22 files changed, 494 insertions, 52 deletions

diff --git a/examples/nrf52840/src/bin/channel.rs b/examples/nrf52840/src/bin/channel.rs
index e06ba1c73..ffa539808 100644
--- a/examples/nrf52840/src/bin/channel.rs
+++ b/examples/nrf52840/src/bin/channel.rs
@@ -31,7 +31,7 @@ async fn main(spawner: Spawner) {
     let p = embassy_nrf::init(Default::default());
     let mut led = Output::new(p.P0_13, Level::Low, OutputDrive::Standard);
 
-    unwrap!(spawner.spawn(my_task()));
+    spawner.spawn(unwrap!(my_task()));
 
     loop {
         match CHANNEL.receive().await {
diff --git a/examples/nrf52840/src/bin/channel_sender_receiver.rs b/examples/nrf52840/src/bin/channel_sender_receiver.rs
index 74c62ca20..09050db68 100644
--- a/examples/nrf52840/src/bin/channel_sender_receiver.rs
+++ b/examples/nrf52840/src/bin/channel_sender_receiver.rs
@@ -45,6 +45,6 @@ async fn main(spawner: Spawner) {
     let p = embassy_nrf::init(Default::default());
     let channel = CHANNEL.init(Channel::new());
 
-    unwrap!(spawner.spawn(send_task(channel.sender())));
-    unwrap!(spawner.spawn(recv_task(p.P0_13.into(), channel.receiver())));
+    spawner.spawn(unwrap!(send_task(channel.sender())));
+    spawner.spawn(unwrap!(recv_task(p.P0_13.into(), channel.receiver())));
 }
diff --git a/examples/nrf52840/src/bin/ethernet_enc28j60.rs b/examples/nrf52840/src/bin/ethernet_enc28j60.rs
index 0946492fe..3bb255a72 100644
--- a/examples/nrf52840/src/bin/ethernet_enc28j60.rs
+++ b/examples/nrf52840/src/bin/ethernet_enc28j60.rs
@@ -70,7 +70,7 @@ async fn main(spawner: Spawner) {
     static RESOURCES: StaticCell<StackResources<3>> = StaticCell::new();
     let (stack, runner) = embassy_net::new(device, config, RESOURCES.init(StackResources::new()), seed);
 
-    unwrap!(spawner.spawn(net_task(runner)));
+    spawner.spawn(unwrap!(net_task(runner)));
 
     // And now we can use it!
 
diff --git a/examples/nrf52840/src/bin/executor_fairness_test.rs b/examples/nrf52840/src/bin/executor_fairness_test.rs
index df6e7af3f..70c9405f0 100644
--- a/examples/nrf52840/src/bin/executor_fairness_test.rs
+++ b/examples/nrf52840/src/bin/executor_fairness_test.rs
@@ -36,7 +36,7 @@ async fn run3() {
 #[embassy_executor::main]
 async fn main(spawner: Spawner) {
     let _p = embassy_nrf::init(Default::default());
-    unwrap!(spawner.spawn(run1()));
-    unwrap!(spawner.spawn(run2()));
-    unwrap!(spawner.spawn(run3()));
+    spawner.spawn(unwrap!(run1()));
+    spawner.spawn(unwrap!(run2()));
+    spawner.spawn(unwrap!(run3()));
 }
diff --git a/examples/nrf52840/src/bin/gpiote_port.rs b/examples/nrf52840/src/bin/gpiote_port.rs
index 0dddb1a97..66dbd32dc 100644
--- a/examples/nrf52840/src/bin/gpiote_port.rs
+++ b/examples/nrf52840/src/bin/gpiote_port.rs
@@ -26,8 +26,8 @@ async fn main(spawner: Spawner) {
     let btn3 = Input::new(p.P0_24, Pull::Up);
     let btn4 = Input::new(p.P0_25, Pull::Up);
 
