Monotonic rewrite (#874)

* Rework timer_queue and monotonic architecture

Goals:
 * make Monotonic purely internal
 * make Monotonic purely tick passed, no fugit involved
 * create a wrapper struct in the user's code via a macro that then
   converts the "now" from the tick based monotonic to a fugit based
   timestamp

We need to proxy the delay functions of the timer queue anyway,
so we could simply perform the conversion in those proxy functions.

* Update cargo.lock

* Update readme of rtic-time

* CI: ESP32: Redact esp_image: Too volatile

* Fixup: Changelog double entry rebase mistake

---------

Co-authored-by: Henrik Tjäder <henrik@tjaders.com>

26 files changed, 1022 insertions, 203 deletions

diff --git a/examples/embassy-stm32g4/src/bin/blinky.rs b/examples/embassy-stm32g4/src/bin/blinky.rs
index 6855b1e..617aa66 100644
--- a/examples/embassy-stm32g4/src/bin/blinky.rs
+++ b/examples/embassy-stm32g4/src/bin/blinky.rs
@@ -5,9 +5,11 @@
 
 use embassy_stm32::gpio::{Level, Output, Speed};
 use rtic::app;
-use rtic_monotonics::systick::*;
+use rtic_monotonics::systick::prelude::*;
 use {defmt_rtt as _, panic_probe as _};
 
+systick_monotonic!(Mono, 1_000);
+
 pub mod pac {
     pub use embassy_stm32::pac::Interrupt as interrupt;
     pub use embassy_stm32::pac::*;
@@ -26,8 +28,7 @@ mod app {
     #[init]
     fn init(cx: init::Context) -> (Shared, Local) {
         // Initialize the systick interrupt & obtain the token to prove that we did
-        let systick_mono_token = rtic_monotonics::create_systick_token!();
-        Systick::start(cx.core.SYST, 25_000_000, systick_mono_token);
+        Mono::start(cx.core.SYST, 25_000_000);
 
         let p = embassy_stm32::init(Default::default());
         defmt::info!("Hello World!");
@@ -53,7 +54,7 @@ mod app {
                 led.set_low();
             }
             state = !state;
-            Systick::delay(1000.millis()).await;
+            Mono::delay(1000.millis()).await;
         }
     }
 }
diff --git a/examples/esp32c3/runner.sh b/examples/esp32c3/runner.sh
index 8b61068..3310aca 100755
--- a/examples/esp32c3/runner.sh
+++ b/examples/esp32c3/runner.sh
@@ -26,4 +26,6 @@ sleep 3s
 
 # Kill QEMU nicely by sending 'q' (quit) over tcp
 echo q | nc -N 127.0.0.1 55555
-cat "$logfile"
+# Output that will be compared, remove the esp_image segments as they change
+# between runs
+cat "$logfile" | sed 's/esp_image: .*$/esp_image: REDACTED/'
diff --git a/examples/lm3s6965/Cargo.lock b/examples/lm3s6965/Cargo.lock
index 076a156..848a06f 100644
--- a/examples/lm3s6965/Cargo.lock
+++ b/examples/lm3s6965/Cargo.lock
@@ -362,7 +362,6 @@ dependencies = [
  "critical-section",
  "rtic-core",
  "rtic-macros",
- "rtic-monotonics",
 ]
 
 [[package]]
@@ -392,12 +391,11 @@ dependencies = [
 
 [[package]]
 name = "rtic-monotonics"
-version = "1.5.0"
+version = "2.0.0"
 dependencies = [
  "atomic-polyfill",
  "cfg-if",
  "cortex-m",
- "embedded-hal 1.0.0",
  "fugit",
  "rtic-time",
 ]
@@ -417,9 +415,12 @@ dependencies = [
 
 [[package]]
 name = "rtic-time"
-version = "1.3.0"
+version = "2.0.0"
 dependencies = [
  "critical-section",
+ "embedded-hal 1.0.0",
+ "embedded-hal-async",
+ "fugit",
  "futures-util",
  "rtic-common",
 ]
diff --git a/examples/lm3s6965/examples/async-delay.rs b/examples/lm3s6965/examples/async-delay.rs
index 9ccfc02..0f151cb 100644
--- a/examples/lm3s6965/examples/async-delay.rs
+++ b/examples/lm3s6965/examples/async-delay.rs
@@ -11,7 +11,9 @@ use panic_semihosting as _;
 #[rtic::app(device = lm3s6965, dispatchers = [SSI0, UART0], peripherals = true)]
 mod app {
     use cortex_m_semihosting::{debug, hprintln};
-    use rtic_monotonics::systick::*;
+    use rtic_monotonics::systick::prelude::*;
+
+    systick_monotonic!(Mono, 100);
 
     #[shared]
     struct Shared {}
@@ -23,8 +25,7 @@ mod app {
     fn init(cx: init::Context) -> (Shared, Local) {
         hprintln!("init");
 
