diff --git a/ci/expected/async-delay.run b/ci/expected/async-delay.run
new file mode 100644
index 0000000000..61852abfd9
--- /dev/null
+++ b/ci/expected/async-delay.run
@@ -0,0 +1,7 @@
+init
+hello from bar
+hello from baz
+hello from foo
+bye from foo
+bye from bar
+bye from baz
diff --git a/ci/expected/async-infinite-loop.run b/ci/expected/async-infinite-loop.run
new file mode 100644
index 0000000000..f9fd4e494c
--- /dev/null
+++ b/ci/expected/async-infinite-loop.run
@@ -0,0 +1,6 @@
+init
+hello from async 0
+hello from async 1
+hello from async 2
+hello from async 3
+hello from async 4
diff --git a/ci/expected/async-task-multiple-prios.run b/ci/expected/async-task-multiple-prios.run
new file mode 100644
index 0000000000..9b0f53365b
--- /dev/null
+++ b/ci/expected/async-task-multiple-prios.run
@@ -0,0 +1,5 @@
+init
+hello from normal 2
+hello from async 2
+hello from normal 1
+hello from async 1
diff --git a/ci/expected/async-task.run b/ci/expected/async-task.run
new file mode 100644
index 0000000000..f7ce3a6065
--- /dev/null
+++ b/ci/expected/async-task.run
@@ -0,0 +1,3 @@
+init
+hello from normal
+hello from async
diff --git a/ci/expected/async-timeout.run b/ci/expected/async-timeout.run
new file mode 100644
index 0000000000..a8074230ee
--- /dev/null
+++ b/ci/expected/async-timeout.run
@@ -0,0 +1,5 @@
+init
+hello from bar
+hello from foo
+foo no timeout
+bar timeout
diff --git a/ci/expected/periodic-at.run b/ci/expected/periodic-at.run
index 54020f9e95..bf5bb0631b 100644
--- a/ci/expected/periodic-at.run
+++ b/ci/expected/periodic-at.run
@@ -1,4 +1,4 @@
 foo Instant { ticks: 0 }
-foo Instant { ticks: 100 }
-foo Instant { ticks: 200 }
-foo Instant { ticks: 300 }
+foo Instant { ticks: 10 }
+foo Instant { ticks: 20 }
+foo Instant { ticks: 30 }
diff --git a/ci/expected/periodic-at2.run b/ci/expected/periodic-at2.run
index 47adbef486..6e56421a30 100644
--- a/ci/expected/periodic-at2.run
+++ b/ci/expected/periodic-at2.run
@@ -1,7 +1,7 @@
 foo Instant { ticks: 0 }
 bar Instant { ticks: 10 }
-foo Instant { ticks: 110 }
-bar Instant { ticks: 120 }
-foo Instant { ticks: 220 }
-bar Instant { ticks: 230 }
-foo Instant { ticks: 330 }
+foo Instant { ticks: 30 }
+bar Instant { ticks: 40 }
+foo Instant { ticks: 60 }
+bar Instant { ticks: 70 }
+foo Instant { ticks: 90 }
diff --git a/ci/expected/pool.run b/ci/expected/pool.run
index 81f79d41e9..00d1188d8a 100644
--- a/ci/expected/pool.run
+++ b/ci/expected/pool.run
@@ -1,2 +1,2 @@
-bar(0x20000088)
-foo(0x2000010c)
+bar(0x20000084)
+foo(0x20000108)
diff --git a/examples/async-delay.rs b/examples/async-delay.rs
new file mode 100644
index 0000000000..7802bda4d4
--- /dev/null
+++ b/examples/async-delay.rs
@@ -0,0 +1,67 @@
+#![no_main]
+#![no_std]
+#![feature(type_alias_impl_trait)]
+
+use panic_semihosting as _;
+
+#[rtic::app(device = lm3s6965, dispatchers = [SSI0, UART0], peripherals = true)]
+mod app {
+    use cortex_m_semihosting::{debug, hprintln};
+    use systick_monotonic::*;
+
+    #[shared]
+    struct Shared {}
+
+    #[local]
+    struct Local {}
+
+    #[monotonic(binds = SysTick, default = true)]
+    type MyMono = Systick<100>;
+
+    #[init]
+    fn init(cx: init::Context) -> (Shared, Local, init::Monotonics) {
+        hprintln!("init").unwrap();
+
+        foo::spawn().ok();
+        bar::spawn().ok();
+        baz::spawn().ok();
+
+        (
+            Shared {},
+            Local {},
+            init::Monotonics(Systick::new(cx.core.SYST, 12_000_000)),
+        )
+    }
+
+    #[idle]
+    fn idle(_: idle::Context) -> ! {
+        // debug::exit(debug::EXIT_SUCCESS);
+        loop {
+            // hprintln!("idle");
+            cortex_m::asm::wfi(); // put the MCU in sleep mode until interrupt occurs
+        }
+    }
+
+    #[task]
+    async fn foo(_cx: foo::Context) {
+        hprintln!("hello from foo").ok();
+        monotonics::delay(100.millis()).await;
+        hprintln!("bye from foo").ok();
+    }
+
+    #[task]
+    async fn bar(_cx: bar::Context) {
+        hprintln!("hello from bar").ok();
+        monotonics::delay(200.millis()).await;
+        hprintln!("bye from bar").ok();
+    }
+
+    #[task]
+    async fn baz(_cx: baz::Context) {
+        hprintln!("hello from baz").ok();
+        monotonics::delay(300.millis()).await;
+        hprintln!("bye from baz").ok();
+
+        debug::exit(debug::EXIT_SUCCESS);
+    }
+}
diff --git a/examples/async-infinite-loop.rs b/examples/async-infinite-loop.rs
new file mode 100644
index 0000000000..7615818d3c
--- /dev/null
+++ b/examples/async-infinite-loop.rs
@@ -0,0 +1,57 @@
+#![no_main]
+#![no_std]
+#![feature(type_alias_impl_trait)]
+
+use panic_semihosting as _;
+
+#[rtic::app(device = lm3s6965, dispatchers = [SSI0, UART0], peripherals = true)]
+mod app {
+    use cortex_m_semihosting::{debug, hprintln};
+    use systick_monotonic::*;
+
+    #[shared]
+    struct Shared {}
+
+    #[local]
+    struct Local {}
+
+    #[monotonic(binds = SysTick, default = true)]
+    type MyMono = Systick<100>;
+
+    #[init]
+    fn init(cx: init::Context) -> (Shared, Local, init::Monotonics) {
+        hprintln!("init").unwrap();
+
+        foo::spawn().ok();
+
+        (
+            Shared {},
+            Local {},
+            init::Monotonics(Systick::new(cx.core.SYST, 12_000_000)),
+        )
+    }
+
+    #[idle]
+    fn idle(_: idle::Context) -> ! {
+        loop {
+            cortex_m::asm::wfi(); // put the MCU in sleep mode until interrupt occurs
+        }
+    }
+
+    // Infinite loops are not allowed in RTIC, however in async tasks they are - if there is an
+    // await inside the loop.
+    #[task]
+    async fn foo(_cx: foo::Context) {
+        let mut i = 0;
+        loop {
+            if i == 5 {
+                debug::exit(debug::EXIT_SUCCESS);
+            }
+
+            hprintln!("hello from async {}", i).ok();
+            monotonics::delay(100.millis()).await; // This makes it okey!
+
+            i += 1;
+        }
+    }
+}
diff --git a/examples/async-task-multiple-prios.rs b/examples/async-task-multiple-prios.rs
new file mode 100644
index 0000000000..3e197987a2
--- /dev/null
+++ b/examples/async-task-multiple-prios.rs
@@ -0,0 +1,76 @@
+#![no_main]
+#![no_std]
+#![feature(type_alias_impl_trait)]
+
+use panic_semihosting as _;
+
+// NOTES:
+//
+// - Async tasks cannot have `#[lock_free]` resources, as they can interleve and each async
+//   task can have a mutable reference stored.
+// - Spawning an async task equates to it being polled once.
+
+#[rtic::app(device = lm3s6965, dispatchers = [SSI0, QEI0, UART0, UART1], peripherals = true)]
+mod app {
+    use cortex_m_semihosting::{debug, hprintln};
+    use systick_monotonic::*;
+
+    #[shared]
+    struct Shared {
+        a: u32,
+        b: u32,
+    }
+
+    #[local]
+    struct Local {}
+
+    #[monotonic(binds = SysTick, default = true)]
+    type MyMono = Systick<100>;
+
+    #[init]
+    fn init(cx: init::Context) -> (Shared, Local, init::Monotonics) {
+        hprintln!("init").unwrap();
+
+        normal_task::spawn().ok();
+        async_task::spawn().ok();
+        normal_task2::spawn().ok();
+        async_task2::spawn().ok();
+
+        (
+            Shared { a: 0, b: 0 },
+            Local {},
+            init::Monotonics(Systick::new(cx.core.SYST, 12_000_000)),
+        )
+    }
+
+    #[idle]
+    fn idle(_: idle::Context) -> ! {
+        // debug::exit(debug::EXIT_SUCCESS);
+        loop {
+            // hprintln!("idle");
+            cortex_m::asm::wfi(); // put the MCU in sleep mode until interrupt occurs
+        }
+    }
+
+    #[task(priority = 1, shared = [a, b])]
+    fn normal_task(_cx: normal_task::Context) {
+        hprintln!("hello from normal 1").ok();
+    }
+
+    #[task(priority = 1, shared = [a, b])]
+    async fn async_task(_cx: async_task::Context) {
+        hprintln!("hello from async 1").ok();
+
+        debug::exit(debug::EXIT_SUCCESS);
+    }
+
+    #[task(priority = 2, shared = [a, b])]
+    fn normal_task2(_cx: normal_task2::Context) {
+        hprintln!("hello from normal 2").ok();
+    }
+
+    #[task(priority = 2, shared = [a, b])]
+    async fn async_task2(_cx: async_task2::Context) {
+        hprintln!("hello from async 2").ok();
+    }
+}
diff --git a/examples/async-task.rs b/examples/async-task.rs
new file mode 100644
index 0000000000..4d25ec4401
--- /dev/null
+++ b/examples/async-task.rs
@@ -0,0 +1,61 @@
+#![no_main]
+#![no_std]
+#![feature(type_alias_impl_trait)]
+
+use panic_semihosting as _;
+
+// NOTES:
+//
+// - Async tasks cannot have `#[lock_free]` resources, as they can interleve and each async
+//   task can have a mutable reference stored.
+// - Spawning an async task equates to it being polled once.
+
+#[rtic::app(device = lm3s6965, dispatchers = [SSI0, UART0], peripherals = true)]
+mod app {
+    use cortex_m_semihosting::{debug, hprintln};
+    use systick_monotonic::*;
+
+    #[shared]
+    struct Shared {}
+
+    #[local]
+    struct Local {}
+
+    #[monotonic(binds = SysTick, default = true)]
+    type MyMono = Systick<100>;
+
+    #[init]
+    fn init(cx: init::Context) -> (Shared, Local, init::Monotonics) {
+        hprintln!("init").unwrap();
+
+        normal_task::spawn().ok();
+        async_task::spawn().ok();
+
+        (
+            Shared {},
+            Local {},
+            init::Monotonics(Systick::new(cx.core.SYST, 12_000_000)),
+        )
+    }
+
+    #[idle]
+    fn idle(_: idle::Context) -> ! {
+        // debug::exit(debug::EXIT_SUCCESS);
+        loop {
+            // hprintln!("idle");
+            cortex_m::asm::wfi(); // put the MCU in sleep mode until interrupt occurs
+        }
+    }
+
+    #[task]
+    fn normal_task(_cx: normal_task::Context) {
+        hprintln!("hello from normal").ok();
+    }
+
+    #[task]
+    async fn async_task(_cx: async_task::Context) {
+        hprintln!("hello from async").ok();
+
+        debug::exit(debug::EXIT_SUCCESS);
+    }
+}
diff --git a/examples/async-timeout.rs b/examples/async-timeout.rs
new file mode 100644
index 0000000000..3f68df744d
--- /dev/null
+++ b/examples/async-timeout.rs
@@ -0,0 +1,87 @@
+#![no_main]
+#![no_std]
+#![feature(type_alias_impl_trait)]
+
+use panic_semihosting as _;
+
+// NOTES:
+//
+// - Async tasks cannot have `#[lock_free]` resources, as they can interleve and each async
+//   task can have a mutable reference stored.
+// - Spawning an async task equates to it being polled once.
+
+#[rtic::app(device = lm3s6965, dispatchers = [SSI0, UART0], peripherals = true)]
+mod app {
+    use core::{
+        future::Future,
+        pin::Pin,
+        task::{Context, Poll},
+    };
+    use cortex_m_semihosting::{debug, hprintln};
+    use systick_monotonic::*;
+
+    #[shared]
+    struct Shared {}
+
+    #[local]
+    struct Local {}
+
+    #[monotonic(binds = SysTick, default = true)]
+    type MyMono = Systick<100>;
+
+    #[init]
+    fn init(cx: init::Context) -> (Shared, Local, init::Monotonics) {
+        hprintln!("init").unwrap();
+
+        foo::spawn().ok();
+        bar::spawn().ok();
+
+        (
+            Shared {},
+            Local {},
+            init::Monotonics(Systick::new(cx.core.SYST, 12_000_000)),
+        )
+    }
+
+    #[idle]
+    fn idle(_: idle::Context) -> ! {
+        loop {
+            cortex_m::asm::wfi(); // put the MCU in sleep mode until interrupt occurs
+        }
+    }
+
+    #[task]
+    async fn foo(_cx: foo::Context) {
+        hprintln!("hello from foo").ok();
+
+        // This will not timeout
+        match monotonics::timeout_after(monotonics::delay(100.millis()), 200.millis()).await {
+            Ok(_) => hprintln!("foo no timeout").ok(),
+            Err(_) => hprintln!("foo timeout").ok(),
+        };
+    }
+
+    #[task]
+    async fn bar(_cx: bar::Context) {
+        hprintln!("hello from bar").ok();
+
+        // This will timeout
+        match monotonics::timeout_after(NeverEndingFuture {}, 300.millis()).await {
+            Ok(_) => hprintln!("bar no timeout").ok(),
+            Err(_) => hprintln!("bar timeout").ok(),
+        };
+
+        debug::exit(debug::EXIT_SUCCESS);
+    }
+
+    pub struct NeverEndingFuture {}
+
+    impl Future for NeverEndingFuture {
+        type Output = ();
+
+        fn poll(self: Pin<&mut Self>, _: &mut Context<'_>) -> Poll<Self::Output> {
+            // Never finish
+            Poll::Pending
+        }
+    }
+}
diff --git a/examples/binds.rs b/examples/binds.rs
index 1b0c8c5beb..56565cbec9 100644
--- a/examples/binds.rs
+++ b/examples/binds.rs
@@ -2,7 +2,6 @@
 