-    unwrap!(spawner.spawn(button_task(1, btn1)));
-    unwrap!(spawner.spawn(button_task(2, btn2)));
-    unwrap!(spawner.spawn(button_task(3, btn3)));
-    unwrap!(spawner.spawn(button_task(4, btn4)));
+    spawner.spawn(unwrap!(button_task(1, btn1)));
+    spawner.spawn(unwrap!(button_task(2, btn2)));
+    spawner.spawn(unwrap!(button_task(3, btn3)));
+    spawner.spawn(unwrap!(button_task(4, btn4)));
 }
diff --git a/examples/nrf52840/src/bin/ieee802154_receive.rs b/examples/nrf52840/src/bin/ieee802154_receive.rs
new file mode 100644
index 000000000..ede8fca65
--- /dev/null
+++ b/examples/nrf52840/src/bin/ieee802154_receive.rs
@@ -0,0 +1,38 @@
+#![no_std]
+#![no_main]
+
+use embassy_executor::Spawner;
+use embassy_nrf::config::{Config, HfclkSource};
+use embassy_nrf::gpio::{Level, Output, OutputDrive};
+use embassy_nrf::radio::ieee802154::{self, Packet};
+use embassy_nrf::{peripherals, radio};
+use embassy_time::Timer;
+use {defmt_rtt as _, panic_probe as _};
+
+embassy_nrf::bind_interrupts!(struct Irqs {
+    RADIO => radio::InterruptHandler<peripherals::RADIO>;
+});
+
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+    let mut config = Config::default();
+    config.hfclk_source = HfclkSource::ExternalXtal;
+    let peripherals = embassy_nrf::init(config);
+
+    // assumes LED on P0_15 with active-high polarity
+    let mut gpo_led = Output::new(peripherals.P0_15, Level::Low, OutputDrive::Standard);
+
+    let mut radio = ieee802154::Radio::new(peripherals.RADIO, Irqs);
+    let mut packet = Packet::new();
+
+    loop {
+        gpo_led.set_low();
+        let rv = radio.receive(&mut packet).await;
+        gpo_led.set_high();
+        match rv {
+            Err(_) => defmt::error!("receive() Err"),
+            Ok(_) => defmt::info!("receive() {:?}", *packet),
+        }
+        Timer::after_millis(100u64).await;
+    }
+}
diff --git a/examples/nrf52840/src/bin/ieee802154_send.rs b/examples/nrf52840/src/bin/ieee802154_send.rs
new file mode 100644
index 000000000..7af9d1d06
--- /dev/null
+++ b/examples/nrf52840/src/bin/ieee802154_send.rs
@@ -0,0 +1,39 @@
+#![no_std]
+#![no_main]
+
+use embassy_executor::Spawner;
+use embassy_nrf::config::{Config, HfclkSource};
+use embassy_nrf::gpio::{Level, Output, OutputDrive};
+use embassy_nrf::radio::ieee802154::{self, Packet};
+use embassy_nrf::{peripherals, radio};
+use embassy_time::Timer;
+use {defmt_rtt as _, panic_probe as _};
+
+embassy_nrf::bind_interrupts!(struct Irqs {
+    RADIO => radio::InterruptHandler<peripherals::RADIO>;
+});
+
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+    let mut config = Config::default();
+    config.hfclk_source = HfclkSource::ExternalXtal;
+    let peripherals = embassy_nrf::init(config);
+
+    // assumes LED on P0_15 with active-high polarity
+    let mut gpo_led = Output::new(peripherals.P0_15, Level::Low, OutputDrive::Standard);
+
+    let mut radio = ieee802154::Radio::new(peripherals.RADIO, Irqs);
+    let mut packet = Packet::new();
+
+    loop {
+        packet.copy_from_slice(&[0_u8; 16]);
+        gpo_led.set_high();
+        let rv = radio.try_send(&mut packet).await;
+        gpo_led.set_low();
+        match rv {
+            Err(_) => defmt::error!("try_send() Err"),
+            Ok(_) => defmt::info!("try_send() {:?}", *packet),
+        }
+        Timer::after_millis(1000u64).await;
+    }
+}
diff --git a/examples/nrf52840/src/bin/manually_create_executor.rs b/examples/nrf52840/src/bin/manually_create_executor.rs
index 7ca39348e..f0639eb23 100644
--- a/examples/nrf52840/src/bin/manually_create_executor.rs
+++ b/examples/nrf52840/src/bin/manually_create_executor.rs
@@ -42,7 +42,7 @@ fn main() -> ! {
     // `run` calls the closure then runs the executor forever. It never returns.
     executor.run(|spawner| {
         // Here we get access to a spawner to spawn the initial tasks.
-        unwrap!(spawner.spawn(run1()));
-        unwrap!(spawner.spawn(run2()));
+        spawner.spawn(unwrap!(run1()));
+        spawner.spawn(unwrap!(run2()));
     });
 }
diff --git a/examples/nrf52840/src/bin/multiprio.rs b/examples/nrf52840/src/bin/multiprio.rs
index d58613da4..4d9b986d4 100644
--- a/examples/nrf52840/src/bin/multiprio.rs
+++ b/examples/nrf52840/src/bin/multiprio.rs
@@ -130,16 +130,16 @@ fn main() -> ! {
     // High-priority executor: EGU1_SWI1, priority level 6
     interrupt::EGU1_SWI1.set_priority(Priority::P6);
     let spawner = EXECUTOR_HIGH.start(interrupt::EGU1_SWI1);
-    unwrap!(spawner.spawn(run_high()));
+    spawner.spawn(unwrap!(run_high()));
 
