12 files changed, 1290 insertions, 0 deletions

diff --git a/embassy-executor/src/executor/arch/cortex_m.rs b/embassy-executor/src/executor/arch/cortex_m.rs
new file mode 100644
index 000000000..d6e758dfb
--- /dev/null
+++ b/embassy-executor/src/executor/arch/cortex_m.rs
@@ -0,0 +1,59 @@
+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 ()>,
+}
+
+impl Executor {
+    /// Create a new Executor.
+    pub fn new() -> Self {
+        Self {
+            inner: raw::Executor::new(|_| unsafe { asm!("sev") }, ptr::null_mut()),
+            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 [Forever](crate::util::Forever) (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");
+            };
+        }
+    }
+}
diff --git a/embassy-executor/src/executor/arch/riscv32.rs b/embassy-executor/src/executor/arch/riscv32.rs
new file mode 100644
index 000000000..7a7d5698c
--- /dev/null
+++ b/embassy-executor/src/executor/arch/riscv32.rs
@@ -0,0 +1,74 @@
+use core::marker::PhantomData;
+use core::ptr;
+
+use atomic_polyfill::{AtomicBool, Ordering};
+
+use super::{raw, 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 {
+            // 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,
+        }
+    }
+
+    /// 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 [Forever](crate::util::Forever) (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
+            }
+        }
+    }
+}
diff --git a/embassy-executor/src/executor/arch/std.rs b/embassy-executor/src/executor/arch/std.rs
new file mode 100644
index 000000000..b93ab8a79
--- /dev/null
+++ b/embassy-executor/src/executor/arch/std.rs
@@ -0,0 +1,84 @@
+use std::marker::PhantomData;
+use std::sync::{Condvar, Mutex};
+
+use super::{raw, Spawner};
+
+/// Single-threaded std-based executor.
+pub struct Executor {
+    inner: raw::Executor,
+    not_send: PhantomData<*mut ()>,
+    signaler: &'static Signaler,
+}
+
+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,
+        }
+    }
+
+    /// 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 [Forever](crate::util::Forever) (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() };
+            self.signaler.wait()
+        }
+    }
+}
+
+struct Signaler {
+    mutex: Mutex<bool>,
+    condvar: Condvar,
+}
+
+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/executor/arch/wasm.rs b/embassy-executor/src/executor/arch/wasm.rs
new file mode 100644
index 000000000..9d5aa31ed
--- /dev/null
+++ b/embassy-executor/src/executor/arch/wasm.rs
@@ -0,0 +1,74 @@
+use core::marker::PhantomData;
+
+use js_sys::Promise;
+use wasm_bindgen::prelude::*;
+
+use super::raw::util::UninitCell;
+use super::raw::{self};
+use super::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)>>,
+}
+
+impl WasmContext {
+    pub fn new() -> Self {
+        Self {
+            promise: Promise::resolve(&JsValue::undefined()),
+            closure: UninitCell::uninit(),
+        }
+    }
+}
+
+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,
+        }
+    }
+
+    /// 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 [Forever](crate::util::Forever) (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/executor/arch/xtensa.rs b/embassy-executor/src/executor/arch/xtensa.rs
new file mode 100644
index 000000000..20bd7b8a5
--- /dev/null
+++ b/embassy-executor/src/executor/arch/xtensa.rs
@@ -0,0 +1,75 @@
+use core::marker::PhantomData;
+use core::ptr;
+
+use atomic_polyfill::{AtomicBool, Ordering};
+
+use super::{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);
+
+/// 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,
+        }
+    }
+
+    /// 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 [Forever](crate::util::Forever) (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.
+                // if there is work to do, loop back to polling
+                // TODO can we relax this?