-        let systick_token = rtic_monotonics::create_systick_token!();
-        Systick::start(cx.core.SYST, 12_000_000, systick_token);
+        Mono::start(cx.core.SYST, 12_000_000);
 
         foo::spawn().ok();
         bar::spawn().ok();
@@ -36,21 +37,21 @@ mod app {
     #[task]
     async fn foo(_cx: foo::Context) {
         hprintln!("hello from foo");
-        Systick::delay(100.millis()).await;
+        Mono::delay(100.millis()).await;
         hprintln!("bye from foo");
     }
 
     #[task]
     async fn bar(_cx: bar::Context) {
         hprintln!("hello from bar");
-        Systick::delay(200.millis()).await;
+        Mono::delay(200.millis()).await;
         hprintln!("bye from bar");
     }
 
     #[task]
     async fn baz(_cx: baz::Context) {
         hprintln!("hello from baz");
-        Systick::delay(300.millis()).await;
+        Mono::delay(300.millis()).await;
         hprintln!("bye from baz");
 
         debug::exit(debug::EXIT_SUCCESS);
diff --git a/examples/lm3s6965/examples/async-timeout.rs b/examples/lm3s6965/examples/async-timeout.rs
index e5e129f..169b132 100644
--- a/examples/lm3s6965/examples/async-timeout.rs
+++ b/examples/lm3s6965/examples/async-timeout.rs
@@ -8,13 +8,13 @@
 
 use cortex_m_semihosting::{debug, hprintln};
 use panic_semihosting as _;
-use rtic_monotonics::systick::*;
+use rtic_monotonics::systick::prelude::*;
+systick_monotonic!(Mono, 100);
 
 #[rtic::app(device = lm3s6965, dispatchers = [SSI0, UART0], peripherals = true)]
 mod app {
     use super::*;
     use futures::{future::FutureExt, select_biased};
-    use rtic_monotonics::Monotonic;
 
     #[shared]
     struct Shared {}
@@ -27,8 +27,7 @@ mod app {
     fn init(cx: init::Context) -> (Shared, Local) {
         hprintln!("init");
 
-        let systick_token = rtic_monotonics::create_systick_token!();
-        Systick::start(cx.core.SYST, 12_000_000, systick_token);
+        Mono::start(cx.core.SYST, 12_000_000);
         // ANCHOR_END: init
 
         foo::spawn().ok();
@@ -42,19 +41,19 @@ mod app {
         // Call hal with short relative timeout using `select_biased`
         select_biased! {
             v = hal_get(1).fuse() => hprintln!("hal returned {}", v),
-            _ = Systick::delay(200.millis()).fuse() =>  hprintln!("timeout", ), // this will finish first
+            _ = Mono::delay(200.millis()).fuse() =>  hprintln!("timeout", ), // this will finish first
         }
 
         // Call hal with long relative timeout using `select_biased`
         select_biased! {
             v = hal_get(1).fuse() => hprintln!("hal returned {}", v), // hal finish first
-            _ = Systick::delay(1000.millis()).fuse() =>  hprintln!("timeout", ),
+            _ = Mono::delay(1000.millis()).fuse() =>  hprintln!("timeout", ),
         }
         // ANCHOR_END: select_biased
 
         // ANCHOR: timeout_after_basic
         // Call hal with long relative timeout using monotonic `timeout_after`
-        match Systick::timeout_after(1000.millis(), hal_get(1)).await {
+        match Mono::timeout_after(1000.millis(), hal_get(1)).await {
             Ok(v) => hprintln!("hal returned {}", v),
             _ => hprintln!("timeout"),
         }
@@ -62,20 +61,20 @@ mod app {
 
         // ANCHOR: timeout_at_basic
         // get the current time instance
-        let mut instant = Systick::now();
+        let mut instant = Mono::now();
 
         // do this 3 times
         for n in 0..3 {
             // absolute point in time without drift
             instant += 1000.millis();
-            Systick::delay_until(instant).await;
+            Mono::delay_until(instant).await;
 
             // absolute point in time for timeout
             let timeout = instant + 500.millis();
-            hprintln!("now is {:?}, timeout at {:?}", Systick::now(), timeout);
+            hprintln!("now is {:?}, timeout at {:?}", Mono::now(), timeout);
 
-            match Systick::timeout_at(timeout, hal_get(n)).await {
-                Ok(v) => hprintln!("hal returned {} at time {:?}", v, Systick::now()),
+            match Mono::timeout_at(timeout, hal_get(n)).await {
+                Ok(v) => hprintln!("hal returned {} at time {:?}", v, Mono::now()),
                 _ => hprintln!("timeout"),
             }
         }
@@ -90,7 +89,7 @@ async fn hal_get(n: u32) -> u32 {
     // emulate some delay time dependent on n
     let d = 350.millis() + n * 100.millis();
     hprintln!("the hal takes a duration of {:?}", d);
-    Systick::delay(d).await;
+    Mono::delay(d).await;
     // emulate some return value
     5
 }
diff --git a/examples/nrf52840_blinky/Cargo.lock b/examples/nrf52840_blinky/Cargo.lock
index a3d7542..ec5f4f9 100644
--- a/examples/nrf52840_blinky/Cargo.lock
+++ b/examples/nrf52840_blinky/Cargo.lock
@@ -136,7 +136,7 @@ dependencies = [
  "proc-macro-error",
  "proc-macro2",
  "quote",
- "syn 2.0.39",
+ "syn 2.0.51",
 ]
 