     // Medium-priority executor: EGU0_SWI0, priority level 7
     interrupt::EGU0_SWI0.set_priority(Priority::P7);
     let spawner = EXECUTOR_MED.start(interrupt::EGU0_SWI0);
-    unwrap!(spawner.spawn(run_med()));
+    spawner.spawn(unwrap!(run_med()));
 
     // Low priority executor: runs in thread mode, using WFE/SEV
     let executor = EXECUTOR_LOW.init(Executor::new());
     executor.run(|spawner| {
-        unwrap!(spawner.spawn(run_low()));
+        spawner.spawn(unwrap!(run_low()));
     });
 }
diff --git a/examples/nrf52840/src/bin/mutex.rs b/examples/nrf52840/src/bin/mutex.rs
index 5c22279b5..a8e9a82cc 100644
--- a/examples/nrf52840/src/bin/mutex.rs
+++ b/examples/nrf52840/src/bin/mutex.rs
@@ -30,7 +30,7 @@ async fn my_task() {
 #[embassy_executor::main]
 async fn main(spawner: Spawner) {
     let _p = embassy_nrf::init(Default::default());
-    unwrap!(spawner.spawn(my_task()));
+    spawner.spawn(unwrap!(my_task()));
 
     loop {
         Timer::after_millis(300).await;
diff --git a/examples/nrf52840/src/bin/nfct.rs b/examples/nrf52840/src/bin/nfct.rs
index d559d006a..fafa37f48 100644
--- a/examples/nrf52840/src/bin/nfct.rs
+++ b/examples/nrf52840/src/bin/nfct.rs
@@ -1,11 +1,12 @@
 #![no_std]
 #![no_main]
 
-use defmt::*;
+use defmt::{todo, *};
 use embassy_executor::Spawner;
 use embassy_nrf::config::HfclkSource;
 use embassy_nrf::nfct::{Config as NfcConfig, NfcId, NfcT};
 use embassy_nrf::{bind_interrupts, nfct};
+use iso14443_4::{Card, IsoDep};
 use {defmt_rtt as _, embassy_nrf as _, panic_probe as _};
 
 bind_interrupts!(struct Irqs {
@@ -30,12 +31,28 @@ async fn main(_spawner: Spawner) {
 
     let mut buf = [0u8; 256];
 
+    let cc = &[
+        0x00, 0x0f, /* CCEN_HI, CCEN_LOW */
+        0x20, /* VERSION */
+        0x00, 0x7f, /* MLe_HI, MLe_LOW */
+        0x00, 0x7f, /* MLc_HI, MLc_LOW */
+        /* TLV */
+        0x04, 0x06, 0xe1, 0x04, 0x00, 0x7f, 0x00, 0x00,
+    ];
+
+    let ndef = &[
+        0x00, 0x10, 0xd1, 0x1, 0xc, 0x55, 0x4, 0x65, 0x6d, 0x62, 0x61, 0x73, 0x73, 0x79, 0x2e, 0x64, 0x65, 0x76,
+    ];
+    let mut selected: &[u8] = cc;
+
     loop {
         info!("activating");
         nfc.activate().await;
+        info!("activated!");
+
+        let mut nfc = IsoDep::new(iso14443_3::Logger(&mut nfc));
 
         loop {
-            info!("rxing");
             let n = match nfc.receive(&mut buf).await {
                 Ok(n) => n,
                 Err(e) => {
@@ -44,25 +61,51 @@ async fn main(_spawner: Spawner) {
                 }
             };
             let req = &buf[..n];
-            info!("received frame {:02x}", req);
+            info!("iso-dep rx {:02x}", req);
 
-            let mut deselect = false;
-            let resp = match req {
-                [0xe0, ..] => {
-                    info!("Got RATS, tx'ing ATS");
-                    &[0x06, 0x77, 0x77, 0x81, 0x02, 0x80][..]
+            let Ok(apdu) = Apdu::parse(req) else {
+                error!("apdu parse error");
+                break;
+            };
+
+            info!("apdu: {:?}", apdu);
+
+            let resp = match (apdu.cla, apdu.ins, apdu.p1, apdu.p2) {
+                (0, 0xa4, 4, 0) => {
+                    info!("select app");
+                    &[0x90, 0x00][..]
                 }
-                [0xc2] => {
-                    info!("Got deselect!");
-                    deselect = true;
-                    &[0xc2]
+                (0, 0xa4, 0, 12) => {
+                    info!("select df");
+                    match apdu.data {
+                        [0xe1, 0x03] => {
+                            selected = cc;
+                            &[0x90, 0x00][..]
+                        }
+                        [0xe1, 0x04] => {
+                            selected = ndef;
+                            &[0x90, 0x00][..]
+                        }
+                        _ => todo!(), // return NOT FOUND
+                    }
+                }
+                (0, 0xb0, p1, p2) => {
+                    info!("read");
+                    let offs = u16::from_be_bytes([p1 & 0x7f, p2]) as usize;
+                    let len = if apdu.le == 0 { usize::MAX } else { apdu.le as usize };
+                    let n = len.min(selected.len() - offs);
+                    buf[..n].copy_from_slice(&selected[offs..][..n]);
+                    buf[n..][..2].copy_from_slice(&[0x90, 0x00]);
+                    &buf[..n + 2]
                 }
                 _ => {
                     info!("Got unknown command!");
-                    &[0xFF]
+                    &[0xFF, 0xFF]
                 }
             };
 
