor.
+        pub fn new() -> Self {
+            Self {
+                inner: raw::Executor::new(Pender(PenderInner::Thread(ThreadPender))),
+                not_send: PhantomData,
+            }
+        }
+
+        /// Run the executor.
+        ///
+        /// The `init` closure is called with a [`Spawner`] that spawns tasks on
+        /// this executor. Use it to spawn the initial task(s). After `init` returns,
+        /// the executor starts running the tasks.
+        ///
+        /// To spawn more tasks later, you may keep copies of the [`Spawner`] (it is `Copy`),
+        /// for example by passing it as an argument to the initial tasks.
+        ///
+        /// This function requires `&'static mut self`. This means you have to store the
+        /// Executor instance in a place where it'll live forever and grants you mutable
+        /// access. There's a few ways to do this:
+        ///
+        /// - a [StaticCell](https://docs.rs/static_cell/latest/static_cell/) (safe)
+        /// - a `static mut` (unsafe)
+        /// - a local variable in a function you know never returns (like `fn main() -> !`), upgrading its lifetime with `transmute`. (unsafe)
+        ///
+        /// This function never returns.
+        pub fn run(&'static mut self, init: impl FnOnce(Spawner)) -> ! {
+            init(self.inner.spawner());
 
-        loop {
-            unsafe {
-                self.inner.poll();
-                // we do not care about race conditions between the load and store operations, interrupts
-                //will only set this value to true.
-                critical_section::with(|_| {
-                    // if there is work to do, loop back to polling
-                    // TODO can we relax this?
-                    if SIGNAL_WORK_THREAD_MODE.load(Ordering::SeqCst) {
-                        SIGNAL_WORK_THREAD_MODE.store(false, Ordering::SeqCst);
-                    }
-                    // if not, wait for interrupt
-                    else {
-                        core::arch::asm!("wfi");
-                    }
-                });
-                // if an interrupt occurred while waiting, it will be serviced here
+            loop {
+                unsafe {
+                    self.inner.poll();
+                    // we do not care about race conditions between the load and store operations, interrupts
+                    //will only set this value to true.
+                    critical_section::with(|_| {
+                        // if there is work to do, loop back to polling
+                        // TODO can we relax this?
+                        if SIGNAL_WORK_THREAD_MODE.load(Ordering::SeqCst) {
+                            SIGNAL_WORK_THREAD_MODE.store(false, Ordering::SeqCst);
+                        }
+                        // if not, wait for interrupt
+                        else {
+                            core::arch::asm!("wfi");
+                        }
+                    });
+                    // if an interrupt occurred while waiting, it will be serviced here
+                }
             }
         }
     }
diff --git a/embassy-executor/src/arch/std.rs b/embassy-executor/src/arch/std.rs
index 701f0eb18..4e4a178f0 100644
--- a/embassy-executor/src/arch/std.rs
+++ b/embassy-executor/src/arch/std.rs
@@ -1,84 +1,100 @@
-use std::marker::PhantomData;
-use std::sync::{Condvar, Mutex};
+#[cfg(feature = "executor-interrupt")]
+compile_error!("`executor-interrupt` is not supported with `arch-std`.");
 
-use super::{raw, Spawner};
+#[cfg(feature = "executor-thread")]
+pub use thread::*;
+#[cfg(feature = "executor-thread")]
+mod thread {
+    use std::marker::PhantomData;
+    use std::sync::{Condvar, Mutex};
 
-/// Single-threaded std-based executor.
-pub struct Executor {
-    inner: raw::Executor,
-    not_send: PhantomData<*mut ()>,
-    signaler: &'static Signaler,
-}
+    #[cfg(feature = "nightly")]
+    pub use embassy_macros::main_std as main;
+
+    use crate::raw::{Pender, PenderInner};
+    use crate::{raw, Spawner};
 
-impl Executor {
-    /// Create a new Executor.
-    pub fn new() -> Self {
-        let signaler = &*Box::leak(Box::new(Signaler::new()));
-        Self {
-            inner: raw::Executor::new(
-                |p| unsafe {
-                    let s = &*(p as *const () as *const Signaler);
-                    s.signal()
-                },
-                signaler as *const _ as _,
-            ),
-            not_send: PhantomData,
-            signaler,
+    #[derive(Copy, Clone)]
+    pub(crate) struct ThreadPender(&'static Signaler);
+
+    impl ThreadPender {
+        #[allow(unused)]
+        pub(crate) fn pend(self) {
+            self.0.signal()
         }
     }
 
-    /// Run the executor.
-    ///
-    /// The `init` closure is called with a [`Spawner`] that spawns tasks on
-    /// this executor. Use it to spawn the initial task(s). After `init` returns,
-    /// the executor starts running the tasks.
-    ///
-    /// To spawn more tasks later, you may keep copies of the [`Spawner`] (it is `Copy`),
-    /// for example by passing it as an argument to the initial tasks.
-    ///
-    /// This function requires `&'static mut self`. This means you have to store the
-    /// Executor instance in a place where it'll live forever and grants you mutable
-    /// access. There's a few ways to do this:
-    ///
-    /// - a [StaticCell](https://docs.rs/static_cell/latest/static_cell/) (safe)
-    /// - a `static mut` (unsafe)
-    /// - a local variable in a function you know never returns (like `fn main() -> !`), upgrading its lifetime with `transmute`. (unsafe)
-    ///
-    /// This function never returns.
-    pub fn run(&'static mut self, init: impl FnOnce(Spawner)) -> ! {
-        init(self.inner.spawner());
+    /// Single-threaded std-based executor.
+    pub struct Executor {
+        inner: raw::Executor,
+        not_send: PhantomData<*mut ()>,
+        signaler: &'static Signaler,
+    }
 
-        loop {
-            unsafe { self.inner.poll() };
-            self.signaler.wait()
+    impl Executor {
+        /// Create a new Executor.
+        pub fn new() -> Self {
+            let signaler = &*Box::leak(Box::new(Signaler::new()));
+            Self {
+                inner: raw::Executor::new(Pender(PenderInner::Thread(ThreadPender(signaler)))),
+                not_send: PhantomData,
+                signaler,
+            }
         }
-    }
-}
 
-struct Signaler {
-    mutex: Mutex<bool>,
-    condvar: Condvar,
-}
+        /// Run the executor.
+        ///
+        /// The `init` closure is called with a [`Spawner`] that spawns tasks on
+        /// this executor. Use it to spawn the initial task(s). After `init` returns,
+        /// the executor starts running the tasks.
+        ///
+        /// To spawn more tasks later, you may keep copies of the [`Spawner`] (it is `Copy`),
+        /// for example by passing it as an argument to the initial tasks.
+        ///
+        /// This function requires `&'static mut self`. This means you have to store the
+        /// Executor instance in a place where it'll live forever and grants you mutable
+        /// access. There's a few ways to do this:
+        ///
+        /// - a [StaticCell](https://docs.rs/static_cell/latest/static_cell/) (safe)
+        /// - a `static mut` (unsafe)
+        /// - a local variable in a function you know never returns (like `fn main() -> !`), upgrading its lifetime with `transmute`. (unsafe)
+        ///
+        /// This function never returns.
+        pub fn run(&'static mut self, init: impl FnOnce(Spawner)) -> ! {
+            init(self.inner.spawner());
 
-impl Signaler {
-    fn new() -> Self {
-        Self {
-            mutex: Mutex::new(false),
-            condvar: Condvar::new(),
+            loop {
+                unsafe { self.inner.poll() };
+                self.signaler.wait()
+            }
         }
     }
 
-    fn wait(&self) {
-        let mut signaled = self.mutex.lock().unwrap();
-        while !*signaled {
-            signaled = self.condvar.wait(signaled).unwrap();
-        }
-        *signaled = false;
+    struct Signaler {
+        mutex: Mutex<bool>,
+        condvar: Condvar,
     }
 