 #![deny(unsafe_code)]
 #![deny(warnings)]
-#![deny(missing_docs)]
 #![no_main]
 #![no_std]
 
@@ -24,22 +23,21 @@ mod app {
     fn init(_: init::Context) -> (Shared, Local, init::Monotonics) {
         rtic::pend(Interrupt::UART0);
 
-        hprintln!("init");
+        hprintln!("init").unwrap();
 
         (Shared {}, Local {}, init::Monotonics())
     }
 
     #[idle]
     fn idle(_: idle::Context) -> ! {
-        hprintln!("idle");
+        hprintln!("idle").unwrap();
 
         rtic::pend(Interrupt::UART0);
 
+        debug::exit(debug::EXIT_SUCCESS); // Exit QEMU simulator
+
         loop {
-            // Exit moved after nop to ensure that rtic::pend gets
-            // to run before exiting
             cortex_m::asm::nop();
-            debug::exit(debug::EXIT_SUCCESS); // Exit QEMU simulator
         }
     }
 
@@ -51,6 +49,7 @@ mod app {
             "foo called {} time{}",
             *cx.local.times,
             if *cx.local.times > 1 { "s" } else { "" }
-        );
+        )
+        .unwrap();
     }
 }
diff --git a/examples/cancel-reschedule.rs b/examples/cancel-reschedule.rs
index 36c496b71a..a38a9c4eae 100644
--- a/examples/cancel-reschedule.rs
+++ b/examples/cancel-reschedule.rs
@@ -2,7 +2,6 @@
 
 #![deny(unsafe_code)]
 #![deny(warnings)]
-#![deny(missing_docs)]
 #![no_main]
 #![no_std]
 
@@ -29,7 +28,7 @@ mod app {
         // Initialize the monotonic (SysTick rate in QEMU is 12 MHz)
         let mono = Systick::new(systick, 12_000_000);
 
-        hprintln!("init");
+        hprintln!("init").ok();
 
         // Schedule `foo` to run 1 second in the future
         foo::spawn_after(1.secs()).unwrap();
@@ -43,7 +42,7 @@ mod app {
 
     #[task]
     fn foo(_: foo::Context) {
-        hprintln!("foo");
+        hprintln!("foo").ok();
 
         // Schedule `bar` to run 2 seconds in the future (1 second after foo runs)
         let spawn_handle = baz::spawn_after(2.secs()).unwrap();
@@ -52,7 +51,7 @@ mod app {
 
     #[task]
     fn bar(_: bar::Context, baz_handle: baz::SpawnHandle, do_reschedule: bool) {
-        hprintln!("bar");
+        hprintln!("bar").ok();
 
         if do_reschedule {
             // Reschedule baz 2 seconds from now, instead of the original 1 second
@@ -68,7 +67,7 @@ mod app {
 
     #[task]
     fn baz(_: baz::Context) {
-        hprintln!("baz");
+        hprintln!("baz").ok();
         debug::exit(debug::EXIT_SUCCESS); // Exit QEMU simulator
     }
 }
diff --git a/examples/capacity.rs b/examples/capacity.rs
index 550829be32..a617269869 100644
--- a/examples/capacity.rs
+++ b/examples/capacity.rs
@@ -2,7 +2,6 @@
 
 #![deny(unsafe_code)]
 #![deny(warnings)]
-#![deny(missing_docs)]
 #![no_main]
 #![no_std]
 
@@ -38,12 +37,12 @@ mod app {
 
     #[task(capacity = 4)]
     fn foo(_: foo::Context, x: u32) {
-        hprintln!("foo({})", x);
+        hprintln!("foo({})", x).unwrap();
     }
 
     #[task]
     fn bar(_: bar::Context) {
-        hprintln!("bar");
+        hprintln!("bar").unwrap();
 
         debug::exit(debug::EXIT_SUCCESS); // Exit QEMU simulator
     }
diff --git a/examples/cfg-whole-task.rs b/examples/cfg-whole-task.rs
index 17f31f4ebb..f41866db47 100644
--- a/examples/cfg-whole-task.rs
+++ b/examples/cfg-whole-task.rs
@@ -2,7 +2,6 @@
 
 #![deny(unsafe_code)]
 #![deny(warnings)]
-#![deny(missing_docs)]
 #![no_main]
 #![no_std]
 
@@ -82,19 +81,6 @@ mod app {
         // ..
     }
 
-    // The whole task should disappear,
-    // currently still present in the Tasks enum
-    #[cfg(never)]
-    #[task(binds = UART1, shared = [count])]
-    fn foo3(mut _cx: foo3::Context) {
-        #[cfg(debug_assertions)]
-        {
-            _cx.shared.count.lock(|count| *count += 10);
-
-            log::spawn(_cx.shared.count.lock(|count| *count)).unwrap();
-        }
-    }
-
     #[cfg(debug_assertions)]
     #[task(capacity = 2)]
     fn log(_: log::Context, n: u32) {
@@ -102,6 +88,7 @@ mod app {
             "foo has been called {} time{}",
             n,
             if n == 1 { "" } else { "s" }
-        );
+        )
+        .ok();
     }
 }
diff --git a/examples/common.rs b/examples/common.rs
index 74ee8db2c8..1fe671e61a 100644
--- a/examples/common.rs
+++ b/examples/common.rs
@@ -2,7 +2,6 @@
 
 #![deny(unsafe_code)]
 #![deny(warnings)]
-#![deny(missing_docs)]
 #![no_main]
 #![no_std]
 
@@ -74,7 +73,7 @@ mod app {
         // This task is only spawned once in `init`, hence this task will run
         // only once
 
-        hprintln!("foo");
+        hprintln!("foo").ok();
     }
 
     // Software task, also not bound to a hardware interrupt
@@ -82,7 +81,7 @@ mod app {
     // The resources `s1` and `s2` are shared between all other tasks.
     #[task(shared = [s1, s2], local = [l2])]
     fn bar(_: bar::Context) {
-        hprintln!("bar");
+        hprintln!("bar").ok();
 
         // Run `bar` once per second
         bar::spawn_after(1.secs()).unwrap();
@@ -98,6 +97,6 @@ mod app {
         // Note that RTIC does NOT clear the interrupt flag, this is up to the
         // user
 
-        hprintln!("UART0 interrupt!");
+        hprintln!("UART0 interrupt!").ok();
     }
 }
diff --git a/examples/complex.rs b/examples/complex.rs
index 73df025d2f..e5cf6dbea3 100644
--- a/examples/complex.rs
+++ b/examples/complex.rs
@@ -2,7 +2,6 @@
 
 #![deny(unsafe_code)]
 #![deny(warnings)]
-#![deny(missing_docs)]
 #![no_main]
 #![no_std]
 
@@ -26,7 +25,7 @@ mod app {
 
     #[init]
     fn init(_: init::Context) -> (Shared, Local, init::Monotonics) {
-        hprintln!("init");
+        hprintln!("init").unwrap();
 
         (
             Shared {
@@ -41,31 +40,31 @@ mod app {
 
     #[idle(shared = [s2, s3])]
     fn idle(mut cx: idle::Context) -> ! {
-        hprintln!("idle p0 started");
+        hprintln!("idle p0 started").ok();
         rtic::pend(Interrupt::GPIOC);
         cx.shared.s3.lock(|s| {
-            hprintln!("idle enter lock s3 {}", s);
-            hprintln!("idle pend t0");
+            hprintln!("idle enter lock s3 {}", s).ok();
+            hprintln!("idle pend t0").ok();
             rtic::pend(Interrupt::GPIOA); // t0 p2, with shared ceiling 3
-            hprintln!("idle pend t1");
+            hprintln!("idle pend t1").ok();
             rtic::pend(Interrupt::GPIOB); // t1 p3, with shared ceiling 3
-            hprintln!("idle pend t2");
+            hprintln!("idle pend t2").ok();
             rtic::pend(Interrupt::GPIOC); // t2 p4, no sharing
-            hprintln!("idle still in lock s3 {}", s);
+            hprintln!("idle still in lock s3 {}", s).ok();
         });
-        hprintln!("\nback in idle");
+        hprintln!("\nback in idle").ok();
 
         cx.shared.s2.lock(|s| {
-            hprintln!("enter lock s2 {}", s);
-            hprintln!("idle pend t0");
+            hprintln!("enter lock s2 {}", s).ok();
+            hprintln!("idle pend t0").ok();
             rtic::pend(Interrupt::GPIOA); // t0 p2, with shared ceiling 2
-            hprintln!("idle pend t1");
+            hprintln!("idle pend t1").ok();
             rtic::pend(Interrupt::GPIOB); // t1 p3, no sharing
-            hprintln!("idle pend t2");
+            hprintln!("idle pend t2").ok();
             rtic::pend(Interrupt::GPIOC); // t2 p4, no sharing
-            hprintln!("idle still in lock s2 {}", s);
+            hprintln!("idle still in lock s2 {}", s).ok();
         });
-        hprintln!("\nidle exit");
+        hprintln!("\nidle exit").ok();
 
         debug::exit(debug::EXIT_SUCCESS); // Exit QEMU simulator
 
@@ -83,8 +82,9 @@ mod app {
             "t0 p2 called {} time{}",
             *cx.local.times,
             if *cx.local.times > 1 { "s" } else { "" }
-        );
-        hprintln!("t0 p2 exit");
+        )
+        .ok();
+        hprintln!("t0 p2 exit").ok();
     }
 
     #[task(binds = GPIOB, priority = 3, local = [times: u32 = 0], shared = [s3, s4])]
@@ -96,18 +96,19 @@ mod app {
             "t1 p3 called {} time{}",
             *cx.local.times,
             if *cx.local.times > 1 { "s" } else { "" }
-        );
+        )
+        .ok();
 
         cx.shared.s4.lock(|s| {
-            hprintln!("t1 enter lock s4 {}", s);
-            hprintln!("t1 pend t0");
+            hprintln!("t1 enter lock s4 {}", s).ok();
+            hprintln!("t1 pend t0").ok();
             rtic::pend(Interrupt::GPIOA); // t0 p2, with shared ceiling 2
-            hprintln!("t1 pend t2");
+            hprintln!("t1 pend t2").ok();
             rtic::pend(Interrupt::GPIOC); // t2 p4, no sharing
-            hprintln!("t1 still in lock s4 {}", s);
+            hprintln!("t1 still in lock s4 {}", s).ok();
         });
 
