diff --git a/.cargo/config b/.cargo/config
index 1642997efa..4db474061b 100644
--- a/.cargo/config
+++ b/.cargo/config
@@ -1,3 +1,11 @@
+[target.thumbv6m-none-eabi]
+runner = 'arm-none-eabi-gdb'
+rustflags = [
+  "-C", "link-arg=-Tlink.x",
+  "-C", "linker=arm-none-eabi-ld",
+  "-Z", "linker-flavor=ld",
+]
+
 [target.thumbv7m-none-eabi]
 runner = 'arm-none-eabi-gdb'
 rustflags = [
@@ -5,3 +13,19 @@ rustflags = [
   "-C", "linker=arm-none-eabi-ld",
   "-Z", "linker-flavor=ld",
 ]
+
+[target.thumbv7em-none-eabi]
+runner = 'arm-none-eabi-gdb'
+rustflags = [
+  "-C", "link-arg=-Tlink.x",
+  "-C", "linker=arm-none-eabi-ld",
+  "-Z", "linker-flavor=ld",
+]
+
+[target.thumbv7em-none-eabihf]
+runner = 'arm-none-eabi-gdb'
+rustflags = [
+  "-C", "link-arg=-Tlink.x",
+  "-C", "linker=arm-none-eabi-ld",
+  "-Z", "linker-flavor=ld",
+]
\ No newline at end of file
diff --git a/.travis.yml b/.travis.yml
index d0860bc761..0fdf5a8b73 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -1,7 +1,4 @@
-dist: trusty
 language: rust
-services: docker
-sudo: required
 
 matrix:
   include:
@@ -20,7 +17,6 @@ before_install: set -e
 
 install:
   - sh ci/install.sh
-  - source ~/.cargo/env || true
 
 script:
   - bash ci/script.sh
diff --git a/ci/install.sh b/ci/install.sh
index 748ad9a9e8..6e7fcc28d4 100644
--- a/ci/install.sh
+++ b/ci/install.sh
@@ -1,27 +1,14 @@
 set -ex
 
 main() {
-    local target=
-    if [ $TRAVIS_OS_NAME = linux ]; then
-        target=x86_64-unknown-linux-musl
-        sort=sort
-    else
-        target=x86_64-apple-darwin
-        sort=gsort  # for `sort --sort-version`, from brew's coreutils.
-    fi
-
-    # This fetches latest stable release
-    local tag=$(git ls-remote --tags --refs --exit-code https://github.com/japaric/cross \
-                       | cut -d/ -f3 \
-                       | grep -E '^v[0.1.0-9.]+$' \
-                       | $sort --version-sort \
-                       | tail -n1)
-    curl -LSfs https://japaric.github.io/trust/install.sh | \
-        sh -s -- \
-           --force \
-           --git japaric/cross \
-           --tag $tag \
-           --target $target
+    case $TARGET in
+        thumbv*-none-eabi*)
+            cargo install --list | grep xargo || \
+                cargo install xargo
+            rustup component list | grep 'rust-src.*installed' || \
+                rustup component add rust-src
+            ;;
+    esac
 }
 
 main
diff --git a/ci/script.sh b/ci/script.sh
index 9f83f3f4bc..212a48adff 100644
--- a/ci/script.sh
+++ b/ci/script.sh
@@ -2,12 +2,17 @@ set -ex
 
 main() {
     if [ $TARGET = x86_64-unknown-linux-gnu ]; then
+        cargo build
         cargo test
         return
     fi
 
-    cross build --target $TARGET
-    cross build --target $TARGET --release
+    xargo build --target $TARGET
+    for ex in $(ls examples/*); do
+        ex=$(basename $ex)
+        ex=${ex%.*}
+        xargo build --target $TARGET --example $ex
+    done
 }
 
 main
diff --git a/examples/nested.rs b/examples/nested.rs
index d307634cd8..fda2a7d431 100644
--- a/examples/nested.rs
+++ b/examples/nested.rs
@@ -63,6 +63,9 @@ task!(EXTI0, exti0);
 fn exti0(t: &mut Threshold, r: EXTI0::Resources) {
     // because this task has a priority of 1 the preemption threshold is also 1
 
+    let mut low = r.LOW;
+    let mut high = r.HIGH;
+
     // A
     rtfm::bkpt();
 
@@ -70,7 +73,7 @@ fn exti0(t: &mut Threshold, r: EXTI0::Resources) {
     rtfm::set_pending(Interrupt::EXTI1); // ~> exti1
 
     // a claim creates a critical section
-    r.LOW.claim_mut(t, |_low, t| {
+    low.claim_mut(t, |_low, t| {
         // this claim increases the preemption threshold to 2
         // just high enough to not race with task `exti1` for access to the
         // `LOW` resource
@@ -90,7 +93,7 @@ fn exti0(t: &mut Threshold, r: EXTI0::Resources) {
         rtfm::bkpt();
 
         // claims can be nested
-        r.HIGH.claim_mut(t, |_high, _| {
+        high.claim_mut(t, |_high, _| {
             // This claim increases the preemption threshold to 3
 
             // now `exti2` can't preempt this task
diff --git a/src/examples/_4_nested.rs b/src/examples/_4_nested.rs
index 718710d77d..6be68d8eec 100644
--- a/src/examples/_4_nested.rs
+++ b/src/examples/_4_nested.rs
@@ -65,6 +65,9 @@
 //! fn exti0(t: &mut Threshold, r: EXTI0::Resources) {
 //!     // because this task has a priority of 1 the preemption threshold is also 1
 //! 
+//!     let mut low = r.LOW;
+//!     let mut high = r.HIGH;
+//! 
 //!     // A
 //!     rtfm::bkpt();
 //! 
@@ -72,7 +75,7 @@
 //!     rtfm::set_pending(Interrupt::EXTI1); // ~> exti1
 //! 
 //!     // a claim creates a critical section
-//!     r.LOW.claim_mut(t, |_low, t| {
+//!     low.claim_mut(t, |_low, t| {
 //!         // this claim increases the preemption threshold to 2
 //!         // just high enough to not race with task `exti1` for access to the
 //!         // `LOW` resource
@@ -92,7 +95,7 @@
 //!         rtfm::bkpt();
 //! 
 //!         // claims can be nested
-//!         r.HIGH.claim_mut(t, |_high, _| {
+//!         high.claim_mut(t, |_high, _| {
 //!             // This claim increases the preemption threshold to 3
 //! 
 //!             // now `exti2` can't preempt this task