Make RTIC 2 work on stable by using `main`'s stack as an allocator

66 files changed, 368 insertions, 222 deletions

diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index 79d2255..578ca40 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -43,7 +43,7 @@ jobs:
           - thumbv8-base
           - thumbv8-main
         toolchain:
-          - nightly
+          - stable
     steps:
       - name: Checkout
         uses: actions/checkout@v4
@@ -76,7 +76,7 @@ jobs:
           - thumbv8-base
           - thumbv8-main
         toolchain:
-          - nightly
+          - stable
     steps:
       - name: Checkout
         uses: actions/checkout@v4
@@ -112,7 +112,7 @@ jobs:
           - thumbv8-base
           - thumbv8-main
         toolchain:
-          - nightly
+          - stable
     steps:
       - name: Checkout
         uses: actions/checkout@v4
@@ -146,7 +146,7 @@ jobs:
     strategy:
       matrix:
         toolchain:
-          - nightly
+          - stable
     steps:
       - name: Checkout
         uses: actions/checkout@v4
@@ -237,7 +237,7 @@ jobs:
           - thumbv7
           - thumbv6
         toolchain:
-          - nightly
+          - stable
     steps:
       - name: Checkout
         uses: actions/checkout@v4
diff --git a/book/en/src/SUMMARY.md b/book/en/src/SUMMARY.md
index 4083284..028cb47 100644
--- a/book/en/src/SUMMARY.md
+++ b/book/en/src/SUMMARY.md
@@ -28,7 +28,6 @@
 ---
 
 - [Migrating from v1.0.x to v2.0.0](./migration_v1_v2.md)
-  - [Rust Nightly & features](./migration_v1_v2/nightly.md)
   - [Migrating to `rtic-monotonics`](./migration_v1_v2/monotonics.md)
   - [Software tasks must now be `async`](./migration_v1_v2/async_tasks.md)
   - [Using and understanding `rtic-sync`](./migration_v1_v2/rtic-sync.md)
diff --git a/book/en/src/migration_v1_v2.md b/book/en/src/migration_v1_v2.md
index a66b185..05ef66c 100644
--- a/book/en/src/migration_v1_v2.md
+++ b/book/en/src/migration_v1_v2.md
@@ -2,7 +2,7 @@
 
 Migrating a project from RTIC `v1.0.x` to `v2.0.0` involves the following steps:
 
-1. `v2.0.0` requires [`#![type_alias_impl_trait]`](https://github.com/rust-lang/rust/issues/63063) and Rust Nightly.
+1. `v2.1.0` works on Rust Stable from 1.75 (**recommended**), while older versions require a `nightly` compiler via the use of [`#![type_alias_impl_trait]`](https://github.com/rust-lang/rust/issues/63063).
 2. Migrating from the monotonics included in `v1.0.x` to `rtic-time` and `rtic-monotonics`, replacing `spawn_after`, `spawn_at`.
 3. Software tasks are now required to be `async`, and using them correctly.
 4. Understanding and using data types provided by `rtic-sync`.
@@ -12,7 +12,7 @@ For a detailed description of the changes, refer to the subchapters.
 If you wish to see a code example of changes required, you can check out [the full example migration page](./migration_v1_v2/complete_example.md).
 
 #### TL;DR (Too Long; Didn't Read)
-1. Add `#![type_alias_impl_trait]` to your crate, and use `cargo +nightly`.
-2. Instead of `spawn_after` and `spawn_at`, you now use the `async` functions `delay`, `delay_until` (and related) with impls provided by `rtic-monotonics`.
-3. Software tasks _must_ be `async fn`s now. Not returning from a task is allowed so long as there is an `await` in the task. You can still `lock` shared resources.
-4. Use `rtic_sync::arbiter::Arbiter` to `await` access to a shared resource, and `rtic_sync::channel::Channel` to communicate between tasks instead of `spawn`-ing new ones.
+
+1. Instead of `spawn_after` and `spawn_at`, you now use the `async` functions `delay`, `delay_until` (and related) with impls provided by `rtic-monotonics`.
+2. Software tasks _must_ be `async fn`s now. Not returning from a task is allowed so long as there is an `await` in the task. You can still `lock` shared resources.
+3. Use `rtic_sync::arbiter::Arbiter` to `await` access to a shared resource, and `rtic_sync::channel::Channel` to communicate between tasks instead of `spawn`-ing new ones.
diff --git a/book/en/src/migration_v1_v2/complete_example.md b/book/en/src/migration_v1_v2/complete_example.md
index e76fa4d..47ac2de 100644
--- a/book/en/src/migration_v1_v2/complete_example.md
+++ b/book/en/src/migration_v1_v2/complete_example.md
@@ -97,7 +97,6 @@ _Note_: This diff may not be 100% accurate, but it displays the important change
 ``` diff
 #![no_main]
  #![no_std]
-+#![feature(type_alias_impl_trait)]
  
  use panic_rtt_target as _;
  use rtic::app;
diff --git a/book/en/src/migration_v1_v2/nightly.md b/book/en/src/migration_v1_v2/nightly.md
deleted file mode 100644
index 768d1b8..0000000
--- a/book/en/src/migration_v1_v2/nightly.md
+++ /dev/null
@@ -1,5 +0,0 @@
-# RTIC now requires Rust Nightly
-
-The new `async` features require that you use a nightly compiler, and that the feature `type_alias_impl_trait` is enabled for your applications.
-
-To enable this feature, you must add the line `#![feature(type_alias_impl_trait)]` to the root file of your project, on the lines below or above where `#![no_std]` and `#![no_main]` are defined.
diff --git a/book/en/src/preface.md b/book/en/src/preface.md
index 7c015ee..2c8c31e 100644
--- a/book/en/src/preface.md
+++ b/book/en/src/preface.md
@@ -141,8 +141,6 @@ Asynchronous programming in various forms are getting increased popularity and l
 
 The Rust standard library provides collections for dynamically allocated data-structures which are useful to manage execution contexts at run-time. However, in the setting of resource constrained real-time systems, dynamic allocations are problematic (both regarding performance and reliability - Rust runs into a *panic* on an out-of-memory condition). Thus, static allocation is the preferable approach!
 
-RTIC provides a mechanism for `async`/`await` that relies solely on static allocations. However, the implementation relies on the `#![feature(type_alias_impl_trait)]` (TAIT) which is undergoing stabilization (thus RTIC v2.x currently requires a *nightly* toolchain). Technically, using TAIT, the compiler determines the size of each execution context allowing static allocation.
-
 From a modelling perspective `async/await` lifts the run-to-completion requirement of SRP, and each section of code between two yield points (`await`s) can be seen as an individual task. The compiler will reject any attempt to `await` while holding a resource (not doing so would break the strict LIFO requirement on resource usage under SRP).
 
 So with the technical stuff out of the way, what does `async/await` bring to the table?
diff --git a/examples/nrf52840_blinky/src/bin/blinky_rtc.rs b/examples/nrf52840_blinky/src/bin/blinky_rtc.rs
index e515659..dbdd0b0 100644
--- a/examples/nrf52840_blinky/src/bin/blinky_rtc.rs
+++ b/examples/nrf52840_blinky/src/bin/blinky_rtc.rs
@@ -2,7 +2,6 @@
 #![deny(warnings)]
 #![no_main]
 #![no_std]
-#![feature(type_alias_impl_trait)]
 
 use nrf52840_blinky::hal;
 
diff --git a/examples/nrf52840_blinky/src/bin/blinky_timer.rs b/examples/nrf52840_blinky/src/bin/blinky_timer.rs
index 53ccf4e..c1342f4 100644
--- a/examples/nrf52840_blinky/src/bin/blinky_timer.rs
+++ b/examples/nrf52840_blinky/src/bin/blinky_timer.rs
@@ -2,7 +2,6 @@
 #![deny(warnings)]
 #![no_main]
 #![no_std]
-#![feature(type_alias_impl_trait)]
 
 use nrf52840_blinky::hal;
 
diff --git a/examples/rp2040_local_i2c_init/src/main.rs b/examples/rp2040_local_i2c_init/src/main.rs
index a7ec08d..97049dc 100644
--- a/examples/rp2040_local_i2c_init/src/main.rs
+++ b/examples/rp2040_local_i2c_init/src/main.rs
@@ -1,6 +1,5 @@
 #![no_std]
 #![no_main]
-#![feature(type_alias_impl_trait)]
 
 #[rtic::app(
     device = rp_pico::hal::pac,
diff --git a/examples/stm32f3_blinky/README.md b/examples/stm32f3_blinky/README.md
index 5152661..1994dd3 100644
--- a/examples/stm32f3_blinky/README.md
+++ b/examples/stm32f3_blinky/README.md
@@ -6,12 +6,12 @@ Working example of simple LED blinking application for STM32 F303 Nucleo-64 boar
 
 ### Build
 
-Run `cargo +nightly build` to compile the code. If you run it for the first time, it will take some time to download and compile dependencies.
+Run `cargo build --release` to compile the code. If you run it for the first time, it will take some time to download and compile dependencies.