+                critical_section::with(|_| {
+                    if SIGNAL_WORK_THREAD_MODE.load(Ordering::SeqCst) {
+                        SIGNAL_WORK_THREAD_MODE.store(false, Ordering::SeqCst);
+                    } else {
+                        // waiti sets the PS.INTLEVEL when slipping into sleep
+                        // because critical sections in Xtensa are implemented via increasing
+                        // PS.INTLEVEL the critical section ends here
+                        // 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/executor/mod.rs b/embassy-executor/src/executor/mod.rs
new file mode 100644
index 000000000..45d00c568
--- /dev/null
+++ b/embassy-executor/src/executor/mod.rs
@@ -0,0 +1,44 @@
+//! Async task executor.
+//!
+//! This module provides an async/await executor designed for embedded usage.
+//!
+//! - No `alloc`, no heap needed. Task futures are statically allocated.
+//! - No "fixed capacity" data structures, executor works with 1 or 1000 tasks without needing config/tuning.
+//! - Integrated timer queue: sleeping is easy, just do `Timer::after(Duration::from_secs(1)).await;`.
+//! - No busy-loop polling: CPU sleeps when there's no work to do, using interrupts or `WFE/SEV`.
+//! - Efficient polling: a wake will only poll the woken task, not all of them.
+//! - Fair: a task can't monopolize CPU time even if it's constantly being woken. All other tasks get a chance to run before a given task gets polled for the second time.
+//! - Creating multiple executor instances is supported, to run tasks with multiple priority levels. This allows higher-priority tasks to preempt lower-priority tasks.
+
+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::*;
+    }
+}
+
+pub mod raw;
+
+mod spawner;
+pub use spawner::*;
diff --git a/embassy-executor/src/executor/raw/mod.rs b/embassy-executor/src/executor/raw/mod.rs
new file mode 100644
index 000000000..87317bc02
--- /dev/null
+++ b/embassy-executor/src/executor/raw/mod.rs
@@ -0,0 +1,433 @@
+//! Raw executor.
+//!
+//! This module exposes "raw" Executor and Task structs for more low level control.
+//!
+//! ## WARNING: here be dragons!
+//!
+//! Using this module requires respecting subtle safety contracts. If you can, prefer using the safe
+//! executor wrappers in [`executor`](crate::executor) and the [`embassy_executor::task`](embassy_macros::task) macro, which are fully safe.
+
+mod run_queue;
+#[cfg(feature = "time")]
+mod timer_queue;
+pub(crate) mod util;
+mod waker;
+
+use core::cell::Cell;
+use core::future::Future;
+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;
+
+use self::run_queue::{RunQueue, RunQueueItem};
+use self::util::UninitCell;
+pub use self::waker::task_from_waker;
+use super::SpawnToken;
+#[cfg(feature = "time")]
+use crate::time::driver::{self, AlarmHandle};
+#[cfg(feature = "time")]
+use crate::time::Instant;
+
+/// Task is spawned (has a future)
+pub(crate) const STATE_SPAWNED: u32 = 1 << 0;
+/// Task is in the executor run queue
+pub(crate) const STATE_RUN_QUEUED: u32 = 1 << 1;
+/// Task is in the executor timer queue
+#[cfg(feature = "time")]
+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) 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
+
+    #[cfg(feature = "time")]
+    pub(crate) expires_at: Cell<Instant>,
+    #[cfg(feature = "time")]
+    pub(crate) timer_queue_item: timer_queue::TimerQueueItem,
+}
+
+impl TaskHeader {
+    pub(crate) const fn new() -> Self {
+        Self {
+            state: AtomicU32::new(0),
+            run_queue_item: RunQueueItem::new(),
+            executor: Cell::new(ptr::null()),
+            poll_fn: UninitCell::uninit(),
+
+            #[cfg(feature = "time")]
+            expires_at: Cell::new(Instant::from_ticks(0)),
+            #[cfg(feature = "time")]
+            timer_queue_item: timer_queue::TimerQueueItem::new(),
+        }
+    }
+
+    pub(crate) unsafe fn enqueue(&self) {
+        critical_section::with(|cs| {
+            let state = self.state.load(Ordering::Relaxed);
+
+            // If already scheduled, or if not started,
+            if (state & STATE_RUN_QUEUED != 0) || (state & STATE_SPAWNED == 0) {
+                return;
+            }
+
+            // Mark it as scheduled
+            self.state.store(state | STATE_RUN_QUEUED, Ordering::Relaxed);
+
+            // We have just marked the task as scheduled, so enqueue it.