-        hprintln!("t1 p3 exit");
+        hprintln!("t1 p3 exit").ok();
     }
 
     #[task(binds = GPIOC, priority = 4, local = [times: u32 = 0], shared = [s4])]
@@ -119,12 +120,13 @@ mod app {
             "t2 p4 called {} time{}",
             *cx.local.times,
             if *cx.local.times > 1 { "s" } else { "" }
-        );
+        )
+        .unwrap();
 
         cx.shared.s4.lock(|s| {
-            hprintln!("enter lock s4 {}", s);
+            hprintln!("enter lock s4 {}", s).ok();
             *s += 1;
         });
-        hprintln!("t3 p4 exit");
+        hprintln!("t3 p4 exit").ok();
     }
 }
diff --git a/examples/declared_locals.rs b/examples/declared_locals.rs
index cb6214960f..52d354bc9a 100644
--- a/examples/declared_locals.rs
+++ b/examples/declared_locals.rs
@@ -2,7 +2,6 @@
 
 #![deny(unsafe_code)]
 #![deny(warnings)]
-#![deny(missing_docs)]
 #![no_main]
 #![no_std]
 
diff --git a/examples/destructure.rs b/examples/destructure.rs
index 70b0dd7e6f..6019c225cc 100644
--- a/examples/destructure.rs
+++ b/examples/destructure.rs
@@ -2,7 +2,6 @@
 
 #![deny(unsafe_code)]
 #![deny(warnings)]
-#![deny(missing_docs)]
 #![no_main]
 #![no_std]
 
@@ -43,7 +42,7 @@ mod app {
         let b = cx.shared.b;
         let c = cx.shared.c;
 
-        hprintln!("foo: a = {}, b = {}, c = {}", a, b, c);
+        hprintln!("foo: a = {}, b = {}, c = {}", a, b, c).unwrap();
     }
 
     // De-structure-ing syntax
@@ -51,6 +50,6 @@ mod app {
     fn bar(cx: bar::Context) {
         let bar::SharedResources { a, b, c } = cx.shared;
 
-        hprintln!("bar: a = {}, b = {}, c = {}", a, b, c);
+        hprintln!("bar: a = {}, b = {}, c = {}", a, b, c).unwrap();
     }
 }
diff --git a/examples/extern_binds.rs b/examples/extern_binds.rs
index bfc85cfc82..4dc6633c5d 100644
--- a/examples/extern_binds.rs
+++ b/examples/extern_binds.rs
@@ -2,7 +2,6 @@
 
 #![deny(unsafe_code)]
 #![deny(warnings)]
-#![deny(missing_docs)]
 #![no_main]
 #![no_std]
 
@@ -11,7 +10,7 @@ use panic_semihosting as _;
 
 // Free function implementing the interrupt bound task `foo`.
 fn foo(_: app::foo::Context) {
-    hprintln!("foo called");
+    hprintln!("foo called").ok();
 }
 
 #[rtic::app(device = lm3s6965)]
@@ -30,22 +29,21 @@ mod app {
     fn init(_: init::Context) -> (Shared, Local, init::Monotonics) {
         rtic::pend(Interrupt::UART0);
 
-        hprintln!("init");
+        hprintln!("init").unwrap();
 
         (Shared {}, Local {}, init::Monotonics())
     }
 
     #[idle]
     fn idle(_: idle::Context) -> ! {
-        hprintln!("idle");
+        hprintln!("idle").unwrap();
 
         rtic::pend(Interrupt::UART0);
 
+        debug::exit(debug::EXIT_SUCCESS); // Exit QEMU simulator
+
         loop {
             cortex_m::asm::nop();
-            // Exit moved after nop to ensure that rtic::pend gets
-            // to run before exiting
-            debug::exit(debug::EXIT_SUCCESS); // Exit QEMU simulator
         }
     }
 
diff --git a/examples/extern_spawn.rs b/examples/extern_spawn.rs
index 446d31a77b..7f9b5a5f9b 100644
--- a/examples/extern_spawn.rs
+++ b/examples/extern_spawn.rs
@@ -2,7 +2,6 @@
 
 #![deny(unsafe_code)]
 #![deny(warnings)]
-#![deny(missing_docs)]
 #![no_main]
 #![no_std]
 
@@ -11,7 +10,7 @@ use panic_semihosting as _;
 
 // Free function implementing the spawnable task `foo`.
 fn foo(_c: app::foo::Context, x: i32, y: u32) {
-    hprintln!("foo {}, {}", x, y);
+    hprintln!("foo {}, {}", x, y).unwrap();
     if x == 2 {
         debug::exit(debug::EXIT_SUCCESS); // Exit QEMU simulator
     }
diff --git a/examples/generics.rs b/examples/generics.rs
index bc4959fb7b..72b861ba91 100644
--- a/examples/generics.rs
+++ b/examples/generics.rs
@@ -2,7 +2,6 @@
 
 #![deny(unsafe_code)]
 #![deny(warnings)]
-#![deny(missing_docs)]
 #![no_main]
 #![no_std]
 
@@ -33,22 +32,19 @@ mod app {
 
     #[task(binds = UART0, shared = [shared], local = [state: u32 = 0])]
     fn uart0(c: uart0::Context) {
-        hprintln!("UART0(STATE = {})", *c.local.state);
+        hprintln!("UART0(STATE = {})", *c.local.state).unwrap();
 
         // second argument has type `shared::shared`
         super::advance(c.local.state, c.shared.shared);
 
         rtic::pend(Interrupt::UART1);
 
-        // Exit moved after nop to ensure that rtic::pend gets
-        // to run before exiting
-        cortex_m::asm::nop();
         debug::exit(debug::EXIT_SUCCESS); // Exit QEMU simulator
     }
 
     #[task(binds = UART1, priority = 2, shared = [shared], local = [state: u32 = 0])]
     fn uart1(c: uart1::Context) {
-        hprintln!("UART1(STATE = {})", *c.local.state);
+        hprintln!("UART1(STATE = {})", *c.local.state).unwrap();
 
         // second argument has type `shared::shared`
         super::advance(c.local.state, c.shared.shared);
@@ -65,5 +61,5 @@ fn advance(state: &mut u32, mut shared: impl Mutex<T = u32>) {
         (old, *shared)
     });
 
-    hprintln!("shared: {} -> {}", old, new);
+    hprintln!("shared: {} -> {}", old, new).unwrap();
 }
diff --git a/examples/hardware.rs b/examples/hardware.rs
index a7fdb47a37..60632247fb 100644
--- a/examples/hardware.rs
+++ b/examples/hardware.rs
@@ -2,7 +2,6 @@
 
 #![deny(unsafe_code)]
 #![deny(warnings)]
-#![deny(missing_docs)]
 #![no_main]
 #![no_std]
 
@@ -25,7 +24,7 @@ mod app {
         // `init` returns because interrupts are disabled
         rtic::pend(Interrupt::UART0); // equivalent to NVIC::pend
 
-        hprintln!("init");
+        hprintln!("init").unwrap();
 
         (Shared {}, Local {}, init::Monotonics())
     }
@@ -34,15 +33,14 @@ mod app {
     fn idle(_: idle::Context) -> ! {
         // interrupts are enabled again; the `UART0` handler runs at this point
 
-        hprintln!("idle");
+        hprintln!("idle").unwrap();
 
         rtic::pend(Interrupt::UART0);
 
+        debug::exit(debug::EXIT_SUCCESS); // Exit QEMU simulator
+
         loop {
-            // Exit moved after nop to ensure that rtic::pend gets
-            // to run before exiting
             cortex_m::asm::nop();
-            debug::exit(debug::EXIT_SUCCESS); // Exit QEMU simulator
         }
     }
 
@@ -55,6 +53,7 @@ mod app {
             "UART0 called {} time{}",
             *cx.local.times,
             if *cx.local.times > 1 { "s" } else { "" }
-        );
+        )
+        .unwrap();
     }
 }
diff --git a/examples/idle-wfi.rs b/examples/idle-wfi.rs
index 5e52620d45..4a8a8dee2b 100644
--- a/examples/idle-wfi.rs
+++ b/examples/idle-wfi.rs
@@ -2,7 +2,6 @@
 
 #![deny(unsafe_code)]
 #![deny(warnings)]
-#![deny(missing_docs)]
 #![no_main]
 #![no_std]
 
@@ -20,7 +19,7 @@ mod app {
 
     #[init]
     fn init(mut cx: init::Context) -> (Shared, Local, init::Monotonics) {
-        hprintln!("init");
+        hprintln!("init").unwrap();
 
         // Set the ARM SLEEPONEXIT bit to go to sleep after handling interrupts
         // See https://developer.arm.com/docs/100737/0100/power-management/sleep-mode/sleep-on-exit-bit
@@ -34,7 +33,7 @@ mod app {
         // Locals in idle have lifetime 'static
         let _x: &'static mut u32 = cx.local.x;
 
-        hprintln!("idle");
+        hprintln!("idle").unwrap();
 
         debug::exit(debug::EXIT_SUCCESS); // Exit QEMU simulator
 
diff --git a/examples/idle.rs b/examples/idle.rs
index ccec9bf273..55d6b15352 100644
--- a/examples/idle.rs
+++ b/examples/idle.rs
@@ -2,7 +2,6 @@
 
 #![deny(unsafe_code)]
 #![deny(warnings)]
-#![deny(missing_docs)]
 #![no_main]
 #![no_std]
 
@@ -20,7 +19,7 @@ mod app {
 
     #[init]
     fn init(_: init::Context) -> (Shared, Local, init::Monotonics) {
-        hprintln!("init");
+        hprintln!("init").unwrap();
 
         (Shared {}, Local {}, init::Monotonics())
     }
@@ -30,7 +29,7 @@ mod app {
         // Locals in idle have lifetime 'static
         let _x: &'static mut u32 = cx.local.x;
 
-        hprintln!("idle");
+        hprintln!("idle").unwrap();
 
         debug::exit(debug::EXIT_SUCCESS); // Exit QEMU simulator
 
diff --git a/examples/init.rs b/examples/init.rs
index afd3b98ce9..b8a5bc5b98 100644
--- a/examples/init.rs
+++ b/examples/init.rs
@@ -2,7 +2,6 @@
 
 #![deny(unsafe_code)]
 #![deny(warnings)]
-#![deny(missing_docs)]
 #![no_main]
 #![no_std]
 
@@ -33,7 +32,7 @@ mod app {
         // to indicate that this is a critical seciton
         let _cs_token: bare_metal::CriticalSection = cx.cs;
 
-        hprintln!("init");
+        hprintln!("init").unwrap();
 
         debug::exit(debug::EXIT_SUCCESS); // Exit QEMU simulator
 
diff --git a/examples/locals.rs b/examples/locals.rs
index 9e112be4b3..aa5d0fee30 100644
--- a/examples/locals.rs
+++ b/examples/locals.rs
@@ -2,8 +2,6 @@
 
 #![deny(unsafe_code)]
 #![deny(warnings)]
-#![deny(missing_docs)]
-#![deny(missing_docs)]
 #![no_main]
 #![no_std]
 
@@ -18,11 +16,8 @@ mod app {
 
     #[local]
     struct Local {
-        /// Local foo
         local_to_foo: i64,
-        /// Local bar
         local_to_bar: i64,
-        /// Local idle
         local_to_idle: i64,
     }
 
@@ -50,7 +45,7 @@ mod app {
         let local_to_idle = cx.local.local_to_idle;
         *local_to_idle += 1;
 
-        hprintln!("idle: local_to_idle = {}", local_to_idle);
+        hprintln!("idle: local_to_idle = {}", local_to_idle).unwrap();
 
         debug::exit(debug::EXIT_SUCCESS); // Exit QEMU simulator
 
@@ -74,7 +69,7 @@ mod app {
         // error: no `local_to_bar` field in `foo::LocalResources`
         // cx.local.local_to_bar += 1;
 
-        hprintln!("foo: local_to_foo = {}", local_to_foo);
+        hprintln!("foo: local_to_foo = {}", local_to_foo).unwrap();
     }
 
     // `local_to_bar` can only be accessed from this context
@@ -86,6 +81,6 @@ mod app {
         // error: no `local_to_foo` field in `bar::LocalResources`
         // cx.local.local_to_foo += 1;
 
-        hprintln!("bar: local_to_bar = {}", local_to_bar);
+        hprintln!("bar: local_to_bar = {}", local_to_bar).unwrap();
     }
 }
diff --git a/examples/lock-free.rs b/examples/lock-free.rs
index 6e5faadbf2..ea6ff1bf37 100644
--- a/examples/lock-free.rs
+++ b/examples/lock-free.rs
@@ -2,7 +2,6 @@
 
 #![deny(unsafe_code)]
 #![deny(warnings)]
-#![deny(missing_docs)]
 #![no_main]
 #![no_std]
 
@@ -34,7 +33,7 @@ mod app {
 
         *c.shared.counter += 1; // <- no lock API required
         let counter = *c.shared.counter;
-        hprintln!("  foo = {}", counter);
+        hprintln!("  foo = {}", counter).unwrap();
     }
 