 
 After that, you can use for example the cargo-embed tool to flash and run it
 
 ```bash
-$ cargo +nightly embed
+$ cargo embed
 ```
 
 ### Setup environment, flash and run program
diff --git a/examples/stm32f3_blinky/src/main.rs b/examples/stm32f3_blinky/src/main.rs
index b6da714..28dc7c2 100644
--- a/examples/stm32f3_blinky/src/main.rs
+++ b/examples/stm32f3_blinky/src/main.rs
@@ -2,7 +2,6 @@
 #![deny(warnings)]
 #![no_main]
 #![no_std]
-#![feature(type_alias_impl_trait)]
 
 use panic_rtt_target as _;
 use rtic::app;
diff --git a/examples/stm32f411_rtc_interrupt/Cargo.lock b/examples/stm32f411_rtc_interrupt/Cargo.lock
index 8401900..08bf790 100644
--- a/examples/stm32f411_rtc_interrupt/Cargo.lock
+++ b/examples/stm32f411_rtc_interrupt/Cargo.lock
@@ -4,15 +4,6 @@ version = 3
 
 [[package]]
 name = "atomic-polyfill"
-version = "0.1.11"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e3ff7eb3f316534d83a8a2c3d1674ace8a5a71198eba31e2e2b597833f699b28"
-dependencies = [
- "critical-section",
-]
-
-[[package]]
-name = "atomic-polyfill"
 version = "1.0.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "8cf2bce30dfe09ef0bfaef228b9d414faaf7e563035494d7fe092dba54b300f4"
@@ -21,18 +12,12 @@ dependencies = [
 ]
 
 [[package]]
-name = "autocfg"
-version = "1.1.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d468802bab17cbc0cc575e9b053f41e72aa36bfa6b7f55e3529ffa43161b97fa"
-
-[[package]]
 name = "bare-metal"
 version = "0.2.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "5deb64efa5bd81e31fcd1938615a6d98c82eafcbcd787162b6f63b91d6bac5b3"
 dependencies = [
- "rustc_version 0.2.3",
+ "rustc_version",
 ]
 
 [[package]]
@@ -124,7 +109,7 @@ dependencies = [
  "proc-macro-error",
  "proc-macro2",
  "quote",
- "syn 2.0.39",
+ "syn 2.0.48",
 ]
 
 [[package]]
@@ -148,14 +133,23 @@ dependencies = [
 
 [[package]]
 name = "deranged"
-version = "0.3.9"
+version = "0.3.11"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0f32d04922c60427da6f9fef14d042d9edddef64cb9d4ce0d64d0685fbeb1fd3"
+checksum = "b42b6fa04a440b495c8b04d0e71b707c585f83cb9cb28cf8cd0d976c315e31b4"
 dependencies = [
  "powerfmt",
 ]
 
 [[package]]
+name = "document-features"
+version = "0.2.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ef5282ad69563b5fc40319526ba27e0e7363d552a896f0297d54f767717f9b95"
+dependencies = [
+ "litrs",
+]
+
+[[package]]
 name = "embedded-dma"
 version = "0.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
@@ -176,25 +170,25 @@ dependencies = [
 
 [[package]]
 name = "embedded-hal"
-version = "1.0.0-rc.1"
+version = "1.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2894bc2f0457b8ca3d6b8ab8aad64d9337583672494013457f86c5a9146c0e22"
+checksum = "361a90feb7004eca4019fb28352a9465666b24f840f5c3cddf0ff13920590b89"
 
 [[package]]
 name = "embedded-hal-nb"
-version = "1.0.0-rc.1"
+version = "1.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "257e3bb0163c69195acb0ebe0083b017b963235861d5ea9741626abdc55f39c9"
+checksum = "fba4268c14288c828995299e59b12babdbe170f6c6d73731af1b4648142e8605"
 dependencies = [
- "embedded-hal 1.0.0-rc.1",
+ "embedded-hal 1.0.0",
  "nb 1.1.0",
 ]
 
 [[package]]
 name = "embedded-storage"
-version = "0.3.0"
+version = "0.3.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "156d7a2fdd98ebbf9ae579cbceca3058cff946e13f8e17b90e3511db0508c723"
+checksum = "a21dea9854beb860f3062d10228ce9b976da520a73474aed3171ec276bc0c032"
 
 [[package]]
 name = "enumflags2"
@@ -213,7 +207,7 @@ checksum = "f95e2801cd355d4a1a3e3953ce6ee5ae9603a5c833455343a8bfe3f44d418246"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.39",
+ "syn 2.0.48",
 ]
 
 [[package]]
@@ -243,21 +237,21 @@ dependencies = [
 
 [[package]]
 name = "futures-core"
-version = "0.3.29"
+version = "0.3.30"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "eb1d22c66e66d9d72e1758f0bd7d4fd0bee04cad842ee34587d68c07e45d088c"
+checksum = "dfc6580bb841c5a68e9ef15c77ccc837b40a7504914d52e47b8b0e9bbda25a1d"
 
 [[package]]
 name = "futures-task"
-version = "0.3.29"
+version = "0.3.30"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "efd193069b0ddadc69c46389b740bbccdd97203899b48d09c5f7969591d6bae2"
+checksum = "38d84fa142264698cdce1a9f9172cf383a0c82de1bddcf3092901442c4097004"
 
 [[package]]
 name = "futures-util"
-version = "0.3.29"
+version = "0.3.30"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a19526d624e703a3179b3d322efec918b6246ea0fa51d41124525f00f1cc8104"
+checksum = "3d6401deb83407ab3da39eba7e33987a73c3df0c82b4bb5813ee871c19c41d48"
 dependencies = [
  "futures-core",
  "futures-task",
@@ -273,9 +267,9 @@ checksum = "1d758ba1b47b00caf47f24925c0074ecb20d6dfcffe7f6d53395c0465674841a"
 
 [[package]]
 name = "hash32"
-version = "0.2.1"
+version = "0.3.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b0c35f58762feb77d74ebe43bdbc3210f09be9fe6742234d573bacc26ed92b67"
+checksum = "47d60b12902ba28e2730cd37e95b8c9223af2808df9e902d4df49588d1470606"
 dependencies = [
  "byteorder",
 ]
@@ -288,36 +282,29 @@ checksum = "290f1a1d9242c78d09ce40a5e87e7554ee637af1351968159f4952f028f75604"
 
 [[package]]
 name = "heapless"
-version = "0.7.16"
+version = "0.8.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "db04bc24a18b9ea980628ecf00e6c0264f3c1426dac36c00cb49b6fbad8b0743"
+checksum = "0bfb9eb618601c89945a70e254898da93b13be0388091d42117462b265bb3fad"
 dependencies = [
- "atomic-polyfill 0.1.11",
  "hash32",
- "rustc_version 0.4.0",
- "spin",
  "stable_deref_trait",
 ]
 
 [[package]]
 name = "indexmap"
-version = "2.1.0"
+version = "2.2.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d530e1a18b1cb4c484e6e34556a0d948706958449fca0cab753d649f2bce3d1f"
+checksum = "433de089bd45971eecf4668ee0ee8f4cec17db4f8bd8f7bc3197a6ce37aa7d9b"
 dependencies = [
  "equivalent",
  "hashbrown",
 ]
 
 [[package]]
-name = "lock_api"
-version = "0.4.11"
+name = "litrs"
+version = "0.4.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3c168f8615b12bc01f9c17e2eb0cc07dcae1940121185446edc3744920e8ef45"
-dependencies = [
- "autocfg",
- "scopeguard",
-]
+checksum = "b4ce301924b7887e9d637144fdade93f9dfff9b60981d4ac161db09720d39aa5"
 
 [[package]]
 name = "nb"
@@ -353,6 +340,12 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "8b870d8c151b6f2fb93e84a13146138f05d02ed11c7e7c54f8826aaaf7c9f184"
 
 [[package]]
+name = "portable-atomic"
+version = "1.6.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7170ef9988bc169ba16dd36a7fa041e5c4cbeb6a35b76d4c03daded371eae7c0"
+
+[[package]]
 name = "powerfmt"
 version = "0.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
@@ -384,18 +377,18 @@ dependencies = [
 
 [[package]]
 name = "proc-macro2"
-version = "1.0.70"
+version = "1.0.78"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "39278fbbf5fb4f646ce651690877f89d1c5811a3d4acb27700c1cb3cdb78fd3b"
+checksum = "e2422ad645d89c99f8f3e6b88a9fdeca7fabeac836b1002371c4367c8f984aae"
 dependencies = [
  "unicode-ident",
 ]
 
 [[package]]
 name = "quote"
-version = "1.0.33"
+version = "1.0.35"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5267fca4496028628a95160fc423a33e8b2e6af8a5302579e322e4b520293cae"
+checksum = "291ec9ab5efd934aaf503a6466c5d5251535d108ee747472c3977cc5acc868ef"
 dependencies = [
  "proc-macro2",
 ]
@@ -427,7 +420,7 @@ version = "2.0.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "857ce76a2517808a303bcb7e5b6d4a9c1d84e5de88b302aec2e53744633c0f4d"
 dependencies = [