+            info!("iso-dep tx {:02x}", resp);
+
             match nfc.transmit(resp).await {
                 Ok(()) => {}
                 Err(e) => {
@@ -70,10 +113,211 @@ async fn main(_spawner: Spawner) {
                     break;
                 }
             }
+        }
+    }
+}
 
-            if deselect {
-                break;
+#[derive(Debug, Clone, defmt::Format)]
+struct Apdu<'a> {
+    pub cla: u8,
+    pub ins: u8,
+    pub p1: u8,
+    pub p2: u8,
+    pub data: &'a [u8],
+    pub le: u16,
+}
+
+#[derive(Debug, Clone, Copy, PartialEq, Eq, defmt::Format)]
+struct ApduParseError;
+
+impl<'a> Apdu<'a> {
+    pub fn parse(apdu: &'a [u8]) -> Result<Self, ApduParseError> {
+        if apdu.len() < 4 {
+            return Err(ApduParseError);
+        }
+
+        let (data, le) = match apdu.len() - 4 {
+            0 => (&[][..], 0),
+            1 => (&[][..], apdu[4]),
+            n if n == 1 + apdu[4] as usize && apdu[4] != 0 => (&apdu[5..][..apdu[4] as usize], 0),
+            n if n == 2 + apdu[4] as usize && apdu[4] != 0 => (&apdu[5..][..apdu[4] as usize], apdu[apdu.len() - 1]),
+            _ => return Err(ApduParseError),
+        };
+
+        Ok(Apdu {
+            cla: apdu[0],
+            ins: apdu[1],
+            p1: apdu[2],
+            p2: apdu[3],
+            data,
+            le: le as _,
+        })
+    }
+}
+
+mod iso14443_3 {
+    use core::future::Future;
+
+    use defmt::info;
+    use embassy_nrf::nfct::{Error, NfcT};
+
+    pub trait Card {
+        type Error;
+        async fn receive(&mut self, buf: &mut [u8]) -> Result<usize, Self::Error>;
+        async fn transmit(&mut self, buf: &[u8]) -> Result<(), Self::Error>;
+    }
+
+    impl<'a, T: Card> Card for &'a mut T {
+        type Error = T::Error;
+
+        fn receive(&mut self, buf: &mut [u8]) -> impl Future<Output = Result<usize, Self::Error>> {
+            T::receive(self, buf)
+        }
+
+        fn transmit(&mut self, buf: &[u8]) -> impl Future<Output = Result<(), Self::Error>> {
+            T::transmit(self, buf)
+        }
+    }
+
+    impl<'a> Card for NfcT<'a> {
+        type Error = Error;
+
+        fn receive(&mut self, buf: &mut [u8]) -> impl Future<Output = Result<usize, Self::Error>> {
+            self.receive(buf)
+        }
+
+        fn transmit(&mut self, buf: &[u8]) -> impl Future<Output = Result<(), Self::Error>> {
+            self.transmit(buf)
+        }
+    }
+
+    pub struct Logger<T: Card>(pub T);
+
+    impl<T: Card> Card for Logger<T> {
+        type Error = T::Error;
+
+        async fn receive(&mut self, buf: &mut [u8]) -> Result<usize, Self::Error> {
+            let n = T::receive(&mut self.0, buf).await?;
+            info!("<- {:02x}", &buf[..n]);
+            Ok(n)
+        }
+
+        fn transmit(&mut self, buf: &[u8]) -> impl Future<Output = Result<(), Self::Error>> {
+            info!("-> {:02x}", buf);
+            T::transmit(&mut self.0, buf)
+        }
+    }
+}
+
+mod iso14443_4 {
+    use defmt::info;
+
+    use crate::iso14443_3;
+
+    #[derive(defmt::Format)]
+    pub enum Error<T> {
+        Deselected,
+        Protocol,
+        Lower(T),
+    }
+
+    pub trait Card {
+        type Error;
+        async fn receive(&mut self, buf: &mut [u8]) -> Result<usize, Self::Error>;
+        async fn transmit(&mut self, buf: &[u8]) -> Result<(), Self::Error>;
+    }
+
+    pub struct IsoDep<T: iso14443_3::Card> {
+        nfc: T,
+
+        /// Block count spin bit: 0 or 1
+        block_num: u8,
+
+        /// true if deselected. This is permanent, you must create another IsoDep