     #[task(shared = [counter])] // <- same priority
@@ -43,7 +42,7 @@ mod app {
 
         *c.shared.counter += 1; // <- no lock API required
         let counter = *c.shared.counter;
-        hprintln!("  bar = {}", counter);
+        hprintln!("  bar = {}", counter).unwrap();
 
         debug::exit(debug::EXIT_SUCCESS); // Exit QEMU simulator
     }
diff --git a/examples/lock.rs b/examples/lock.rs
index 5b3e0bcc3c..f1a16968ce 100644
--- a/examples/lock.rs
+++ b/examples/lock.rs
@@ -2,7 +2,6 @@
 
 #![deny(unsafe_code)]
 #![deny(warnings)]
-#![deny(missing_docs)]
 #![no_main]
 #![no_std]
 
@@ -30,7 +29,7 @@ mod app {
     // when omitted priority is assumed to be `1`
     #[task(shared = [shared])]
     fn foo(mut c: foo::Context) {
-        hprintln!("A");
+        hprintln!("A").unwrap();
 
         // the lower priority task requires a critical section to access the data
         c.shared.shared.lock(|shared| {
@@ -40,7 +39,7 @@ mod app {
             // bar will *not* run right now due to the critical section
             bar::spawn().unwrap();
 
-            hprintln!("B - shared = {}", *shared);
+            hprintln!("B - shared = {}", *shared).unwrap();
 
             // baz does not contend for `shared` so it's allowed to run now
             baz::spawn().unwrap();
@@ -48,7 +47,7 @@ mod app {
 
         // critical section is over: bar can now start
 
-        hprintln!("E");
+        hprintln!("E").unwrap();
 
         debug::exit(debug::EXIT_SUCCESS); // Exit QEMU simulator
     }
@@ -62,11 +61,11 @@ mod app {
             *shared
         });
 
-        hprintln!("D - shared = {}", shared);
+        hprintln!("D - shared = {}", shared).unwrap();
     }
 
     #[task(priority = 3)]
     fn baz(_: baz::Context) {
-        hprintln!("C");
+        hprintln!("C").unwrap();
     }
 }
diff --git a/examples/message.rs b/examples/message.rs
index 8a6a12d5f4..76c5675aaa 100644
--- a/examples/message.rs
+++ b/examples/message.rs
@@ -2,7 +2,6 @@
 
 #![deny(unsafe_code)]
 #![deny(warnings)]
-#![deny(missing_docs)]
 #![no_main]
 #![no_std]
 
@@ -27,7 +26,7 @@ mod app {
 
     #[task(local = [count: u32 = 0])]
     fn foo(cx: foo::Context) {
-        hprintln!("foo");
+        hprintln!("foo").unwrap();
 
         bar::spawn(*cx.local.count).unwrap();
         *cx.local.count += 1;
@@ -35,14 +34,14 @@ mod app {
 
     #[task]
     fn bar(_: bar::Context, x: u32) {
-        hprintln!("bar({})", x);
+        hprintln!("bar({})", x).unwrap();
 
         baz::spawn(x + 1, x + 2).unwrap();
     }
 
     #[task]
     fn baz(_: baz::Context, x: u32, y: u32) {
-        hprintln!("baz({}, {})", x, y);
+        hprintln!("baz({}, {})", x, y).unwrap();
 
         if x + y > 4 {
             debug::exit(debug::EXIT_SUCCESS); // Exit QEMU simulator
diff --git a/examples/message_passing.rs b/examples/message_passing.rs
index 9550a5010a..ffa9537127 100644
--- a/examples/message_passing.rs
+++ b/examples/message_passing.rs
@@ -2,7 +2,6 @@
 
 #![deny(unsafe_code)]
 #![deny(warnings)]
-#![deny(missing_docs)]
 #![no_main]
 #![no_std]
 
@@ -30,7 +29,7 @@ mod app {
 
     #[task(capacity = 3)]
     fn foo(_c: foo::Context, x: i32, y: u32) {
-        hprintln!("foo {}, {}", x, y);
+        hprintln!("foo {}, {}", x, y).unwrap();
         if x == 2 {
             debug::exit(debug::EXIT_SUCCESS); // Exit QEMU simulator
         }
diff --git a/examples/multilock.rs b/examples/multilock.rs
index c7085cd51c..d99bae695e 100644
--- a/examples/multilock.rs
+++ b/examples/multilock.rs
@@ -2,7 +2,6 @@
 
 #![deny(unsafe_code)]
 #![deny(warnings)]
-#![deny(missing_docs)]
 #![no_main]
 #![no_std]
 
@@ -49,7 +48,7 @@ mod app {
             *s2 += 1;
             *s3 += 1;
 
-            hprintln!("Multiple locks, s1: {}, s2: {}, s3: {}", *s1, *s2, *s3);
+            hprintln!("Multiple locks, s1: {}, s2: {}, s3: {}", *s1, *s2, *s3).unwrap();
         });
 
         debug::exit(debug::EXIT_SUCCESS); // Exit QEMU simulator
diff --git a/examples/not-sync.rs b/examples/not-sync.rs
index 68af04a6c6..aa79ad5626 100644
--- a/examples/not-sync.rs
+++ b/examples/not-sync.rs
@@ -2,16 +2,13 @@
 
 // #![deny(unsafe_code)]
 #![deny(warnings)]
-#![deny(missing_docs)]
 #![no_main]
 #![no_std]
 
 use core::marker::PhantomData;
 use panic_semihosting as _;
 
-/// Not sync
 pub struct NotSync {
-    /// Phantom action
     _0: PhantomData<*const ()>,
 }
 
@@ -25,7 +22,6 @@ mod app {
 
     #[shared]
     struct Shared {
-        /// This resource is not Sync
         shared: NotSync,
     }
 
diff --git a/examples/only-shared-access.rs b/examples/only-shared-access.rs
index b32827abf2..8b0a77ef8c 100644
--- a/examples/only-shared-access.rs
+++ b/examples/only-shared-access.rs
@@ -2,7 +2,6 @@
 
 #![deny(unsafe_code)]
 #![deny(warnings)]
-#![deny(missing_docs)]
 #![no_main]
 #![no_std]
 
@@ -31,13 +30,13 @@ mod app {
     #[task(shared = [&key])]
     fn foo(cx: foo::Context) {
         let key: &u32 = cx.shared.key;
-        hprintln!("foo(key = {:#x})", key);
+        hprintln!("foo(key = {:#x})", key).unwrap();
 
         debug::exit(debug::EXIT_SUCCESS); // Exit QEMU simulator
     }
 
     #[task(priority = 2, shared = [&key])]
     fn bar(cx: bar::Context) {
-        hprintln!("bar(key = {:#x})", cx.shared.key);
+        hprintln!("bar(key = {:#x})", cx.shared.key).unwrap();
     }
 }
diff --git a/examples/periodic-at.rs b/examples/periodic-at.rs
index ad8a5496f2..ca68ed5eb9 100644
--- a/examples/periodic-at.rs
+++ b/examples/periodic-at.rs
@@ -2,7 +2,6 @@
 
 #![deny(unsafe_code)]
 #![deny(warnings)]
-#![deny(missing_docs)]
 #![no_main]
 #![no_std]
 
@@ -36,15 +35,15 @@ mod app {
 
     #[task(local = [cnt: u32 = 0])]
     fn foo(cx: foo::Context, instant: fugit::TimerInstantU64<100>) {
-        hprintln!("foo {:?}", instant);
+        hprintln!("foo {:?}", instant).ok();
         *cx.local.cnt += 1;
 
         if *cx.local.cnt == 4 {
             debug::exit(debug::EXIT_SUCCESS); // Exit QEMU simulator
         }
 
-        // Periodic ever 1 seconds
-        let next_instant = instant + 1.secs();
+        // Periodic every 100 milliseconds
+        let next_instant = instant + 100.millis();
         foo::spawn_at(next_instant, next_instant).unwrap();
     }
 }
diff --git a/examples/periodic-at2.rs b/examples/periodic-at2.rs
index 4719bdb7e4..ec9adcc50c 100644
--- a/examples/periodic-at2.rs
+++ b/examples/periodic-at2.rs
@@ -2,7 +2,6 @@
 
 #![deny(unsafe_code)]
 #![deny(warnings)]
-#![deny(missing_docs)]
 #![no_main]
 #![no_std]
 
@@ -29,7 +28,7 @@ mod app {
         // Initialize the monotonic (SysTick rate in QEMU is 12 MHz)
         let mut mono = Systick::new(systick, 12_000_000);
 
-        foo::spawn_after(1.secs(), mono.now()).unwrap();
+        foo::spawn_after(200.millis(), mono.now()).unwrap();
 
         (Shared {}, Local {}, init::Monotonics(mono))
     }
@@ -37,7 +36,7 @@ mod app {
     // Using the explicit type of the timer implementation
     #[task(local = [cnt: u32 = 0])]
     fn foo(cx: foo::Context, instant: fugit::TimerInstantU64<100>) {
-        hprintln!("foo {:?}", instant);
+        hprintln!("foo {:?}", instant).ok();
         *cx.local.cnt += 1;
 
         if *cx.local.cnt == 4 {
@@ -53,10 +52,10 @@ mod app {
     // This remains agnostic to the timer implementation
     #[task(local = [cnt: u32 = 0])]
     fn bar(_cx: bar::Context, instant: <MyMono as rtic_monotonic::Monotonic>::Instant) {
-        hprintln!("bar {:?}", instant);
+        hprintln!("bar {:?}", instant).ok();
 
-        // Spawn a new message with 1s offset to spawned time
-        let next_instant = instant + 1.secs();
+        // Spawn a new message with 200ms offset to spawned time
+        let next_instant = instant + 200.millis();
         foo::spawn_at(next_instant, next_instant).unwrap();
     }
 }
diff --git a/examples/periodic.rs b/examples/periodic.rs
index 13ca7c852c..2f9e8e6a64 100644
--- a/examples/periodic.rs
+++ b/examples/periodic.rs
@@ -2,7 +2,6 @@
 
 #![deny(unsafe_code)]
 #![deny(warnings)]
-#![deny(missing_docs)]
 #![no_main]
 #![no_std]
 
@@ -29,21 +28,21 @@ mod app {
         // Initialize the monotonic (SysTick rate in QEMU is 12 MHz)
         let mono = Systick::new(systick, 12_000_000);
 
-        foo::spawn_after(1.secs()).unwrap();
+        foo::spawn_after(100.millis()).unwrap();
 
         (Shared {}, Local {}, init::Monotonics(mono))
     }
 
     #[task(local = [cnt: u32 = 0])]
     fn foo(cx: foo::Context) {
-        hprintln!("foo");
+        hprintln!("foo").ok();
         *cx.local.cnt += 1;
 
         if *cx.local.cnt == 4 {
             debug::exit(debug::EXIT_SUCCESS); // Exit QEMU simulator
         }
 
-        // Periodic ever 1 seconds
-        foo::spawn_after(1.secs()).unwrap();
+        // Periodic every 100ms
+        foo::spawn_after(100.millis()).unwrap();
     }
 }
diff --git a/examples/peripherals-taken.rs b/examples/peripherals-taken.rs
index cc9b9a11ce..d542c0e64d 100644
--- a/examples/peripherals-taken.rs
+++ b/examples/peripherals-taken.rs
@@ -1,7 +1,5 @@
-//! examples/peripherals-taken.rs
-#![deny(warnings)]
 #![deny(unsafe_code)]
-#![deny(missing_docs)]
+#![deny(warnings)]
 #![no_main]
 #![no_std]
 
diff --git a/examples/pool.rs b/examples/pool.rs
index ab76370e71..d59bd91607 100644
--- a/examples/pool.rs
+++ b/examples/pool.rs
@@ -2,8 +2,6 @@
 
 #![deny(unsafe_code)]
 #![deny(warnings)]
-// pool!() generates a struct without docs
-//#![deny(missing_docs)]
 #![no_main]
 #![no_std]
 
@@ -58,7 +56,7 @@ mod app {
 
     #[task]
     fn foo(_: foo::Context, x: Box<P>) {
-        hprintln!("foo({:?})", x.as_ptr());
+        hprintln!("foo({:?})", x.as_ptr()).unwrap();
 
         // explicitly return the block to the pool
         drop(x);
@@ -68,7 +66,7 @@ mod app {
 
     #[task(priority = 2)]
     fn bar(_: bar::Context, x: Box<P>) {
-        hprintln!("bar({:?})", x.as_ptr());
+        hprintln!("bar({:?})", x.as_ptr()).unwrap();
 
         // this is done automatically so we can omit the call to `drop`
         // drop(x);
diff --git a/examples/preempt.rs b/examples/preempt.rs
index 3c7f242990..d0c8cc7d3f 100644
--- a/examples/preempt.rs
+++ b/examples/preempt.rs
@@ -25,21 +25,21 @@ mod app {
 
     #[task(priority = 1)]
     fn foo(_: foo::Context) {
-        hprintln!("foo - start");
+        hprintln!("foo - start").unwrap();
         baz::spawn().unwrap();
-        hprintln!("foo - end");
+        hprintln!("foo - end").unwrap();
         debug::exit(debug::EXIT_SUCCESS); // Exit QEMU simulator
     }
 