-    fn signal(&self) {
-        let mut signaled = self.mutex.lock().unwrap();
-        *signaled = true;
-        self.condvar.notify_one();
+    impl Signaler {
+        fn new() -> Self {
+            Self {
+                mutex: Mutex::new(false),
+                condvar: Condvar::new(),
+            }
+        }
+
+        fn wait(&self) {
+            let mut signaled = self.mutex.lock().unwrap();
+            while !*signaled {
+                signaled = self.condvar.wait(signaled).unwrap();
+            }
+            *signaled = false;
+        }
+
+        fn signal(&self) {
+            let mut signaled = self.mutex.lock().unwrap();
+            *signaled = true;
+            self.condvar.notify_one();
+        }
     }
 }
diff --git a/embassy-executor/src/arch/wasm.rs b/embassy-executor/src/arch/wasm.rs
index 98091cfbb..08ab16b99 100644
--- a/embassy-executor/src/arch/wasm.rs
+++ b/embassy-executor/src/arch/wasm.rs
@@ -1,74 +1,88 @@
-use core::marker::PhantomData;
+#[cfg(feature = "executor-interrupt")]
+compile_error!("`executor-interrupt` is not supported with `arch-wasm`.");
 
-use js_sys::Promise;
-use wasm_bindgen::prelude::*;
+#[cfg(feature = "executor-thread")]
+pub use thread::*;
+#[cfg(feature = "executor-thread")]
+mod thread {
 
-use super::raw::util::UninitCell;
-use super::raw::{self};
-use super::Spawner;
+    use core::marker::PhantomData;
 
-/// WASM executor, wasm_bindgen to schedule tasks on the JS event loop.
-pub struct Executor {
-    inner: raw::Executor,
-    ctx: &'static WasmContext,
-    not_send: PhantomData<*mut ()>,
-}
+    #[cfg(feature = "nightly")]
+    pub use embassy_macros::main_wasm as main;
+    use js_sys::Promise;
+    use wasm_bindgen::prelude::*;
 
-pub(crate) struct WasmContext {
-    promise: Promise,
-    closure: UninitCell<Closure<dyn FnMut(JsValue)>>,
-}
+    use crate::raw::util::UninitCell;
+    use crate::raw::{Pender, PenderInner};
+    use crate::{raw, Spawner};
+
+    /// WASM executor, wasm_bindgen to schedule tasks on the JS event loop.
+    pub struct Executor {
+        inner: raw::Executor,
+        ctx: &'static WasmContext,
+        not_send: PhantomData<*mut ()>,
+    }
+
+    pub(crate) struct WasmContext {
+        promise: Promise,
+        closure: UninitCell<Closure<dyn FnMut(JsValue)>>,
+    }
+
+    #[derive(Copy, Clone)]
+    pub(crate) struct ThreadPender(&'static WasmContext);
 
-impl WasmContext {
-    pub fn new() -> Self {
-        Self {
-            promise: Promise::resolve(&JsValue::undefined()),
-            closure: UninitCell::uninit(),
+    impl ThreadPender {
+        #[allow(unused)]
+        pub(crate) fn pend(self) {
+            let _ = self.0.promise.then(unsafe { self.0.closure.as_mut() });
         }
     }
-}
 
-impl Executor {
-    /// Create a new Executor.
-    pub fn new() -> Self {
-        let ctx = &*Box::leak(Box::new(WasmContext::new()));
-        let inner = raw::Executor::new(
-            |p| unsafe {
-                let ctx = &*(p as *const () as *const WasmContext);
-                let _ = ctx.promise.then(ctx.closure.as_mut());
-            },
-            ctx as *const _ as _,
-        );
-        Self {
-            inner,
-            not_send: PhantomData,
-            ctx,
+    impl WasmContext {
+        pub fn new() -> Self {
+            Self {
+                promise: Promise::resolve(&JsValue::undefined()),
+                closure: UninitCell::uninit(),
+            }
         }
     }
 
-    /// Run the executor.
-    ///
-    /// The `init` closure is called with a [`Spawner`] that spawns tasks on
-    /// this executor. Use it to spawn the initial task(s). After `init` returns,
-    /// the executor starts running the tasks.
-    ///
-    /// To spawn more tasks later, you may keep copies of the [`Spawner`] (it is `Copy`),
-    /// for example by passing it as an argument to the initial tasks.
-    ///
-    /// This function requires `&'static mut self`. This means you have to store the
-    /// Executor instance in a place where it'll live forever and grants you mutable
-    /// access. There's a few ways to do this:
-    ///
-    /// - a [StaticCell](https://docs.rs/static_cell/latest/static_cell/) (safe)
-    /// - a `static mut` (unsafe)
-    /// - 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 {
-            let executor = &self.inner;
-            self.ctx.closure.write(Closure::new(move |_| {
-                executor.poll();
-            }));
-            init(self.inner.spawner());
+    impl Executor {
+        /// Create a new Executor.
+        pub fn new() -> Self {
+            let ctx = &*Box::leak(Box::new(WasmContext::new()));
+            Self {
+                inner: raw::Executor::new(Pender(PenderInner::Thread(ThreadPender(ctx)))),
+                not_send: PhantomData,
+                ctx,
+            }
+        }
+
+        /// Run the executor.
+        ///
+        /// The `init` closure is called with a [`Spawner`] that spawns tasks on
+        /// this executor. Use it to spawn the initial task(s). After `init` returns,
+        /// the executor starts running the tasks.
+        ///
+        /// To spawn more tasks later, you may keep copies of the [`Spawner`] (it is `Copy`),
+        /// for example by passing it as an argument to the initial tasks.
+        ///
+        /// This function requires `&'static mut self`. This means you have to store the
+        /// Executor instance in a place where it'll live forever and grants you mutable
+        /// access. There's a few ways to do this:
+        ///
+        /// - a [StaticCell](https://docs.rs/static_cell/latest/static_cell/) (safe)
+        /// - a `static mut` (unsafe)
+        /// - 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 {
+                let executor = &self.inner;
+                self.ctx.closure.write(Closure::new(move |_| {
+                    executor.poll();
+                }));
+                init(self.inner.spawner());
+            }
         }
     }
 }
diff --git a/embassy-executor/src/arch/xtensa.rs b/embassy-executor/src/arch/xtensa.rs
index f908aaa70..017b2c52b 100644
--- a/embassy-executor/src/arch/xtensa.rs
+++ b/embassy-executor/src/arch/xtensa.rs
@@ -1,66 +1,84 @@
-use core::marker::PhantomData;
-use core::ptr;
+#[cfg(feature = "executor-interrupt")]
+compile_error!("`executor-interrupt` is not supported with `arch-xtensa`.");
 
-use atomic_polyfill::{AtomicBool, Ordering};
+#[cfg(feature = "executor-thread")]
+pub use thread::*;
+#[cfg(feature = "executor-thread")]
+mod thread {
+    use core::marker::PhantomData;
+    use core::sync::atomic::{AtomicBool, Ordering};
 
-use super::{raw, Spawner};
+    use crate::raw::{Pender, PenderInner};
+    use crate::{raw, Spawner};
 
-/// global atomic used to keep track of whether there is work to do since sev() is not available on Xtensa
-///
-static SIGNAL_WORK_THREAD_MODE: AtomicBool = AtomicBool::new(false);
+    #[derive(Copy, Clone)]
+    pub(crate) struct ThreadPender;
 
-/// Xtensa Executor
-pub struct Executor {
-    inner: raw::Executor,
-    not_send: PhantomData<*mut ()>,
-}
-
-impl Executor {
-    /// Create a new Executor.
-    pub fn new() -> Self {
-        Self {
-            // use Signal_Work_Thread_Mode as substitute for local interrupt register
-            inner: raw::Executor::new(
-                |_| {
-                    SIGNAL_WORK_THREAD_MODE.store(true, Ordering::SeqCst);
-                },
-                ptr::null_mut(),
-            ),
-            not_send: PhantomData,
+    impl ThreadPender {
+        #[allow(unused)]
+        pub(crate) fn pend(self) {
+            SIGNAL_WORK_THREAD_MODE.store(true, core::sync::atomic::Ordering::SeqCst);
         }
     }
 