+        /// instance if we get selected again.
+        deselected: bool,
+
+        /// last response, in case we need to retransmit.
+        resp: [u8; 256],
+        resp_len: usize,
+    }
+
+    impl<T: iso14443_3::Card> IsoDep<T> {
+        pub fn new(nfc: T) -> Self {
+            Self {
+                nfc,
+                block_num: 1,
+                deselected: false,
+                resp: [0u8; 256],
+                resp_len: 0,
             }
         }
     }
+
+    impl<T: iso14443_3::Card> Card for IsoDep<T> {
+        type Error = Error<T::Error>;
+
+        async fn receive(&mut self, buf: &mut [u8]) -> Result<usize, Self::Error> {
+            if self.deselected {
+                return Err(Error::Deselected);
+            }
+
+            let mut temp = [0u8; 256];
+
+            loop {
+                let n = self.nfc.receive(&mut temp).await.map_err(Error::Lower)?;
+                assert!(n != 0);
+                match temp[0] {
+                    0x02 | 0x03 => {
+                        self.block_num ^= 0x01;
+                        assert!(temp[0] == 0x02 | self.block_num);
+                        buf[..n - 1].copy_from_slice(&temp[1..n]);
+                        return Ok(n - 1);
+                    }
+                    0xb2 | 0xb3 => {
+                        if temp[0] & 0x01 != self.block_num {
+                            info!("Got NAK, transmitting ACK.");
+                            let resp = &[0xA2 | self.block_num];
+                            self.nfc.transmit(resp).await.map_err(Error::Lower)?;
+                        } else {
+                            info!("Got NAK, retransmitting.");
+                            let resp: &[u8] = &self.resp[..self.resp_len];
+                            self.nfc.transmit(resp).await.map_err(Error::Lower)?;
+                        }
+                    }
+                    0xe0 => {
+                        info!("Got RATS, tx'ing ATS");
+                        let resp = &[0x06, 0x77, 0x77, 0x81, 0x02, 0x80];
+                        self.nfc.transmit(resp).await.map_err(Error::Lower)?;
+                    }
+                    0xc2 => {
+                        info!("Got deselect!");
+                        self.deselected = true;
+                        let resp = &[0xC2];
+                        self.nfc.transmit(resp).await.map_err(Error::Lower)?;
+                        return Err(Error::Deselected);
+                    }
+                    _ => {
+                        info!("Got unknown command {:02x}!", temp[0]);
+                        return Err(Error::Protocol);
+                    }
+                };
+            }
+        }
+
+        async fn transmit(&mut self, buf: &[u8]) -> Result<(), Self::Error> {
+            if self.deselected {
+                return Err(Error::Deselected);
+            }
+
+            self.resp[0] = 0x02 | self.block_num;
+            self.resp[1..][..buf.len()].copy_from_slice(buf);
+            self.resp_len = 1 + buf.len();
+
+            let resp: &[u8] = &self.resp[..self.resp_len];
+            self.nfc.transmit(resp).await.map_err(Error::Lower)?;
+
+            Ok(())
+        }
+    }
 }
diff --git a/examples/nrf52840/src/bin/pubsub.rs b/examples/nrf52840/src/bin/pubsub.rs
index 5ebea9220..c0392b18c 100644
--- a/examples/nrf52840/src/bin/pubsub.rs
+++ b/examples/nrf52840/src/bin/pubsub.rs
@@ -26,9 +26,9 @@ async fn main(spawner: Spawner) {
     // It's good to set up the subscribers before publishing anything.
     // A subscriber will only yield messages that have been published after its creation.
 