+            let executor = &*self.executor.get();
+            executor.enqueue(cs, self as *const TaskHeader as *mut TaskHeader);
+        })
+    }
+}
+
+/// Raw storage in which a task can be spawned.
+///
+/// This struct holds the necessary memory to spawn one task whose future is `F`.
+/// At a given time, the `TaskStorage` may be in spawned or not-spawned state. You
+/// may spawn it with [`TaskStorage::spawn()`], which will fail if it is already spawned.
+///
+/// A `TaskStorage` must live forever, it may not be deallocated even after the task has finished
+/// running. Hence the relevant methods require `&'static self`. It may be reused, however.
+///
+/// Internally, the [embassy_executor::task](embassy_macros::task) macro allocates an array of `TaskStorage`s
+/// in a `static`. The most common reason to use the raw `Task` is to have control of where
+/// the memory for the task is allocated: on the stack, or on the heap with e.g. `Box::leak`, etc.
+
+// repr(C) is needed to guarantee that the Task is located at offset 0
+// This makes it safe to cast between TaskHeader and TaskStorage pointers.
+#[repr(C)]
+pub struct TaskStorage<F: Future + 'static> {
+    raw: TaskHeader,
+    future: UninitCell<F>, // Valid if STATE_SPAWNED
+}
+
+impl<F: Future + 'static> TaskStorage<F> {
+    const NEW: Self = Self::new();
+
+    /// Create a new TaskStorage, in not-spawned state.
+    pub const fn new() -> Self {
+        Self {
+            raw: TaskHeader::new(),
+            future: UninitCell::uninit(),
+        }
+    }
+
+    /// Try to spawn the task.
+    ///
+    /// The `future` closure constructs the future. It's only called if spawning is
+    /// actually possible. It is a closure instead of a simple `future: F` param to ensure
+    /// the future is constructed in-place, avoiding a temporary copy in the stack thanks to
+    /// NRVO optimizations.
+    ///
+    /// This function will fail if the task is already spawned and has not finished running.
+    /// In this case, the error is delayed: a "poisoned" SpawnToken is returned, which will
+    /// cause [`Spawner::spawn()`](super::Spawner::spawn) to return the error.
+    ///
+    /// 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)) };
+        }
+
+        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.raw as *const TaskHeader as *mut TaskHeader)
+    }
+
+    unsafe fn poll(p: NonNull<TaskHeader>) {
+        let this = &*(p.as_ptr() as *const TaskStorage<F>);
+
+        let future = Pin::new_unchecked(this.future.as_mut());
+        let waker = waker::from_task(p);
+        let mut cx = Context::from_waker(&waker);
+        match future.poll(&mut cx) {
+            Poll::Ready(_) => {
+                this.future.drop_in_place();
+                this.raw.state.fetch_and(!STATE_SPAWNED, Ordering::AcqRel);
+            }
+            Poll::Pending => {}
+        }
+
+        // the compiler is emitting a virtual call for waker drop, but we know
+        // it's a noop for our waker.
+        mem::forget(waker);
+    }
+}
+
+unsafe impl<F: Future + 'static> Sync for TaskStorage<F> {}
+
+/// Raw storage that can hold up to N tasks of the same type.
+///
+/// This is essentially a `[TaskStorage<F>; N]`.
+pub struct TaskPool<F: Future + 'static, const N: usize> {
+    pool: [TaskStorage<F>; N],
+}
+
+impl<F: Future + 'static, const N: usize> TaskPool<F, N> {
+    /// Create a new TaskPool, with all tasks in non-spawned state.
+    pub const fn new() -> Self {
+        Self {
+            pool: [TaskStorage::NEW; N],
+        }
+    }
+
+    /// Try to spawn a task in the pool.
+    ///
+    /// See [`TaskStorage::spawn()`] for details.