- "atomic-polyfill 1.0.3",
+ "atomic-polyfill",
  "bare-metal 1.0.0",
  "cortex-m",
  "critical-section",
@@ -466,33 +459,34 @@ dependencies = [
 
 [[package]]
 name = "rtic-monotonics"
-version = "1.3.0"
+version = "1.5.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "75936ddc03d8946dd256c89270501186916db5505692e1207912404231a05774"
+checksum = "058c2397dbd5bb4c5650a0e368c3920953e458805ff5097a0511b8147b3619d7"
 dependencies = [
- "atomic-polyfill 1.0.3",
+ "atomic-polyfill",
  "cfg-if",
- "embedded-hal 1.0.0-rc.1",
+ "embedded-hal 1.0.0",
  "fugit",
  "rtic-time",
 ]
 
 [[package]]
 name = "rtic-sync"
-version = "1.0.2"
+version = "1.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "adc586db4c7ee4a85482ebb0542f34ffaee16bd8b8c552081f07492f531aca9f"
+checksum = "5a243123bcfb0bbbbf27b89c13de35670875a8725ec69763062e8a5903e69e93"
 dependencies = [
  "critical-section",
  "heapless",
+ "portable-atomic",
  "rtic-common",
 ]
 
 [[package]]
 name = "rtic-time"
-version = "1.0.0"
+version = "1.3.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "55127cfa37ad32522eca2b70a12298bdb035c75ee3a4e403af8773ffe1a64bd3"
+checksum = "75b232e7aebc045cfea81cdd164bc2727a10aca9a4568d406d0a5661cdfd0f19"
 dependencies = [
  "critical-section",
  "futures-util",
@@ -505,25 +499,10 @@ version = "0.2.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "138e3e0acb6c9fb258b19b67cb8abd63c00679d2851805ea151465464fe9030a"
 dependencies = [
- "semver 0.9.0",
+ "semver",
 ]
 
 [[package]]
-name = "rustc_version"
-version = "0.4.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bfa0f585226d2e68097d4f95d113b15b83a82e819ab25717ec0590d9584ef366"
-dependencies = [
- "semver 1.0.20",
-]
-
-[[package]]
-name = "scopeguard"
-version = "1.2.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "94143f37725109f92c262ed2cf5e59bce7498c01bcc1502d7b9afe439a4e9f49"
-
-[[package]]
 name = "semver"
 version = "0.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
@@ -533,27 +512,12 @@ dependencies = [
 ]
 
 [[package]]
-name = "semver"
-version = "1.0.20"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "836fa6a3e1e547f9a2c4040802ec865b5d85f4014efe00555d7090a3dcaa1090"
-
-[[package]]
 name = "semver-parser"
 version = "0.7.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "388a1df253eca08550bef6c72392cfe7c30914bf41df5269b68cbd6ff8f570a3"
 
 [[package]]
-name = "spin"
-version = "0.9.8"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6980e8d7511241f8acf4aebddbb1ff938df5eebe98691418c4468d0b72a96a67"
-dependencies = [
- "lock_api",
-]
-
-[[package]]
 name = "stable_deref_trait"
 version = "1.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
@@ -573,16 +537,17 @@ dependencies = [
 
 [[package]]
 name = "stm32f4xx-hal"
-version = "0.18.0"
+version = "0.20.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "80faf7c1b60e623f84584c5eddb634618e11afb5634eb871b678ef9251cef0a1"
+checksum = "10c41454f262c0be0c35b8cfc0d971e598281f7a9be32e894dc97a0b21deadfe"
 dependencies = [
  "bare-metal 1.0.0",
  "cortex-m",
  "cortex-m-rt",
+ "document-features",
  "embedded-dma",
  "embedded-hal 0.2.7",
- "embedded-hal 1.0.0-rc.1",
+ "embedded-hal 1.0.0",
  "embedded-hal-nb",
  "embedded-storage",
  "enumflags2",
@@ -609,9 +574,9 @@ dependencies = [
 
 [[package]]
 name = "syn"
-version = "2.0.39"
+version = "2.0.48"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "23e78b90f2fcf45d3e842032ce32e3f2d1545ba6636271dcbf24fa306d87be7a"
+checksum = "0f3531638e407dfc0814761abb7c00a5b54992b849452a0646b7f65c9f770f3f"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -620,29 +585,29 @@ dependencies = [
 
 [[package]]
 name = "thiserror"
-version = "1.0.50"
+version = "1.0.56"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f9a7210f5c9a7156bb50aa36aed4c95afb51df0df00713949448cf9e97d382d2"
+checksum = "d54378c645627613241d077a3a79db965db602882668f9136ac42af9ecb730ad"
 dependencies = [
  "thiserror-impl",
 ]
 
 [[package]]
 name = "thiserror-impl"
-version = "1.0.50"
+version = "1.0.56"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "266b2e40bc00e5a6c09c3584011e08b06f123c00362c92b975ba9843aaaa14b8"
+checksum = "fa0faa943b50f3db30a20aa7e265dbc66076993efed8463e8de414e5d06d3471"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.39",
+ "syn 2.0.48",
 ]
 
 [[package]]
 name = "time"
-version = "0.3.30"
+version = "0.3.31"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c4a34ab300f2dee6e562c10a046fc05e358b29f9bf92277f30c3c8d82275f6f5"
+checksum = "f657ba42c3f86e7680e53c8cd3af8abbe56b5491790b46e22e19c0d57463583e"
 dependencies = [
  "deranged",
  "powerfmt",
diff --git a/examples/stm32f411_rtc_interrupt/Cargo.toml b/examples/stm32f411_rtc_interrupt/Cargo.toml
index 90053a2..e8ccbf2 100644
--- a/examples/stm32f411_rtc_interrupt/Cargo.toml
+++ b/examples/stm32f411_rtc_interrupt/Cargo.toml
@@ -18,8 +18,8 @@ defmt-rtt = { version = "0.4.0"}
 rtic-sync = "1.0.2"
 
 [dependencies.stm32f4xx-hal]
-version = "0.18.0"
-features = ["rt", "stm32f411"] # replace the model of your microcontroller here
+version = "0.20.0"
+features = ["stm32f411"] # replace the model of your microcontroller here
 
 # this lets you use `cargo fix`!
 [[bin]]
diff --git a/examples/stm32f411_rtc_interrupt/README.md b/examples/stm32f411_rtc_interrupt/README.md
index 55b7a7d..689ea9d 100644
--- a/examples/stm32f411_rtc_interrupt/README.md
+++ b/examples/stm32f411_rtc_interrupt/README.md
@@ -6,7 +6,7 @@ After configured, it will listen to periodic wake-up interrupts happening every
 ## How-to
 
 ### Build
-Run `cargo +nightly build` to compile the code. If you run it for the first time, it will take some time to download and compile dependencies.
+Run `cargo build --release` to compile the code. If you run it for the first time, it will take some time to download and compile dependencies.
 
 ### Run
 Install `probe-rs` and configure it using the [debugging extension for VScode](https://probe.rs/docs/tools/debugger/).
diff --git a/examples/stm32f411_rtc_interrupt/src/main.rs b/examples/stm32f411_rtc_interrupt/src/main.rs
index 71ce96f..55bebee 100644
--- a/examples/stm32f411_rtc_interrupt/src/main.rs
+++ b/examples/stm32f411_rtc_interrupt/src/main.rs
@@ -2,7 +2,6 @@
 #![deny(warnings)]
 #![no_main]
 #![no_std]
-#![feature(type_alias_impl_trait)]
 
 use panic_halt as _;
 
diff --git a/examples/teensy4_blinky/examples/with_logs.rs b/examples/teensy4_blinky/examples/with_logs.rs
index e844246..82c7154 100644
--- a/examples/teensy4_blinky/examples/with_logs.rs
+++ b/examples/teensy4_blinky/examples/with_logs.rs
@@ -1,7 +1,6 @@
 #![deny(warnings)]
 #![no_main]
 #![no_std]
-#![feature(type_alias_impl_trait)]
 
 use bsp::pins::common::{P0, P1};
 imxrt_uart_panic::register!(LPUART6, P1, P0, 115200, teensy4_panic::sos);
diff --git a/examples/teensy4_blinky/src/main.rs b/examples/teensy4_blinky/src/main.rs
index fad088c..443e605 100644
--- a/examples/teensy4_blinky/src/main.rs
+++ b/examples/teensy4_blinky/src/main.rs
@@ -2,7 +2,6 @@
 #![deny(warnings)]
 #![no_main]
 #![no_std]
-#![feature(type_alias_impl_trait)]
 
 #[panic_handler]
 fn panic(_: &::core::panic::PanicInfo) -> ! {
diff --git a/rtic-macros/CHANGELOG.md b/rtic-macros/CHANGELOG.md
index daee6c3..8e79470 100644
--- a/rtic-macros/CHANGELOG.md
+++ b/rtic-macros/CHANGELOG.md
@@ -9,6 +9,7 @@ For each category, *Added*, *Changed*, *Fixed* add new entries at the top!