-    spawner.must_spawn(fast_logger(unwrap!(MESSAGE_BUS.subscriber())));
-    spawner.must_spawn(slow_logger(unwrap!(MESSAGE_BUS.dyn_subscriber())));
-    spawner.must_spawn(slow_logger_pure(unwrap!(MESSAGE_BUS.dyn_subscriber())));
+    spawner.spawn(fast_logger(unwrap!(MESSAGE_BUS.subscriber())).unwrap());
+    spawner.spawn(slow_logger(unwrap!(MESSAGE_BUS.dyn_subscriber())).unwrap());
+    spawner.spawn(slow_logger_pure(unwrap!(MESSAGE_BUS.dyn_subscriber())).unwrap());
 
     // Get a publisher
     let message_publisher = unwrap!(MESSAGE_BUS.publisher());
diff --git a/examples/nrf52840/src/bin/raw_spawn.rs b/examples/nrf52840/src/bin/raw_spawn.rs
index 717b0faa6..b80954408 100644
--- a/examples/nrf52840/src/bin/raw_spawn.rs
+++ b/examples/nrf52840/src/bin/raw_spawn.rs
@@ -42,8 +42,8 @@ fn main() -> ! {
     let run2_task = unsafe { make_static(&run2_task) };
 
     executor.run(|spawner| {
-        unwrap!(spawner.spawn(run1_task.spawn(|| run1())));
-        unwrap!(spawner.spawn(run2_task.spawn(|| run2())));
+        spawner.spawn(unwrap!(run1_task.spawn(|| run1())));
+        spawner.spawn(unwrap!(run2_task.spawn(|| run2())));
     });
 }
 
diff --git a/examples/nrf52840/src/bin/rng.rs b/examples/nrf52840/src/bin/rng.rs
index 326054c9a..f32d17cd9 100644..100755
--- a/examples/nrf52840/src/bin/rng.rs
+++ b/examples/nrf52840/src/bin/rng.rs
@@ -22,7 +22,7 @@ async fn main(_spawner: Spawner) {
     defmt::info!("Some random bytes: {:?}", bytes);
 
     // Sync API with `rand`
-    defmt::info!("A random number from 1 to 10: {:?}", rng.gen_range(1..=10));
+    defmt::info!("A random number from 1 to 10: {:?}", rng.random_range(1..=10));
 
     let mut bytes = [0; 1024];
     rng.fill_bytes(&mut bytes).await;
diff --git a/examples/nrf52840/src/bin/self_spawn.rs b/examples/nrf52840/src/bin/self_spawn.rs
index 5bfefc2af..acb44f98b 100644
--- a/examples/nrf52840/src/bin/self_spawn.rs
+++ b/examples/nrf52840/src/bin/self_spawn.rs
@@ -14,12 +14,12 @@ mod config {
 async fn my_task(spawner: Spawner, n: u32) {
     Timer::after_secs(1).await;
     info!("Spawning self! {}", n);
-    unwrap!(spawner.spawn(my_task(spawner, n + 1)));
+    spawner.spawn(unwrap!(my_task(spawner, n + 1)));
 }
 
 #[embassy_executor::main]
 async fn main(spawner: Spawner) {
     let _p = embassy_nrf::init(Default::default());
     info!("Hello World!");
-    unwrap!(spawner.spawn(my_task(spawner, 0)));
+    spawner.spawn(unwrap!(my_task(spawner, 0)));
 }
diff --git a/examples/nrf52840/src/bin/self_spawn_current_executor.rs b/examples/nrf52840/src/bin/self_spawn_current_executor.rs
index ec9569a64..d93067592 100644
--- a/examples/nrf52840/src/bin/self_spawn_current_executor.rs
+++ b/examples/nrf52840/src/bin/self_spawn_current_executor.rs
@@ -10,12 +10,13 @@ use {defmt_rtt as _, panic_probe as _};
 async fn my_task(n: u32) {
     Timer::after_secs(1).await;
     info!("Spawning self! {}", n);
-    unwrap!(Spawner::for_current_executor().await.spawn(my_task(n + 1)));
+    let spawner = unsafe { Spawner::for_current_executor().await };
+    spawner.spawn(unwrap!(my_task(n + 1)));
 }
 