+    ///
+    /// This will loop over the pool and spawn the task in the first storage that
+    /// 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)) };
+            }
+        }
+
+        SpawnToken::<F>::new_failed()
+    }
+
+    /// Like spawn(), but allows the task to be send-spawned if the args are Send even if
+    /// the future is !Send.
+    ///
+    /// Not covered by semver guarantees. DO NOT call this directly. Intended to be used
+    /// by the Embassy macros ONLY.
+    ///
+    /// SAFETY: `future` must be a closure of the form `move || my_async_fn(args)`, where `my_async_fn`
+    /// is an `async fn`, NOT a hand-written `Future`.
+    #[doc(hidden)]
+    pub unsafe fn _spawn_async_fn<FutFn>(&'static self, future: FutFn) -> SpawnToken<impl Sized>
+    where
+        FutFn: FnOnce() -> F,
+    {
+        // When send-spawning a task, we construct the future in this thread, and effectively
+        // "send" it to the executor thread by enqueuing it in its queue. Therefore, in theory,
+        // send-spawning should require the future `F` to be `Send`.
+        //
+        // The problem is this is more restrictive than needed. Once the future is executing,
+        // it is never sent to another thread. It is only sent when spawning. It should be
+        // enough for the task's arguments to be Send. (and in practice it's super easy to
+        // accidentally make your futures !Send, for example by holding an `Rc` or a `&RefCell` across an `.await`.)
+        //
+        // We can do it by sending the task args and constructing the future in the executor thread
+        // on first poll. However, this cannot be done in-place, so it'll waste stack space for a copy
+        // of the args.
+        //
+        // Luckily, an `async fn` future contains just the args when freshly constructed. So, if the
+        // args are Send, it's OK to send a !Send future, as long as we do it before first polling it.
+        //
+        // (Note: this is how the generators are implemented today, it's not officially guaranteed yet,
+        // but it's possible it'll be guaranteed in the future. See zulip thread:
+        // https://rust-lang.zulipchat.com/#narrow/stream/187312-wg-async/topic/.22only.20before.20poll.22.20Send.20futures )
+        //
+        // The `FutFn` captures all the args, so if it's Send, the task can be send-spawned.
+        // This is why we return `SpawnToken<FutFn>` below.
+        //
+        // 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));
+            }
+        }
+
+        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 in [`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.
+///
+/// `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.
+///
+/// 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 {
+    run_queue: RunQueue,
+    signal_fn: fn(*mut ()),
+    signal_ctx: *mut (),
+
+    #[cfg(feature = "time")]
+    pub(crate) timer_queue: timer_queue::TimerQueue,
+    #[cfg(feature = "time")]
+    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 {
+        #[cfg(feature = "time")]
+        let alarm = unsafe { unwrap!(driver::allocate_alarm()) };
+        #[cfg(feature = "time")]
+        driver::set_alarm_callback(alarm, signal_fn, signal_ctx);
+
+        Self {
+            run_queue: RunQueue::new(),
+            signal_fn,
+            signal_ctx,
+
+            #[cfg(feature = "time")]
+            timer_queue: timer_queue::TimerQueue::new(),
+            #[cfg(feature = "time")]
+            alarm,
+        }
+    }
+
+    /// Enqueue a task in the task queue
+    ///
+    /// # Safety
+    /// - `task` must be a valid pointer to a spawned task.
+    /// - `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: *mut TaskHeader) {
+        if self.run_queue.enqueue(cs, task) {
+            (self.signal_fn)(self.signal_ctx)
+        }
+    }
+
+    /// Spawn a task in this executor.
+    ///
+    /// # Safety
+    ///
+    /// `task` must be a valid pointer to an initialized but not-already-spawned task.
