Merge branch 'main' of https://github.com/embassy-rs/embassy into can

2 files changed, 16 insertions, 1 deletions

diff --git a/embassy-executor/Cargo.toml b/embassy-executor/Cargo.toml
index ce032479d..1e5494ef8 100644
--- a/embassy-executor/Cargo.toml
+++ b/embassy-executor/Cargo.toml
@@ -65,7 +65,7 @@ embassy-macros  = { version = "0.2.0", path = "../embassy-macros" }
 embassy-time  = { version = "0.1.0", path = "../embassy-time", optional = true}
 atomic-polyfill = "1.0.1"
 critical-section = "1.1"
-static_cell = "1.0"
+static_cell = "1.1"
 
 # arch-cortex-m dependencies
 cortex-m = { version = "0.7.6", optional = true }
diff --git a/embassy-executor/src/arch/cortex_m.rs b/embassy-executor/src/arch/cortex_m.rs
index d6a55c4c7..94c8134d6 100644
--- a/embassy-executor/src/arch/cortex_m.rs
+++ b/embassy-executor/src/arch/cortex_m.rs
@@ -205,5 +205,20 @@ mod interrupt {
 
             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()
+        }
     }
 }