 #[embassy_executor::main]
 async fn main(spawner: Spawner) {
     let _p = embassy_nrf::init(Default::default());
     info!("Hello World!");
-    unwrap!(spawner.spawn(my_task(0)));
+    spawner.spawn(unwrap!(my_task(0)));
 }
diff --git a/examples/nrf52840/src/bin/sixlowpan.rs b/examples/nrf52840/src/bin/sixlowpan.rs
new file mode 100644
index 000000000..00a597366
--- /dev/null
+++ b/examples/nrf52840/src/bin/sixlowpan.rs
@@ -0,0 +1,120 @@
+#![no_std]
+#![no_main]
+
+use core::net::Ipv6Addr;
+
+use defmt::{info, unwrap, warn};
+use embassy_executor::Spawner;
+use embassy_net::udp::{PacketMetadata, UdpMetadata, UdpSocket};
+use embassy_net::{IpAddress, IpEndpoint, IpListenEndpoint, Ipv6Cidr, StackResources, StaticConfigV6};
+use embassy_nrf::config::{Config, HfclkSource};
+use embassy_nrf::rng::Rng;
+use embassy_nrf::{bind_interrupts, embassy_net_802154_driver as net, peripherals, radio};
+use embassy_time::Delay;
+use embedded_hal_async::delay::DelayNs;
+use static_cell::StaticCell;
+use {defmt_rtt as _, panic_probe as _};
+
+bind_interrupts!(struct Irqs {
+    RADIO => radio::InterruptHandler<peripherals::RADIO>;
+    RNG => embassy_nrf::rng::InterruptHandler<peripherals::RNG>;
+});
+
+#[embassy_executor::task]
+async fn ieee802154_task(runner: net::Runner<'static, peripherals::RADIO>) -> ! {
+    runner.run().await
+}
+
+#[embassy_executor::task]
+async fn net_task(mut runner: embassy_net::Runner<'static, net::Device<'static>>) -> ! {
+    runner.run().await
+}
+
+#[embassy_executor::main]
+async fn main(spawner: Spawner) {
+    let mut config = Config::default();
+    // Necessary to run the radio nrf52840 v1.11 5.4.1
+    config.hfclk_source = HfclkSource::ExternalXtal;
+    let p = embassy_nrf::init(config);
+
+    let mac_addr: [u8; 8] = [2, 3, 4, 5, 6, 7, 8, 9];
+    static NRF802154_STATE: StaticCell<net::State<20, 20>> = StaticCell::new();
+    let (device, runner) = net::new(mac_addr, p.RADIO, Irqs, NRF802154_STATE.init(net::State::new()))
+        .await
+        .unwrap();
+
+    spawner.spawn(unwrap!(ieee802154_task(runner)));
+
+    // Swap these when flashing a second board
+    let peer = Ipv6Addr::new(0xfe80, 0, 0, 0, 0xd701, 0xda3f, 0x3955, 0x82a4);
+    let local = Ipv6Addr::new(0xfe80, 0, 0, 0, 0xd701, 0xda3f, 0x3955, 0x82a5);
+
+    let config = embassy_net::Config::ipv6_static(StaticConfigV6 {
+        address: Ipv6Cidr::new(local, 64),
+        gateway: None,
+        dns_servers: Default::default(),
+    });
+
+    // Generate random seed
+    let mut rng = Rng::new(p.RNG, Irqs);
+    let mut seed = [0; 8];
+    rng.blocking_fill_bytes(&mut seed);
+    let seed = u64::from_le_bytes(seed);
+
+    // Init network stack
+    static RESOURCES: StaticCell<StackResources<3>> = StaticCell::new();
+    let (stack, runner) = embassy_net::new(device, config, RESOURCES.init(StackResources::new()), seed);
+
+    spawner.spawn(unwrap!(net_task(runner)));
+
+    let mut rx_buffer = [0; 2096];
+    let mut tx_buffer = [0; 2096];
+    let mut tx_m_buffer = [PacketMetadata::EMPTY; 5];
+    let mut rx_m_buffer = [PacketMetadata::EMPTY; 5];
+
+    let mut delay = Delay;
+    loop {
+        let mut socket = UdpSocket::new(
+            stack,
+            &mut tx_m_buffer,
+            &mut rx_buffer,
+            &mut rx_m_buffer,
+            &mut tx_buffer,
+        );
+        socket
+            .bind(IpListenEndpoint {
+                addr: Some(IpAddress::Ipv6(local)),
+                port: 1234,
+            })
+            .unwrap();
+        let rep = UdpMetadata {
+            endpoint: IpEndpoint {
+                addr: IpAddress::Ipv6(peer),
+                port: 1234,
+            },
+            local_address: Some(IpAddress::Ipv6(local)),
+            meta: Default::default(),
+        };
+
+        info!("Listening on {:?} UDP:1234...", local);
+
+        let mut recv_buf = [0; 12];
+        loop {
+            delay.delay_ms(2000).await;
+            if socket.may_recv() {
+                let n = match socket.recv_from(&mut recv_buf).await {
+                    Ok((0, _)) => panic!(),
+                    Ok((n, _)) => n,
+                    Err(e) => {
+                        warn!("read error: {:?}", e);
+                        break;
+                    }
+                };
+                info!("Received {:02x}", &recv_buf[..n]);
+            }
+
+            info!("Sending");
+            socket.send_to(b"Hello World", rep).await.unwrap();
+        }
+    }
+}
diff --git a/examples/nrf52840/src/bin/timer.rs b/examples/nrf52840/src/bin/timer.rs
index 365695a20..5331ac246 100644
--- a/examples/nrf52840/src/bin/timer.rs
+++ b/examples/nrf52840/src/bin/timer.rs
@@ -25,6 +25,6 @@ async fn run2() {
 #[embassy_executor::main]
 async fn main(spawner: Spawner) {
     let _p = embassy_nrf::init(Default::default());
-    unwrap!(spawner.spawn(run1()));
-    unwrap!(spawner.spawn(run2()));
+    spawner.spawn(unwrap!(run1()));
+    spawner.spawn(unwrap!(run2()));
 }
diff --git a/examples/nrf52840/src/bin/uart_split.rs b/examples/nrf52840/src/bin/uart_split.rs
index 46be8f636..51af90727 100644
--- a/examples/nrf52840/src/bin/uart_split.rs
+++ b/examples/nrf52840/src/bin/uart_split.rs
@@ -30,7 +30,7 @@ async fn main(spawner: Spawner) {
 