 
 ### Added
 
+- RTIC v2 now works on stable.
 - Unstable ESP32-C3 support.
 
 ### Changed
diff --git a/rtic-macros/src/codegen/async_dispatchers.rs b/rtic-macros/src/codegen/async_dispatchers.rs
index 54db2b3..9144b2a 100644
--- a/rtic-macros/src/codegen/async_dispatchers.rs
+++ b/rtic-macros/src/codegen/async_dispatchers.rs
@@ -2,7 +2,7 @@ use crate::syntax::ast::App;
 use crate::{
     analyze::Analysis,
     codegen::{
-        bindings::{async_entry, interrupt_entry, interrupt_exit, handler_config},
+        bindings::{async_entry, handler_config, interrupt_entry, interrupt_exit},
         util,
     },
 };
@@ -17,15 +17,12 @@ pub fn codegen(app: &App, analysis: &Analysis) -> TokenStream2 {
 
     // Generate executor definition and priority in global scope
     for (name, _) in app.software_tasks.iter() {
-        let type_name = util::internal_task_ident(name, "F");
         let exec_name = util::internal_task_ident(name, "EXEC");
 
         items.push(quote!(
-            #[allow(non_camel_case_types)]
-            type #type_name = impl core::future::Future;
             #[allow(non_upper_case_globals)]
-            static #exec_name: rtic::export::executor::AsyncTaskExecutor<#type_name> =
-                rtic::export::executor::AsyncTaskExecutor::new();
+            static #exec_name: rtic::export::executor::AsyncTaskExecutorPtr =
+                rtic::export::executor::AsyncTaskExecutorPtr::new();
         ));
     }
 
@@ -50,13 +47,18 @@ pub fn codegen(app: &App, analysis: &Analysis) -> TokenStream2 {
 
         for name in channel.tasks.iter() {
             let exec_name = util::internal_task_ident(name, "EXEC");
+            let from_ptr_n_args =
+                util::from_ptr_n_args_ident(app.software_tasks[name].inputs.len());
+
             // TODO: Fix cfg
             // let task = &app.software_tasks[name];
             // let cfgs = &task.cfgs;
 
             stmts.push(quote!(
-                #exec_name.poll(|| {
-                    #exec_name.set_pending();
+                let exec = rtic::export::executor::AsyncTaskExecutor::#from_ptr_n_args(#name, &#exec_name);
+                exec.poll(|| {
+                    let exec = rtic::export::executor::AsyncTaskExecutor::#from_ptr_n_args(#name, &#exec_name);
+                    exec.set_pending();
                     #pend_interrupt
                 });
             ));
@@ -68,7 +70,7 @@ pub fn codegen(app: &App, analysis: &Analysis) -> TokenStream2 {
             let entry_stmts = interrupt_entry(app, analysis);
             let exit_stmts = interrupt_exit(app, analysis);
             let async_entry_stmts = async_entry(app, analysis, dispatcher_name.clone());
-            let config = handler_config(app,analysis,dispatcher_name.clone());
+            let config = handler_config(app, analysis, dispatcher_name.clone());
             items.push(quote!(
                 #[allow(non_snake_case)]
                 #[doc = #doc]
diff --git a/rtic-macros/src/codegen/bindings/cortex.rs b/rtic-macros/src/codegen/bindings/cortex.rs
index ffa0245..69b5ee5 100644
--- a/rtic-macros/src/codegen/bindings/cortex.rs
+++ b/rtic-macros/src/codegen/bindings/cortex.rs
@@ -29,11 +29,35 @@ fn is_exception(name: &Ident) -> bool {
             | "SysTick"
     )
 }
+
 pub fn interrupt_ident() -> Ident {
     let span = Span::call_site();
     Ident::new("interrupt", span)
 }
 
+pub fn check_stack_overflow_before_init(
+    _app: &App,
+    _analysis: &CodegenAnalysis,
+) -> Vec<TokenStream2> {
+    vec![quote!(
+        // Check for stack overflow using symbols from `cortex-m-rt`.
+        extern "C" {
+            pub static _stack_start: u32;
+            pub static __ebss: u32;
+        }
+
+        let stack_start = &_stack_start as *const _ as u32;
+        let ebss = &__ebss as *const _ as u32;
+
+        if stack_start > ebss {
+            // No flip-link usage, check the MSP for overflow.
+            if rtic::export::msp::read() <= ebss {
+                panic!("Stack overflow after allocating executors");
+            }
+        }
+    )]
+}
+
 #[cfg(feature = "cortex-m-source-masking")]
 mod source_masking {
     use super::*;
diff --git a/rtic-macros/src/codegen/bindings/esp32c3.rs b/rtic-macros/src/codegen/bindings/esp32c3.rs
index a8d58b7..4b14cae 100644
--- a/rtic-macros/src/codegen/bindings/esp32c3.rs
+++ b/rtic-macros/src/codegen/bindings/esp32c3.rs
@@ -72,7 +72,7 @@ mod esp32c3 {
     }
     pub fn pre_init_enable_interrupts(app: &App, analysis: &CodegenAnalysis) -> Vec<TokenStream2> {
         let mut stmts = vec![];
-        let mut curr_cpu_id:u8 = 1; //cpu interrupt id 0 is reserved
+        let mut curr_cpu_id: u8 = 1; //cpu interrupt id 0 is reserved
         let rt_err = util::rt_err_ident();
         let max_prio: usize = 15; //unfortunately this is not part of pac, but we know that max prio is 15.
         let interrupt_ids = analysis.interrupts.iter().map(|(p, (id, _))| (p, id));
@@ -158,6 +158,29 @@ mod esp32c3 {
         vec![]
     }
 
+    pub fn check_stack_overflow_before_init(
+        _app: &App,
+        _analysis: &CodegenAnalysis,
+    ) -> Vec<TokenStream2> {
+        vec![quote!(
+            // Check for stack overflow using symbols from `risc-v-rt`.
+            extern "C" {
+                pub static _stack_start: u32;
+                pub static __ebss: u32;
+            }
+
+            let stack_start = &_stack_start as *const _ as u32;
+            let ebss = &__ebss as *const _ as u32;
+
+            if stack_start > ebss {
+                // No flip-link usage, check the SP for overflow.
+                if rtic::export::read_sp() <= ebss {
+                    panic!("Stack overflow after allocating executors");
+                }
+            }
+        )]
+    }
+
     pub fn async_entry(
         _app: &App,
         _analysis: &CodegenAnalysis,
@@ -199,11 +222,9 @@ mod esp32c3 {
                 .values()
                 .filter_map(|task| Some((&task.args.priority, &task.args.binds))),
         ) {
-            if *name == dispatcher_name{
-                let ret = &("cpu_int_".to_owned()+&curr_cpu_id.to_string()+"_handler");
-                stmts.push(
-                    quote!(#[export_name = #ret])
-                );
+            if *name == dispatcher_name {
+                let ret = &("cpu_int_".to_owned() + &curr_cpu_id.to_string() + "_handler");
+                stmts.push(quote!(#[export_name = #ret]));
             }
             curr_cpu_id += 1;
         }
diff --git a/rtic-macros/src/codegen/bindings/template.rs b/rtic-macros/src/codegen/bindings/template.rs
index d929dd8..b5488b7 100644
--- a/rtic-macros/src/codegen/bindings/template.rs
+++ b/rtic-macros/src/codegen/bindings/template.rs
@@ -43,6 +43,13 @@ pub fn interrupt_exit(_app: &App, _analysis: &CodegenAnalysis) -> Vec<TokenStrea
     vec![]
 }
 
+pub fn check_stack_overflow_before_init(
+    _app: &App,
+    _analysis: &CodegenAnalysis,
+) -> Vec<TokenStream2> {
+    vec![]
+}
+
 pub fn async_entry(
     _app: &App,
     _analysis: &CodegenAnalysis,
diff --git a/rtic-macros/src/codegen/main.rs b/rtic-macros/src/codegen/main.rs
index 3848ab0..5612796 100644
--- a/rtic-macros/src/codegen/main.rs
+++ b/rtic-macros/src/codegen/main.rs
@@ -1,9 +1,12 @@
-use crate::{analyze::Analysis, codegen::util, syntax::ast::App};
+use super::{assertions, post_init, pre_init};
+use crate::{
+    analyze::Analysis,
+    codegen::{bindings, util},
+    syntax::ast::App,
+};
 use proc_macro2::TokenStream as TokenStream2;
 use quote::quote;
 
-use super::{assertions, post_init, pre_init};
-
 /// Generates code for `fn main`
 pub fn codegen(app: &App, analysis: &Analysis) -> TokenStream2 {
     let assertion_stmts = assertions::codegen(app, analysis);
@@ -19,12 +22,26 @@ pub fn codegen(app: &App, analysis: &Analysis) -> TokenStream2 {
         let dispatcher = util::zero_prio_dispatcher_ident();
         quote!(#dispatcher();)
     } else {
-        quote!(loop {
-        })
+        quote!(loop {})
     };
 
+    let mut executor_allocations = Vec::new();
+
+    for (name, _) in app.software_tasks.iter() {
+        let exec_name = util::internal_task_ident(name, "EXEC");
+        let new_n_args = util::new_n_args_ident(app.software_tasks[name].inputs.len());
+
+        executor_allocations.push(quote!(
+            let executor = ::core::mem::ManuallyDrop::new(rtic::export::executor::AsyncTaskExecutor::#new_n_args(#name));
+            executors_size += ::core::mem::size_of_val(&executor);
+            #exec_name.set_in_main(&executor);
+        ));
+    }
+
     let main = util::suffixed("main");
     let init_name = &app.init.name;
+    let msp_check = bindings::check_stack_overflow_before_init(app, analysis);
+
     quote!(
         #[doc(hidden)]
         #[no_mangle]
@@ -38,9 +55,15 @@ pub fn codegen(app: &App, analysis: &Analysis) -> TokenStream2 {
                 f();
             }
 
+            // Generate allocations for async executors.
