diff --git a/rtic-sync/CHANGELOG.md b/rtic-sync/CHANGELOG.md
index 135b17bd22..6cd3a36ad9 100644
--- a/rtic-sync/CHANGELOG.md
+++ b/rtic-sync/CHANGELOG.md
@@ -14,6 +14,7 @@ For each category, _Added_, _Changed_, _Fixed_ add new entries at the top!
 ### Added
 
 - `defmt v0.3` derives added and forwarded to `embedded-hal(-x)` crates.
+- signal structure
 
 ## v1.2.0 - 2024-01-10
 
diff --git a/rtic-sync/Cargo.toml b/rtic-sync/Cargo.toml
index 6fcf9006d0..6d9358f2d1 100644
--- a/rtic-sync/Cargo.toml
+++ b/rtic-sync/Cargo.toml
@@ -29,9 +29,10 @@ embedded-hal-bus = { version = "0.1.0", features = ["async"] }
 defmt-03 = { package = "defmt", version = "0.3", optional = true }
 
 [dev-dependencies]
+static_cell = "2.1.0"
 tokio = { version = "1", features = ["rt", "macros", "time"] }
 
 [features]
 default = []
 testing = ["critical-section/std", "rtic-common/testing"]
-defmt-03 = ["dep:defmt-03", "embedded-hal/defmt-03", "embedded-hal-async/defmt-03", "embedded-hal-bus/defmt-03"]
\ No newline at end of file
+defmt-03 = ["dep:defmt-03", "embedded-hal/defmt-03", "embedded-hal-async/defmt-03", "embedded-hal-bus/defmt-03"]
diff --git a/rtic-sync/src/lib.rs b/rtic-sync/src/lib.rs
index 90afff63b3..f8845888ed 100644
--- a/rtic-sync/src/lib.rs
+++ b/rtic-sync/src/lib.rs
@@ -9,6 +9,7 @@ use defmt_03 as defmt;
 pub mod arbiter;
 pub mod channel;
 pub use portable_atomic;
+pub mod signal;
 