 [[package]]
@@ -179,9 +179,18 @@ dependencies = [
 
 [[package]]
 name = "embedded-hal"
-version = "1.0.0-rc.2"
+version = "1.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "361a90feb7004eca4019fb28352a9465666b24f840f5c3cddf0ff13920590b89"
+
+[[package]]
+name = "embedded-hal-async"
+version = "1.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3e57ec6ad0bc8eb967cf9c9f144177f5e8f2f6f02dad0b8b683f9f05f6b22def"
+checksum = "0c4c685bbef7fe13c3c6dd4da26841ed3980ef33e841cddfa15ce8a8fb3f1884"
+dependencies = [
+ "embedded-hal 1.0.0",
+]
 
 [[package]]
 name = "embedded-storage"
@@ -412,18 +421,18 @@ 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",
 ]
@@ -468,18 +477,18 @@ dependencies = [
  "proc-macro-error",
  "proc-macro2",
  "quote",
- "syn 1.0.109",
+ "syn 2.0.51",
 ]
 
 [[package]]
 name = "rtic-monotonics"
-version = "1.4.0"
+version = "2.0.0"
 dependencies = [
  "atomic-polyfill",
  "cfg-if",
  "cortex-m",
  "critical-section",
- "embedded-hal 1.0.0-rc.2",
+ "embedded-hal 1.0.0",
  "fugit",
  "nrf52840-pac",
  "rtic-time",
@@ -487,9 +496,12 @@ dependencies = [
 
 [[package]]
 name = "rtic-time"
-version = "1.1.0"
+version = "2.0.0"
 dependencies = [
  "critical-section",
+ "embedded-hal 1.0.0",
+ "embedded-hal-async",
+ "fugit",
  "futures-util",
  "rtic-common",
 ]
@@ -537,9 +549,9 @@ dependencies = [
 
 [[package]]
 name = "syn"
-version = "2.0.39"
+version = "2.0.51"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "23e78b90f2fcf45d3e842032ce32e3f2d1545ba6636271dcbf24fa306d87be7a"
+checksum = "6ab617d94515e94ae53b8406c628598680aa0c9587474ecbe58188f7b345d66c"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -563,7 +575,7 @@ checksum = "266b2e40bc00e5a6c09c3584011e08b06f123c00362c92b975ba9843aaaa14b8"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.39",
+ "syn 2.0.51",
 ]
 
 [[package]]
diff --git a/examples/nrf52840_blinky/Cargo.toml b/examples/nrf52840_blinky/Cargo.toml
index 8b13649..5569019 100644
--- a/examples/nrf52840_blinky/Cargo.toml
+++ b/examples/nrf52840_blinky/Cargo.toml
@@ -26,7 +26,7 @@ features = ["thumbv7-backend"]
 
 [dependencies.rtic-monotonics]
 path = "../../rtic-monotonics"
-version = "1.4.0"
+version = "2.0.0"
 features = ["nrf52840"]
 
 # cargo build/run
diff --git a/examples/nrf52840_blinky/src/bin/blinky_rtc.rs b/examples/nrf52840_blinky/src/bin/blinky_rtc.rs
index dbdd0b0..fa654b8 100644
--- a/examples/nrf52840_blinky/src/bin/blinky_rtc.rs
+++ b/examples/nrf52840_blinky/src/bin/blinky_rtc.rs
@@ -5,6 +5,9 @@
 
 use nrf52840_blinky::hal;
 
+use rtic_monotonics::nrf::rtc::prelude::*;
+nrf_rtc0_monotonic!(Mono);
+
 #[rtic::app(device = hal::pac, dispatchers = [SWI0_EGU0])]
 mod app {
     use super::*;
@@ -12,10 +15,6 @@ mod app {
     use hal::gpio::{Level, Output, Pin, PushPull};
     use hal::prelude::*;
 
-    use rtic_monotonics::nrf::rtc::Rtc0 as Mono;
-    use rtic_monotonics::nrf::rtc::*;
-    use rtic_monotonics::Monotonic;
-
     #[shared]
     struct Shared {}
 
@@ -30,8 +29,7 @@ mod app {
         hal::clocks::Clocks::new(cx.device.CLOCK).start_lfclk();
 
         // Initialize Monotonic
-        let token = rtic_monotonics::create_nrf_rtc0_monotonic_token!();
-        Mono::start(cx.device.RTC0, token);
+        Mono::start(cx.device.RTC0);
 
