diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index fc07519fde..d69740ba16 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -6,6 +6,8 @@ on:
       - master
       - staging
       - trying
+      - bors/staging
+      - bors/trying
 
 env:
   CARGO_TERM_COLOR: always
@@ -17,7 +19,7 @@ jobs:
     runs-on: ubuntu-20.04
     steps:
       - name: Checkout
-        uses: actions/checkout@v1
+        uses: actions/checkout@v2
 
       - name: Install Rust
         uses: actions-rs/toolchain@v1
@@ -52,28 +54,6 @@ jobs:
       - name: Checkout
         uses: actions/checkout@v2
 
-      - name: Cache cargo dependencies
-        uses: actions/cache@v2
-        with:
-          path: |
-            - ~/.cargo/bin/
-            - ~/.cargo/registry/index/
-            - ~/.cargo/registry/cache/
-            - ~/.cargo/git/db/
-          key: ${{ runner.OS }}-cargo-${{ hashFiles('**/Cargo.lock') }}
-          restore-keys: |
-            ${{ runner.OS }}-cargo-${{ hashFiles('**/Cargo.lock') }}
-            ${{ runner.OS }}-cargo-
-
-      - name: Cache build output dependencies
-        uses: actions/cache@v2
-        with:
-          path: target
-          key: ${{ runner.OS }}-build-${{ hashFiles('**/Cargo.lock') }}
-          restore-keys: |
-            ${{ runner.OS }}-build-${{ hashFiles('**/Cargo.lock') }}
-            ${{ runner.OS }}-build-
-
       - name: Install Rust ${{ matrix.toolchain }} with target (${{ matrix.target }})
         uses: actions-rs/toolchain@v1
         with:
@@ -84,6 +64,9 @@ jobs:
       - name: Fail on warnings
         run: sed -i 's,//deny_warnings_placeholder_for_ci,#![deny(warnings)],' src/lib.rs macros/src/lib.rs
 
+      - name: Cache Dependencies
+        uses: Swatinem/rust-cache@v1
+
       - name: cargo check
         uses: actions-rs/cargo@v1
         with:
@@ -91,6 +74,33 @@ jobs:
           command: check
           args: --target=${{ matrix.target }}
 
+  # Clippy
+  clippy:
+    name: Cargo clippy
+    runs-on: ubuntu-20.04
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v2
+
+      - name: Install Rust stable
+        uses: actions-rs/toolchain@v1
+        with:
+          toolchain: stable
+          target: x86_64-unknown-linux-gnu
+          override: true
+
+      - name: Fail on warnings
+        run: sed -i 's,//deny_warnings_placeholder_for_ci,#![deny(warnings)],' src/lib.rs macros/src/lib.rs
+
+      - name: Cache Dependencies
+        uses: Swatinem/rust-cache@v1
+
+      - name: cargo clippy
+        uses: actions-rs/cargo@v1
+        with:
+          use-cross: false
+          command: clippy
+
   # Verify all examples, checks
   checkexamples:
     name: checkexamples
@@ -106,28 +116,6 @@ jobs:
       - name: Checkout
         uses: actions/checkout@v2
 
-      - name: Cache cargo dependencies
-        uses: actions/cache@v2
-        with:
-          path: |
-            - ~/.cargo/bin/
-            - ~/.cargo/registry/index/
-            - ~/.cargo/registry/cache/
-            - ~/.cargo/git/db/
-          key: ${{ runner.OS }}-cargo-${{ hashFiles('**/Cargo.lock') }}
-          restore-keys: |
-            ${{ runner.OS }}-cargo-${{ hashFiles('**/Cargo.lock') }}
-            ${{ runner.OS }}-cargo-
-
-      - name: Cache build output dependencies
-        uses: actions/cache@v2
-        with:
-          path: target
-          key: ${{ runner.OS }}-build-${{ hashFiles('**/Cargo.lock') }}
-          restore-keys: |
-            ${{ runner.OS }}-build-${{ hashFiles('**/Cargo.lock') }}
-            ${{ runner.OS }}-build-
-
       - name: Install Rust ${{ matrix.toolchain }} with target (${{ matrix.target }})
         uses: actions-rs/toolchain@v1
         with:
@@ -136,8 +124,10 @@ jobs:
           override: true
           components: llvm-tools-preview
 
+      - name: Cache Dependencies
+        uses: Swatinem/rust-cache@v1
+
       - name: Check the examples
-        if: matrix.target == 'thumbv7m-none-eabi'
         uses: actions-rs/cargo@v1
         with:
           use-cross: false
@@ -159,28 +149,6 @@ jobs:
       - name: Checkout
         uses: actions/checkout@v2
 