+            let mut executors_size = 0;
+            #(#executor_allocations)*
+
+            #(#msp_check)*
+
             // Wrap late_init_stmts in a function to ensure that stack space is reclaimed.
             __rtic_init_resources(||{
-                let (shared_resources, local_resources) = #init_name(#init_name::Context::new(core.into()));
+                let (shared_resources, local_resources) = #init_name(#init_name::Context::new(core.into(), executors_size));
 
                 #(#post_init_stmts)*
             });
diff --git a/rtic-macros/src/codegen/module.rs b/rtic-macros/src/codegen/module.rs
index 7d3ac54..c8afe07 100644
--- a/rtic-macros/src/codegen/module.rs
+++ b/rtic-macros/src/codegen/module.rs
@@ -21,6 +21,11 @@ pub fn codegen(ctxt: Context, app: &App, analysis: &Analysis) -> TokenStream2 {
                 pub core: rtic::export::Peripherals
             ));
 
+            fields.push(quote!(
+                /// The space used to allocate async executors in bytes.
+                pub executors_size: usize
+            ));
+
             if app.args.peripherals {
                 let device = &app.args.device;
 
@@ -40,6 +45,7 @@ pub fn codegen(ctxt: Context, app: &App, analysis: &Analysis) -> TokenStream2 {
             values.push(quote!(cs: rtic::export::CriticalSection::new()));
 
             values.push(quote!(core));
+            values.push(quote!(executors_size));
         }
 
         Context::Idle | Context::HardwareTask(_) | Context::SoftwareTask(_) => {}
@@ -92,7 +98,7 @@ pub fn codegen(ctxt: Context, app: &App, analysis: &Analysis) -> TokenStream2 {
     };
 
     let core = if ctxt.is_init() {
-        Some(quote!(core: rtic::export::Peripherals,))
+        Some(quote!(core: rtic::export::Peripherals, executors_size: usize))
     } else {
         None
     };
@@ -147,11 +153,10 @@ pub fn codegen(ctxt: Context, app: &App, analysis: &Analysis) -> TokenStream2 {
         };
 
         let internal_spawn_ident = util::internal_task_ident(name, "spawn");
+        let from_ptr_n_args = util::from_ptr_n_args_ident(spawnee.inputs.len());
         let (input_args, input_tupled, input_untupled, input_ty) =
             util::regroup_inputs(&spawnee.inputs);
 
-        let type_name = util::internal_task_ident(name, "F");
-
         // Spawn caller
         items.push(quote!(
             #(#cfgs)*
@@ -159,18 +164,11 @@ pub fn codegen(ctxt: Context, app: &App, analysis: &Analysis) -> TokenStream2 {
             #[allow(non_snake_case)]
             #[doc(hidden)]
             pub fn #internal_spawn_ident(#(#input_args,)*) -> Result<(), #input_ty> {
-                // New TAIT requirement hack; the opaque type must be in the argument or return
-                // position of a function...
-                #[inline(always)]
-                fn tait_hack(#(#input_args,)*) -> #type_name {
-                    #name(unsafe { #name::Context::new() } #(,#input_untupled)*)
-                }
-
                 // SAFETY: If `try_allocate` succeeds one must call `spawn`, which we do.
                 unsafe {
-                    if #exec_name.try_allocate() {
-                        let f = tait_hack(#(#input_untupled,)*);
-                        #exec_name.spawn(f);
+                    let exec = rtic::export::executor::AsyncTaskExecutor::#from_ptr_n_args(#name, &#exec_name);
+                    if exec.try_allocate() {
+                        exec.spawn(#name(unsafe { #name::Context::new() } #(,#input_untupled)*));
                         #pend_interrupt
 
                         Ok(())
diff --git a/rtic-macros/src/codegen/util.rs b/rtic-macros/src/codegen/util.rs
index 430e853..b4682ee 100644
--- a/rtic-macros/src/codegen/util.rs
+++ b/rtic-macros/src/codegen/util.rs
@@ -8,7 +8,6 @@ pub use super::bindings::interrupt_ident;
 
 const RTIC_INTERNAL: &str = "__rtic_internal";
 
-
 /// Mark a name as internal
 pub fn mark_internal_name(name: &str) -> Ident {
     Ident::new(&format!("{RTIC_INTERNAL}_{name}"), Span::call_site())
@@ -166,3 +165,11 @@ pub fn rt_err_ident() -> Ident {
         Span::call_site(),
     )
 }
+
+pub fn from_ptr_n_args_ident(n: usize) -> Ident {
+    Ident::new(&format!("from_ptr_{}_args", n + 1), Span::call_site())
+}
+
+pub fn new_n_args_ident(n: usize) -> Ident {
+    Ident::new(&format!("new_{}_args", n + 1), Span::call_site())
+}
diff --git a/rtic-monotonics/CHANGELOG.md b/rtic-monotonics/CHANGELOG.md
index 609145a..af39143 100644
--- a/rtic-monotonics/CHANGELOG.md
+++ b/rtic-monotonics/CHANGELOG.md
@@ -7,6 +7,10 @@ For each category, *Added*, *Changed*, *Fixed* add new entries at the top!
 
 ## Unreleased
 
+### Changed
+
+- Removed unused `rust-toolchain.toml`
+
 ## v1.5.0 - 2024-01-10
 
 ### Changed
diff --git a/rtic-monotonics/rust-toolchain.toml b/rtic-monotonics/rust-toolchain.toml
deleted file mode 100644
index e28b55d..0000000
--- a/rtic-monotonics/rust-toolchain.toml
+++ /dev/null
@@ -1,4 +0,0 @@
-[toolchain]
-channel = "nightly"
-components = [ "rust-src", "rustfmt", "llvm-tools-preview" ]
-targets = [ "thumbv6m-none-eabi", "thumbv7m-none-eabi" ]
diff --git a/rtic/CHANGELOG.md b/rtic/CHANGELOG.md
index 83c2b19..6fc9e3f 100644
--- a/rtic/CHANGELOG.md
+++ b/rtic/CHANGELOG.md
@@ -19,6 +19,8 @@ For each category, *Added*, *Changed*, *Fixed* add new entries at the top!
 
 ### Changed
 
+- RTIC v2 now works on stable.