     // Spawn a task responsible purely for reading
 
-    unwrap!(spawner.spawn(reader(rx)));
+    spawner.spawn(unwrap!(reader(rx)));
 
     // Message must be in SRAM
     {
diff --git a/examples/nrf52840/src/bin/usb_ethernet.rs b/examples/nrf52840/src/bin/usb_ethernet.rs
index 49856012d..87aa4c6c5 100644
--- a/examples/nrf52840/src/bin/usb_ethernet.rs
+++ b/examples/nrf52840/src/bin/usb_ethernet.rs
@@ -86,11 +86,11 @@ async fn main(spawner: Spawner) {
     // Build the builder.
     let usb = builder.build();
 
-    unwrap!(spawner.spawn(usb_task(usb)));
+    spawner.spawn(unwrap!(usb_task(usb)));
 
     static NET_STATE: StaticCell<NetState<MTU, 4, 4>> = StaticCell::new();
     let (runner, device) = class.into_embassy_net_device::<MTU, 4, 4>(NET_STATE.init(NetState::new()), our_mac_addr);
-    unwrap!(spawner.spawn(usb_ncm_task(runner)));
+    spawner.spawn(unwrap!(usb_ncm_task(runner)));
 
     let config = embassy_net::Config::dhcpv4(Default::default());
     // let config = embassy_net::Config::ipv4_static(embassy_net::StaticConfigV4 {
@@ -109,7 +109,7 @@ async fn main(spawner: Spawner) {
     static RESOURCES: StaticCell<StackResources<3>> = StaticCell::new();
     let (stack, runner) = embassy_net::new(device, config, RESOURCES.init(StackResources::new()), seed);
 
-    unwrap!(spawner.spawn(net_task(runner)));
+    spawner.spawn(unwrap!(net_task(runner)));
 
     // And now we can use it!
 
diff --git a/examples/nrf52840/src/bin/usb_serial_multitask.rs b/examples/nrf52840/src/bin/usb_serial_multitask.rs
index 5e5b4de35..00a91a233 100644
--- a/examples/nrf52840/src/bin/usb_serial_multitask.rs
+++ b/examples/nrf52840/src/bin/usb_serial_multitask.rs
@@ -76,8 +76,8 @@ async fn main(spawner: Spawner) {
     // Build the builder.
     let usb = builder.build();
 
-    unwrap!(spawner.spawn(usb_task(usb)));
-    unwrap!(spawner.spawn(echo_task(class)));
+    spawner.spawn(unwrap!(usb_task(usb)));
+    spawner.spawn(unwrap!(echo_task(class)));
 }
 
 struct Disconnected {}
diff --git a/examples/nrf52840/src/bin/wifi_esp_hosted.rs b/examples/nrf52840/src/bin/wifi_esp_hosted.rs
index 26eaf485e..2dd9abfaa 100644
--- a/examples/nrf52840/src/bin/wifi_esp_hosted.rs
+++ b/examples/nrf52840/src/bin/wifi_esp_hosted.rs
@@ -70,7 +70,7 @@ async fn main(spawner: Spawner) {
     )
     .await;
 
-    unwrap!(spawner.spawn(wifi_task(runner)));
+    spawner.spawn(unwrap!(wifi_task(runner)));
 
     unwrap!(control.init().await);
     unwrap!(control.connect(WIFI_NETWORK, WIFI_PASSWORD).await);
@@ -92,7 +92,7 @@ async fn main(spawner: Spawner) {
     static RESOURCES: StaticCell<StackResources<3>> = StaticCell::new();
     let (stack, runner) = embassy_net::new(device, config, RESOURCES.init(StackResources::new()), seed);
 
-    unwrap!(spawner.spawn(net_task(runner)));
+    spawner.spawn(unwrap!(net_task(runner)));
 
     // And now we can use it!