         // Setup LED
         let port0 = hal::gpio::p0::Parts::new(cx.device.P0);
diff --git a/examples/nrf52840_blinky/src/bin/blinky_timer.rs b/examples/nrf52840_blinky/src/bin/blinky_timer.rs
index c1342f4..ebb20fc 100644
--- a/examples/nrf52840_blinky/src/bin/blinky_timer.rs
+++ b/examples/nrf52840_blinky/src/bin/blinky_timer.rs
@@ -5,6 +5,9 @@
 
 use nrf52840_blinky::hal;
 
+use rtic_monotonics::nrf::timer::prelude::*;
+nrf_timer0_monotonic!(Mono, 8_000_000);
+
 #[rtic::app(device = hal::pac, dispatchers = [SWI0_EGU0])]
 mod app {
     use super::*;
@@ -12,10 +15,6 @@ mod app {
     use hal::gpio::{Level, Output, Pin, PushPull};
     use hal::prelude::*;
 
-    use rtic_monotonics::nrf::timer::Timer0 as Mono;
-    use rtic_monotonics::nrf::timer::*;
-    use rtic_monotonics::Monotonic;
-
     #[shared]
     struct Shared {}
 
@@ -27,8 +26,7 @@ mod app {
     #[init]
     fn init(cx: init::Context) -> (Shared, Local) {
         // Initialize Monotonic
-        let token = rtic_monotonics::create_nrf_timer0_monotonic_token!();
-        Mono::start(cx.device.TIMER0, token);
+        Mono::start(cx.device.TIMER0);
 
         // Setup LED
         let port0 = hal::gpio::p0::Parts::new(cx.device.P0);
diff --git a/examples/rp2040_local_i2c_init/Cargo.lock b/examples/rp2040_local_i2c_init/Cargo.lock
index d40e616..d4c0155 100644
--- a/examples/rp2040_local_i2c_init/Cargo.lock
+++ b/examples/rp2040_local_i2c_init/Cargo.lock
@@ -10,9 +10,9 @@ checksum = "96d30a06541fbafbc7f82ed10c06164cfbd2c401138f6addd8404629c4b16711"
 
 [[package]]
 name = "atomic-polyfill"
-version = "1.0.2"
+version = "1.0.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c314e70d181aa6053b26e3f7fbf86d1dfff84f816a6175b967666b3506ef7289"
+checksum = "8cf2bce30dfe09ef0bfaef228b9d414faaf7e563035494d7fe092dba54b300f4"
 dependencies = [
  "critical-section",
 ]
@@ -52,7 +52,7 @@ checksum = "8ec610d8f49840a5b376c69663b6369e71f4b34484b9b2eb29fb918d92516cb9"
 dependencies = [
  "bare-metal 0.2.5",
  "bitfield",
- "embedded-hal",
+ "embedded-hal 0.2.7",
  "volatile-register",
 ]
 
@@ -73,23 +73,23 @@ checksum = "f0f6f3e36f203cfedbc78b357fb28730aa2c6dc1ab060ee5c2405e843988d3c7"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn",
+ "syn 1.0.109",
 ]
 
 [[package]]
 name = "crc-any"
-version = "2.4.3"
+version = "2.4.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "774646b687f63643eb0f4bf13dc263cb581c8c9e57973b6ddf78bda3994d88df"
+checksum = "c01a5e1f881f6fb6099a7bdf949e946719fd4f1fefa56264890574febf0eb6d0"
 dependencies = [
  "debug-helper",
 ]
 
 [[package]]
 name = "critical-section"
-version = "1.1.1"
+version = "1.1.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6548a0ad5d2549e111e1f6a11a6c2e2d00ce6a3dafe22948d67c2b443f775e52"
+checksum = "7059fff8937831a9ae6f0fe4d658ffabf58f2ca96aa9dec1c889f936f705f216"
 
 [[package]]
 name = "debug-helper"
@@ -99,9 +99,9 @@ checksum = "f578e8e2c440e7297e008bb5486a3a8a194775224bbc23729b0dbdfaeebf162e"
 
 [[package]]
 name = "either"
-version = "1.8.1"
+version = "1.10.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7fcaabb2fef8c910e7f4c7ce9f67a1283a1715879a7c230ca9d6d1ae31f16d91"
+checksum = "11157ac094ffbdde99aa67b23417ebdd801842852b500e395a45a9c0aac03e4a"
 
 [[package]]
 name = "embedded-dma"
@@ -123,10 +123,64 @@ dependencies = [
 ]
 