-    /// Run the executor.
-    ///
-    /// The `init` closure is called with a [`Spawner`] that spawns tasks on
-    /// this executor. Use it to spawn the initial task(s). After `init` returns,
-    /// the executor starts running the tasks.
-    ///
-    /// To spawn more tasks later, you may keep copies of the [`Spawner`] (it is `Copy`),
-    /// for example by passing it as an argument to the initial tasks.
-    ///
-    /// This function requires `&'static mut self`. This means you have to store the
-    /// Executor instance in a place where it'll live forever and grants you mutable
-    /// access. There's a few ways to do this:
-    ///
-    /// - a [StaticCell](https://docs.rs/static_cell/latest/static_cell/) (safe)
-    /// - a `static mut` (unsafe)
-    /// - a local variable in a function you know never returns (like `fn main() -> !`), upgrading its lifetime with `transmute`. (unsafe)
-    ///
-    /// This function never returns.
-    pub fn run(&'static mut self, init: impl FnOnce(Spawner)) -> ! {
-        init(self.inner.spawner());
+    /// global atomic used to keep track of whether there is work to do since sev() is not available on Xtensa
+    static SIGNAL_WORK_THREAD_MODE: AtomicBool = AtomicBool::new(false);
+
+    /// Xtensa Executor
+    pub struct Executor {
+        inner: raw::Executor,
+        not_send: PhantomData<*mut ()>,
+    }
 
-        loop {
-            unsafe {
-                self.inner.poll();
-                // we do not care about race conditions between the load and store operations, interrupts
-                // will only set this value to true.
-                // if there is work to do, loop back to polling
-                // TODO can we relax this?
-                critical_section::with(|_| {
+    impl Executor {
+        /// Create a new Executor.
+        pub fn new() -> Self {
+            Self {
+                inner: raw::Executor::new(Pender(PenderInner::Thread(ThreadPender))),
+                not_send: PhantomData,
+            }
+        }
+
+        /// Run the executor.
+        ///
+        /// The `init` closure is called with a [`Spawner`] that spawns tasks on
+        /// this executor. Use it to spawn the initial task(s). After `init` returns,
+        /// the executor starts running the tasks.
+        ///
+        /// To spawn more tasks later, you may keep copies of the [`Spawner`] (it is `Copy`),
+        /// for example by passing it as an argument to the initial tasks.
+        ///
+        /// This function requires `&'static mut self`. This means you have to store the
+        /// Executor instance in a place where it'll live forever and grants you mutable
+        /// access. There's a few ways to do this:
+        ///
+        /// - a [StaticCell](https://docs.rs/static_cell/latest/static_cell/) (safe)
+        /// - a `static mut` (unsafe)
+        /// - a local variable in a function you know never returns (like `fn main() -> !`), upgrading its lifetime with `transmute`. (unsafe)
+        ///
+        /// This function never returns.
+        pub fn run(&'static mut self, init: impl FnOnce(Spawner)) -> ! {
+            init(self.inner.spawner());
+
+            loop {
+                unsafe {
+                    self.inner.poll();
+
+                    // Manual critical section implementation that only masks interrupts handlers.
+                    // We must not acquire the cross-core on dual-core systems because that would
+                    // prevent the other core from doing useful work while this core is sleeping.
+                    let token: critical_section::RawRestoreState;
+                    core::arch::asm!("rsil {0}, 5", out(reg) token);
+
+                    // we do not care about race conditions between the load and store operations, interrupts
+                    // will only set this value to true.
+                    // if there is work to do, loop back to polling
                     if SIGNAL_WORK_THREAD_MODE.load(Ordering::SeqCst) {
                         SIGNAL_WORK_THREAD_MODE.store(false, Ordering::SeqCst);
+
+                        core::arch::asm!(
+                            "wsr.ps {0}",
+                            "rsync", in(reg) token)
                     } else {
                         // waiti sets the PS.INTLEVEL when slipping into sleep
                         // because critical sections in Xtensa are implemented via increasing
@@ -68,7 +86,7 @@ impl Executor {
                         // take care not add code after `waiti` if it needs to be inside the CS
                         core::arch::asm!("waiti 0"); // critical section ends here
                     }
-                });
+                }
             }
         }
     }
diff --git a/embassy-executor/src/lib.rs b/embassy-executor/src/lib.rs
index e4cbd04b9..3ce687eb6 100644
--- a/embassy-executor/src/lib.rs
+++ b/embassy-executor/src/lib.rs
@@ -1,5 +1,5 @@
-#![cfg_attr(not(any(feature = "std", feature = "wasm")), no_std)]
-#![cfg_attr(all(feature = "nightly", target_arch = "xtensa"), feature(asm_experimental_arch))]
+#![cfg_attr(not(any(feature = "arch-std", feature = "arch-wasm")), no_std)]
+#![cfg_attr(all(feature = "nightly", feature = "arch-xtensa"), feature(asm_experimental_arch))]
 #![allow(clippy::new_without_default)]
 #![doc = include_str!("../README.md")]
 #![warn(missing_docs)]
@@ -8,41 +8,45 @@
 pub(crate) mod fmt;
 
 #[cfg(feature = "nightly")]
-pub use embassy_macros::{main, task};
+pub use embassy_macros::task;
 
-cfg_if::cfg_if! {
-    if #[cfg(cortex_m)] {
-        #[path="arch/cortex_m.rs"]
-        mod arch;
-        pub use arch::*;
-    }
-    else if #[cfg(target_arch="riscv32")] {
-        #[path="arch/riscv32.rs"]
-        mod arch;
-        pub use arch::*;
-    }
-    else if #[cfg(all(target_arch="xtensa", feature = "nightly"))] {
-        #[path="arch/xtensa.rs"]
-        mod arch;
-        pub use arch::*;
-    }
-    else if #[cfg(feature="wasm")] {
-        #[path="arch/wasm.rs"]
-        mod arch;
-        pub use arch::*;
-    }
-    else if #[cfg(feature="std")] {
-        #[path="arch/std.rs"]
-        mod arch;
-        pub use arch::*;
-    }
+macro_rules! check_at_most_one {
+    (@amo [$($feats:literal)*] [] [$($res:tt)*]) => {
+        #[cfg(any($($res)*))]
+        compile_error!(concat!("At most one of these features can be enabled at the same time:", $(" `", $feats, "`",)*));
+    };
+    (@amo $feats:tt [$curr:literal $($rest:literal)*] [$($res:tt)*]) => {
+        check_at_most_one!(@amo $feats [$($rest)*] [$($res)* $(all(feature=$curr, feature=$rest),)*]);
+    };
+    ($($f:literal),*$(,)?) => {
+        check_at_most_one!(@amo [$($f)*] [$($f)*] []);
+    };
 }
+check_at_most_one!("arch-cortex-m", "arch-riscv32", "arch-xtensa", "arch-std", "arch-wasm",);
+
+#[cfg(feature = "_arch")]
+#[cfg_attr(feature = "arch-cortex-m", path = "arch/cortex_m.rs")]
+#[cfg_attr(feature = "arch-riscv32", path = "arch/riscv32.rs")]
+#[cfg_attr(feature = "arch-xtensa", path = "arch/xtensa.rs")]
+#[cfg_attr(feature = "arch-std", path = "arch/std.rs")]
+#[cfg_attr(feature = "arch-wasm", path = "arch/wasm.rs")]
+mod arch;
+
+#[cfg(feature = "_arch")]
+pub use arch::*;
 
+pub mod raw;
+
+mod spawner;
+pub use spawner::*;
+
+/// Implementation details for embassy macros.
+/// Do not use. Used for macros and HALs only. Not covered by semver guarantees.
 #[doc(hidden)]
-/// Implementation details for embassy macros. DO NOT USE.
-pub mod export {
+pub mod _export {
     #[cfg(feature = "rtos-trace")]
     pub use rtos_trace::trace;
+    pub use static_cell::StaticCell;
 
