diff --git a/rtic-channel/src/lib.rs b/rtic-channel/src/lib.rs
index 6f816b5755..3cee78be5c 100644
--- a/rtic-channel/src/lib.rs
+++ b/rtic-channel/src/lib.rs
@@ -119,6 +119,14 @@ macro_rules! make_channel {
 /// Error state for when the receiver has been dropped.
 pub struct NoReceiver<T>(pub T);
 
+/// Errors that 'try_send` can have.
+pub enum TrySendError<T> {
+    /// Error state for when the receiver has been dropped.
+    NoReceiver(T),
+    /// Error state when the queue is full.
+    Full(T),
+}
+
 impl<T> core::fmt::Debug for NoReceiver<T>
 where
     T: core::fmt::Debug,
@@ -128,6 +136,32 @@ where
     }
 }
 
+impl<T> core::fmt::Debug for TrySendError<T>
+where
+    T: core::fmt::Debug,
+{
+    fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
+        match self {
+            TrySendError::NoReceiver(v) => write!(f, "NoReceiver({:?})", v),
+            TrySendError::Full(v) => write!(f, "Full({:?})", v),
+        }
+    }
+}
+
+impl<T> PartialEq for TrySendError<T>
+where
+    T: PartialEq,
+{
+    fn eq(&self, other: &Self) -> bool {
+        match (self, other) {
+            (TrySendError::NoReceiver(v1), TrySendError::NoReceiver(v2)) => v1.eq(v2),
+            (TrySendError::NoReceiver(_), TrySendError::Full(_)) => false,
+            (TrySendError::Full(_), TrySendError::NoReceiver(_)) => false,
+            (TrySendError::Full(v1), TrySendError::Full(v2)) => v1.eq(v2),
+        }
+    }
+}
+
 /// A `Sender` can send to the channel and can be cloned.
 pub struct Sender<'a, T, const N: usize>(&'a Channel<T, N>);
 
@@ -178,18 +212,22 @@ impl<'a, T, const N: usize> Sender<'a, T, N> {
     }
 
     /// Try to send a value, non-blocking. If the channel is full this will return an error.
-    /// Note; this does not check if the channel is closed.
-    pub fn try_send(&mut self, val: T) -> Result<(), T> {
+    pub fn try_send(&mut self, val: T) -> Result<(), TrySendError<T>> {
         // If the wait queue is not empty, we can't try to push into the queue.
         if !self.0.wait_queue.is_empty() {
-            return Err(val);
+            return Err(TrySendError::Full(val));
+        }
+
+        // No receiver available.
+        if self.is_closed() {
+            return Err(TrySendError::NoReceiver(val));
         }
 
         let idx =
             if let Some(idx) = critical_section::with(|cs| self.0.access(cs).freeq.pop_front()) {
                 idx
             } else {
-                return Err(val);
+                return Err(TrySendError::Full(val));
             };
 
         self.send_footer(idx, val);
@@ -330,19 +368,18 @@ impl<'a, T, const N: usize> core::fmt::Debug for Receiver<'a, T, N> {
     }
 }
 
-/// Error state for when all senders has been dropped.
-pub struct NoSender;
-
-impl core::fmt::Debug for NoSender {
-    fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
-        write!(f, "NoSender")
-    }
+/// Possible receive errors.
+#[derive(Debug, PartialEq, Eq)]
+pub enum ReceiveError {
+    /// Error state for when all senders has been dropped.
+    NoSender,
+    /// Error state for when the queue is empty.
+    Empty,
 }
 
 impl<'a, T, const N: usize> Receiver<'a, T, N> {
     /// Receives a value if there is one in the channel, non-blocking.
-    /// Note; this does not check if the channel is closed.
-    pub fn try_recv(&mut self) -> Option<T> {
+    pub fn try_recv(&mut self) -> Result<T, ReceiveError> {
         // Try to get a ready slot.
         let ready_slot = critical_section::with(|cs| self.0.access(cs).readyq.pop_front());
 
@@ -363,15 +400,19 @@ impl<'a, T, const N: usize> Receiver<'a, T, N> {
                 wait_head.wake();
             }
 
-            Some(r)
+            Ok(r)
         } else {
-            None
+            if self.is_closed() {
+                Err(ReceiveError::NoSender)
+            } else {
+                Err(ReceiveError::Empty)
+            }
         }
     }
 
     /// Receives a value, waiting if the queue is empty.
     /// If all senders are dropped this will error with `NoSender`.
-    pub async fn recv(&mut self) -> Result<T, NoSender> {
+    pub async fn recv(&mut self) -> Result<T, ReceiveError> {
         // There was nothing in the queue, setup the waiting.
         poll_fn(|cx| {
             // Register waker.
@@ -379,13 +420,14 @@ impl<'a, T, const N: usize> Receiver<'a, T, N> {
             self.0.receiver_waker.register(cx.waker());
 
             // Try to dequeue.
-            if let Some(val) = self.try_recv() {
-                return Poll::Ready(Ok(val));
-            }
-
-            // If the queue is empty and there is no sender, return the error.
-            if self.is_closed() {
-                return Poll::Ready(Err(NoSender));
+            match self.try_recv() {
+                Ok(val) => {
+                    return Poll::Ready(Ok(val));
+                }
+                Err(ReceiveError::NoSender) => {
+                    return Poll::Ready(Err(ReceiveError::NoSender));
+                }
+                _ => {}
             }
 
             Poll::Pending
@@ -476,13 +518,13 @@ mod tests {
             s.try_send(i).unwrap();
         }
 
-        assert_eq!(s.try_send(11), Err(11));
+        assert_eq!(s.try_send(11), Err(TrySendError::Full(11)));
 
         for i in 0..10 {
             assert_eq!(r.try_recv().unwrap(), i);
         }
 
-        assert_eq!(r.try_recv(), None);
+        assert_eq!(r.try_recv(), Err(ReceiveError::Empty));
     }
 
     #[test]
@@ -493,7 +535,7 @@ mod tests {
 
         assert!(r.is_closed());
 
-        assert_eq!(r.try_recv(), None);
+        assert_eq!(r.try_recv(), Err(ReceiveError::NoSender));
     }
 
     #[test]
@@ -504,7 +546,7 @@ mod tests {
 
         assert!(s.is_closed());
 
-        assert_eq!(s.try_send(11), Ok(()));
+        assert_eq!(s.try_send(11), Err(TrySendError::NoReceiver(11)));
     }
 
     #[tokio::test]