-      - name: Cache cargo dependencies
-        uses: actions/cache@v2
-        with:
-          path: |
-            - ~/.cargo/bin/
-            - ~/.cargo/registry/index/
-            - ~/.cargo/registry/cache/
-            - ~/.cargo/git/db/
-          key: ${{ runner.OS }}-cargo-${{ hashFiles('**/Cargo.lock') }}
-          restore-keys: |
-            ${{ runner.OS }}-cargo-${{ hashFiles('**/Cargo.lock') }}
-            ${{ runner.OS }}-cargo-
-
-      - name: Cache build output dependencies
-        uses: actions/cache@v2
-        with:
-          path: target
-          key: ${{ runner.OS }}-build-${{ hashFiles('**/Cargo.lock') }}
-          restore-keys: |
-            ${{ runner.OS }}-build-${{ hashFiles('**/Cargo.lock') }}
-            ${{ runner.OS }}-build-
-
       - name: Install Rust ${{ matrix.toolchain }} with target (${{ matrix.target }})
         uses: actions-rs/toolchain@v1
         with:
@@ -197,6 +165,9 @@ jobs:
           version: latest
           use-tool-cache: true
 
+      - name: Cache Dependencies
+        uses: Swatinem/rust-cache@v1
+
       - name: Install QEMU
         run: |
           sudo apt update
@@ -223,28 +194,6 @@ jobs:
       - name: Checkout
         uses: actions/checkout@v2
 
-      - name: Cache cargo dependencies
-        uses: actions/cache@v2
-        with:
-          path: |
-            - ~/.cargo/bin/
-            - ~/.cargo/registry/index/
-            - ~/.cargo/registry/cache/
-            - ~/.cargo/git/db/
-          key: ${{ runner.OS }}-cargo-${{ hashFiles('**/Cargo.lock') }}
-          restore-keys: |
-            ${{ runner.OS }}-cargo-${{ hashFiles('**/Cargo.lock') }}
-            ${{ runner.OS }}-cargo-
-
-      - name: Cache build output dependencies
-        uses: actions/cache@v2
-        with:
-          path: target
-          key: ${{ runner.OS }}-build-${{ hashFiles('**/Cargo.lock') }}
-          restore-keys: |
-            ${{ runner.OS }}-build-${{ hashFiles('**/Cargo.lock') }}
-            ${{ runner.OS }}-build-
-
       - name: Install Rust ${{ matrix.toolchain }} with target (${{ matrix.target }})
         uses: actions-rs/toolchain@v1
         with:
@@ -252,6 +201,9 @@ jobs:
           target: ${{ matrix.target }}
           override: true
 
+      - name: Cache Dependencies
+        uses: Swatinem/rust-cache@v1
+
       - name: Fail on warnings
         run: sed -i 's,//deny_warnings_placeholder_for_ci,#![deny(warnings)],' src/lib.rs macros/src/lib.rs
 
@@ -266,45 +218,20 @@ jobs:
   testmacros:
     name: testmacros
     runs-on: ubuntu-20.04
-    strategy:
-      matrix:
-        target:
-          - x86_64-unknown-linux-gnu
-        toolchain:
-          - stable
     steps:
       - name: Checkout
         uses: actions/checkout@v2
 
-      - name: Cache cargo dependencies
-        uses: actions/cache@v2
-        with:
-          path: |
-            - ~/.cargo/bin/
-            - ~/.cargo/registry/index/
-            - ~/.cargo/registry/cache/
-            - ~/.cargo/git/db/
-          key: ${{ runner.OS }}-cargo-${{ hashFiles('**/Cargo.lock') }}
-          restore-keys: |
-            ${{ runner.OS }}-cargo-${{ hashFiles('**/Cargo.lock') }}
-            ${{ runner.OS }}-cargo-
-
-      - name: Cache build output dependencies
-        uses: actions/cache@v2
-        with:
-          path: target
-          key: ${{ runner.OS }}-build-${{ hashFiles('**/Cargo.lock') }}
-          restore-keys: |
-            ${{ runner.OS }}-build-${{ hashFiles('**/Cargo.lock') }}
-            ${{ runner.OS }}-build-
-
-      - name: Install Rust ${{ matrix.toolchain }} with target (${{ matrix.target }})
+      - name: Install Rust
         uses: actions-rs/toolchain@v1
         with:
-          toolchain: ${{ matrix.toolchain }}
-          target: ${{ matrix.target }}
+          toolchain: stable
+          target: x86_64-unknown-linux-gnu
           override: true
 
