4 files changed, 22 insertions, 106 deletions

diff --git a/embassy-executor/CHANGELOG.md b/embassy-executor/CHANGELOG.md
index c35ad10f3..e2214b8ef 100644
--- a/embassy-executor/CHANGELOG.md
+++ b/embassy-executor/CHANGELOG.md
@@ -8,6 +8,11 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 <!-- next-header -->
 ## Unreleased - ReleaseDate
 
+- Added `extern "Rust" fn __embassy_time_queue_item_from_waker`
+- Removed `TaskRef::dangling` and `TaskRef::timer_queue_item`
+- Added `embassy_time_queue_utils` as a dependency
+- Moved the `TimeQueueItem` struct and `timer-item-payload-size-*` features into embassy-time-queue-utils
+
 ## 0.8.0 - 2025-07-31
 
 - Added `SpawnToken::id`
diff --git a/embassy-executor/Cargo.toml b/embassy-executor/Cargo.toml
index 5e950bf45..bff13de56 100644
--- a/embassy-executor/Cargo.toml
+++ b/embassy-executor/Cargo.toml
@@ -35,6 +35,7 @@ rtos-trace = { version = "0.1.3", optional = true }
 
 embassy-executor-macros = { version = "0.7.0", path = "../embassy-executor-macros" }
 embassy-time-driver = { version = "0.2", path = "../embassy-time-driver", optional = true }
+embassy-executor-timer-queue = { version = "0.1", path = "../embassy-executor-timer-queue" }
 critical-section = "1.1"
 
 document-features = "0.2.7"
@@ -98,19 +99,3 @@ executor-interrupt = []
 trace = []
 ## Enable support for rtos-trace framework
 rtos-trace = ["dep:rtos-trace", "trace", "dep:embassy-time-driver"]
-
-#! ### Timer Item Payload Size
-#! Sets the size of the payload for timer items, allowing integrated timer implementors to store
-#! additional data in the timer item. The payload field will be aligned to this value as well.
-#! If these features are not defined, the timer item will contain no payload field.
-
-_timer-item-payload = [] # A size was picked
-
-## 1 bytes
-timer-item-payload-size-1 = ["_timer-item-payload"]
-## 2 bytes
-timer-item-payload-size-2 = ["_timer-item-payload"]
-## 4 bytes
-timer-item-payload-size-4 = ["_timer-item-payload"]
-## 8 bytes
-timer-item-payload-size-8 = ["_timer-item-payload"]
diff --git a/embassy-executor/src/raw/mod.rs b/embassy-executor/src/raw/mod.rs
index c8f1f46c2..8e783b2af 100644
--- a/embassy-executor/src/raw/mod.rs
+++ b/embassy-executor/src/raw/mod.rs
@@ -16,7 +16,6 @@ mod run_queue;
 #[cfg_attr(not(target_has_atomic = "8"), path = "state_critical_section.rs")]
 mod state;
 
-pub mod timer_queue;
 #[cfg(feature = "trace")]
 pub mod trace;
 pub(crate) mod util;
@@ -31,8 +30,9 @@ use core::ptr::NonNull;
 #[cfg(not(feature = "arch-avr"))]
 use core::sync::atomic::AtomicPtr;
 use core::sync::atomic::Ordering;
-use core::task::{Context, Poll};
+use core::task::{Context, Poll, Waker};
 
+use embassy_executor_timer_queue::TimerQueueItem;
 #[cfg(feature = "arch-avr")]
 use portable_atomic::AtomicPtr;
 
@@ -42,6 +42,11 @@ use self::util::{SyncUnsafeCell, UninitCell};
 pub use self::waker::task_from_waker;
 use super::SpawnToken;
 
+#[no_mangle]
+extern "Rust" fn __embassy_time_queue_item_from_waker(waker: &Waker) -> &'static mut TimerQueueItem {
+    unsafe { task_from_waker(waker).timer_queue_item() }
+}
+
 /// Raw task header for use in task pointers.
 ///
 /// A task can be in one of the following states:
@@ -88,7 +93,7 @@ pub(crate) struct TaskHeader {
     poll_fn: SyncUnsafeCell<Option<unsafe fn(TaskRef)>>,
 