+    ///
+    /// 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>) {
+        let task = task.as_ref();
+        task.executor.set(self);
+
+        critical_section::with(|cs| {
+            self.enqueue(cs, task as *const _ as _);
+        })
+    }
+
+    /// Poll all queued tasks in this 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
+    /// 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
+    /// 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 = "time")]
+        self.timer_queue.dequeue_expired(Instant::now(), |p| {
+            p.as_ref().enqueue();
+        });
+
+        self.run_queue.dequeue_all(|p| {
+            let task = p.as_ref();
+
+            #[cfg(feature = "time")]
+            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;
+            }
+
+            // Run the task
+            task.poll_fn.read()(p as _);
+
+            // Enqueue or update into timer_queue
+            #[cfg(feature = "time")]
+            self.timer_queue.update(p);
+        });
+
+        #[cfg(feature = "time")]
+        {
+            // 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());
+        }
+    }
+
+    /// Get a spawner that spawns tasks in this executor.
+    ///
+    /// It is OK to call this method multiple times to obtain multiple
+    /// `Spawner`s. You may also copy `Spawner`s.
+    pub fn spawner(&'static self) -> super::Spawner {
+        super::Spawner::new(self)
+    }
+}
+
+/// Wake a task by raw pointer.
+///
+/// You can obtain task pointers from `Waker`s using [`task_from_waker`].
+///
+/// # Safety
+///
+/// `task` must be a valid task pointer obtained from [`task_from_waker`].
+pub unsafe fn wake_task(task: NonNull<TaskHeader>) {
+    task.as_ref().enqueue();
+}
+
+#[cfg(feature = "time")]
+pub(crate) unsafe fn register_timer(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));
+}
diff --git a/embassy-executor/src/executor/raw/run_queue.rs b/embassy-executor/src/executor/raw/run_queue.rs
new file mode 100644
index 000000000..31615da7e
--- /dev/null
+++ b/embassy-executor/src/executor/raw/run_queue.rs
@@ -0,0 +1,74 @@
+use core::ptr;
+use core::ptr::NonNull;
+
+use atomic_polyfill::{AtomicPtr, Ordering};
+use critical_section::CriticalSection;
+
+use super::TaskHeader;
+
+pub(crate) struct RunQueueItem {
+    next: AtomicPtr<TaskHeader>,
+}
+
+impl RunQueueItem {
+    pub const fn new() -> Self {
+        Self {
+            next: AtomicPtr::new(ptr::null_mut()),
+        }
+    }
+}
+
+/// Atomic task queue using a very, very simple lock-free linked-list queue:
+///
+/// To enqueue a task, task.next is set to the old head, and head is atomically set to task.
+///
+/// Dequeuing is done in batches: the queue is emptied by atomically replacing head with
+/// null. Then the batch is iterated following the next pointers until null is reached.
+///
+/// Note that batches will be iterated in the reverse order as they were enqueued. This is OK
+/// for our purposes: it can't create fairness problems since the next batch won't run until the
+/// current batch is completely processed, so even if a task enqueues itself instantly (for example
+/// by waking its own waker) can't prevent other tasks from running.
+pub(crate) struct RunQueue {
+    head: AtomicPtr<TaskHeader>,
+}
+
+impl RunQueue {
+    pub const fn new() -> Self {
+        Self {
+            head: AtomicPtr::new(ptr::null_mut()),
+        }
+    }
+
+    /// Enqueues an item. Returns true if the queue was empty.
+    ///
+    /// # Safety
+    ///
+    /// `item` must NOT be already enqueued in any queue.
+    #[inline(always)]
+    pub(crate) unsafe fn enqueue(&self, _cs: CriticalSection, task: *mut TaskHeader) -> bool {
+        let prev = self.head.load(Ordering::Relaxed);
+        (*task).run_queue_item.next.store(prev, Ordering::Relaxed);
+        self.head.store(task, Ordering::Relaxed);
+        prev.is_null()
+    }
+
+    /// 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>)) {
+        // Atomically empty the queue.
+        let mut ptr = self.head.swap(ptr::null_mut(), Ordering::AcqRel);
+
+        // Iterate the linked list of tasks that were previously in the queue.