     /// Expands the given block of code when `embassy-executor` is compiled with
     /// the `rtos-trace-interrupt` feature.
@@ -62,14 +66,3 @@ pub mod export {
         ($($tt:tt)*) => {};
     }
 }
-
-pub mod raw;
-
-mod spawner;
-pub use spawner::*;
-
-/// Do not use. Used for macros and HALs only. Not covered by semver guarantees.
-#[doc(hidden)]
-pub mod _export {
-    pub use static_cell::StaticCell;
-}
diff --git a/embassy-executor/src/raw/mod.rs b/embassy-executor/src/raw/mod.rs
index e1258ebb5..f3760f589 100644
--- a/embassy-executor/src/raw/mod.rs
+++ b/embassy-executor/src/raw/mod.rs
@@ -11,17 +11,17 @@ mod run_queue;
 #[cfg(feature = "integrated-timers")]
 mod timer_queue;
 pub(crate) mod util;
+#[cfg_attr(feature = "turbowakers", path = "waker_turbo.rs")]
 mod waker;
 
-use core::cell::Cell;
 use core::future::Future;
+use core::marker::PhantomData;
+use core::mem;
 use core::pin::Pin;
 use core::ptr::NonNull;
 use core::task::{Context, Poll};
-use core::{mem, ptr};
 
 use atomic_polyfill::{AtomicU32, Ordering};
-use critical_section::CriticalSection;
 #[cfg(feature = "integrated-timers")]
 use embassy_time::driver::{self, AlarmHandle};
 #[cfg(feature = "integrated-timers")]
@@ -30,7 +30,7 @@ use embassy_time::Instant;
 use rtos_trace::trace;
 
 use self::run_queue::{RunQueue, RunQueueItem};
-use self::util::UninitCell;
+use self::util::{SyncUnsafeCell, UninitCell};
 pub use self::waker::task_from_waker;
 use super::SpawnToken;
 
@@ -43,35 +43,49 @@ pub(crate) const STATE_RUN_QUEUED: u32 = 1 << 1;
 pub(crate) const STATE_TIMER_QUEUED: u32 = 1 << 2;
 
 /// Raw task header for use in task pointers.
-///
-/// This is an opaque struct, used for raw pointers to tasks, for use
-/// with funtions like [`wake_task`] and [`task_from_waker`].
-pub struct TaskHeader {
+pub(crate) struct TaskHeader {
     pub(crate) state: AtomicU32,
     pub(crate) run_queue_item: RunQueueItem,
-    pub(crate) executor: Cell<*const Executor>, // Valid if state != 0
-    pub(crate) poll_fn: UninitCell<unsafe fn(NonNull<TaskHeader>)>, // Valid if STATE_SPAWNED
+    pub(crate) executor: SyncUnsafeCell<Option<&'static SyncExecutor>>,
+    poll_fn: SyncUnsafeCell<Option<unsafe fn(TaskRef)>>,
 
     #[cfg(feature = "integrated-timers")]
-    pub(crate) expires_at: Cell<Instant>,
+    pub(crate) expires_at: SyncUnsafeCell<Instant>,
     #[cfg(feature = "integrated-timers")]
     pub(crate) timer_queue_item: timer_queue::TimerQueueItem,
 }
 
-impl TaskHeader {
-    pub(crate) const fn new() -> Self {
+/// This is essentially a `&'static TaskStorage<F>` where the type of the future has been erased.
+#[derive(Clone, Copy)]
+pub struct TaskRef {
+    ptr: NonNull<TaskHeader>,
+}
+
+unsafe impl Send for TaskRef where &'static TaskHeader: Send {}
+unsafe impl Sync for TaskRef where &'static TaskHeader: Sync {}
+
+impl TaskRef {
+    fn new<F: Future + 'static>(task: &'static TaskStorage<F>) -> Self {
         Self {
-            state: AtomicU32::new(0),
-            run_queue_item: RunQueueItem::new(),
-            executor: Cell::new(ptr::null()),
-            poll_fn: UninitCell::uninit(),
+            ptr: NonNull::from(task).cast(),
+        }
+    }
 
-            #[cfg(feature = "integrated-timers")]
-            expires_at: Cell::new(Instant::from_ticks(0)),
-            #[cfg(feature = "integrated-timers")]
-            timer_queue_item: timer_queue::TimerQueueItem::new(),
+    /// Safety: The pointer must have been obtained with `Task::as_ptr`
+    pub(crate) unsafe fn from_ptr(ptr: *const TaskHeader) -> Self {
+        Self {
+            ptr: NonNull::new_unchecked(ptr as *mut TaskHeader),
         }
     }
+
+    pub(crate) fn header(self) -> &'static TaskHeader {
+        unsafe { self.ptr.as_ref() }
+    }
+
+    /// The returned pointer is valid for the entire TaskStorage.
+    pub(crate) fn as_ptr(self) -> *const TaskHeader {
+        self.ptr.as_ptr()
+    }
 }
 
 /// Raw storage in which a task can be spawned.
@@ -101,7 +115,18 @@ impl<F: Future + 'static> TaskStorage<F> {
     /// Create a new TaskStorage, in not-spawned state.
     pub const fn new() -> Self {
         Self {
-            raw: TaskHeader::new(),
+            raw: TaskHeader {
+                state: AtomicU32::new(0),
+                run_queue_item: RunQueueItem::new(),
+                executor: SyncUnsafeCell::new(None),
+                // 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(Instant::from_ticks(0)),
+                #[cfg(feature = "integrated-timers")]
+                timer_queue_item: timer_queue::TimerQueueItem::new(),
+            },
             future: UninitCell::uninit(),
         }
     }
@@ -120,29 +145,17 @@ impl<F: Future + 'static> TaskStorage<F> {
     /// Once the task has finished running, you may spawn it again. It is allowed to spawn it
     /// on a different executor.
     pub fn spawn(&'static self, future: impl FnOnce() -> F) -> SpawnToken<impl Sized> {
-        if self.spawn_mark_used() {
-            return unsafe { SpawnToken::<F>::new(self.spawn_initialize(future)) };
+        let task = AvailableTask::claim(self);
+        match task {
+            Some(task) => {
+                let task = task.initialize(future);
+                unsafe { SpawnToken::<F>::new(task) }
+            }
+            None => SpawnToken::new_failed(),
         }
-
-        SpawnToken::<F>::new_failed()
-    }
-
-    fn spawn_mark_used(&'static self) -> bool {
-        let state = STATE_SPAWNED | STATE_RUN_QUEUED;
-        self.raw
-            .state
-            .compare_exchange(0, state, Ordering::AcqRel, Ordering::Acquire)
-            .is_ok()
     }
 
-    unsafe fn spawn_initialize(&'static self, future: impl FnOnce() -> F) -> NonNull<TaskHeader> {
-        // Initialize the task
-        self.raw.poll_fn.write(Self::poll);
-        self.future.write(future());
-        NonNull::new_unchecked(self as *const TaskStorage<F> as *const TaskHeader as *mut TaskHeader)
-    }
-
-    unsafe fn poll(p: NonNull<TaskHeader>) {
+    unsafe fn poll(p: TaskRef) {
         let this = &*(p.as_ptr() as *const TaskStorage<F>);
 
         let future = Pin::new_unchecked(this.future.as_mut());
@@ -152,6 +165,9 @@ impl<F: Future + 'static> TaskStorage<F> {
             Poll::Ready(_) => {
                 this.future.drop_in_place();
                 this.raw.state.fetch_and(!STATE_SPAWNED, Ordering::AcqRel);
+
+                #[cfg(feature = "integrated-timers")]
+                this.raw.expires_at.set(Instant::MAX);
             }
             Poll::Pending => {}
         }
@@ -160,9 +176,37 @@ impl<F: Future + 'static> TaskStorage<F> {
         // it's a noop for our waker.
         mem::forget(waker);
     }
+
+    #[doc(hidden)]
+    #[allow(dead_code)]
+    fn _assert_sync(self) {
+        fn assert_sync<T: Sync>(_: T) {}
+
+        assert_sync(self)
+    }
+}
+
+struct AvailableTask<F: Future + 'static> {
+    task: &'static TaskStorage<F>,
 }
 