     /// Integrated timer queue storage. This field should not be accessed outside of the timer queue.
-    pub(crate) timer_queue_item: timer_queue::TimerQueueItem,
+    pub(crate) timer_queue_item: TimerQueueItem,
     #[cfg(feature = "trace")]
     pub(crate) name: Option<&'static str>,
     #[cfg(feature = "trace")]
@@ -120,16 +125,6 @@ impl TaskRef {
         }
     }
 
-    /// # Safety
-    ///
-    /// The result of this function must only be compared
-    /// for equality, or stored, but not used.
-    pub const unsafe fn dangling() -> Self {
-        Self {
-            ptr: NonNull::dangling(),
-        }
-    }
-
     pub(crate) fn header(self) -> &'static TaskHeader {
         unsafe { self.ptr.as_ref() }
     }
@@ -140,9 +135,13 @@ impl TaskRef {
         executor.as_ref().map(|e| Executor::wrap(e))
     }
 
-    /// Returns a reference to the timer queue item.
-    pub fn timer_queue_item(&self) -> &'static timer_queue::TimerQueueItem {
-        &self.header().timer_queue_item
+    /// Returns a mutable reference to the timer queue item.
+    ///
+    /// Safety
+    ///
+    /// This function must only be called in the context of the integrated timer queue.
+    unsafe fn timer_queue_item(mut self) -> &'static mut TimerQueueItem {
+        unsafe { &mut self.ptr.as_mut().timer_queue_item }
     }
 
     /// The returned pointer is valid for the entire TaskStorage.
@@ -189,7 +188,7 @@ impl<F: Future + 'static> TaskStorage<F> {
                 // Note: this is lazily initialized so that a static `TaskStorage` will go in `.bss`
                 poll_fn: SyncUnsafeCell::new(None),
 
-                timer_queue_item: timer_queue::TimerQueueItem::new(),
+                timer_queue_item: TimerQueueItem::new(),
                 #[cfg(feature = "trace")]
                 name: None,
                 #[cfg(feature = "trace")]
diff --git a/embassy-executor/src/raw/timer_queue.rs b/embassy-executor/src/raw/timer_queue.rs
deleted file mode 100644
index e52453be4..000000000
--- a/embassy-executor/src/raw/timer_queue.rs
+++ /dev/null
@@ -1,73 +0,0 @@
-//! Timer queue operations.
-
-use core::cell::Cell;
-
-use super::TaskRef;
-
-#[cfg(feature = "_timer-item-payload")]
-macro_rules! define_opaque {
-    ($size:tt) => {
-        /// An opaque data type.
-        #[repr(align($size))]
-        pub struct OpaqueData {
-            data: [u8; $size],
-        }
-
-        impl OpaqueData {
-            const fn new() -> Self {
-                Self { data: [0; $size] }
-            }
-
-            /// Access the data as a reference to a type `T`.
-            ///
-            /// Safety:
-            ///
-            /// The caller must ensure that the size of the type `T` is less than, or equal to
-            /// the size of the payload, and must ensure that the alignment of the type `T` is
-            /// less than, or equal to the alignment of the payload.
-            ///
-            /// The type must be valid when zero-initialized.
-            pub unsafe fn as_ref<T>(&self) -> &T {
-                &*(self.data.as_ptr() as *const T)
-            }
-        }
-    };
-}
-
-#[cfg(feature = "timer-item-payload-size-1")]
-define_opaque!(1);
-#[cfg(feature = "timer-item-payload-size-2")]
-define_opaque!(2);
-#[cfg(feature = "timer-item-payload-size-4")]
-define_opaque!(4);
-#[cfg(feature = "timer-item-payload-size-8")]
-define_opaque!(8);
-
-/// An item in the timer queue.
-pub struct TimerQueueItem {
-    /// The next item in the queue.
-    ///
-    /// If this field contains `Some`, the item is in the queue. The last item in the queue has a
-    /// value of `Some(dangling_pointer)`
-    pub next: Cell<Option<TaskRef>>,
-
-    /// The time at which this item expires.
-    pub expires_at: Cell<u64>,
-
-    /// Some implementation-defined, zero-initialized piece of data.
-    #[cfg(feature = "_timer-item-payload")]
-    pub payload: OpaqueData,
-}
-
-unsafe impl Sync for TimerQueueItem {}
-
-impl TimerQueueItem {
-    pub(crate) const fn new() -> Self {
-        Self {
-            next: Cell::new(None),
-            expires_at: Cell::new(0),
-            #[cfg(feature = "_timer-item-payload")]
-            payload: OpaqueData::new(),
-        }
-    }
-}