+
 ## [v2.0.1] - 2023-07-25
 
 ### Added
diff --git a/rtic/ci/expected/executor-size.run b/rtic/ci/expected/executor-size.run
new file mode 100644
index 0000000..2bb0d06
--- /dev/null
+++ b/rtic/ci/expected/executor-size.run
@@ -0,0 +1 @@
+init, total executor size = 9
diff --git a/rtic/examples/async-channel-done.rs b/rtic/examples/async-channel-done.rs
index 62ed656..e9b9887 100644
--- a/rtic/examples/async-channel-done.rs
+++ b/rtic/examples/async-channel-done.rs
@@ -5,7 +5,6 @@
 #![deny(warnings)]
 #![deny(unsafe_code)]
 #![deny(missing_docs)]
-#![feature(type_alias_impl_trait)]
 
 use panic_semihosting as _;
 
diff --git a/rtic/examples/async-channel-no-receiver.rs b/rtic/examples/async-channel-no-receiver.rs
index ab590e6..7e416be 100644
--- a/rtic/examples/async-channel-no-receiver.rs
+++ b/rtic/examples/async-channel-no-receiver.rs
@@ -5,7 +5,6 @@
 #![deny(warnings)]
 #![deny(unsafe_code)]
 #![deny(missing_docs)]
-#![feature(type_alias_impl_trait)]
 
 use panic_semihosting as _;
 
diff --git a/rtic/examples/async-channel-no-sender.rs b/rtic/examples/async-channel-no-sender.rs
index 852dc1d..c4f043c 100644
--- a/rtic/examples/async-channel-no-sender.rs
+++ b/rtic/examples/async-channel-no-sender.rs
@@ -5,7 +5,6 @@
 #![deny(warnings)]
 #![deny(unsafe_code)]
 #![deny(missing_docs)]
-#![feature(type_alias_impl_trait)]
 
 use panic_semihosting as _;
 
diff --git a/rtic/examples/async-channel-try.rs b/rtic/examples/async-channel-try.rs
index 2e2af52..92c6ab6 100644
--- a/rtic/examples/async-channel-try.rs
+++ b/rtic/examples/async-channel-try.rs
@@ -5,7 +5,6 @@
 #![deny(warnings)]
 #![deny(unsafe_code)]
 #![deny(missing_docs)]
-#![feature(type_alias_impl_trait)]
 
 use panic_semihosting as _;
 
diff --git a/rtic/examples/async-channel.rs b/rtic/examples/async-channel.rs
index 9798901..642e218 100644
--- a/rtic/examples/async-channel.rs
+++ b/rtic/examples/async-channel.rs
@@ -5,7 +5,6 @@
 #![deny(warnings)]
 #![deny(unsafe_code)]
 #![deny(missing_docs)]
-#![feature(type_alias_impl_trait)]
 
 use panic_semihosting as _;
 
diff --git a/rtic/examples/async-delay.rs b/rtic/examples/async-delay.rs
index 98d67f9..9ccfc02 100644
--- a/rtic/examples/async-delay.rs
+++ b/rtic/examples/async-delay.rs
@@ -5,7 +5,6 @@
 #![deny(warnings)]
 #![deny(unsafe_code)]
 #![deny(missing_docs)]
-#![feature(type_alias_impl_trait)]
 
 use panic_semihosting as _;
 
diff --git a/rtic/examples/async-task-multiple-prios.rs b/rtic/examples/async-task-multiple-prios.rs
index 7580b51..39b6d60 100644
--- a/rtic/examples/async-task-multiple-prios.rs
+++ b/rtic/examples/async-task-multiple-prios.rs
@@ -5,7 +5,6 @@
 #![deny(warnings)]
 #![deny(unsafe_code)]
 #![deny(missing_docs)]
-#![feature(type_alias_impl_trait)]
 
 use panic_semihosting as _;
 
diff --git a/rtic/examples/async-task.rs b/rtic/examples/async-task.rs
index 1ca1802..1867c4d 100644
--- a/rtic/examples/async-task.rs
+++ b/rtic/examples/async-task.rs
@@ -5,7 +5,6 @@
 #![deny(warnings)]
 #![deny(unsafe_code)]
 #![deny(missing_docs)]
-#![feature(type_alias_impl_trait)]
 
 use panic_semihosting as _;
 
diff --git a/rtic/examples/async-timeout.rs b/rtic/examples/async-timeout.rs
index 341a501..e5e129f 100644
--- a/rtic/examples/async-timeout.rs
+++ b/rtic/examples/async-timeout.rs
@@ -5,7 +5,6 @@
 #![deny(warnings)]
 #![deny(unsafe_code)]
 #![deny(missing_docs)]
-#![feature(type_alias_impl_trait)]
 
 use cortex_m_semihosting::{debug, hprintln};
 use panic_semihosting as _;
diff --git a/rtic/examples/big-struct-opt.rs b/rtic/examples/big-struct-opt.rs
index 4326247..109cc5d 100644
--- a/rtic/examples/big-struct-opt.rs
+++ b/rtic/examples/big-struct-opt.rs
@@ -7,7 +7,6 @@
 #![no_std]
 #![deny(warnings)]
 #![deny(missing_docs)]
-#![feature(type_alias_impl_trait)]
 
 use panic_semihosting as _;
 
diff --git a/rtic/examples/common.rs b/rtic/examples/common.rs
index 27ad0ad..7f68739 100644
--- a/rtic/examples/common.rs
+++ b/rtic/examples/common.rs
@@ -5,7 +5,6 @@
 #![deny(warnings)]
 #![deny(unsafe_code)]
 #![deny(missing_docs)]
-#![feature(type_alias_impl_trait)]
 
 use panic_semihosting as _;
 
diff --git a/rtic/examples/destructure.rs b/rtic/examples/destructure.rs
index dd1633c..ac35187 100644
--- a/rtic/examples/destructure.rs
+++ b/rtic/examples/destructure.rs
@@ -5,7 +5,6 @@
 #![deny(warnings)]
 #![deny(unsafe_code)]
 #![deny(missing_docs)]
-#![feature(type_alias_impl_trait)]
 
 use panic_semihosting as _;
 
diff --git a/rtic/examples/executor-size.rs b/rtic/examples/executor-size.rs
new file mode 100644
index 0000000..d825729
--- /dev/null
+++ b/rtic/examples/executor-size.rs
@@ -0,0 +1,42 @@
+//! examples/executor-size.rs
+
+#![no_main]
+#![no_std]
+#![deny(warnings)]
+#![deny(unsafe_code)]
+#![deny(missing_docs)]
+
+use panic_semihosting as _;
+
+#[rtic::app(device = lm3s6965, dispatchers = [SSI0, UART0], peripherals = true)]
+mod app {
+    use cortex_m_semihosting::{debug, hprintln};
+
+    #[shared]
+    struct Shared {}
+
+    #[local]
+    struct Local {}
+
+    #[init]
+    fn init(cx: init::Context) -> (Shared, Local) {
+        hprintln!("init, total executor size = {}", cx.executors_size);
+
+        foo::spawn().ok();
+        bar::spawn().ok();
+        baz::spawn().ok();
+
+        (Shared {}, Local {})
+    }
+
+    #[task]
+    async fn foo(_cx: foo::Context) {}
+
+    #[task]
+    async fn bar(_cx: bar::Context) {}
+
+    #[task]
+    async fn baz(_cx: baz::Context) {
+        debug::exit(debug::EXIT_SUCCESS);
+    }
+}
diff --git a/rtic/examples/extern_spawn.rs b/rtic/examples/extern_spawn.rs
index 2ab5550..7f68b42 100644
--- a/rtic/examples/extern_spawn.rs
+++ b/rtic/examples/extern_spawn.rs
@@ -5,7 +5,6 @@
 #![deny(warnings)]
 #![deny(unsafe_code)]
 #![deny(missing_docs)]
-#![feature(type_alias_impl_trait)]
 
 use cortex_m_semihosting::{debug, hprintln};
 use panic_semihosting as _;
diff --git a/rtic/examples/locals.rs b/rtic/examples/locals.rs
index f01027c..5d5e246 100644
--- a/rtic/examples/locals.rs
+++ b/rtic/examples/locals.rs
@@ -5,7 +5,6 @@
 #![deny(warnings)]
 #![deny(unsafe_code)]
 #![deny(missing_docs)]
-#![feature(type_alias_impl_trait)]
 
 use panic_semihosting as _;
 
diff --git a/rtic/examples/lock-free.rs b/rtic/examples/lock-free.rs
index c17d70d..c9d2ab0 100644
--- a/rtic/examples/lock-free.rs
+++ b/rtic/examples/lock-free.rs
@@ -5,7 +5,6 @@
 #![deny(warnings)]
 #![deny(unsafe_code)]
 #![deny(missing_docs)]
-#![feature(type_alias_impl_trait)]
 
 use panic_semihosting as _;
 
diff --git a/rtic/examples/lock.rs b/rtic/examples/lock.rs
index c09d99d..091a1b0 100644
--- a/rtic/examples/lock.rs
+++ b/rtic/examples/lock.rs
@@ -5,7 +5,6 @@
 #![deny(warnings)]
 #![deny(unsafe_code)]
 #![deny(missing_docs)]
-#![feature(type_alias_impl_trait)]
 
 use panic_semihosting as _;
 
diff --git a/rtic/examples/multilock.rs b/rtic/examples/multilock.rs
index ba9588b..77245ae 100644
--- a/rtic/examples/multilock.rs
+++ b/rtic/examples/multilock.rs