     #[task(priority = 2)]
     fn bar(_: bar::Context) {
-        hprintln!(" bar");
+        hprintln!(" bar").unwrap();
     }
 
     #[task(priority = 2)]
     fn baz(_: baz::Context) {
-        hprintln!(" baz - start");
+        hprintln!(" baz - start").unwrap();
         bar::spawn().unwrap();
-        hprintln!(" baz - end");
+        hprintln!(" baz - end").unwrap();
     }
 }
diff --git a/examples/ramfunc.rs b/examples/ramfunc.rs
index 956a2554d8..b3b8012c38 100644
--- a/examples/ramfunc.rs
+++ b/examples/ramfunc.rs
@@ -1,7 +1,6 @@
 //! examples/ramfunc.rs
 
 #![deny(warnings)]
-#![deny(missing_docs)]
 #![no_main]
 #![no_std]
 
@@ -34,7 +33,7 @@ mod app {
     #[inline(never)]
     #[task]
     fn foo(_: foo::Context) {
-        hprintln!("foo");
+        hprintln!("foo").unwrap();
 
         debug::exit(debug::EXIT_SUCCESS); // Exit QEMU simulator
     }
diff --git a/examples/resource-user-struct.rs b/examples/resource-user-struct.rs
index 37a885609f..ae1918d05d 100644
--- a/examples/resource-user-struct.rs
+++ b/examples/resource-user-struct.rs
@@ -2,7 +2,6 @@
 
 #![deny(unsafe_code)]
 #![deny(warnings)]
-#![deny(missing_docs)]
 #![no_main]
 #![no_std]
 
@@ -56,7 +55,7 @@ mod app {
             *shared
         });
 
-        hprintln!("UART0: shared = {}", shared);
+        hprintln!("UART0: shared = {}", shared).unwrap();
     }
 
     // `shared` can be accessed from this context
@@ -67,6 +66,6 @@ mod app {
             *shared
         });
 
-        hprintln!("UART1: shared = {}", shared);
+        hprintln!("UART1: shared = {}", shared).unwrap();
     }
 }
diff --git a/examples/schedule.rs b/examples/schedule.rs
index 9b86929d93..5bad5a30ad 100644
--- a/examples/schedule.rs
+++ b/examples/schedule.rs
@@ -2,7 +2,6 @@
 
 #![deny(unsafe_code)]
 #![deny(warnings)]
-#![deny(missing_docs)]
 #![no_main]
 #![no_std]
 
@@ -29,7 +28,7 @@ mod app {
         // Initialize the monotonic (SysTick rate in QEMU is 12 MHz)
         let mono = Systick::new(systick, 12_000_000);
 
-        hprintln!("init");
+        hprintln!("init").ok();
 
         // Schedule `foo` to run 1 second in the future
         foo::spawn_after(1.secs()).unwrap();
@@ -43,7 +42,7 @@ mod app {
 
     #[task]
     fn foo(_: foo::Context) {
-        hprintln!("foo");
+        hprintln!("foo").ok();
 
         // Schedule `bar` to run 2 seconds in the future (1 second after foo runs)
         bar::spawn_after(1.secs()).unwrap();
@@ -51,7 +50,7 @@ mod app {
 
     #[task]
     fn bar(_: bar::Context) {
-        hprintln!("bar");
+        hprintln!("bar").ok();
 
         // Schedule `baz` to run 1 seconds from now, but with a specific time instant.
         baz::spawn_at(monotonics::now() + 1.secs()).unwrap();
@@ -59,7 +58,7 @@ mod app {
 
     #[task]
     fn baz(_: baz::Context) {
-        hprintln!("baz");
+        hprintln!("baz").ok();
         debug::exit(debug::EXIT_SUCCESS); // Exit QEMU simulator
     }
 }
diff --git a/examples/shared.rs b/examples/shared.rs
index b43a19a3c5..d87dca5263 100644
--- a/examples/shared.rs
+++ b/examples/shared.rs
@@ -2,7 +2,6 @@
 
 #![deny(unsafe_code)]
 #![deny(warnings)]
-#![deny(missing_docs)]
 #![no_main]
 #![no_std]
 
@@ -16,9 +15,7 @@ mod app {
 
     #[shared]
     struct Shared {
-        /// Producer
         p: Producer<'static, u32, 5>,
-        /// Consumer
         c: Consumer<'static, u32, 5>,
     }
 
@@ -37,7 +34,7 @@ mod app {
     fn idle(mut c: idle::Context) -> ! {
         loop {
             if let Some(byte) = c.shared.c.lock(|c| c.dequeue()) {
-                hprintln!("received message: {}", byte);
+                hprintln!("received message: {}", byte).unwrap();
 
                 debug::exit(debug::EXIT_SUCCESS); // Exit QEMU simulator
             } else {
diff --git a/examples/spawn.rs b/examples/spawn.rs
index 50ae7e7a75..2db1ab8a28 100644
--- a/examples/spawn.rs
+++ b/examples/spawn.rs
@@ -2,7 +2,6 @@
 
 #![deny(unsafe_code)]
 #![deny(warnings)]
-#![deny(missing_docs)]
 #![no_main]
 #![no_std]
 
@@ -20,7 +19,7 @@ mod app {
 
     #[init]
     fn init(_: init::Context) -> (Shared, Local, init::Monotonics) {
-        hprintln!("init");
+        hprintln!("init").unwrap();
         foo::spawn().unwrap();
 
         (Shared {}, Local {}, init::Monotonics())
@@ -28,7 +27,7 @@ mod app {
 
     #[task]
     fn foo(_: foo::Context) {
-        hprintln!("foo");
+        hprintln!("foo").unwrap();
 
         debug::exit(debug::EXIT_SUCCESS); // Exit QEMU simulator
     }
diff --git a/examples/static.rs b/examples/static.rs
index efafcc7aa8..c9aa6046b5 100644
--- a/examples/static.rs
+++ b/examples/static.rs
@@ -2,7 +2,6 @@
 
 #![deny(unsafe_code)]
 #![deny(warnings)]
-#![deny(missing_docs)]
 #![no_main]
 #![no_std]
 
@@ -38,7 +37,7 @@ mod app {
         loop {
             // Lock-free access to the same underlying queue!
             if let Some(data) = c.local.c.dequeue() {
-                hprintln!("received message: {}", data);
+                hprintln!("received message: {}", data).unwrap();
 
                 // Run foo until data
                 if data == 3 {
diff --git a/examples/t-binds.rs b/examples/t-binds.rs
index 822a2eeabb..12479c0ad4 100644
--- a/examples/t-binds.rs
+++ b/examples/t-binds.rs
@@ -2,7 +2,6 @@
 
 #![deny(unsafe_code)]
 #![deny(warnings)]
-#![deny(missing_docs)]
 #![no_main]
 #![no_std]
 
diff --git a/examples/t-htask-main.rs b/examples/t-htask-main.rs
index 2b17b2ee02..37189faf76 100644
--- a/examples/t-htask-main.rs
+++ b/examples/t-htask-main.rs
@@ -1,7 +1,5 @@
-//! examples/t-htask-main.rs
 #![deny(unsafe_code)]
 #![deny(warnings)]
-#![deny(missing_docs)]
 #![no_main]
 #![no_std]
 
diff --git a/examples/t-idle-main.rs b/examples/t-idle-main.rs
index 48635b2ab2..1adc9bf044 100644
--- a/examples/t-idle-main.rs
+++ b/examples/t-idle-main.rs
@@ -1,7 +1,5 @@
-//! examples/t-idle-main.rs
 #![deny(unsafe_code)]
 #![deny(warnings)]
-#![deny(missing_docs)]
 #![no_main]
 #![no_std]
 
diff --git a/examples/t-schedule.rs b/examples/t-schedule.rs
index f3979dd62f..5ec420873d 100644
--- a/examples/t-schedule.rs
+++ b/examples/t-schedule.rs
@@ -2,7 +2,6 @@
 
 #![deny(unsafe_code)]
 #![deny(warnings)]
-#![deny(missing_docs)]
 #![no_main]
 #![no_std]
 
diff --git a/examples/t-spawn.rs b/examples/t-spawn.rs
index 7483a8494b..2bd771d7f6 100644
--- a/examples/t-spawn.rs
+++ b/examples/t-spawn.rs
@@ -2,7 +2,6 @@
 
 #![deny(unsafe_code)]
 #![deny(warnings)]
-#![deny(missing_docs)]
 #![no_main]
 #![no_std]
 
diff --git a/examples/task.rs b/examples/task.rs
index 9757f2f559..2c53aa2359 100644
--- a/examples/task.rs
+++ b/examples/task.rs
@@ -2,7 +2,6 @@
 
 #![deny(unsafe_code)]
 #![deny(warnings)]
-#![deny(missing_docs)]
 #![no_main]
 #![no_std]
 
@@ -27,31 +26,31 @@ mod app {
 
     #[task]
     fn foo(_: foo::Context) {
-        hprintln!("foo - start");
+        hprintln!("foo - start").unwrap();
 
         // spawns `bar` onto the task scheduler
         // `foo` and `bar` have the same priority so `bar` will not run until
         // after `foo` terminates
         bar::spawn().unwrap();
 
-        hprintln!("foo - middle");
+        hprintln!("foo - middle").unwrap();
 
         // spawns `baz` onto the task scheduler
         // `baz` has higher priority than `foo` so it immediately preempts `foo`
         baz::spawn().unwrap();
 
-        hprintln!("foo - end");
+        hprintln!("foo - end").unwrap();
     }
 
     #[task]
     fn bar(_: bar::Context) {
-        hprintln!("bar");
+        hprintln!("bar").unwrap();
 
         debug::exit(debug::EXIT_SUCCESS); // Exit QEMU simulator
     }
 
     #[task(priority = 2)]
     fn baz(_: baz::Context) {
-        hprintln!("baz");
+        hprintln!("baz").unwrap();
     }
 }
diff --git a/macros/src/codegen/local_resources_struct.rs b/macros/src/codegen/local_resources_struct.rs
index 309fd8d253..6bcf4fadc8 100644
--- a/macros/src/codegen/local_resources_struct.rs
+++ b/macros/src/codegen/local_resources_struct.rs
@@ -37,7 +37,6 @@ pub fn codegen(ctxt: Context, needs_lt: &mut bool, app: &App) -> (TokenStream2,
                 (&r.cfgs, &r.ty, false)
             }
             TaskLocal::Declared(r) => (&r.cfgs, &r.ty, true),
-            _ => unreachable!(),
         };
 
         has_cfgs |= !cfgs.is_empty();
diff --git a/macros/src/syntax.rs b/macros/src/syntax.rs
index 11b92c1b9d..09b2ab3d2c 100644
--- a/macros/src/syntax.rs
+++ b/macros/src/syntax.rs
@@ -1,7 +1,6 @@
 #[allow(unused_extern_crates)]
 extern crate proc_macro;
 
-use core::ops;
 use proc_macro::TokenStream;
 
 use indexmap::{IndexMap, IndexSet};
@@ -23,26 +22,6 @@ pub type Map<T> = IndexMap<Ident, T>;
 /// An order set
 pub type Set<T> = IndexSet<T>;
 
-/// Immutable pointer
-pub struct P<T> {
-    ptr: Box<T>,
-}
-
-impl<T> P<T> {
-    /// Boxes `x` making the value immutable
-    pub fn new(x: T) -> P<T> {
-        P { ptr: Box::new(x) }
-    }
-}
-
-impl<T> ops::Deref for P<T> {
-    type Target = T;
-
-    fn deref(&self) -> &T {
-        &self.ptr
-    }
-}
-
 /// Execution context
 #[derive(Clone, Copy)]
 pub enum Context<'a> {
diff --git a/macros/src/syntax/analyze.rs b/macros/src/syntax/analyze.rs
index 06b23f4685..44960b9e8a 100644
--- a/macros/src/syntax/analyze.rs
+++ b/macros/src/syntax/analyze.rs
@@ -338,8 +338,8 @@ pub(crate) fn app(app: &App) -> Result<Analysis, syn::Error> {
     })
 }
 
-/// Priority ceiling
-pub type Ceiling = Option<u8>;
+// /// Priority ceiling
+// pub type Ceiling = Option<u8>;
 
 /// Task priority
 pub type Priority = u8;
@@ -427,22 +427,22 @@ pub enum Ownership {
     },
 }
 