-unsafe impl<F: Future + 'static> Sync for TaskStorage<F> {}
+impl<F: Future + 'static> AvailableTask<F> {
+    fn claim(task: &'static TaskStorage<F>) -> Option<Self> {
+        task.raw
+            .state
+            .compare_exchange(0, STATE_SPAWNED | STATE_RUN_QUEUED, Ordering::AcqRel, Ordering::Acquire)
+            .ok()
+            .map(|_| Self { task })
+    }
+
+    fn initialize(self, future: impl FnOnce() -> F) -> TaskRef {
+        unsafe {
+            self.task.raw.poll_fn.set(Some(TaskStorage::<F>::poll));
+            self.task.future.write(future());
+        }
+        TaskRef::new(self.task)
+    }
+}
 
 /// Raw storage that can hold up to N tasks of the same type.
 ///
@@ -187,13 +231,14 @@ impl<F: Future + 'static, const N: usize> TaskPool<F, N> {
     /// is currently free. If none is free, a "poisoned" SpawnToken is returned,
     /// which will cause [`Spawner::spawn()`](super::Spawner::spawn) to return the error.
     pub fn spawn(&'static self, future: impl FnOnce() -> F) -> SpawnToken<impl Sized> {
-        for task in &self.pool {
-            if task.spawn_mark_used() {
-                return unsafe { SpawnToken::<F>::new(task.spawn_initialize(future)) };
+        let task = self.pool.iter().find_map(AvailableTask::claim);
+        match task {
+            Some(task) => {
+                let task = task.initialize(future);
+                unsafe { SpawnToken::<F>::new(task) }
             }
+            None => SpawnToken::new_failed(),
         }
-
-        SpawnToken::<F>::new_failed()
     }
 
     /// Like spawn(), but allows the task to be send-spawned if the args are Send even if
@@ -235,39 +280,71 @@ impl<F: Future + 'static, const N: usize> TaskPool<F, N> {
         // This ONLY holds for `async fn` futures. The other `spawn` methods can be called directly
         // by the user, with arbitrary hand-implemented futures. This is why these return `SpawnToken<F>`.
 
-        for task in &self.pool {
-            if task.spawn_mark_used() {
-                return SpawnToken::<FutFn>::new(task.spawn_initialize(future));
+        let task = self.pool.iter().find_map(AvailableTask::claim);
+        match task {
+            Some(task) => {
+                let task = task.initialize(future);
+                unsafe { SpawnToken::<FutFn>::new(task) }
             }
+            None => SpawnToken::new_failed(),
         }
-
-        SpawnToken::<FutFn>::new_failed()
     }
 }
 
-/// Raw executor.
-///
-/// This is the core of the Embassy executor. It is low-level, requiring manual
-/// handling of wakeups and task polling. If you can, prefer using one of the
-/// [higher level executors](crate::Executor).
-///
-/// The raw executor leaves it up to you to handle wakeups and scheduling:
-///
-/// - To get the executor to do work, call `poll()`. This will poll all queued tasks (all tasks
-///   that "want to run").
-/// - You must supply a `signal_fn`. The executor will call it to notify you it has work
-///   to do. You must arrange for `poll()` to be called as soon as possible.
+#[derive(Clone, Copy)]
+pub(crate) enum PenderInner {
+    #[cfg(feature = "executor-thread")]
+    Thread(crate::arch::ThreadPender),
+    #[cfg(feature = "executor-interrupt")]
+    Interrupt(crate::arch::InterruptPender),
+    #[cfg(feature = "pender-callback")]
+    Callback { func: fn(*mut ()), context: *mut () },
+}
+
+unsafe impl Send for PenderInner {}
+unsafe impl Sync for PenderInner {}
+
+/// Platform/architecture-specific action executed when an executor has pending work.
 ///
-/// `signal_fn` can be called from *any* context: any thread, any interrupt priority
-/// level, etc. It may be called synchronously from any `Executor` method call as well.
-/// You must deal with this correctly.
+/// When a task within an executor is woken, the `Pender` is called. This does a
+/// platform/architecture-specific action to signal there is pending work in the executor.
+/// When this happens, you must arrange for [`Executor::poll`] to be called.
 ///
-/// In particular, you must NOT call `poll` directly from `signal_fn`, as this violates
-/// the requirement for `poll` to not be called reentrantly.
-pub struct Executor {
+/// You can think of it as a waker, but for the whole executor.
+pub struct Pender(pub(crate) PenderInner);
+
+impl Pender {
+    /// Create a `Pender` that will call an arbitrary function pointer.
+    ///
+    /// # Arguments
+    ///
+    /// - `func`: The function pointer to call.
+    /// - `context`: Opaque context pointer, that will be passed to the function pointer.
+    #[cfg(feature = "pender-callback")]
+    pub fn new_from_callback(func: fn(*mut ()), context: *mut ()) -> Self {
+        Self(PenderInner::Callback {
+            func,
+            context: context.into(),
+        })
+    }
+}
+
+impl Pender {
+    pub(crate) fn pend(&self) {
+        match self.0 {
+            #[cfg(feature = "executor-thread")]
+            PenderInner::Thread(x) => x.pend(),
+            #[cfg(feature = "executor-interrupt")]
+            PenderInner::Interrupt(x) => x.pend(),
+            #[cfg(feature = "pender-callback")]
+            PenderInner::Callback { func, context } => func(context),
+        }
+    }
+}
+
+pub(crate) struct SyncExecutor {
     run_queue: RunQueue,
-    signal_fn: fn(*mut ()),
-    signal_ctx: *mut (),
+    pender: Pender,
 
     #[cfg(feature = "integrated-timers")]
     pub(crate) timer_queue: timer_queue::TimerQueue,
@@ -275,23 +352,14 @@ pub struct Executor {
     alarm: AlarmHandle,
 }
 
-impl Executor {
-    /// Create a new executor.
-    ///
-    /// When the executor has work to do, it will call `signal_fn` with
-    /// `signal_ctx` as argument.
-    ///
-    /// See [`Executor`] docs for details on `signal_fn`.
-    pub fn new(signal_fn: fn(*mut ()), signal_ctx: *mut ()) -> Self {
+impl SyncExecutor {
+    pub(crate) fn new(pender: Pender) -> Self {
         #[cfg(feature = "integrated-timers")]
         let alarm = unsafe { unwrap!(driver::allocate_alarm()) };
-        #[cfg(feature = "integrated-timers")]
-        driver::set_alarm_callback(alarm, signal_fn, signal_ctx);
 
         Self {
             run_queue: RunQueue::new(),
-            signal_fn,
-            signal_ctx,
+            pender,
 
             #[cfg(feature = "integrated-timers")]
             timer_queue: timer_queue::TimerQueue::new(),
@@ -307,12 +375,133 @@ impl Executor {
     /// - `task` must be set up to run in this executor.
     /// - `task` must NOT be already enqueued (in this executor or another one).
     #[inline(always)]
-    unsafe fn enqueue(&self, cs: CriticalSection, task: NonNull<TaskHeader>) {
+    unsafe fn enqueue(&self, task: TaskRef) {
         #[cfg(feature = "rtos-trace")]
         trace::task_ready_begin(task.as_ptr() as u32);
 