@@ -5,7 +5,6 @@
 #![deny(warnings)]
 #![deny(unsafe_code)]
 #![deny(missing_docs)]
-#![feature(type_alias_impl_trait)]
 
 use panic_semihosting as _;
 
diff --git a/rtic/examples/not-sync.rs b/rtic/examples/not-sync.rs
index 1a79864..09ba77e 100644
--- a/rtic/examples/not-sync.rs
+++ b/rtic/examples/not-sync.rs
@@ -4,7 +4,6 @@
 #![no_std]
 #![deny(warnings)]
 #![deny(missing_docs)]
-#![feature(type_alias_impl_trait)]
 
 use core::marker::PhantomData;
 use panic_semihosting as _;
diff --git a/rtic/examples/only-shared-access.rs b/rtic/examples/only-shared-access.rs
index 23ae67e..c83dca5 100644
--- a/rtic/examples/only-shared-access.rs
+++ b/rtic/examples/only-shared-access.rs
@@ -5,7 +5,6 @@
 #![deny(warnings)]
 #![deny(unsafe_code)]
 #![deny(missing_docs)]
-#![feature(type_alias_impl_trait)]
 
 use panic_semihosting as _;
 
diff --git a/rtic/examples/pool.rs_old b/rtic/examples/pool.rs_old
index 92c10c4..b399202 100644
--- a/rtic/examples/pool.rs_old
+++ b/rtic/examples/pool.rs_old
@@ -3,7 +3,6 @@
 #![no_main]
 #![no_std]
 #![deny(warnings)]
-#![feature(type_alias_impl_trait)]
 
 use heapless::{
     pool,
diff --git a/rtic/examples/preempt.rs b/rtic/examples/preempt.rs
index f1a92b0..62c67dc 100644
--- a/rtic/examples/preempt.rs
+++ b/rtic/examples/preempt.rs
@@ -5,7 +5,6 @@
 #![deny(warnings)]
 #![deny(unsafe_code)]
 #![deny(missing_docs)]
-#![feature(type_alias_impl_trait)]
 
 use panic_semihosting as _;
 use rtic::app;
diff --git a/rtic/examples/prio-inversion.rs b/rtic/examples/prio-inversion.rs
index 1c2f7fd..36dcbe2 100644
--- a/rtic/examples/prio-inversion.rs
+++ b/rtic/examples/prio-inversion.rs
@@ -7,7 +7,6 @@
 #![deny(warnings)]
 #![deny(unsafe_code)]
 #![deny(missing_docs)]
-#![feature(type_alias_impl_trait)]
 
 use panic_semihosting as _;
 use rtic::app;
diff --git a/rtic/examples/ramfunc.rs b/rtic/examples/ramfunc.rs
index 1134926..d072ecb 100644
--- a/rtic/examples/ramfunc.rs
+++ b/rtic/examples/ramfunc.rs
@@ -4,7 +4,6 @@
 #![no_main]
 #![no_std]
 #![deny(missing_docs)]
-#![feature(type_alias_impl_trait)]
 
 use panic_semihosting as _;
 
diff --git a/rtic/examples/spawn.rs b/rtic/examples/spawn.rs
index 58f9bc0..448bcda 100644
--- a/rtic/examples/spawn.rs
+++ b/rtic/examples/spawn.rs
@@ -5,7 +5,6 @@
 #![deny(warnings)]
 #![deny(unsafe_code)]
 #![deny(missing_docs)]
-#![feature(type_alias_impl_trait)]
 
 use panic_semihosting as _;
 
diff --git a/rtic/examples/spawn_arguments.rs b/rtic/examples/spawn_arguments.rs
index 5ca700f..61c4608 100644
--- a/rtic/examples/spawn_arguments.rs
+++ b/rtic/examples/spawn_arguments.rs
@@ -5,7 +5,6 @@
 #![deny(warnings)]
 #![deny(unsafe_code)]
 #![deny(missing_docs)]
-#![feature(type_alias_impl_trait)]
 
 use panic_semihosting as _;
 
diff --git a/rtic/examples/spawn_err.rs b/rtic/examples/spawn_err.rs
index abe6295..e5a9420 100644
--- a/rtic/examples/spawn_err.rs
+++ b/rtic/examples/spawn_err.rs
@@ -5,7 +5,6 @@
 #![deny(warnings)]
 #![deny(unsafe_code)]
 #![deny(missing_docs)]
-#![feature(type_alias_impl_trait)]
 
 use panic_semihosting as _;
 
diff --git a/rtic/examples/spawn_loop.rs b/rtic/examples/spawn_loop.rs
index 2da25d1..13e386a 100644
--- a/rtic/examples/spawn_loop.rs
+++ b/rtic/examples/spawn_loop.rs
@@ -5,7 +5,6 @@
 #![deny(warnings)]
 #![deny(unsafe_code)]
 #![deny(missing_docs)]
-#![feature(type_alias_impl_trait)]
 
 use panic_semihosting as _;
 
diff --git a/rtic/examples/static.rs b/rtic/examples/static.rs
index aa39940..fec73fc 100644
--- a/rtic/examples/static.rs
+++ b/rtic/examples/static.rs
@@ -5,7 +5,6 @@
 #![deny(warnings)]
 #![deny(unsafe_code)]
 #![deny(missing_docs)]
-#![feature(type_alias_impl_trait)]
 
 use panic_semihosting as _;
 
diff --git a/rtic/examples/task.rs b/rtic/examples/task.rs
index 9b06bb4..b6b6bbd 100644
--- a/rtic/examples/task.rs
+++ b/rtic/examples/task.rs
@@ -5,7 +5,6 @@
 #![deny(warnings)]
 #![deny(unsafe_code)]
 #![deny(missing_docs)]
-#![feature(type_alias_impl_trait)]
 
 use panic_semihosting as _;
 
diff --git a/rtic/examples/zero-prio-task.rs b/rtic/examples/zero-prio-task.rs
index dbe1959..8cfd705 100644
--- a/rtic/examples/zero-prio-task.rs
+++ b/rtic/examples/zero-prio-task.rs
@@ -5,7 +5,6 @@
 #![deny(warnings)]
 #![deny(unsafe_code)]
 #![deny(missing_docs)]
-#![feature(type_alias_impl_trait)]
 
 use core::marker::PhantomData;
 use panic_semihosting as _;
diff --git a/rtic/src/export/cortex_common.rs b/rtic/src/export/cortex_common.rs
index 112d9c9..443e24d 100644
--- a/rtic/src/export/cortex_common.rs
+++ b/rtic/src/export/cortex_common.rs
@@ -1,4 +1,4 @@
-pub use cortex_m::{interrupt::InterruptNumber, peripheral::NVIC};
+pub use cortex_m::{interrupt::InterruptNumber, peripheral::NVIC, register::msp};
 
 #[inline]
 #[must_use]
diff --git a/rtic/src/export/executor.rs b/rtic/src/export/executor.rs
index 36e47d7..5d808a1 100644
--- a/rtic/src/export/executor.rs
+++ b/rtic/src/export/executor.rs
@@ -1,8 +1,8 @@
-use super::atomic::{AtomicBool, Ordering};
+use super::atomic::{AtomicBool, AtomicPtr, Ordering};
 use core::{
     cell::UnsafeCell,
     future::Future,
-    mem::{self, MaybeUninit},
+    mem::{self, ManuallyDrop, MaybeUninit},
     pin::Pin,
     task::{Context, Poll, RawWaker, RawWakerVTable, Waker},
 };
@@ -28,6 +28,30 @@ unsafe fn waker_drop(_: *const ()) {
 //============
 // AsyncTaskExecutor
 
+/// Pointer to executor holder.
+pub struct AsyncTaskExecutorPtr {
+    // Void pointer.
+    ptr: AtomicPtr<()>,
+}
+
+impl AsyncTaskExecutorPtr {
+    pub const fn new() -> Self {
+        Self {
+            ptr: AtomicPtr::new(core::ptr::null_mut()),
+        }
+    }
+
+    #[inline(always)]
+    pub fn set_in_main<F: Future>(&self, executor: &ManuallyDrop<AsyncTaskExecutor<F>>) {
+        self.ptr.store(executor as *const _ as _, Ordering::Relaxed);
+    }
+
+    #[inline(always)]
+    pub fn get(&self) -> *const () {
+        self.ptr.load(Ordering::Relaxed)
+    }
+}
+
 /// Executor for an async task.
 pub struct AsyncTaskExecutor<F: Future> {
     // `task` is protected by the `running` flag.
@@ -38,6 +62,24 @@ pub struct AsyncTaskExecutor<F: Future> {
 
 unsafe impl<F: Future> Sync for AsyncTaskExecutor<F> {}
 
+macro_rules! new_n_args {
+    ($name:ident, $($t:ident),*) => {
+        #[inline(always)]
+        pub fn $name<$($t,)* Fun: Fn($($t,)*) -> F>(_f: Fun) -> Self {
+            Self::new()
+        }
+    };
+}
+
+macro_rules! from_ptr_n_args {
+    ($name:ident, $($t:ident),*) => {
+        #[inline(always)]
+        pub unsafe fn $name<$($t,)* Fun: Fn($($t,)*) -> F>(_f: Fun, ptr: &AsyncTaskExecutorPtr) -> &Self {
+            &*(ptr.get() as *const _)
+        }
+    };
+}
+
 impl<F: Future> AsyncTaskExecutor<F> {
     /// Create a new executor.
     #[inline(always)]
@@ -49,6 +91,55 @@ impl<F: Future> AsyncTaskExecutor<F> {
         }
     }
 
+    // Support for up to 16 arguments on async functions. Should be
+    // enough for now, else extend this list.