 [[package]]
-name = "equivalent"
+name = "embedded-hal"
+version = "1.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "361a90feb7004eca4019fb28352a9465666b24f840f5c3cddf0ff13920590b89"
+
+[[package]]
+name = "embedded-hal-async"
 version = "1.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "88bffebc5d80432c9b140ee17875ff173a8ab62faad5b257da912bd2f6c1c0a1"
+checksum = "0c4c685bbef7fe13c3c6dd4da26841ed3980ef33e841cddfa15ce8a8fb3f1884"
+dependencies = [
+ "embedded-hal 1.0.0",
+]
+
+[[package]]
+name = "equivalent"
+version = "1.0.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5443807d6dff69373d433ab9ef5378ad8df50ca6298caf15de6e52e24aaf54d5"
+
+[[package]]
+name = "frunk"
+version = "0.4.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "11a351b59e12f97b4176ee78497dff72e4276fb1ceb13e19056aca7fa0206287"
+dependencies = [
+ "frunk_core",
+ "frunk_derives",
+]
+
+[[package]]
+name = "frunk_core"
+version = "0.4.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "af2469fab0bd07e64ccf0ad57a1438f63160c69b2e57f04a439653d68eb558d6"
+
+[[package]]
+name = "frunk_derives"
+version = "0.4.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b0fa992f1656e1707946bbba340ad244f0814009ef8c0118eb7b658395f19a2e"
+dependencies = [
+ "frunk_proc_macro_helpers",
+ "quote",
+ "syn 2.0.51",
+]
+
+[[package]]
+name = "frunk_proc_macro_helpers"
+version = "0.1.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "35b54add839292b743aeda6ebedbd8b11e93404f902c56223e51b9ec18a13d2c"
+dependencies = [
+ "frunk_core",
+ "proc-macro2",
+ "quote",
+ "syn 2.0.51",
+]
 
 [[package]]
 name = "fugit"
@@ -139,21 +193,21 @@ dependencies = [
 
 [[package]]
 name = "futures-core"
-version = "0.3.28"
+version = "0.3.30"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4bca583b7e26f571124fe5b7561d49cb2868d79116cfa0eefce955557c6fee8c"
+checksum = "dfc6580bb841c5a68e9ef15c77ccc837b40a7504914d52e47b8b0e9bbda25a1d"
 
 [[package]]
 name = "futures-task"
-version = "0.3.28"
+version = "0.3.30"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "76d3d132be6c0e6aa1534069c705a74a5997a356c0dc2f86a47765e5617c5b65"
+checksum = "38d84fa142264698cdce1a9f9172cf383a0c82de1bddcf3092901442c4097004"
 
 [[package]]
 name = "futures-util"
-version = "0.3.28"
+version = "0.3.30"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "26b01e40b772d54cf6c6d721c1d1abd0647a0106a12ecaa1c186273392a69533"
+checksum = "3d6401deb83407ab3da39eba7e33987a73c3df0c82b4bb5813ee871c19c41d48"
 dependencies = [
  "futures-core",
  "futures-task",
@@ -169,15 +223,15 @@ checksum = "1d758ba1b47b00caf47f24925c0074ecb20d6dfcffe7f6d53395c0465674841a"
 
 [[package]]
 name = "hashbrown"
-version = "0.14.0"
+version = "0.14.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2c6201b9ff9fd90a5a3bac2e56a830d0caa509576f0e503818ee82c181b3437a"
+checksum = "290f1a1d9242c78d09ce40a5e87e7554ee637af1351968159f4952f028f75604"
 
 [[package]]
 name = "indexmap"
-version = "2.0.0"
+version = "2.2.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d5477fe2230a79769d8dc68e0eabf5437907c0457a5614a9e8dddb67f65eb65d"
+checksum = "233cf39063f058ea2caae4091bf4a3ef70a653afbc026f5c4a4135d114e3c177"
 dependencies = [
  "equivalent",
  "hashbrown",
@@ -224,7 +278,7 @@ checksum = "dcbff9bc912032c62bf65ef1d5aea88983b420f4f839db1e9b0c281a25c9c799"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn",
+ "syn 1.0.109",
 ]
 
 [[package]]
@@ -238,15 +292,15 @@ dependencies = [
 
 [[package]]
 name = "paste"
-version = "1.0.12"
+version = "1.0.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9f746c4065a8fa3fe23974dd82f15431cc8d40779821001404d10d2e79ca7d79"
+checksum = "de3145af08024dea9fa9914f381a17b8fc6034dfb00f3a84013f7ff43f29ed4c"
 
 [[package]]
 name = "pin-project-lite"
-version = "0.2.9"
+version = "0.2.13"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e0a7ae3ac2f1173085d398531c705756c94a4c56843785df85a60c1a0afac116"
+checksum = "8afb450f006bf6385ca15ef45d71d2288452bc3683ce2e2cacc0d18e4be60b58"
 
 [[package]]
 name = "pin-utils"
@@ -266,6 +320,12 @@ dependencies = [
 ]
 
 [[package]]
+name = "portable-atomic"
+version = "1.6.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7170ef9988bc169ba16dd36a7fa041e5c4cbeb6a35b76d4c03daded371eae7c0"
+
+[[package]]
 name = "proc-macro-error"
 version = "1.0.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
@@ -274,7 +334,7 @@ dependencies = [
  "proc-macro-error-attr",
  "proc-macro2",
  "quote",
- "syn",
+ "syn 1.0.109",
  "version_check",
 ]
 
@@ -291,18 +351,18 @@ dependencies = [
 
 [[package]]
 name = "proc-macro2"
-version = "1.0.63"
+version = "1.0.78"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7b368fba921b0dce7e60f5e04ec15e565b3303972b42bcfde1d0713b881959eb"
+checksum = "e2422ad645d89c99f8f3e6b88a9fdeca7fabeac836b1002371c4367c8f984aae"
 dependencies = [
  "unicode-ident",
 ]
 