-impl Ownership {
-    /// Whether this resource needs to a lock at this priority level
-    pub fn needs_lock(&self, priority: u8) -> bool {
-        match self {
-            Ownership::Owned { .. } | Ownership::CoOwned { .. } => false,
-
-            Ownership::Contended { ceiling } => {
-                debug_assert!(*ceiling >= priority);
-
-                priority < *ceiling
-            }
-        }
-    }
-
-    /// Whether this resource is exclusively owned
-    pub fn is_owned(&self) -> bool {
-        matches!(self, Ownership::Owned { .. })
-    }
-}
+// impl Ownership {
+//     /// Whether this resource needs to a lock at this priority level
+//     pub fn needs_lock(&self, priority: u8) -> bool {
+//         match self {
+//             Ownership::Owned { .. } | Ownership::CoOwned { .. } => false,
+//
+//             Ownership::Contended { ceiling } => {
+//                 debug_assert!(*ceiling >= priority);
+//
+//                 priority < *ceiling
+//             }
+//         }
+//     }
+//
+//     /// Whether this resource is exclusively owned
+//     pub fn is_owned(&self) -> bool {
+//         matches!(self, Ownership::Owned { .. })
+//     }
+// }
diff --git a/src/export.rs b/src/export.rs
index 6f2a1b63c1..da4a6917b4 100644
--- a/src/export.rs
+++ b/src/export.rs
@@ -1,11 +1,13 @@
 #![allow(clippy::inline_always)]
+pub use crate::{
+    sll::{IntrusiveSortedLinkedList, Node as IntrusiveNode},
+    tq::{TaskNotReady, TimerQueue, WakerNotReady},
+};
+pub use bare_metal::CriticalSection;
 use core::{
     cell::Cell,
     sync::atomic::{AtomicBool, Ordering},
 };
-
-pub use crate::tq::{NotReady, TimerQueue};
-pub use bare_metal::CriticalSection;
 pub use cortex_m::{
     asm::nop,
     asm::wfi,
@@ -16,10 +18,134 @@ pub use cortex_m::{
 pub use heapless::sorted_linked_list::SortedLinkedList;
 pub use heapless::spsc::Queue;
 pub use heapless::BinaryHeap;
+pub use heapless::Vec;
 pub use rtic_monotonic as monotonic;
 
+pub mod idle_executor {
+    use core::{
+        future::Future,
+        pin::Pin,
+        task::{Context, Poll, RawWaker, RawWakerVTable, Waker},
+    };
+
+    fn no_op(_: *const ()) {}
+    fn no_op_clone(_: *const ()) -> RawWaker {
+        noop_raw_waker()
+    }
+
+    static IDLE_WAKER_TABLE: RawWakerVTable = RawWakerVTable::new(no_op_clone, no_op, no_op, no_op);
+
+    #[inline]
+    fn noop_raw_waker() -> RawWaker {
+        RawWaker::new(core::ptr::null(), &IDLE_WAKER_TABLE)
+    }
+
+    pub struct IdleExecutor<T>
+    where
+        T: Future,
+    {
+        idle: T,
+    }
+
+    impl<T> IdleExecutor<T>
+    where
+        T: Future,
+    {
+        #[inline(always)]
+        pub fn new(idle: T) -> Self {
+            Self { idle }
+        }
+
+        #[inline(always)]
+        pub fn run(&mut self) -> ! {
+            let w = unsafe { Waker::from_raw(noop_raw_waker()) };
+            let mut ctxt = Context::from_waker(&w);
+            loop {
+                match unsafe { Pin::new_unchecked(&mut self.idle) }.poll(&mut ctxt) {
+                    Poll::Pending => {
+                        // All ok!
+                    }
+                    Poll::Ready(_) => {
+                        // The idle executor will never return
+                        unreachable!()
+                    }
+                }
+            }
+        }
+    }
+}
+
+pub mod executor {
+    use core::{
+        future::Future,
+        mem,
+        pin::Pin,
+        task::{Context, Poll, RawWaker, RawWakerVTable, Waker},
+    };
+
+    static WAKER_VTABLE: RawWakerVTable =
+        RawWakerVTable::new(waker_clone, waker_wake, waker_wake, waker_drop);
+
+    unsafe fn waker_clone(p: *const ()) -> RawWaker {
+        RawWaker::new(p, &WAKER_VTABLE)
+    }
+
+    unsafe fn waker_wake(p: *const ()) {
+        // The only thing we need from a waker is the function to call to pend the async
+        // dispatcher.
+        let f: fn() = mem::transmute(p);
+        f();
+    }
+
+    unsafe fn waker_drop(_: *const ()) {
+        // nop
+    }
+
+    //============
+    // AsyncTaskExecutor
+
+    pub struct AsyncTaskExecutor<F: Future + 'static> {
+        task: Option<F>,
+    }
+
+    impl<F: Future + 'static> AsyncTaskExecutor<F> {
+        pub const fn new() -> Self {
+            Self { task: None }
+        }
+
+        pub fn is_running(&self) -> bool {
+            self.task.is_some()
+        }
+
+        pub fn spawn(&mut self, future: F) {
+            self.task = Some(future);
+        }
+
+        pub fn poll(&mut self, wake: fn()) -> bool {
+            if let Some(future) = &mut self.task {
+                unsafe {
+                    let waker = Waker::from_raw(RawWaker::new(wake as *const (), &WAKER_VTABLE));
+                    let mut cx = Context::from_waker(&waker);
+                    let future = Pin::new_unchecked(future);
+
+                    match future.poll(&mut cx) {
+                        Poll::Ready(_) => {
+                            self.task = None;
+                            true // Only true if we finished now
+                        }
+                        Poll::Pending => false,
+                    }
+                }
+            } else {
+                false
+            }
+        }
+    }
+}
+
 pub type SCFQ<const N: usize> = Queue<u8, N>;
 pub type SCRQ<T, const N: usize> = Queue<(T, u8), N>;
+pub type ASYNCRQ<T, const N: usize> = Queue<T, N>;
 
 /// Mask is used to store interrupt masks on systems without a BASEPRI register (M0, M0+, M23).
 /// It needs to be large enough to cover all the relevant interrupts in use.
@@ -117,7 +243,7 @@ impl Priority {
     ///
     /// Will overwrite the current Priority
     #[inline(always)]
-    pub unsafe fn new(value: u8) -> Self {
+    pub const unsafe fn new(value: u8) -> Self {
         Priority {
             inner: Cell::new(value),
         }
diff --git a/src/lib.rs b/src/lib.rs
index 7d12d9af81..da556a5c49 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -1,14 +1,125 @@
-pub fn add(left: usize, right: usize) -> usize {
-    left + right
+//! Real-Time Interrupt-driven Concurrency (RTIC) framework for ARM Cortex-M microcontrollers.
+//!
+//! **IMPORTANT**: This crate is published as [`cortex-m-rtic`] on crates.io but the name of the
+//! library is `rtic`.
+//!
+//! [`cortex-m-rtic`]: https://crates.io/crates/cortex-m-rtic
+//!
+//! The user level documentation can be found [here].
+//!
+//! [here]: https://rtic.rs
+//!
+//! Don't forget to check the documentation of the `#[app]` attribute (listed under the reexports
+//! section), which is the main component of the framework.
+//!
+//! # Minimum Supported Rust Version (MSRV)
+//!
+//! This crate is compiled and tested with the latest toolchain (rolling) as of the release date.
+//! If you run into compilation errors, try the latest stable release of the rust toolchain.
+//!
+//! # Semantic Versioning
+//!
+//! Like the Rust project, this crate adheres to [SemVer]: breaking changes in the API and semantics
+//! require a *semver bump* (since 1.0.0 a new major version release), with the exception of breaking changes
+//! that fix soundness issues -- those are considered bug fixes and can be landed in a new patch
+//! release.
+//!
+//! [SemVer]: https://semver.org/spec/v2.0.0.html
+
+#![deny(missing_docs)]
+#![deny(rust_2021_compatibility)]
+#![deny(rust_2018_compatibility)]
+#![deny(rust_2018_idioms)]
+#![no_std]
+#![doc(
+    html_logo_url = "https://raw.githubusercontent.com/rtic-rs/cortex-m-rtic/master/book/en/src/RTIC.svg",
+    html_favicon_url = "https://raw.githubusercontent.com/rtic-rs/cortex-m-rtic/master/book/en/src/RTIC.svg"
+)]
+//deny_warnings_placeholder_for_ci
+#![allow(clippy::inline_always)]
+
+use cortex_m::{interrupt::InterruptNumber, peripheral::NVIC};
+pub use rtic_core::{prelude as mutex_prelude, Exclusive, Mutex};
+pub use rtic_macros::app;
+pub use rtic_monotonic::{self, Monotonic};
+
+/// module `mutex::prelude` provides `Mutex` and multi-lock variants. Recommended over `mutex_prelude`
+pub mod mutex {
+    pub use rtic_core::prelude;
+    pub use rtic_core::Mutex;
 }
 
-#[cfg(test)]
-mod tests {
-    use super::*;
+#[doc(hidden)]
+pub mod export;
+#[doc(hidden)]
+pub mod sll;
+#[doc(hidden)]
+mod tq;
 