-        if self.run_queue.enqueue(cs, task) {
-            (self.signal_fn)(self.signal_ctx)
+        if self.run_queue.enqueue(task) {
+            self.pender.pend();
+        }
+    }
+
+    #[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));
+
+        #[cfg(feature = "rtos-trace")]
+        trace::task_new(task.as_ptr() as u32);
+
+        self.enqueue(task);
+    }
+
+    /// # Safety
+    ///
+    /// Same as [`Executor::poll`], plus you must only call this on the thread this executor was created.
+    pub(crate) unsafe fn poll(&'static self) {
+        #[cfg(feature = "integrated-timers")]
+        driver::set_alarm_callback(self.alarm, Self::alarm_callback, self as *const _ as *mut ());
+
+        #[allow(clippy::never_loop)]
+        loop {
+            #[cfg(feature = "integrated-timers")]
+            self.timer_queue.dequeue_expired(Instant::now(), |task| wake_task(task));
+
+            self.run_queue.dequeue_all(|p| {
+                let task = p.header();
+
+                #[cfg(feature = "integrated-timers")]
+                task.expires_at.set(Instant::MAX);
+
+                let state = task.state.fetch_and(!STATE_RUN_QUEUED, Ordering::AcqRel);
+                if state & STATE_SPAWNED == 0 {
+                    // 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 = "rtos-trace")]
+                trace::task_exec_begin(p.as_ptr() as u32);
+
+                // Run the task
+                task.poll_fn.get().unwrap_unchecked()(p);
+
+                #[cfg(feature = "rtos-trace")]
+                trace::task_exec_end();
+
+                // 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 driver::set_alarm(self.alarm, next_expiration.as_ticks()) {
+                    break;
+                }
+            }
+
+            #[cfg(not(feature = "integrated-timers"))]
+            {
+                break;
+            }
+        }
+
+        #[cfg(feature = "rtos-trace")]
+        trace::system_idle();
+    }
+}
+
+/// Raw executor.
+///
+/// This is the core of the Embassy executor. It is low-level, requiring manual
+/// handling of wakeups and task polling. If you can, prefer using one of the
+/// [higher level executors](crate::Executor).
+///
+/// The raw executor leaves it up to you to handle wakeups and scheduling:
+///
+/// - To get the executor to do work, call `poll()`. This will poll all queued tasks (all tasks
+///   that "want to run").
+/// - You must supply a [`Pender`]. The executor will call it to notify you it has work
+///   to do. You must arrange for `poll()` to be called as soon as possible.
+///
+/// The [`Pender`] can be called from *any* context: any thread, any interrupt priority
+/// level, etc. It may be called synchronously from any `Executor` method call as well.
+/// You must deal with this correctly.
+///
+/// In particular, you must NOT call `poll` directly from the pender callback, as this violates
+/// the requirement for `poll` to not be called reentrantly.
+#[repr(transparent)]
+pub struct Executor {
+    pub(crate) inner: SyncExecutor,
+
+    _not_sync: PhantomData<*mut ()>,
+}
+
+impl Executor {
+    pub(crate) unsafe fn wrap(inner: &SyncExecutor) -> &Self {
+        mem::transmute(inner)
+    }
+
+    /// Create a new executor.
+    ///
+    /// When the executor has work to do, it will call the [`Pender`].
+    ///
+    /// See [`Executor`] docs for details on `Pender`.
+    pub fn new(pender: Pender) -> Self {
+        Self {
+            inner: SyncExecutor::new(pender),
+            _not_sync: PhantomData,
         }
     }
 
@@ -325,15 +514,8 @@ impl Executor {
     /// It is OK to use `unsafe` to call this from a thread that's not the executor thread.
     /// In this case, the task's Future must be Send. This is because this is effectively
     /// sending the task to the executor thread.
-    pub(super) unsafe fn spawn(&'static self, task: NonNull<TaskHeader>) {
-        task.as_ref().executor.set(self);
-
-        #[cfg(feature = "rtos-trace")]
-        trace::task_new(task.as_ptr() as u32);
-
-        critical_section::with(|cs| {
-            self.enqueue(cs, task);
-        })
+    pub(super) unsafe fn spawn(&'static self, task: TaskRef) {
+        self.inner.spawn(task)
     }
 
     /// Poll all queued tasks in this executor.
@@ -341,63 +523,20 @@ impl Executor {
     /// This loops over all tasks that are queued to be polled (i.e. they're
     /// freshly spawned or they've been woken). Other tasks are not polled.
     ///
-    /// You must call `poll` after receiving a call to `signal_fn`. It is OK
-    /// to call `poll` even when not requested by `signal_fn`, but it wastes
+    /// You must call `poll` after receiving a call to the [`Pender`]. It is OK
+    /// to call `poll` even when not requested by the `Pender`, but it wastes
     /// energy.
     ///
     /// # Safety
     ///
     /// You must NOT call `poll` reentrantly on the same executor.
     ///
-    /// In particular, note that `poll` may call `signal_fn` synchronously. Therefore, you
-    /// must NOT directly call `poll()` from your `signal_fn`. Instead, `signal_fn` has to
+    /// In particular, note that `poll` may call the `Pender` synchronously. Therefore, you
+    /// must NOT directly call `poll()` from the `Pender` callback. Instead, the callback has to
     /// somehow schedule for `poll()` to be called later, at a time you know for sure there's
     /// no `poll()` already running.
     pub unsafe fn poll(&'static self) {
-        #[cfg(feature = "integrated-timers")]
-        self.timer_queue.dequeue_expired(Instant::now(), |task| wake_task(task));
-
-        self.run_queue.dequeue_all(|p| {
-            let task = p.as_ref();
-
-            #[cfg(feature = "integrated-timers")]
-            task.expires_at.set(Instant::MAX);
-
-            let state = task.state.fetch_and(!STATE_RUN_QUEUED, Ordering::AcqRel);
-            if state & STATE_SPAWNED == 0 {
-                // 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 = "rtos-trace")]
-            trace::task_exec_begin(p.as_ptr() as u32);
-
-            // Run the task
-            task.poll_fn.read()(p as _);
-
-            #[cfg(feature = "rtos-trace")]
-            trace::task_exec_end();
-
-            // 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 will immediately trigger the alarm.
-            // This will cause `signal_fn` to be called, which will cause `poll()` to be called again,
-            // so we immediately do another poll loop iteration.
-            let next_expiration = self.timer_queue.next_expiration();
-            driver::set_alarm(self.alarm, next_expiration.as_ticks());
-        }
-
-        #[cfg(feature = "rtos-trace")]
-        trace::system_idle();
+        self.inner.poll()
     }
 
     /// Get a spawner that spawns tasks in this executor.
@@ -409,41 +548,49 @@ impl Executor {
     }
 }
 
-/// Wake a task by raw pointer.
-///
-/// You can obtain task pointers from `Waker`s using [`task_from_waker`].
+/// Wake a task by `TaskRef`.
 ///
-/// # Safety
-///
-/// `task` must be a valid task pointer obtained from [`task_from_waker`].
-pub unsafe fn wake_task(task: NonNull<TaskHeader>) {
-    critical_section::with(|cs| {
-        let header = task.as_ref();
-        let state = header.state.load(Ordering::Relaxed);
+/// You can obtain a `TaskRef` from a `Waker` using [`task_from_waker`].
+pub fn wake_task(task: TaskRef) {
+    let header = task.header();
 
+    let res = header.state.fetch_update(Ordering::SeqCst, Ordering::SeqCst, |state| {
         // If already scheduled, or if not started,
         if (state & STATE_RUN_QUEUED != 0) || (state & STATE_SPAWNED == 0) {
-            return;
+            None
+        } else {
+            // Mark it as scheduled
+            Some(state | STATE_RUN_QUEUED)
         }
+    });
 
-        // Mark it as scheduled
-        header.state.store(state | STATE_RUN_QUEUED, Ordering::Relaxed);
-
+    if res.is_ok() {
         // We have just marked the task as scheduled, so enqueue it.
-        let executor = &*header.executor.get();
-        executor.enqueue(cs, task);
-    })
+        unsafe {
+            let executor = header.executor.get().unwrap_unchecked();
+            executor.enqueue(task);
+        }
+    }
 }
 
 #[cfg(feature = "integrated-timers")]
-#[no_mangle]
-unsafe fn _embassy_time_schedule_wake(at: Instant, waker: &core::task::Waker) {
-    let task = waker::task_from_waker(waker);
-    let task = task.as_ref();
-    let expires_at = task.expires_at.get();
-    task.expires_at.set(expires_at.min(at));
+struct TimerQueue;
+
+#[cfg(feature = "integrated-timers")]
+impl embassy_time::queue::TimerQueue for TimerQueue {
+    fn schedule_wake(&'static self, at: Instant, 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::timer_queue_impl!(static TIMER_QUEUE: TimerQueue = TimerQueue);
+
 #[cfg(feature = "rtos-trace")]
 impl rtos_trace::RtosTraceOSCallbacks for Executor {
     fn task_list() {
diff --git a/embassy-executor/src/raw/run_queue.rs b/embassy-executor/src/raw/run_queue.rs
index ed8c82a5c..f1ec19ac1 100644
--- a/embassy-executor/src/raw/run_queue.rs
+++ b/embassy-executor/src/raw/run_queue.rs
@@ -2,18 +2,18 @@ use core::ptr;
 use core::ptr::NonNull;
 
 use atomic_polyfill::{AtomicPtr, Ordering};
-use critical_section::CriticalSection;
 