 [[package]]
 name = "quote"
-version = "1.0.29"
+version = "1.0.35"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "573015e8ab27661678357f27dc26460738fd2b6c86e46f386fde94cb5d913105"
+checksum = "291ec9ab5efd934aaf503a6466c5d5251535d108ee747472c3977cc5acc868ef"
 dependencies = [
  "proc-macro2",
 ]
@@ -315,11 +375,10 @@ checksum = "ec0be4795e2f6a28069bec0b5ff3e2ac9bafc99e6a9a7dc3547996c5c816922c"
 
 [[package]]
 name = "rp-pico"
-version = "0.7.0"
+version = "0.8.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "aab28f6f4e19cec2d61b64cdd685e69794b81c579fd3b765579c46018fe616d0"
+checksum = "6341771e6f8e5d130b2b3cbc23435b7847761adf198af09f4b2a60407d43bd56"
 dependencies = [
- "cortex-m",
  "cortex-m-rt",
  "fugit",
  "rp2040-boot2",
@@ -329,23 +388,24 @@ dependencies = [
 
 [[package]]
 name = "rp2040-boot2"
-version = "0.2.1"
+version = "0.3.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3c773ec49b836077aa144b58dc7654a243e1eecdb6cf0d25361ae7c7600fabd8"
+checksum = "7c92f344f63f950ee36cf4080050e4dce850839b9175da38f9d2ffb69b4dbb21"
 dependencies = [
  "crc-any",
 ]
 
 [[package]]
 name = "rp2040-hal"
-version = "0.8.2"
+version = "0.9.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1369bb84862d7f69391a96606b2f29a00bfce7f29a749e23d5f01fc3f607ada0"
+checksum = "1ff2b9ae7e6dd6720fd9f64250c9087260e50fe98b6b032ccca65be3581167ca"
 dependencies = [
  "cortex-m",
  "critical-section",
  "embedded-dma",
- "embedded-hal",
+ "embedded-hal 0.2.7",
+ "frunk",
  "fugit",
  "itertools",
  "nb 1.1.0",
@@ -368,17 +428,18 @@ dependencies = [
  "cortex-m-rt",
  "proc-macro2",
  "quote",
- "syn",
+ "syn 1.0.109",
 ]
 
 [[package]]
 name = "rp2040-pac"
-version = "0.4.0"
+version = "0.5.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9192cafbb40d717c9e0ddf767aaf9c69fee1b4e48d22ed853b57b11f6d9f3d7e"
+checksum = "12d9d8375815f543f54835d01160d4e47f9e2cae75f17ff8f1ec19ce1da96e4c"
 dependencies = [
  "cortex-m",
  "cortex-m-rt",
+ "critical-section",
  "vcell",
 ]
 
@@ -387,7 +448,7 @@ name = "rp2040_local_i2c_init"
 version = "0.1.0"
 dependencies = [
  "cortex-m",
- "embedded-hal",
+ "embedded-hal 0.2.7",
  "fugit",
  "panic-probe",
  "rp-pico",
@@ -397,7 +458,7 @@ dependencies = [
 
 [[package]]
 name = "rtic"
-version = "2.0.0"
+version = "2.0.1"
 dependencies = [
  "atomic-polyfill",
  "bare-metal 1.0.0",
@@ -409,9 +470,10 @@ dependencies = [
 
 [[package]]
 name = "rtic-common"
-version = "1.0.0"
+version = "1.0.1"
 dependencies = [
  "critical-section",
+ "portable-atomic",
 ]
 
 [[package]]
@@ -422,22 +484,23 @@ checksum = "d9369355b04d06a3780ec0f51ea2d225624db777acbc60abd8ca4832da5c1a42"
 
 [[package]]
 name = "rtic-macros"
-version = "2.0.0"
+version = "2.0.1"
 dependencies = [
  "indexmap",
  "proc-macro-error",
  "proc-macro2",
  "quote",
- "syn",
+ "syn 2.0.51",
 ]
 
 [[package]]
 name = "rtic-monotonics"
-version = "1.0.0"
+version = "2.0.0"
 dependencies = [
  "atomic-polyfill",
  "cfg-if",
  "cortex-m",
+ "embedded-hal 1.0.0",
  "fugit",
  "rp2040-pac",
  "rtic-time",
@@ -445,9 +508,12 @@ dependencies = [
 
 [[package]]
 name = "rtic-time"
-version = "1.0.0"
+version = "2.0.0"
 dependencies = [
  "critical-section",
+ "embedded-hal 1.0.0",
+ "embedded-hal-async",
+ "fugit",
  "futures-util",
  "rtic-common",
 ]
@@ -494,10 +560,21 @@ dependencies = [
 ]
 