+      - name: Cache Dependencies
+        uses: Swatinem/rust-cache@v1
+
       - name: Fail on warnings
         run: sed -i 's,//deny_warnings_placeholder_for_ci,#![deny(warnings)],' src/lib.rs macros/src/lib.rs
 
@@ -313,84 +240,43 @@ jobs:
         with:
           use-cross: false
           command: test
-          args: --manifest-path macros/Cargo.toml --target=${{ matrix.target }}
+          args: --manifest-path macros/Cargo.toml
 
-  # Run test suite for thumbv7m
+  # Run test suite
   tests:
     name: tests
     runs-on: ubuntu-20.04
-    strategy:
-      matrix:
-        target:
-          - x86_64-unknown-linux-gnu
-        toolchain:
-          - stable
     steps:
       - name: Checkout
         uses: actions/checkout@v2
 
-      - name: Cache cargo dependencies
-        uses: actions/cache@v2
-        with:
-          path: |
-            - ~/.cargo/bin/
-            - ~/.cargo/registry/index/
-            - ~/.cargo/registry/cache/
-            - ~/.cargo/git/db/
-          key: ${{ runner.OS }}-cargo-${{ hashFiles('**/Cargo.lock') }}
-          restore-keys: |
-            ${{ runner.OS }}-cargo-
-
-      - name: Cache build output dependencies
-        uses: actions/cache@v2
-        with:
-          path: target
-          key: ${{ runner.OS }}-build-${{ hashFiles('**/Cargo.lock') }}
-          restore-keys: |
-            ${{ runner.OS }}-build-
-
       - name: Install Rust
         uses: actions-rs/toolchain@v1
         with:
-          toolchain: ${{ matrix.toolchain }}
-          target: ${{ matrix.target }}
+          toolchain: stable
+          target: x86_64-unknown-linux-gnu
           override: true
 
+      - name: Cache Dependencies
+        uses: Swatinem/rust-cache@v1
+
+      - name: Fail on warnings
+        run: sed -i 's,//deny_warnings_placeholder_for_ci,#![deny(warnings)],' src/lib.rs macros/src/lib.rs
+
       - uses: actions-rs/cargo@v1
         with:
           use-cross: false
           command: test
-          args: --test tests --target=${{ matrix.target }}
+          args: --test tests
 
   # Build documentation, check links
   docs:
     name: docs
     runs-on: ubuntu-20.04
-
     steps:
       - name: Checkout
         uses: actions/checkout@v2
 
-      - name: Cache cargo dependencies
-        uses: actions/cache@v2
-        with:
-          path: |
-            - ~/.cargo/bin/
-            - ~/.cargo/registry/index/
-            - ~/.cargo/registry/cache/
-            - ~/.cargo/git/db/
-          key: ${{ runner.OS }}-cargo-${{ hashFiles('**/Cargo.lock') }}
-          restore-keys: |
-            ${{ runner.OS }}-cargo-
-
-      - name: Cache build output dependencies
-        uses: actions/cache@v2
-        with:
-          path: target
-          key: ${{ runner.OS }}-build-${{ hashFiles('**/Cargo.lock') }}
-          restore-keys: |
-            ${{ runner.OS }}-build-
-
       - name: Cache pip installed linkchecker
         uses: actions/cache@v2
         with:
@@ -453,7 +339,7 @@ jobs:
         run: pip install git+https://github.com/linkchecker/linkchecker.git
 
       - name: mdBook Action
-        uses: peaceiris/actions-mdbook@v1.1.13
+        uses: peaceiris/actions-mdbook@v1
         with:
           mdbook-version: 'latest'
 
@@ -509,7 +395,7 @@ jobs:
         run: python -c "import sys; print(sys.version)"
 
       - name: mdBook Action
-        uses: peaceiris/actions-mdbook@v1.1.13
+        uses: peaceiris/actions-mdbook@v1
         with:
           mdbook-version: 'latest'
 
@@ -610,6 +496,7 @@ jobs:
     needs:
       - style
       - check
+      - clippy
       - checkexamples
       - testexamples
       - checkmacros
diff --git a/CHANGELOG.md b/CHANGELOG.md
index 84b42f2257..e16bb75c2c 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -7,6 +7,8 @@ This project adheres to [Semantic Versioning](http://semver.org/).
 