-use super::TaskHeader;
+use super::{TaskHeader, TaskRef};
+use crate::raw::util::SyncUnsafeCell;
 
 pub(crate) struct RunQueueItem {
-    next: AtomicPtr<TaskHeader>,
+    next: SyncUnsafeCell<Option<TaskRef>>,
 }
 
 impl RunQueueItem {
     pub const fn new() -> Self {
         Self {
-            next: AtomicPtr::new(ptr::null_mut()),
+            next: SyncUnsafeCell::new(None),
         }
     }
 }
@@ -46,29 +46,43 @@ impl RunQueue {
     ///
     /// `item` must NOT be already enqueued in any queue.
     #[inline(always)]
-    pub(crate) unsafe fn enqueue(&self, _cs: CriticalSection, task: NonNull<TaskHeader>) -> bool {
-        let prev = self.head.load(Ordering::Relaxed);
-        task.as_ref().run_queue_item.next.store(prev, Ordering::Relaxed);
-        self.head.store(task.as_ptr(), Ordering::Relaxed);
-        prev.is_null()
+    pub(crate) unsafe fn enqueue(&self, task: TaskRef) -> bool {
+        let mut was_empty = false;
+
+        self.head
+            .fetch_update(Ordering::SeqCst, Ordering::SeqCst, |prev| {
+                was_empty = prev.is_null();
+                unsafe {
+                    // safety: the pointer is either null or valid
+                    let prev = NonNull::new(prev).map(|ptr| TaskRef::from_ptr(ptr.as_ptr()));
+                    // safety: there are no concurrent accesses to `next`
+                    task.header().run_queue_item.next.set(prev);
+                }
+                Some(task.as_ptr() as *mut _)
+            })
+            .ok();
+
+        was_empty
     }
 
     /// Empty the queue, then call `on_task` for each task that was in the queue.
     /// NOTE: It is OK for `on_task` to enqueue more tasks. In this case they're left in the queue
     /// and will be processed by the *next* call to `dequeue_all`, *not* the current one.
-    pub(crate) fn dequeue_all(&self, on_task: impl Fn(NonNull<TaskHeader>)) {
+    pub(crate) fn dequeue_all(&self, on_task: impl Fn(TaskRef)) {
         // Atomically empty the queue.
-        let mut ptr = self.head.swap(ptr::null_mut(), Ordering::AcqRel);
+        let ptr = self.head.swap(ptr::null_mut(), Ordering::AcqRel);
+
+        // safety: the pointer is either null or valid
+        let mut next = unsafe { NonNull::new(ptr).map(|ptr| TaskRef::from_ptr(ptr.as_ptr())) };
 
         // Iterate the linked list of tasks that were previously in the queue.
-        while let Some(task) = NonNull::new(ptr) {
+        while let Some(task) = next {
             // If the task re-enqueues itself, the `next` pointer will get overwritten.
             // Therefore, first read the next pointer, and only then process the task.
-            let next = unsafe { task.as_ref() }.run_queue_item.next.load(Ordering::Relaxed);
+            // safety: there are no concurrent accesses to `next`
+            next = unsafe { task.header().run_queue_item.next.get() };
 
             on_task(task);
-
-            ptr = next
         }
     }
 }
diff --git a/embassy-executor/src/raw/timer_queue.rs b/embassy-executor/src/raw/timer_queue.rs
index 24c31892a..dc71c95b1 100644
--- a/embassy-executor/src/raw/timer_queue.rs
+++ b/embassy-executor/src/raw/timer_queue.rs
@@ -1,45 +1,43 @@
-use core::cell::Cell;
 use core::cmp::min;
-use core::ptr;
-use core::ptr::NonNull;
 
 use atomic_polyfill::Ordering;
 use embassy_time::Instant;
 
-use super::{TaskHeader, STATE_TIMER_QUEUED};
+use super::{TaskRef, STATE_TIMER_QUEUED};
+use crate::raw::util::SyncUnsafeCell;
 
 pub(crate) struct TimerQueueItem {
-    next: Cell<*mut TaskHeader>,
+    next: SyncUnsafeCell<Option<TaskRef>>,
 }
 
 impl TimerQueueItem {
     pub const fn new() -> Self {
         Self {
-            next: Cell::new(ptr::null_mut()),
+            next: SyncUnsafeCell::new(None),
         }
     }
 }
 
 pub(crate) struct TimerQueue {
-    head: Cell<*mut TaskHeader>,
+    head: SyncUnsafeCell<Option<TaskRef>>,
 }
 
 impl TimerQueue {
     pub const fn new() -> Self {
         Self {
-            head: Cell::new(ptr::null_mut()),
+            head: SyncUnsafeCell::new(None),
         }
     }
 
-    pub(crate) unsafe fn update(&self, p: NonNull<TaskHeader>) {
-        let task = p.as_ref();
+    pub(crate) unsafe fn update(&self, p: TaskRef) {
+        let task = p.header();
         if task.expires_at.get() != Instant::MAX {
             let old_state = task.state.fetch_or(STATE_TIMER_QUEUED, Ordering::AcqRel);
             let is_new = old_state & STATE_TIMER_QUEUED == 0;
 
             if is_new {
                 task.timer_queue_item.next.set(self.head.get());
-                self.head.set(p.as_ptr());
+                self.head.set(Some(p));
             }
         }
     }
@@ -47,7 +45,7 @@ impl TimerQueue {
     pub(crate) unsafe fn next_expiration(&self) -> Instant {
         let mut res = Instant::MAX;
         self.retain(|p| {
-            let task = p.as_ref();
+            let task = p.header();
             let expires = task.expires_at.get();
             res = min(res, expires);
             expires != Instant::MAX
@@ -55,9 +53,9 @@ impl TimerQueue {
         res
     }
 
-    pub(crate) unsafe fn dequeue_expired(&self, now: Instant, on_task: impl Fn(NonNull<TaskHeader>)) {
+    pub(crate) unsafe fn dequeue_expired(&self, now: Instant, on_task: impl Fn(TaskRef)) {
         self.retain(|p| {
-            let task = p.as_ref();
+            let task = p.header();
             if task.expires_at.get() <= now {
                 on_task(p);
                 false
@@ -67,11 +65,10 @@ impl TimerQueue {
         });
     }
 
-    pub(crate) unsafe fn retain(&self, mut f: impl FnMut(NonNull<TaskHeader>) -> bool) {
+    pub(crate) unsafe fn retain(&self, mut f: impl FnMut(TaskRef) -> bool) {
         let mut prev = &self.head;
-        while !prev.get().is_null() {
-            let p = NonNull::new_unchecked(prev.get());
-            let task = &*p.as_ptr();
+        while let Some(p) = prev.get() {
+            let task = p.header();
             if f(p) {
                 // Skip to next
                 prev = &task.timer_queue_item.next;
diff --git a/embassy-executor/src/raw/util.rs b/embassy-executor/src/raw/util.rs
index ed5822188..e2e8f4df8 100644
--- a/embassy-executor/src/raw/util.rs
+++ b/embassy-executor/src/raw/util.rs
@@ -26,8 +26,31 @@ impl<T> UninitCell<T> {
     }
 }
 