 #[cfg(test)]
 #[macro_use]
diff --git a/rtic-sync/src/signal.rs b/rtic-sync/src/signal.rs
new file mode 100644
index 0000000000..0a26b4c623
--- /dev/null
+++ b/rtic-sync/src/signal.rs
@@ -0,0 +1,195 @@
+//! A "latest only" value store with unlimited writers and async waiting.
+
+use core::{cell::UnsafeCell, future::poll_fn, task::Poll};
+use rtic_common::waker_registration::CriticalSectionWakerRegistration;
+
+/// Basically an Option but for indicating
+/// whether the store has been set or not
+#[derive(Clone, Copy)]
+enum Store<T> {
+    Set(T),
+    Unset,
+}
+
+/// A "latest only" value store with unlimited writers and async waiting.
+pub struct Signal<T: Copy> {
+    waker: CriticalSectionWakerRegistration,
+    store: UnsafeCell<Store<T>>,
+}
+
+unsafe impl<T: Copy> Send for Signal<T> {}
+unsafe impl<T: Copy> Sync for Signal<T> {}
+
+impl<T: Copy> Signal<T> {
+    /// Create a new signal.
+    pub const fn new() -> Self {
+        Self {
+            waker: CriticalSectionWakerRegistration::new(),
+            store: UnsafeCell::new(Store::Unset),
+        }
+    }
+
+    /// Split the signal into a writer and reader.
+    pub fn split(&self) -> (SignalWriter<T>, SignalReader<T>) {
+        (SignalWriter { parent: self }, SignalReader { parent: self })
+    }
+}
+
+/// Fascilitates the writing of values to a Signal.
+#[derive(Clone)]
+pub struct SignalWriter<'a, T: Copy> {
+    parent: &'a Signal<T>,
+}
+
+impl<'a, T: Copy> SignalWriter<'a, T> {
+    /// Write a raw Store value to the Signal.
+    fn write_inner(&mut self, value: Store<T>) {
+        critical_section::with(|_| {
+            // SAFETY: in a cs: exclusive access
+            unsafe { self.parent.store.get().replace(value) };
+        });
+
+        self.parent.waker.wake();
+    }
+
+    /// Write a value to the Signal.
+    pub fn write(&mut self, value: T) {
+        self.write_inner(Store::Set(value));
+    }
+
+    /// Clear the stored value in the Signal (if any).
+    pub fn clear(&mut self) {
+        self.write_inner(Store::Unset);
+    }
+}
+
+/// Fascilitates the async reading of values from the Signal.
+pub struct SignalReader<'a, T: Copy> {
+    parent: &'a Signal<T>,
+}
+
+impl<'a, T: Copy> SignalReader<'a, T> {
+    /// Immediately read and evict the latest value stored in the Signal.
+    fn take(&mut self) -> Store<T> {
+        critical_section::with(|_| {
+            // SAFETY: in a cs: exclusive access
+            unsafe { self.parent.store.get().replace(Store::Unset) }
+        })
+    }
+
+    /// Returns a pending value if present, or None if no value is available.
+    ///
+    /// Upon read, the stored value is evicted.
+    pub fn try_read(&mut self) -> Option<T> {
+        match self.take() {
+            Store::Unset => None,
+            Store::Set(value) => Some(value),
+        }
+    }
+
+    /// Wait for a new value to be written and read it.
+    ///
+    /// If a value is already pending it will be returned immediately.
+    ///
+    /// Upon read, the stored value is evicted.
+    pub async fn wait(&mut self) -> T {
+        poll_fn(|ctx| {
+            self.parent.waker.register(ctx.waker());
+            match self.take() {
+                Store::Unset => Poll::Pending,
+                Store::Set(value) => Poll::Ready(value),
+            }
+        })
+        .await
+    }
+
+    /// Wait for a new value to be written and read it.
+    ///
+    /// If a value is already pending, it will be evicted and a new
+    /// value must be written for the wait to resolve.
+    ///
+    /// Upon read, the stored value is evicted.
+    pub async fn wait_fresh(&mut self) -> T {
+        self.take();
+        self.wait().await
+    }
+}
+
+/// Convenience macro for creating a Signal.
+#[macro_export]
+macro_rules! make_signal {
+    ( $T:ty ) => {{
+        static SIGNAL: Signal<$T> = Signal::new();
+
+        SIGNAL.split()
+    }};
+}
+
+#[cfg(test)]
+mod tests {
+    use static_cell::StaticCell;
+
+    use super::*;
+
+    #[test]
+    fn empty() {
+        let (_writer, mut reader) = make_signal!(u32);
+
+        assert!(reader.try_read().is_none());
+    }
+
+    #[test]
+    fn ping_pong() {
+        let (mut writer, mut reader) = make_signal!(u32);
+
+        writer.write(0xde);
+        assert!(reader.try_read().is_some_and(|value| value == 0xde));
+    }
+
+    #[test]
+    fn latest() {
+        let (mut writer, mut reader) = make_signal!(u32);
+
+        writer.write(0xde);
+        writer.write(0xad);
+        writer.write(0xbe);
+        writer.write(0xef);
+        assert!(reader.try_read().is_some_and(|value| value == 0xef));
+    }
+
+    #[test]
+    fn consumption() {
+        let (mut writer, mut reader) = make_signal!(u32);
+
+        writer.write(0xaa);
+        assert!(reader.try_read().is_some_and(|value| value == 0xaa));
+        assert!(reader.try_read().is_none());
+    }
+
+    #[tokio::test]
+    async fn pending() {
+        let (mut writer, mut reader) = make_signal!(u32);
+
+        writer.write(0xaa);
+
+        assert_eq!(reader.wait().await, 0xaa);
+    }
+
+    #[tokio::test]
+    async fn waiting() {
+        static READER: StaticCell<SignalReader<u32>> = StaticCell::new();
+        let (mut writer, reader) = make_signal!(u32);
+
+        writer.write(0xaa);
+
+        let reader = READER.init(reader);
+        let handle = tokio::spawn(reader.wait_fresh());
+
+        tokio::task::yield_now().await; // encourage tokio executor to poll reader future
+        assert!(!handle.is_finished()); // verify reader future did not resolve after poll
+
+        writer.write(0xab);
+
+        assert!(handle.await.is_ok_and(|value| value == 0xab));
+    }
+}