+        while let Some(task) = NonNull::new(ptr) {
+            // 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);
+
+            on_task(task);
+
+            ptr = next
+        }
+    }
+}
diff --git a/embassy-executor/src/executor/raw/timer_queue.rs b/embassy-executor/src/executor/raw/timer_queue.rs
new file mode 100644
index 000000000..62fcfc531
--- /dev/null
+++ b/embassy-executor/src/executor/raw/timer_queue.rs
@@ -0,0 +1,85 @@
+use core::cell::Cell;
+use core::cmp::min;
+use core::ptr;
+use core::ptr::NonNull;
+
+use atomic_polyfill::Ordering;
+
+use super::{TaskHeader, STATE_TIMER_QUEUED};
+use crate::time::Instant;
+
+pub(crate) struct TimerQueueItem {
+    next: Cell<*mut TaskHeader>,
+}
+
+impl TimerQueueItem {
+    pub const fn new() -> Self {
+        Self {
+            next: Cell::new(ptr::null_mut()),
+        }
+    }
+}
+
+pub(crate) struct TimerQueue {
+    head: Cell<*mut TaskHeader>,
+}
+
+impl TimerQueue {
+    pub const fn new() -> Self {
+        Self {
+            head: Cell::new(ptr::null_mut()),
+        }
+    }
+
+    pub(crate) unsafe fn update(&self, p: NonNull<TaskHeader>) {
+        let task = p.as_ref();
+        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());
+            }
+        }
+    }
+
+    pub(crate) unsafe fn next_expiration(&self) -> Instant {
+        let mut res = Instant::MAX;
+        self.retain(|p| {
+            let task = p.as_ref();
+            let expires = task.expires_at.get();
+            res = min(res, expires);
+            expires != Instant::MAX
+        });
+        res
+    }
+
+    pub(crate) unsafe fn dequeue_expired(&self, now: Instant, on_task: impl Fn(NonNull<TaskHeader>)) {
+        self.retain(|p| {
+            let task = p.as_ref();
+            if task.expires_at.get() <= now {
+                on_task(p);
+                false
+            } else {
+                true
+            }
+        });
+    }
+
+    pub(crate) unsafe fn retain(&self, mut f: impl FnMut(NonNull<TaskHeader>) -> bool) {
+        let mut prev = &self.head;
+        while !prev.get().is_null() {
+            let p = NonNull::new_unchecked(prev.get());
+            let task = &*p.as_ptr();
+            if f(p) {
+                // Skip to next
+                prev = &task.timer_queue_item.next;
+            } else {
+                // Remove it
+                prev.set(task.timer_queue_item.next.get());
+                task.state.fetch_and(!STATE_TIMER_QUEUED, Ordering::AcqRel);
+            }
+        }
+    }
+}
diff --git a/embassy-executor/src/executor/raw/util.rs b/embassy-executor/src/executor/raw/util.rs
new file mode 100644
index 000000000..ed5822188
--- /dev/null
+++ b/embassy-executor/src/executor/raw/util.rs
@@ -0,0 +1,33 @@
+use core::cell::UnsafeCell;
+use core::mem::MaybeUninit;
+use core::ptr;
+
+pub(crate) struct UninitCell<T>(MaybeUninit<UnsafeCell<T>>);
+impl<T> UninitCell<T> {
+    pub const fn uninit() -> Self {
+        Self(MaybeUninit::uninit())
+    }
+
+    pub unsafe fn as_mut_ptr(&self) -> *mut T {
+        (*self.0.as_ptr()).get()
+    }
+
+    #[allow(clippy::mut_from_ref)]
+    pub unsafe fn as_mut(&self) -> &mut T {
+        &mut *self.as_mut_ptr()
+    }
+
+    pub unsafe fn write(&self, val: T) {
+        ptr::write(self.as_mut_ptr(), val)
+    }
+
+    pub unsafe fn drop_in_place(&self) {
+        ptr::drop_in_place(self.as_mut_ptr())
+    }
+}
+
+impl<T: Copy> UninitCell<T> {
+    pub unsafe fn read(&self) -> T {
+        ptr::read(self.as_mut_ptr())
+    }
+}
diff --git a/embassy-executor/src/executor/raw/waker.rs b/embassy-executor/src/executor/raw/waker.rs
new file mode 100644
index 000000000..f6ae332fa
--- /dev/null
+++ b/embassy-executor/src/executor/raw/waker.rs
@@ -0,0 +1,53 @@
+use core::mem;
+use core::ptr::NonNull;
+use core::task::{RawWaker, RawWakerVTable, Waker};
+
+use super::TaskHeader;
+
+const VTABLE: RawWakerVTable = RawWakerVTable::new(clone, wake, wake, drop);
+
+unsafe fn clone(p: *const ()) -> RawWaker {
+    RawWaker::new(p, &VTABLE)
+}
+
+unsafe fn wake(p: *const ()) {
+    (*(p as *mut TaskHeader)).enqueue()
+}
+
+unsafe fn drop(_: *const ()) {
+    // nop
+}
+
+pub(crate) unsafe fn from_task(p: NonNull<TaskHeader>) -> Waker {
+    Waker::from_raw(RawWaker::new(p.as_ptr() as _, &VTABLE))
+}
+
+/// 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) -> NonNull<TaskHeader> {
+    // 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.