-    #[test]
-    fn it_works() {
-        let result = add(2, 2);
-        assert_eq!(result, 4);
+/// Sets the given `interrupt` as pending
+///
+/// This is a convenience function around
+/// [`NVIC::pend`](../cortex_m/peripheral/struct.NVIC.html#method.pend)
+pub fn pend<I>(interrupt: I)
+where
+    I: InterruptNumber,
+{
+    NVIC::pend(interrupt);
+}
+
+use core::cell::UnsafeCell;
+
+/// Internal replacement for `static mut T`
+///
+/// Used to represent RTIC Resources
+///
+/// Soundness:
+/// 1) Unsafe API for internal use only
+/// 2) ``get_mut(&self) -> *mut T``
+///    returns a raw mutable pointer to the inner T
+///    casting to &mut T is under control of RTIC
+///    RTIC ensures &mut T to be unique under Rust aliasing rules.
+///
+///    Implementation uses the underlying ``UnsafeCell<T>``
+///    self.0.get() -> *mut T
+///
+/// 3) get(&self) -> *const T
+///    returns a raw immutable (const) pointer to the inner T
+///    casting to &T is under control of RTIC
+///    RTIC ensures &T to be shared under Rust aliasing rules.
+///
+///    Implementation uses the underlying ``UnsafeCell<T>``
+///    self.0.get() -> *mut T, demoted to *const T
+///
+#[repr(transparent)]
+pub struct RacyCell<T>(UnsafeCell<T>);
+
+impl<T> RacyCell<T> {
+    /// Create a ``RacyCell``
+    #[inline(always)]
+    pub const fn new(value: T) -> Self {
+        RacyCell(UnsafeCell::new(value))
+    }
+
+    /// Get `*mut T`
+    ///
+    /// # Safety
+    ///
+    /// See documentation notes for [`RacyCell`]
+    #[inline(always)]
+    pub unsafe fn get_mut(&self) -> *mut T {
+        self.0.get()
+    }
+
+    /// Get `*const T`
+    ///
+    /// # Safety
+    ///
+    /// See documentation notes for [`RacyCell`]
+    #[inline(always)]
+    pub unsafe fn get(&self) -> *const T {
+        self.0.get()
     }
 }
+
+unsafe impl<T> Sync for RacyCell<T> {}
diff --git a/src/sll.rs b/src/sll.rs
new file mode 100644
index 0000000000..43b53c1749
--- /dev/null
+++ b/src/sll.rs
@@ -0,0 +1,421 @@
+//! An intrusive sorted priority linked list, designed for use in `Future`s in RTIC.
+use core::cmp::Ordering;
+use core::fmt;
+use core::marker::PhantomData;
+use core::ops::{Deref, DerefMut};
+use core::ptr::NonNull;
+
+/// Marker for Min sorted [`IntrusiveSortedLinkedList`].
+pub struct Min;
+
+/// Marker for Max sorted [`IntrusiveSortedLinkedList`].
+pub struct Max;
+
+/// The linked list kind: min-list or max-list
+pub trait Kind: private::Sealed {
+    #[doc(hidden)]
+    fn ordering() -> Ordering;
+}
+
+impl Kind for Min {
+    fn ordering() -> Ordering {
+        Ordering::Less
+    }
+}
+
+impl Kind for Max {
+    fn ordering() -> Ordering {
+        Ordering::Greater
+    }
+}
+
+/// Sealed traits
+mod private {
+    pub trait Sealed {}
+}
+
+impl private::Sealed for Max {}
+impl private::Sealed for Min {}
+
+/// A node in the [`IntrusiveSortedLinkedList`].
+pub struct Node<T> {
+    pub val: T,
+    next: Option<NonNull<Node<T>>>,
+}
+
+impl<T> Node<T> {
+    pub fn new(val: T) -> Self {
+        Self { val, next: None }
+    }
+}
+
+/// The linked list.
+pub struct IntrusiveSortedLinkedList<'a, T, K> {
+    head: Option<NonNull<Node<T>>>,
+    _kind: PhantomData<K>,
+    _lt: PhantomData<&'a ()>,
+}
+
+impl<'a, T, K> fmt::Debug for IntrusiveSortedLinkedList<'a, T, K>
+where
+    T: Ord + core::fmt::Debug,
+    K: Kind,
+{
+    fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
+        let mut l = f.debug_list();
+        let mut current = self.head;
+
+        while let Some(head) = current {
+            let head = unsafe { head.as_ref() };
+            current = head.next;
+
+            l.entry(&head.val);
+        }
+
+        l.finish()
+    }
+}
+
+impl<'a, T, K> IntrusiveSortedLinkedList<'a, T, K>
+where
+    T: Ord,
+    K: Kind,
+{
+    pub const fn new() -> Self {
+        Self {
+            head: None,
+            _kind: PhantomData,
+            _lt: PhantomData,
+        }
+    }
+
+    // Push to the list.
+    pub fn push(&mut self, new: &'a mut Node<T>) {
+        unsafe {
+            if let Some(head) = self.head {
+                if head.as_ref().val.cmp(&new.val) != K::ordering() {
+                    // This is newer than head, replace head
+                    new.next = self.head;
+                    self.head = Some(NonNull::new_unchecked(new));
+                } else {
+                    // It's not head, search the list for the correct placement
+                    let mut current = head;
+
+                    while let Some(next) = current.as_ref().next {
+                        if next.as_ref().val.cmp(&new.val) != K::ordering() {
+                            break;
+                        }
+
+                        current = next;
+                    }
+
+                    new.next = current.as_ref().next;
+                    current.as_mut().next = Some(NonNull::new_unchecked(new));
+                }
+            } else {
+                // List is empty, place at head
+                self.head = Some(NonNull::new_unchecked(new))
+            }
+        }
+    }
+
+    /// Get an iterator over the sorted list.
+    pub fn iter(&self) -> Iter<'_, T, K> {
+        Iter {
+            _list: self,
+            index: self.head,
+        }
+    }
+
+    /// Find an element in the list that can be changed and resorted.
+    pub fn find_mut<F>(&mut self, mut f: F) -> Option<FindMut<'_, 'a, T, K>>
+    where
+        F: FnMut(&T) -> bool,
+    {
+        let head = self.head?;
+
+        // Special-case, first element
+        if f(&unsafe { head.as_ref() }.val) {
+            return Some(FindMut {
+                is_head: true,
+                prev_index: None,
+                index: self.head,
+                list: self,
+                maybe_changed: false,
+            });
+        }
+
+        let mut current = head;
+
+        while let Some(next) = unsafe { current.as_ref() }.next {
+            if f(&unsafe { next.as_ref() }.val) {
+                return Some(FindMut {
+                    is_head: false,
+                    prev_index: Some(current),
+                    index: Some(next),
+                    list: self,
+                    maybe_changed: false,
+                });
+            }
+
+            current = next;
+        }
+
+        None
+    }
+
+    /// Peek at the first element.
+    pub fn peek(&self) -> Option<&T> {
+        self.head.map(|head| unsafe { &head.as_ref().val })
+    }
+
+    /// Pops the first element in the list.
+    ///
+    /// Complexity is worst-case `O(1)`.
+    pub fn pop(&mut self) -> Option<&'a Node<T>> {
+        if let Some(head) = self.head {
+            let v = unsafe { head.as_ref() };
+            self.head = v.next;
+            Some(v)
+        } else {
+            None
+        }
+    }
+
+    /// Checks if the linked list is empty.
+    #[inline]
+    pub fn is_empty(&self) -> bool {
+        self.head.is_none()
+    }
+}
+
+/// Iterator for the linked list.
+pub struct Iter<'a, T, K>
+where
+    T: Ord,
+    K: Kind,
+{
+    _list: &'a IntrusiveSortedLinkedList<'a, T, K>,
+    index: Option<NonNull<Node<T>>>,
+}
+
+impl<'a, T, K> Iterator for Iter<'a, T, K>
+where
+    T: Ord,
+    K: Kind,
+{
+    type Item = &'a T;
+
+    fn next(&mut self) -> Option<Self::Item> {
+        let index = self.index?;
+
+        let node = unsafe { index.as_ref() };
+        self.index = node.next;
+
+        Some(&node.val)
+    }
+}
+
+/// Comes from [`IntrusiveSortedLinkedList::find_mut`].
+pub struct FindMut<'a, 'b, T, K>
+where
+    T: Ord + 'b,
+    K: Kind,
+{
+    list: &'a mut IntrusiveSortedLinkedList<'b, T, K>,
+    is_head: bool,
+    prev_index: Option<NonNull<Node<T>>>,
+    index: Option<NonNull<Node<T>>>,
+    maybe_changed: bool,
+}
+
+impl<'a, 'b, T, K> FindMut<'a, 'b, T, K>
+where
+    T: Ord,
+    K: Kind,
+{
+    unsafe fn pop_internal(&mut self) -> &'b mut Node<T> {
+        if self.is_head {
+            // If it is the head element, we can do a normal pop
+            let mut head = self.list.head.unwrap_unchecked();
+            let v = head.as_mut();
+            self.list.head = v.next;
+            v
+        } else {
+            // Somewhere in the list
+            let mut prev = self.prev_index.unwrap_unchecked();
+            let mut curr = self.index.unwrap_unchecked();
+
+            // Re-point the previous index
+            prev.as_mut().next = curr.as_ref().next;
+
+            curr.as_mut()
+        }
+    }
+
+    /// This will pop the element from the list.
+    ///
+    /// Complexity is worst-case `O(1)`.
+    #[inline]
+    pub fn pop(mut self) -> &'b mut Node<T> {
+        unsafe { self.pop_internal() }
+    }
+
+    /// This will resort the element into the correct position in the list if needed. The resorting
+    /// will only happen if the element has been accessed mutably.
+    ///
+    /// Same as calling `drop`.
+    ///
+    /// Complexity is worst-case `O(N)`.
+    #[inline]
+    pub fn finish(self) {
+        drop(self)
+    }
+}
+
+impl<'b, T, K> Drop for FindMut<'_, 'b, T, K>
+where
+    T: Ord + 'b,
+    K: Kind,
+{
+    fn drop(&mut self) {
+        // Only resort the list if the element has changed
+        if self.maybe_changed {
+            unsafe {
+                let val = self.pop_internal();
+                self.list.push(val);
+            }
+        }
+    }
+}
+
+impl<T, K> Deref for FindMut<'_, '_, T, K>
+where
+    T: Ord,
+    K: Kind,
+{
+    type Target = T;
+
+    fn deref(&self) -> &Self::Target {
+        unsafe { &self.index.unwrap_unchecked().as_ref().val }
+    }
+}
+
+impl<T, K> DerefMut for FindMut<'_, '_, T, K>
+where
+    T: Ord,
+    K: Kind,
+{
+    fn deref_mut(&mut self) -> &mut Self::Target {
+        self.maybe_changed = true;
+        unsafe { &mut self.index.unwrap_unchecked().as_mut().val }
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+
+    #[test]
+    fn const_new() {
+        static mut _V1: IntrusiveSortedLinkedList<u32, Max> = IntrusiveSortedLinkedList::new();
+    }
+
+    #[test]
+    fn test_peek() {
+        let mut ll: IntrusiveSortedLinkedList<u32, Max> = IntrusiveSortedLinkedList::new();
+
+        let mut a = Node { val: 1, next: None };
+        ll.push(&mut a);
+        assert_eq!(ll.peek().unwrap(), &1);
+
+        let mut a = Node { val: 2, next: None };
+        ll.push(&mut a);
+        assert_eq!(ll.peek().unwrap(), &2);
+
+        let mut a = Node { val: 3, next: None };
+        ll.push(&mut a);
+        assert_eq!(ll.peek().unwrap(), &3);
+
+        let mut ll: IntrusiveSortedLinkedList<u32, Min> = IntrusiveSortedLinkedList::new();
+
+        let mut a = Node { val: 2, next: None };
+        ll.push(&mut a);
+        assert_eq!(ll.peek().unwrap(), &2);
+
+        let mut a = Node { val: 1, next: None };
+        ll.push(&mut a);
+        assert_eq!(ll.peek().unwrap(), &1);
+
+        let mut a = Node { val: 3, next: None };
+        ll.push(&mut a);
+        assert_eq!(ll.peek().unwrap(), &1);
+    }
+
+    #[test]
+    fn test_empty() {
+        let ll: IntrusiveSortedLinkedList<u32, Max> = IntrusiveSortedLinkedList::new();
+
+        assert!(ll.is_empty())
+    }
+
+    #[test]
+    fn test_updating() {
+        let mut ll: IntrusiveSortedLinkedList<u32, Max> = IntrusiveSortedLinkedList::new();
+
+        let mut a = Node { val: 1, next: None };
+        ll.push(&mut a);
+
+        let mut a = Node { val: 2, next: None };
+        ll.push(&mut a);
+
+        let mut a = Node { val: 3, next: None };
+        ll.push(&mut a);
+
+        let mut find = ll.find_mut(|v| *v == 2).unwrap();
+
+        *find += 1000;
+        find.finish();
+
+        assert_eq!(ll.peek().unwrap(), &1002);
+
+        let mut find = ll.find_mut(|v| *v == 3).unwrap();
+
+        *find += 1000;
+        find.finish();
+
+        assert_eq!(ll.peek().unwrap(), &1003);
+
+        // Remove largest element
+        ll.find_mut(|v| *v == 1003).unwrap().pop();
+
+        assert_eq!(ll.peek().unwrap(), &1002);
+    }
+
+    #[test]
+    fn test_updating_1() {
+        let mut ll: IntrusiveSortedLinkedList<u32, Max> = IntrusiveSortedLinkedList::new();
+
+        let mut a = Node { val: 1, next: None };
+        ll.push(&mut a);
+
+        let v = ll.pop().unwrap();
+
+        assert_eq!(v.val, 1);
+    }
+
+    #[test]
+    fn test_updating_2() {
+        let mut ll: IntrusiveSortedLinkedList<u32, Max> = IntrusiveSortedLinkedList::new();
+
+        let mut a = Node { val: 1, next: None };
+        ll.push(&mut a);
+
+        let mut find = ll.find_mut(|v| *v == 1).unwrap();
+
+        *find += 1000;
+        find.finish();
+
+        assert_eq!(ll.peek().unwrap(), &1001);
+    }
+}
diff --git a/src/tq.rs b/src/tq.rs
index 0f585ba4dd..daa91c8d48 100644
--- a/src/tq.rs
+++ b/src/tq.rs
@@ -1,29 +1,28 @@
-use crate::Monotonic;
+use crate::{
+    sll::{IntrusiveSortedLinkedList, Min as IsslMin, Node as IntrusiveNode},
+    Monotonic,
+};
 use core::cmp::Ordering;
-use heapless::sorted_linked_list::{LinkedIndexU16, Min, SortedLinkedList};
+use core::task::Waker;
+use heapless::sorted_linked_list::{LinkedIndexU16, Min as SllMin, SortedLinkedList};
 
-pub struct TimerQueue<Mono, Task, const N: usize>(
-    pub SortedLinkedList<NotReady<Mono, Task>, LinkedIndexU16, Min, N>,
-)
-where
-    Mono: Monotonic,
-    Task: Copy;
-
-impl<Mono, Task, const N: usize> TimerQueue<Mono, Task, N>
+pub struct TimerQueue<'a, Mono, Task, const N_TASK: usize>
 where
     Mono: Monotonic,
     Task: Copy,
 {
-    /// # Safety
-    ///
-    /// Writing to memory with a transmute in order to enable
-    /// interrupts of the ``SysTick`` timer
-    ///
-    /// Enqueue a task without checking if it is full
-    #[inline]
-    pub unsafe fn enqueue_unchecked<F1, F2>(
-        &mut self,
-        nr: NotReady<Mono, Task>,
+    pub task_queue: SortedLinkedList<TaskNotReady<Mono, Task>, LinkedIndexU16, SllMin, N_TASK>,
+    pub waker_queue: IntrusiveSortedLinkedList<'a, WakerNotReady<Mono>, IsslMin>,
+}
+
+impl<'a, Mono, Task, const N_TASK: usize> TimerQueue<'a, Mono, Task, N_TASK>
+where
+    Mono: Monotonic + 'a,
+    Task: Copy,
+{
+    fn check_if_enable<F1, F2>(
+        &self,
+        instant: Mono::Instant,
         enable_interrupt: F1,
         pend_handler: F2,
         mono: Option<&mut Mono>,
@@ -33,11 +32,17 @@ where
     {
         // Check if the top contains a non-empty element and if that element is
         // greater than nr
-        let if_heap_max_greater_than_nr =
-            self.0.peek().map_or(true, |head| nr.instant < head.instant);
+        let if_task_heap_max_greater_than_nr = self
+            .task_queue
+            .peek()
+            .map_or(true, |head| instant < head.instant);
+        let if_waker_heap_max_greater_than_nr = self
+            .waker_queue
+            .peek()
+            .map_or(true, |head| instant < head.instant);
 