+    new_n_args!(new_0_args,);
+    new_n_args!(new_1_args, A1);
+    new_n_args!(new_2_args, A1, A2);
+    new_n_args!(new_3_args, A1, A2, A3);
+    new_n_args!(new_4_args, A1, A2, A3, A4);
+    new_n_args!(new_5_args, A1, A2, A3, A4, A5);
+    new_n_args!(new_6_args, A1, A2, A3, A4, A5, A6);
+    new_n_args!(new_7_args, A1, A2, A3, A4, A5, A6, A7);
+    new_n_args!(new_8_args, A1, A2, A3, A4, A5, A6, A7, A8);
+    new_n_args!(new_9_args, A1, A2, A3, A4, A5, A6, A7, A8, A9);
+    new_n_args!(new_10_args, A1, A2, A3, A4, A5, A6, A7, A8, A9, A10);
+    new_n_args!(new_11_args, A1, A2, A3, A4, A5, A6, A7, A8, A9, A10, A11);
+    #[rustfmt::skip]
+    new_n_args!(new_12_args, A1, A2, A3, A4, A5, A6, A7, A8, A9, A10, A11, A12);
+    #[rustfmt::skip]
+    new_n_args!(new_13_args, A1, A2, A3, A4, A5, A6, A7, A8, A9, A10, A11, A12, A13);
+    #[rustfmt::skip]
+    new_n_args!(new_14_args, A1, A2, A3, A4, A5, A6, A7, A8, A9, A10, A11, A12, A13, A14);
+    #[rustfmt::skip]
+    new_n_args!(new_15_args, A1, A2, A3, A4, A5, A6, A7, A8, A9, A10, A11, A12, A13, A14, A15);
+    #[rustfmt::skip]
+    new_n_args!(new_16_args, A1, A2, A3, A4, A5, A6, A7, A8, A9, A10, A11, A12, A13, A14, A15, A16);
+
+    from_ptr_n_args!(from_ptr_0_args,);
+    from_ptr_n_args!(from_ptr_1_args, A1);
+    from_ptr_n_args!(from_ptr_2_args, A1, A2);
+    from_ptr_n_args!(from_ptr_3_args, A1, A2, A3);
+    from_ptr_n_args!(from_ptr_4_args, A1, A2, A3, A4);
+    from_ptr_n_args!(from_ptr_5_args, A1, A2, A3, A4, A5);
+    from_ptr_n_args!(from_ptr_6_args, A1, A2, A3, A4, A5, A6);
+    from_ptr_n_args!(from_ptr_7_args, A1, A2, A3, A4, A5, A6, A7);
+    from_ptr_n_args!(from_ptr_8_args, A1, A2, A3, A4, A5, A6, A7, A8);
+    from_ptr_n_args!(from_ptr_9_args, A1, A2, A3, A4, A5, A6, A7, A8, A9);
+    from_ptr_n_args!(from_ptr_10_args, A1, A2, A3, A4, A5, A6, A7, A8, A9, A10);
+    #[rustfmt::skip]
+    from_ptr_n_args!(from_ptr_11_args, A1, A2, A3, A4, A5, A6, A7, A8, A9, A10, A11);
+    #[rustfmt::skip]
+    from_ptr_n_args!(from_ptr_12_args, A1, A2, A3, A4, A5, A6, A7, A8, A9, A10, A11, A12);
+    #[rustfmt::skip]
+    from_ptr_n_args!(from_ptr_13_args, A1, A2, A3, A4, A5, A6, A7, A8, A9, A10, A11, A12, A13);
+    #[rustfmt::skip]
+    from_ptr_n_args!(from_ptr_14_args, A1, A2, A3, A4, A5, A6, A7, A8, A9, A10, A11, A12, A13, A14);
+    #[rustfmt::skip]
+    from_ptr_n_args!(from_ptr_15_args, A1, A2, A3, A4, A5, A6, A7, A8, A9, A10, A11, A12, A13, A14, A15);
+    #[rustfmt::skip]
+    from_ptr_n_args!(from_ptr_16_args, A1, A2, A3, A4, A5, A6, A7, A8, A9, A10, A11, A12, A13, A14, A15, A16);
+
     /// Check if there is an active task in the executor.
     #[inline(always)]
     pub fn is_running(&self) -> bool {
diff --git a/rtic/src/export/riscv_common.rs b/rtic/src/export/riscv_common.rs
index 06c3968..6189335 100644
--- a/rtic/src/export/riscv_common.rs
+++ b/rtic/src/export/riscv_common.rs
@@ -1,2 +1,10 @@
 /// GENERIC RE-EXPORTS: needed for all RTIC backends
 pub use riscv::interrupt;
+
+/// Read the stack pointer.
+#[inline(always)]
+pub fn read_sp() -> u32 {
+    let r;
+    unsafe { asm!("mv {}, sp", out(reg) r, options(nomem, nostack, preserves_flags)) };
+    r
+}
diff --git a/rtic/src/lib.rs b/rtic/src/lib.rs
index e394ea3..bbdd5e2 100644
--- a/rtic/src/lib.rs
+++ b/rtic/src/lib.rs
@@ -9,8 +9,8 @@
 //!
 //! # Minimum Supported Rust Version (MSRV)
 //!
-//! This crate is compiled and tested with the latest nightly toolchain (rolling).
-//! If you run into compilation errors, try the latest nightly release of the rust toolchain.
+//! This crate is compiled and tested with the latest stable toolchain (rolling).
+//! If you run into compilation errors, try the latest stable release of the rust toolchain.
 //!
 //! # Semantic Versioning
 //!
diff --git a/rust-toolchain.toml b/rust-toolchain.toml
index 339b5f2..40cbafa 100644
--- a/rust-toolchain.toml
+++ b/rust-toolchain.toml
@@ -1,4 +1,4 @@
 [toolchain]
-channel = "nightly"
+channel = "stable"
 components = [ "rust-src", "rustfmt", "llvm-tools-preview" ]
 targets = [ "thumbv6m-none-eabi", "thumbv7m-none-eabi", "thumbv8m.base-none-eabi", "thumbv8m.main-none-eabi"  ]
diff --git a/xtask/src/cargo_command.rs b/xtask/src/cargo_command.rs
index 1d5f3c5..c5387c2 100644
--- a/xtask/src/cargo_command.rs
+++ b/xtask/src/cargo_command.rs
@@ -483,7 +483,7 @@ impl<'a> CargoCommand<'a> {
                 // Target is added by build_args
                 target: _,
             } => self.build_args(
-                true,
+                false,
                 cargoarg,
                 features,
                 Some(mode),
@@ -501,7 +501,7 @@ impl<'a> CargoCommand<'a> {
                 // deny_warnings is exposed through `extra_env`
                 deny_warnings: _,
             } => self.build_args(
-                true,
+                false,
                 cargoarg,
                 features,
                 Some(mode),
@@ -518,7 +518,7 @@ impl<'a> CargoCommand<'a> {
                 dir: _,
                 // deny_warnings is exposed through `extra_env`
                 deny_warnings: _,
-            } => self.build_args(true, cargoarg, features, Some(mode), p(package)),
+            } => self.build_args(false, cargoarg, features, Some(mode), p(package)),
             CargoCommand::Check {
                 cargoarg,
                 package,
@@ -530,7 +530,7 @@ impl<'a> CargoCommand<'a> {
                 target: _,
                 // deny_warnings is exposed through `extra_env`
                 deny_warnings: _,
-            } => self.build_args(true, cargoarg, features, Some(mode), p(package)),
+            } => self.build_args(false, cargoarg, features, Some(mode), p(package)),
             CargoCommand::Clippy {
                 cargoarg,
                 package,
@@ -546,7 +546,7 @@ impl<'a> CargoCommand<'a> {
                 };
 
                 let extra = p(package).chain(deny_warnings);
-                self.build_args(true, cargoarg, features, None, extra)
+                self.build_args(false, cargoarg, features, None, extra)
             }
             CargoCommand::Doc {
                 cargoarg,
@@ -556,7 +556,7 @@ impl<'a> CargoCommand<'a> {
                 deny_warnings: _,
             } => {
                 let extra = Self::extra_args(arguments.as_ref());
-                self.build_args(true, cargoarg, features, None, extra)
+                self.build_args(false, cargoarg, features, None, extra)
             }
             CargoCommand::Test {
                 package,
@@ -572,7 +572,7 @@ impl<'a> CargoCommand<'a> {
                 };
                 let package = p(package);
                 let extra = extra.into_iter().chain(package);
-                self.build_args(true, &None, features, None, extra)
+                self.build_args(false, &None, features, None, extra)
             }
             CargoCommand::Book { arguments } => {
                 let mut args = vec![];
@@ -597,7 +597,7 @@ impl<'a> CargoCommand<'a> {
                 let extra = if *check_only { Some("--check") } else { None };
                 let package = p(package);
                 self.build_args(
-                    true,
+                    false,
                     cargoarg,
                     &None,
                     None,
@@ -616,7 +616,7 @@ impl<'a> CargoCommand<'a> {
                 // deny_warnings is exposed through `extra_env`
                 deny_warnings: _,
             } => self.build_args(
-                true,
+                false,
                 cargoarg,
                 features,
                 Some(mode),
@@ -632,7 +632,7 @@ impl<'a> CargoCommand<'a> {
                 // deny_warnings is exposed through `extra_env`
                 deny_warnings: _,
             } => self.build_args(
-                true,
+                false,
                 cargoarg,
                 features,
                 Some(mode),
@@ -655,7 +655,7 @@ impl<'a> CargoCommand<'a> {
                     .into_iter()
                     .chain(Self::extra_args(arguments.as_ref()));
 
-                self.build_args(true, cargoarg, features, Some(mode), extra)
+                self.build_args(false, cargoarg, features, Some(mode), extra)
             }
         }
     }