 [[package]]
+name = "syn"
+version = "2.0.51"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6ab617d94515e94ae53b8406c628598680aa0c9587474ecbe58188f7b345d66c"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "unicode-ident",
+]
+
+[[package]]
 name = "unicode-ident"
-version = "1.0.9"
+version = "1.0.12"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b15811caf2415fb889178633e7724bad2509101cde276048e013b9def5e51fa0"
+checksum = "3354b9ac3fae1ff6755cb6db53683adb661634f67557942dea4facebec0fee4b"
 
 [[package]]
 name = "usb-device"
@@ -525,9 +602,9 @@ checksum = "6a02e4885ed3bc0f2de90ea6dd45ebcbb66dacffe03547fadbb0eeae2770887d"
 
 [[package]]
 name = "volatile-register"
-version = "0.2.1"
+version = "0.2.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9ee8f19f9d74293faf70901bc20ad067dc1ad390d2cbf1e3f75f721ffee908b6"
+checksum = "de437e2a6208b014ab52972a27e59b33fa2920d3e00fe05026167a1c509d19cc"
 dependencies = [
  "vcell",
 ]
diff --git a/examples/rp2040_local_i2c_init/Cargo.toml b/examples/rp2040_local_i2c_init/Cargo.toml
index 6e501b6..300bede 100644
--- a/examples/rp2040_local_i2c_init/Cargo.toml
+++ b/examples/rp2040_local_i2c_init/Cargo.toml
@@ -15,14 +15,14 @@ features = ["thumbv6-backend"]
 
 [dependencies.rtic-monotonics]
 path = "../../rtic-monotonics"
-version = "1.0.0"
+version = "2.0.0"
 features = ["rp2040"]
 
 [dependencies]
 cortex-m = "0.7"
 embedded-hal = { version = "0.2.7", features = ["unproven"] }
 fugit = "0.3"
-rp-pico = "0.7.0"
+rp-pico = "0.8.0"
 panic-probe = "0.3"
 
 [profile.dev]
diff --git a/examples/rp2040_local_i2c_init/src/main.rs b/examples/rp2040_local_i2c_init/src/main.rs
index 97049dc..799376c 100644
--- a/examples/rp2040_local_i2c_init/src/main.rs
+++ b/examples/rp2040_local_i2c_init/src/main.rs
@@ -1,15 +1,21 @@
 #![no_std]
 #![no_main]
 
-#[rtic::app(
-    device = rp_pico::hal::pac,
-    dispatchers = [TIMER_IRQ_1]
-)]
+use rtic_monotonics::rp2040::prelude::*;
+
+rp2040_timer_monotonic!(Mono);
+
+#[rtic::app(device = rp_pico::hal::pac)]
 mod app {
+    use super::*;
+
     use rp_pico::hal::{
-        clocks, gpio,
-        gpio::pin::bank0::{Gpio2, Gpio25, Gpio3},
-        gpio::pin::PushPullOutput,
+        clocks,
+        gpio::{
+            self,
+            bank0::{Gpio2, Gpio25, Gpio3},
+            FunctionSioOutput, PullNone, PullUp,
+        },
         pac,
         sio::Sio,
         watchdog::Watchdog,
@@ -20,15 +26,13 @@ mod app {
     use core::mem::MaybeUninit;
     use embedded_hal::digital::v2::{OutputPin, ToggleableOutputPin};
     use fugit::RateExtU32;
-    use rtic_monotonics::rp2040::*;
-
     use panic_probe as _;
 
     type I2CBus = I2C<
         pac::I2C1,
         (
-            gpio::Pin<Gpio2, gpio::FunctionI2C>,
-            gpio::Pin<Gpio3, gpio::FunctionI2C>,
+            gpio::Pin<Gpio2, gpio::FunctionI2C, PullUp>,
+            gpio::Pin<Gpio3, gpio::FunctionI2C, PullUp>,
         ),
     >;
 
@@ -37,7 +41,7 @@ mod app {
 
     #[local]
     struct Local {
-        led: gpio::Pin<Gpio25, PushPullOutput>,
+        led: gpio::Pin<Gpio25, FunctionSioOutput, PullNone>,
         i2c: &'static mut I2CBus,
     }
 
@@ -48,11 +52,8 @@ mod app {
         i2c_ctx: MaybeUninit<I2CBus> = MaybeUninit::uninit()
     ])]
     fn init(mut ctx: init::Context) -> (Shared, Local) {
-        // Initialize the interrupt for the RP2040 timer and obtain the token
-        // proving that we have.
-        let rp2040_timer_token = rtic_monotonics::create_rp2040_monotonic_token!();
         // Configure the clocks, watchdog - The default is to generate a 125 MHz system clock
-        Timer::start(ctx.device.TIMER, &mut ctx.device.RESETS, rp2040_timer_token); // default rp2040 clock-rate is 125MHz
+        Mono::start(ctx.device.TIMER, &mut ctx.device.RESETS); // default rp2040 clock-rate is 125MHz
         let mut watchdog = Watchdog::new(ctx.device.WATCHDOG);
         let clocks = clocks::init_clocks_and_plls(
             XOSC_CRYSTAL_FREQ,
@@ -74,12 +75,21 @@ mod app {
             sio.gpio_bank0,
             &mut ctx.device.RESETS,
         );
-        let mut led = gpioa.led.into_push_pull_output();
+        let mut led = gpioa
+            .led
+            .into_pull_type::<PullNone>()
+            .into_push_pull_output();
         led.set_low().unwrap();
 