+    // TODO use waker_getters when stable. https://github.com/rust-lang/rust/issues/96992
+    let hack: &WakerHack = unsafe { mem::transmute(waker) };
+    if hack.vtable != &VTABLE {
+        panic!("Found waker not created by the Embassy executor. `embassy_executor::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) }
+}
+
+struct WakerHack {
+    data: *const (),
+    vtable: &'static RawWakerVTable,
+}
diff --git a/embassy-executor/src/executor/spawner.rs b/embassy-executor/src/executor/spawner.rs
new file mode 100644
index 000000000..25a0d7dbb
--- /dev/null
+++ b/embassy-executor/src/executor/spawner.rs
@@ -0,0 +1,202 @@
+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.
+///
+/// When calling a task function (like `#[embassy_executor::task] async fn my_task() { ... }`), the returned
+/// value is a `SpawnToken` that represents an instance of the task, ready to spawn. You must
+/// then spawn it into an executor, typically with [`Spawner::spawn()`].
+///
+/// The generic parameter `S` determines whether the task can be spawned in executors
+/// in other threads or not. If `S: Send`, it can, which allows spawning it into a [`SendSpawner`].
+/// If not, it can't, so it can only be spawned into the current thread's executor, with [`Spawner`].
+///
+/// # Panics
+///
+/// Dropping a SpawnToken instance panics. You may not "abort" spawning a task in this way.
+/// 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>>,
+    phantom: PhantomData<*mut S>,
+}
+
+impl<S> SpawnToken<S> {
+    pub(crate) unsafe fn new(raw_task: NonNull<raw::TaskHeader>) -> Self {
+        Self {
+            raw_task: Some(raw_task),
+            phantom: PhantomData,
+        }
+    }
+
+    pub(crate) fn new_failed() -> Self {
+        Self {
+            raw_task: None,
+            phantom: PhantomData,
+        }
+    }
+}
+
+impl<S> Drop for SpawnToken<S> {
+    fn drop(&mut self) {
+        // TODO deallocate the task instead.
+        panic!("SpawnToken instances may not be dropped. You must pass them to Spawner::spawn()")
+    }
+}
+
+/// Error returned when spawning a task.
+#[derive(Copy, Clone, Debug)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub enum SpawnError {
+    /// Too many instances of this task are already running.
+    ///
+    /// By default, a task marked with `#[embassy_executor::task]` can only have one instance
+    /// running at a time. You may allow multiple instances to run in parallel with
+    /// `#[embassy_executor::task(pool_size = 4)]`, at the cost of higher RAM usage.
+    Busy,
+}
+
+/// Handle to spawn tasks into an executor.
+///
+/// This Spawner can spawn any task (Send and non-Send ones), but it can
+/// only be used in the executor thread (it is not Send itself).
+///
+/// If you want to spawn tasks from another thread, use [SendSpawner].