 ### Added
 
+- Cargo clippy in CI
+- Use rust-cache Github Action
 - CI changelog entry enforcer
 - `examples/periodic-at.rs`, an example of a periodic timer without accumulated drift.
 - `examples/periodic-at2.rs`, an example of a periodic process with two tasks, with offset timing. Here we depict two alternative usages of the timer type, explicit and trait based.
diff --git a/macros/src/codegen/module.rs b/macros/src/codegen/module.rs
index 996af64175..8410b7d75c 100644
--- a/macros/src/codegen/module.rs
+++ b/macros/src/codegen/module.rs
@@ -269,7 +269,7 @@ pub fn codegen(
             let m_ident = util::monotonic_ident(&monotonic_name);
             let m_isr = &monotonic.args.binds;
             let enum_ = util::interrupt_ident();
-            let spawn_handle_string = format!("{}::SpawnHandle", m.to_string());
+            let spawn_handle_string = format!("{}::SpawnHandle", m);
 
             let (enable_interrupt, pend) = if &*m_isr.to_string() == "SysTick" {
                 (
diff --git a/macros/src/codegen/software_tasks.rs b/macros/src/codegen/software_tasks.rs
index 2008b6c98a..c767032f5c 100644
--- a/macros/src/codegen/software_tasks.rs
+++ b/macros/src/codegen/software_tasks.rs
@@ -38,6 +38,7 @@ pub fn codegen(
         // Create free queues and inputs / instants buffers
         let fq = util::fq_ident(name);
 
+        #[allow(clippy::redundant_closure)]
         let (fq_ty, fq_expr, mk_uninit): (_, _, Box<dyn Fn() -> Option<_>>) = {
             (
                 quote!(rtic::export::SCFQ<#cap_lit_p1>),
diff --git a/macros/src/codegen/util.rs b/macros/src/codegen/util.rs
index e865434528..46eace4c39 100644
--- a/macros/src/codegen/util.rs
+++ b/macros/src/codegen/util.rs
@@ -16,7 +16,7 @@ pub fn capacity_literal(capacity: usize) -> LitInt {
 
 /// Identifier for the free queue
 pub fn fq_ident(task: &Ident) -> Ident {
-    mark_internal_name(&format!("{}_FQ", task.to_string()))
+    mark_internal_name(&format!("{}_FQ", task))
 }
 
 /// Generates a `Mutex` implementation
@@ -103,17 +103,12 @@ pub fn mark_internal_name(name: &str) -> Ident {
 
 /// Generate an internal identifier for monotonics
 pub fn internal_monotonics_ident(task: &Ident, monotonic: &Ident, ident_name: &str) -> Ident {
-    mark_internal_name(&format!(
-        "{}_{}_{}",
-        task.to_string(),
-        monotonic.to_string(),
-        ident_name,
-    ))
+    mark_internal_name(&format!("{}_{}_{}", task, monotonic, ident_name,))
 }
 
 /// Generate an internal identifier for tasks
 pub fn internal_task_ident(task: &Ident, ident_name: &str) -> Ident {
-    mark_internal_name(&format!("{}_{}", task.to_string(), ident_name))
+    mark_internal_name(&format!("{}_{}", task, ident_name))
 }
 
 fn link_section_index() -> usize {
@@ -253,26 +248,19 @@ pub fn monotonic_ident(name: &str) -> Ident {
 }
 
 pub fn static_shared_resource_ident(name: &Ident) -> Ident {
-    mark_internal_name(&format!("shared_resource_{}", name.to_string()))
+    mark_internal_name(&format!("shared_resource_{}", name))
 }
 
 pub fn static_local_resource_ident(name: &Ident) -> Ident {
-    mark_internal_name(&format!("local_resource_{}", name.to_string()))
+    mark_internal_name(&format!("local_resource_{}", name))
 }
 
 pub fn declared_static_local_resource_ident(name: &Ident, task_name: &Ident) -> Ident {
-    mark_internal_name(&format!(
-        "local_{}_{}",
-        task_name.to_string(),
-        name.to_string()
-    ))
+    mark_internal_name(&format!("local_{}_{}", task_name, name))
 }
 
 pub fn need_to_lock_ident(name: &Ident) -> Ident {
-    Ident::new(
-        &format!("{}_that_needs_to_be_locked", name.to_string()),
-        name.span(),
-    )
+    Ident::new(&format!("{}_that_needs_to_be_locked", name), name.span())
 }
 
 /// The name to get better RT flag errors
diff --git a/src/tq.rs b/src/tq.rs
index 26ebbd96c3..9033022bcd 100644
--- a/src/tq.rs
+++ b/src/tq.rs
@@ -71,6 +71,7 @@ where
     }
 
     /// Update the instant at an marker value to a new instant
+    #[allow(clippy::result_unit_err)]
     pub fn update_marker<F: FnOnce()>(
         &mut self,
         marker: u32,