-impl<T: Copy> UninitCell<T> {
-    pub unsafe fn read(&self) -> T {
-        ptr::read(self.as_mut_ptr())
+unsafe impl<T> Sync for UninitCell<T> {}
+
+#[repr(transparent)]
+pub struct SyncUnsafeCell<T> {
+    value: UnsafeCell<T>,
+}
+
+unsafe impl<T: Sync> Sync for SyncUnsafeCell<T> {}
+
+impl<T> SyncUnsafeCell<T> {
+    #[inline]
+    pub const fn new(value: T) -> Self {
+        Self {
+            value: UnsafeCell::new(value),
+        }
+    }
+
+    pub unsafe fn set(&self, value: T) {
+        *self.value.get() = value;
+    }
+
+    pub unsafe fn get(&self) -> T
+    where
+        T: Copy,
+    {
+        *self.value.get()
     }
 }
diff --git a/embassy-executor/src/raw/waker.rs b/embassy-executor/src/raw/waker.rs
index 5765259f2..400b37fa9 100644
--- a/embassy-executor/src/raw/waker.rs
+++ b/embassy-executor/src/raw/waker.rs
@@ -1,8 +1,7 @@
 use core::mem;
-use core::ptr::NonNull;
 use core::task::{RawWaker, RawWakerVTable, Waker};
 
-use super::{wake_task, TaskHeader};
+use super::{wake_task, TaskHeader, TaskRef};
 
 const VTABLE: RawWakerVTable = RawWakerVTable::new(clone, wake, wake, drop);
 
@@ -11,14 +10,14 @@ unsafe fn clone(p: *const ()) -> RawWaker {
 }
 
 unsafe fn wake(p: *const ()) {
-    wake_task(NonNull::new_unchecked(p as *mut TaskHeader))
+    wake_task(TaskRef::from_ptr(p as *const TaskHeader))
 }
 
 unsafe fn drop(_: *const ()) {
     // nop
 }
 
-pub(crate) unsafe fn from_task(p: NonNull<TaskHeader>) -> Waker {
+pub(crate) unsafe fn from_task(p: TaskRef) -> Waker {
     Waker::from_raw(RawWaker::new(p.as_ptr() as _, &VTABLE))
 }
 
@@ -33,7 +32,7 @@ pub(crate) unsafe fn from_task(p: NonNull<TaskHeader>) -> Waker {
 /// # Panics
 ///
 /// Panics if the waker is not created by the Embassy executor.
-pub fn task_from_waker(waker: &Waker) -> NonNull<TaskHeader> {
+pub fn task_from_waker(waker: &Waker) -> TaskRef {
     // safety: OK because WakerHack has the same layout as Waker.
     // This is not really guaranteed because the structs are `repr(Rust)`, it is
     // indeed the case in the current implementation.
@@ -43,8 +42,8 @@ pub fn task_from_waker(waker: &Waker) -> NonNull<TaskHeader> {
         panic!("Found waker not created by the Embassy executor. `embassy_time::Timer` only works with the Embassy executor.")
     }
 
-    // safety: we never create a waker with a null data pointer.
-    unsafe { NonNull::new_unchecked(hack.data as *mut TaskHeader) }
+    // safety: our wakers are always created with `TaskRef::as_ptr`
+    unsafe { TaskRef::from_ptr(hack.data as *const TaskHeader) }
 }
 
 struct WakerHack {
diff --git a/embassy-executor/src/raw/waker_turbo.rs b/embassy-executor/src/raw/waker_turbo.rs
new file mode 100644
index 000000000..435a0ff7e
--- /dev/null
+++ b/embassy-executor/src/raw/waker_turbo.rs
@@ -0,0 +1,34 @@
+use core::ptr::NonNull;
+use core::task::Waker;
+
+use super::{wake_task, TaskHeader, TaskRef};
+
+pub(crate) unsafe fn from_task(p: TaskRef) -> Waker {
+    Waker::from_turbo_ptr(NonNull::new_unchecked(p.as_ptr() as _))
+}
+
+/// Get a task pointer from a waker.
+///
+/// This can be used as an optimization in wait queues to store task pointers
+/// (1 word) instead of full Wakers (2 words). This saves a bit of RAM and helps
+/// avoid dynamic dispatch.
+///
+/// You can use the returned task pointer to wake the task with [`wake_task`](super::wake_task).
+///
+/// # Panics
+///
+/// Panics if the waker is not created by the Embassy executor.
+pub fn task_from_waker(waker: &Waker) -> TaskRef {
+    let ptr = waker.as_turbo_ptr().as_ptr();
+
+    // safety: our wakers are always created with `TaskRef::as_ptr`
+    unsafe { TaskRef::from_ptr(ptr as *const TaskHeader) }
+}
+
+#[inline(never)]
+#[no_mangle]
+fn _turbo_wake(ptr: NonNull<()>) {
+    // safety: our wakers are always created with `TaskRef::as_ptr`
+    let task = unsafe { TaskRef::from_ptr(ptr.as_ptr() as *const TaskHeader) };
+    wake_task(task)
+}
diff --git a/embassy-executor/src/spawner.rs b/embassy-executor/src/spawner.rs
index 25a0d7dbb..2b6224045 100644
--- a/embassy-executor/src/spawner.rs
+++ b/embassy-executor/src/spawner.rs
@@ -1,10 +1,8 @@
+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.
@@ -23,12 +21,12 @@ use super::raw;
 /// Once you've invoked a task function and obtained a SpawnToken, you *must* spawn it.
 #[must_use = "Calling a task function does nothing on its own. You must spawn the returned SpawnToken, typically with Spawner::spawn()"]
 pub struct SpawnToken<S> {
-    raw_task: Option<NonNull<raw::TaskHeader>>,
+    raw_task: Option<raw::TaskRef>,
     phantom: PhantomData<*mut S>,
 }
 
 impl<S> SpawnToken<S> {
-    pub(crate) unsafe fn new(raw_task: NonNull<raw::TaskHeader>) -> Self {
+    pub(crate) unsafe fn new(raw_task: raw::TaskRef) -> Self {
         Self {
             raw_task: Some(raw_task),
             phantom: PhantomData,
@@ -91,10 +89,11 @@ impl Spawner {
     ///
     /// Panics if the current executor is not an Embassy executor.
     pub async fn for_current_executor() -> Self {
-        poll_fn(|cx| unsafe {
+        poll_fn(|cx| {
             let task = raw::task_from_waker(cx.waker());
-            let executor = (*task.as_ptr()).executor.get();
-            Poll::Ready(Self::new(&*executor))
+            let executor = unsafe { task.header().executor.get().unwrap_unchecked() };
+            let executor = unsafe { raw::Executor::wrap(executor) };
+            Poll::Ready(Self::new(executor))
         })
         .await
     }
@@ -132,9 +131,7 @@ impl Spawner {
     /// spawner to other threads, but the spawner loses the ability to spawn
     /// non-Send tasks.
     pub fn make_send(&self) -> SendSpawner {
-        SendSpawner {
-            executor: self.executor,
-        }
+        SendSpawner::new(&self.executor.inner)
     }
 }
 
@@ -147,14 +144,11 @@ impl Spawner {
 /// If you want to spawn non-Send tasks, use [Spawner].
 #[derive(Copy, Clone)]
 pub struct SendSpawner {
-    executor: &'static raw::Executor,
+    executor: &'static raw::SyncExecutor,
 }
 
-unsafe impl Send for SendSpawner {}
-unsafe impl Sync for SendSpawner {}
-
 impl SendSpawner {
-    pub(crate) fn new(executor: &'static raw::Executor) -> Self {
+    pub(crate) fn new(executor: &'static raw::SyncExecutor) -> Self {
         Self { executor }
     }
 
@@ -167,10 +161,10 @@ impl SendSpawner {
     ///
     /// Panics if the current executor is not an Embassy executor.
     pub async fn for_current_executor() -> Self {
-        poll_fn(|cx| unsafe {
+        poll_fn(|cx| {
             let task = raw::task_from_waker(cx.waker());
-            let executor = (*task.as_ptr()).executor.get();
-            Poll::Ready(Self::new(&*executor))
+            let executor = unsafe { task.header().executor.get().unwrap_unchecked() };
+            Poll::Ready(Self::new(executor))
         })
         .await
     }