+#[derive(Copy, Clone)]
+pub struct Spawner {
+    executor: &'static raw::Executor,
+    not_send: PhantomData<*mut ()>,
+}
+
+impl Spawner {
+    pub(crate) fn new(executor: &'static raw::Executor) -> Self {
+        Self {
+            executor,
+            not_send: PhantomData,
+        }
+    }
+
+    /// Get a Spawner for the current executor.
+    ///
+    /// This function is `async` just to get access to the current async
+    /// context. It returns instantly, it does not block/yield.
+    ///
+    /// # Panics
+    ///
+    /// Panics if the current executor is not an Embassy executor.
+    pub async fn for_current_executor() -> Self {
+        poll_fn(|cx| unsafe {
+            let task = raw::task_from_waker(cx.waker());
+            let executor = (*task.as_ptr()).executor.get();
+            Poll::Ready(Self::new(&*executor))
+        })
+        .await
+    }
+
+    /// Spawn a task into an executor.
+    ///
+    /// You obtain the `token` by calling a task function (i.e. one marked with `#[embassy_executor::task]`).
+    pub fn spawn<S>(&self, token: SpawnToken<S>) -> Result<(), SpawnError> {
+        let task = token.raw_task;
+        mem::forget(token);
+
+        match task {
+            Some(task) => {
+                unsafe { self.executor.spawn(task) };
+                Ok(())
+            }
+            None => Err(SpawnError::Busy),
+        }
+    }
+
+    // Used by the `embassy_macros::main!` macro to throw an error when spawn
+    // fails. This is here to allow conditional use of `defmt::unwrap!`
+    // without introducing a `defmt` feature in the `embassy_macros` package,
+    // which would require use of `-Z namespaced-features`.
+    /// Spawn a task into an executor, panicking on failure.
+    ///
+    /// # Panics
+    ///
+    /// Panics if the spawning fails.
+    pub fn must_spawn<S>(&self, token: SpawnToken<S>) {
+        unwrap!(self.spawn(token));
+    }
+
+    /// Convert this Spawner to a SendSpawner. This allows you to send the
+    /// 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,
+        }
+    }
+}
+
+/// Handle to spawn tasks into an executor from any thread.
+///
+/// This Spawner can be used from any thread (it is Send), but it can
+/// only spawn Send tasks. The reason for this is spawning is effectively
+/// "sending" the tasks to the executor thread.
+///
+/// If you want to spawn non-Send tasks, use [Spawner].
+#[derive(Copy, Clone)]
+pub struct SendSpawner {
+    executor: &'static raw::Executor,
+}
+
+unsafe impl Send for SendSpawner {}
+unsafe impl Sync for SendSpawner {}
+
+impl SendSpawner {
+    pub(crate) fn new(executor: &'static raw::Executor) -> Self {
+        Self { executor }
+    }
+
+    /// Get a Spawner for the current executor.
+    ///
+    /// This function is `async` just to get access to the current async
+    /// context. It returns instantly, it does not block/yield.
+    ///
+    /// # Panics
+    ///
+    /// Panics if the current executor is not an Embassy executor.
+    pub async fn for_current_executor() -> Self {
+        poll_fn(|cx| unsafe {
+            let task = raw::task_from_waker(cx.waker());
+            let executor = (*task.as_ptr()).executor.get();
+            Poll::Ready(Self::new(&*executor))
+        })
+        .await
+    }
+
+    /// Spawn a task into an executor.
+    ///
+    /// You obtain the `token` by calling a task function (i.e. one marked with `#[embassy_executor::task]`).
+    pub fn spawn<S: Send>(&self, token: SpawnToken<S>) -> Result<(), SpawnError> {
+        let header = token.raw_task;
+        mem::forget(token);
+
+        match header {
+            Some(header) => {
+                unsafe { self.executor.spawn(header) };
+                Ok(())
+            }
+            None => Err(SpawnError::Busy),
+        }
+    }
+
+    /// Spawn a task into an executor, panicking on failure.
+    ///
+    /// # Panics
+    ///
+    /// Panics if the spawning fails.
+    pub fn must_spawn<S: Send>(&self, token: SpawnToken<S>) {
+        unwrap!(self.spawn(token));
+    }
+}