-        if if_heap_max_greater_than_nr {
-            if Mono::DISABLE_INTERRUPT_ON_EMPTY_QUEUE && self.0.is_empty() {
+        if if_task_heap_max_greater_than_nr || if_waker_heap_max_greater_than_nr {
+            if Mono::DISABLE_INTERRUPT_ON_EMPTY_QUEUE && self.is_empty() {
                 if let Some(mono) = mono {
                     mono.enable_timer();
                 }
@@ -46,19 +51,49 @@ where
 
             pend_handler();
         }
-
-        self.0.push_unchecked(nr);
     }
 
-    /// Check if the timer queue is empty.
+    /// Enqueue a task without checking if it is full
+    #[inline]
+    pub unsafe fn enqueue_task_unchecked<F1, F2>(
+        &mut self,
+        nr: TaskNotReady<Mono, Task>,
+        enable_interrupt: F1,
+        pend_handler: F2,
+        mono: Option<&mut Mono>,
+    ) where
+        F1: FnOnce(),
+        F2: FnOnce(),
+    {
+        self.check_if_enable(nr.instant, enable_interrupt, pend_handler, mono);
+        self.task_queue.push_unchecked(nr);
+    }
+
+    /// Enqueue a waker
+    #[inline]
+    pub fn enqueue_waker<F1, F2>(
+        &mut self,
+        nr: &'a mut IntrusiveNode<WakerNotReady<Mono>>,
+        enable_interrupt: F1,
+        pend_handler: F2,
+        mono: Option<&mut Mono>,
+    ) where
+        F1: FnOnce(),
+        F2: FnOnce(),
+    {
+        self.check_if_enable(nr.val.instant, enable_interrupt, pend_handler, mono);
+        self.waker_queue.push(nr);
+    }
+
+    /// Check if all the timer queue is empty.
     #[inline]
     pub fn is_empty(&self) -> bool {
-        self.0.is_empty()
+        self.task_queue.is_empty() && self.waker_queue.is_empty()
     }
 
-    /// Cancel the marker value
-    pub fn cancel_marker(&mut self, marker: u32) -> Option<(Task, u8)> {
-        if let Some(val) = self.0.find_mut(|nr| nr.marker == marker) {
+    /// Cancel the marker value for a task
+    pub fn cancel_task_marker(&mut self, marker: u32) -> Option<(Task, u8)> {
+        if let Some(val) = self.task_queue.find_mut(|nr| nr.marker == marker) {
             let nr = val.pop();
 
             Some((nr.task, nr.index))
@@ -67,16 +102,23 @@ where
         }
     }
 
-    /// Update the instant at an marker value to a new instant
+    /// Cancel the marker value for a waker
+    pub fn cancel_waker_marker(&mut self, marker: u32) {
+        if let Some(val) = self.waker_queue.find_mut(|nr| nr.marker == marker) {
+            let _ = val.pop();
+        }
+    }
+
+    /// Update the instant at an marker value for a task to a new instant
     #[allow(clippy::result_unit_err)]
-    pub fn update_marker<F: FnOnce()>(
+    pub fn update_task_marker<F: FnOnce()>(
         &mut self,
         marker: u32,
         new_marker: u32,
         instant: Mono::Instant,
         pend_handler: F,
     ) -> Result<(), ()> {
-        if let Some(mut val) = self.0.find_mut(|nr| nr.marker == marker) {
+        if let Some(mut val) = self.task_queue.find_mut(|nr| nr.marker == marker) {
             val.instant = instant;
             val.marker = new_marker;
 
@@ -89,6 +131,62 @@ where
         }
     }
 
+    fn dequeue_task_queue(
+        &mut self,
+        instant: Mono::Instant,
+        mono: &mut Mono,
+    ) -> Option<(Task, u8)> {
+        if instant <= mono.now() {
+            // task became ready
+            let nr = unsafe { self.task_queue.pop_unchecked() };
+            Some((nr.task, nr.index))
+        } else {
+            // Set compare
+            mono.set_compare(instant);
+
+            // Double check that the instant we set is really in the future, else
+            // dequeue. If the monotonic is fast enough it can happen that from the
+            // read of now to the set of the compare, the time can overflow. This is to
+            // guard against this.
+            if instant <= mono.now() {
+                let nr = unsafe { self.task_queue.pop_unchecked() };
+                Some((nr.task, nr.index))
+            } else {
+                None
+            }
+        }
+    }
+
+    fn dequeue_waker_queue(&mut self, instant: Mono::Instant, mono: &mut Mono) -> bool {
+        let mut did_wake = false;
+
+        if instant <= mono.now() {
+            // Task became ready, wake the waker
+            if let Some(v) = self.waker_queue.pop() {
+                v.val.waker.wake_by_ref();
+
+                did_wake = true;
+            }
+        } else {
+            // Set compare
+            mono.set_compare(instant);
+
+            // Double check that the instant we set is really in the future, else
+            // dequeue. If the monotonic is fast enough it can happen that from the
+            // read of now to the set of the compare, the time can overflow. This is to
+            // guard against this.
+            if instant <= mono.now() {
+                if let Some(v) = self.waker_queue.pop() {
+                    v.val.waker.wake_by_ref();
+
+                    did_wake = true;
+                }
+            }
+        }
+
+        did_wake
+    }
+
     /// Dequeue a task from the ``TimerQueue``
     pub fn dequeue<F>(&mut self, disable_interrupt: F, mono: &mut Mono) -> Option<(Task, u8)>
     where
@@ -96,59 +194,72 @@ where
     {
         mono.clear_compare_flag();
 
-        if let Some(instant) = self.0.peek().map(|p| p.instant) {
-            if instant <= mono.now() {
-                // task became ready
-                let nr = unsafe { self.0.pop_unchecked() };
+        loop {
+            let tq = self.task_queue.peek().map(|p| p.instant);
+            let wq = self.waker_queue.peek().map(|p| p.instant);
 
-                Some((nr.task, nr.index))
-            } else {
-                // Set compare
-                mono.set_compare(instant);
+            let dequeue_task;
+            let instant;
 
-                // Double check that the instant we set is really in the future, else
-                // dequeue. If the monotonic is fast enough it can happen that from the
-                // read of now to the set of the compare, the time can overflow. This is to
-                // guard against this.
-                if instant <= mono.now() {
-                    let nr = unsafe { self.0.pop_unchecked() };
+            match (tq, wq) {
+                (Some(tq_instant), Some(wq_instant)) => {
+                    if tq_instant <= wq_instant {
+                        dequeue_task = true;
+                        instant = tq_instant;
+                    } else {
+                        dequeue_task = false;
+                        instant = wq_instant;
+                    }
+                }
+                (Some(tq_instant), None) => {
+                    dequeue_task = true;
+                    instant = tq_instant;
+                }
+                (None, Some(wq_instant)) => {
+                    dequeue_task = false;
+                    instant = wq_instant;
+                }
+                (None, None) => {
+                    // The queue is empty, disable the interrupt.
+                    if Mono::DISABLE_INTERRUPT_ON_EMPTY_QUEUE {
+                        disable_interrupt();
+                        mono.disable_timer();
+                    }
 
-                    Some((nr.task, nr.index))
-                } else {
-                    None
+                    return None;
                 }
             }
-        } else {
-            // The queue is empty, disable the interrupt.
-            if Mono::DISABLE_INTERRUPT_ON_EMPTY_QUEUE {
-                disable_interrupt();
-                mono.disable_timer();
-            }
 
-            None
+            if dequeue_task {
+                return self.dequeue_task_queue(instant, mono);
+            } else if !self.dequeue_waker_queue(instant, mono) {
+                return None;
+            } else {
+                // Run the dequeue again
+            }
         }
     }
 }
 
-pub struct NotReady<Mono, Task>
+pub struct TaskNotReady<Mono, Task>
 where
     Task: Copy,
     Mono: Monotonic,
 {
+    pub task: Task,
     pub index: u8,
     pub instant: Mono::Instant,
-    pub task: Task,
     pub marker: u32,
 }
 
-impl<Mono, Task> Eq for NotReady<Mono, Task>
+impl<Mono, Task> Eq for TaskNotReady<Mono, Task>
 where
     Task: Copy,
     Mono: Monotonic,
 {
 }
 
-impl<Mono, Task> Ord for NotReady<Mono, Task>
+impl<Mono, Task> Ord for TaskNotReady<Mono, Task>
 where
     Task: Copy,
     Mono: Monotonic,
@@ -158,7 +269,7 @@ where
     }
 }
 
-impl<Mono, Task> PartialEq for NotReady<Mono, Task>
+impl<Mono, Task> PartialEq for TaskNotReady<Mono, Task>
 where
     Task: Copy,
     Mono: Monotonic,
@@ -168,7 +279,7 @@ where
     }
 }
 
-impl<Mono, Task> PartialOrd for NotReady<Mono, Task>
+impl<Mono, Task> PartialOrd for TaskNotReady<Mono, Task>
 where
     Task: Copy,
     Mono: Monotonic,
@@ -177,3 +288,41 @@ where
         Some(self.cmp(other))
     }
 }
+
+pub struct WakerNotReady<Mono>
+where
+    Mono: Monotonic,
+{
+    pub waker: Waker,
+    pub instant: Mono::Instant,
+    pub marker: u32,
+}
+
+impl<Mono> Eq for WakerNotReady<Mono> where Mono: Monotonic {}
+
+impl<Mono> Ord for WakerNotReady<Mono>
+where
+    Mono: Monotonic,
+{
+    fn cmp(&self, other: &Self) -> Ordering {
+        self.instant.cmp(&other.instant)
+    }
+}
+
+impl<Mono> PartialEq for WakerNotReady<Mono>
+where
+    Mono: Monotonic,
+{
+    fn eq(&self, other: &Self) -> bool {
+        self.instant == other.instant
+    }
+}
+
+impl<Mono> PartialOrd for WakerNotReady<Mono>
+where
+    Mono: Monotonic,
+{
+    fn partial_cmp(&self, other: &Self) -> Option<Ordering> {
+        Some(self.cmp(other))
+    }
+}
diff --git a/ui/extern-interrupt-not-enough.stderr b/ui/extern-interrupt-not-enough.stderr
index a667c58824..d8c01b9a1a 100644
--- a/ui/extern-interrupt-not-enough.stderr
+++ b/ui/extern-interrupt-not-enough.stderr
@@ -1,5 +1,5 @@
-error: not enough interrupts to dispatch all software tasks (need: 1; given: 0)
-  --> $DIR/extern-interrupt-not-enough.rs:17:8
+error: not enough interrupts to dispatch all software and async tasks (need: 1; given: 0) - one interrupt is needed per priority and sync/async task
+  --> ui/extern-interrupt-not-enough.rs:17:8
    |
 17 |     fn a(_: a::Context) {}
    |        ^
diff --git a/ui/task-priority-too-high.rs b/ui/task-priority-too-high.rs
index e7e0cce207..46ab561750 100644
--- a/ui/task-priority-too-high.rs
+++ b/ui/task-priority-too-high.rs
@@ -9,7 +9,7 @@ mod app {
     struct Local {}
 
     #[init]
-    fn init(_: init::Context) -> (Shared, Local, init::Monotonics) {
+    fn init(cx: init::Context) -> (Shared, Local, init::Monotonics) {
         (Shared {}, Local {}, init::Monotonics())
     }
 
diff --git a/ui/task-priority-too-high.stderr b/ui/task-priority-too-high.stderr
index 026124c8fa..a7a15ebfe5 100644
--- a/ui/task-priority-too-high.stderr
+++ b/ui/task-priority-too-high.stderr
@@ -1,3 +1,11 @@
+warning: unused variable: `cx`
+  --> ui/task-priority-too-high.rs:12:13
+   |
+12 |     fn init(cx: init::Context) -> (Shared, Local, init::Monotonics) {
+   |             ^^ help: if this is intentional, prefix it with an underscore: `_cx`
+   |
+   = note: `#[warn(unused_variables)]` on by default
+
 error[E0080]: evaluation of constant value failed
  --> ui/task-priority-too-high.rs:3:1
   |
diff --git a/xtask/src/command.rs b/xtask/src/command.rs
index 100888c075..889540c529 100644
--- a/xtask/src/command.rs
+++ b/xtask/src/command.rs
@@ -47,6 +47,7 @@ impl<'a> CargoCommand<'a> {
                 mode,
             } => {
                 let mut args = vec![
+                    "+nightly",
                     self.name(),
                     "--example",
                     example,
@@ -69,7 +70,7 @@ impl<'a> CargoCommand<'a> {
                 features,
                 mode,
             } => {
-                let mut args = vec![self.name(), "--examples", "--target", target];
+                let mut args = vec!["+nightly", self.name(), "--examples", "--target", target];
 
                 if let Some(feature_name) = features {
                     args.extend_from_slice(&["--features", feature_name]);