         // Init I2C pins
-        let sda_pin = gpioa.gpio2.into_mode::<gpio::FunctionI2C>();
-        let scl_pin = gpioa.gpio3.into_mode::<gpio::FunctionI2C>();
+        let sda_pin = gpioa
+            .gpio2
+            .into_pull_up_disabled()
+            .into_function::<gpio::FunctionI2C>();
+        let scl_pin = gpioa
+            .gpio3
+            .into_pull_up_disabled()
+            .into_function::<gpio::FunctionI2C>();
 
         // Init I2C itself, using MaybeUninit to overwrite the previously
         // uninitialized i2c_ctx variable without dropping its value
@@ -118,7 +128,7 @@ mod app {
             // now to do something with it!
 
             // Delay for 1 second
-            Timer::delay(1000.millis()).await;
+            Mono::delay(1000.millis()).await;
         }
     }
 }
diff --git a/examples/stm32f3_blinky/Cargo.lock b/examples/stm32f3_blinky/Cargo.lock
index 3fbec9e..527d4eb 100644
--- a/examples/stm32f3_blinky/Cargo.lock
+++ b/examples/stm32f3_blinky/Cargo.lock
@@ -52,11 +52,12 @@ checksum = "bef38d45163c2f1dde094a7dfd33ccf595c92905c8f8f4fdc18d06fb1037718a"
 
 [[package]]
 name = "bxcan"
-version = "0.6.2"
+version = "0.7.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4b13b4b2ea9ab2ba924063ebb86ad895cb79f4a79bf90f27949eb20c335b30f9"
+checksum = "40ac3d0c0a542d0ab5521211f873f62706a7136df415676f676d347e5a41dd80"
 dependencies = [
  "bitflags",
+ "embedded-hal 0.2.7",
  "nb 1.1.0",
  "vcell",
 ]
@@ -86,7 +87,7 @@ dependencies = [
  "bare-metal 0.2.5",
  "bitfield",
  "critical-section",
- "embedded-hal",
+ "embedded-hal 0.2.7",
  "volatile-register",
 ]
 
@@ -112,9 +113,9 @@ dependencies = [
 
 [[package]]
 name = "critical-section"
-version = "1.1.1"
+version = "1.1.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6548a0ad5d2549e111e1f6a11a6c2e2d00ce6a3dafe22948d67c2b443f775e52"
+checksum = "7059fff8937831a9ae6f0fe4d658ffabf58f2ca96aa9dec1c889f936f705f216"
 
 [[package]]
 name = "darling"
@@ -136,7 +137,7 @@ dependencies = [
  "ident_case",
  "proc-macro2",
  "quote",
- "syn 2.0.22",
+ "syn 2.0.50",
 ]
 
 [[package]]
@@ -147,7 +148,7 @@ checksum = "29a358ff9f12ec09c3e61fef9b5a9902623a695a46a917b07f269bff1445611a"
 dependencies = [
  "darling_core",
  "quote",
- "syn 2.0.22",
+ "syn 2.0.50",
 ]
 
 [[package]]
@@ -170,6 +171,21 @@ dependencies = [
 ]
 
 [[package]]
+name = "embedded-hal"
+version = "1.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "361a90feb7004eca4019fb28352a9465666b24f840f5c3cddf0ff13920590b89"
+
+[[package]]
+name = "embedded-hal-async"
+version = "1.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0c4c685bbef7fe13c3c6dd4da26841ed3980ef33e841cddfa15ce8a8fb3f1884"
+dependencies = [
+ "embedded-hal 1.0.0",
+]
+
+[[package]]
 name = "embedded-time"
 version = "0.12.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
@@ -180,9 +196,9 @@ dependencies = [
 
 [[package]]
 name = "enumset"
-version = "1.1.2"
+version = "1.1.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e875f1719c16de097dee81ed675e2d9bb63096823ed3f0ca827b7dea3028bbbb"
+checksum = "226c0da7462c13fb57e5cc9e0dc8f0635e7d27f276a3a7fd30054647f669007d"
 dependencies = [
  "enumset_derive",
 ]
@@ -196,7 +212,7 @@ dependencies = [
  "darling",
  "proc-macro2",
  "quote",
- "syn 2.0.22",
+ "syn 2.0.50",
 ]
 
 [[package]]
@@ -343,28 +359,28 @@ dependencies = [
 
 [[package]]
 name = "num-traits"
-version = "0.2.15"
+version = "0.2.18"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "578ede34cf02f8924ab9447f50c28075b4d3e5b269972345e7e0372b38c6cdcd"
+checksum = "da0df0e5185db44f69b44f26786fe401b6c293d1907744beaa7fa62b2e5a517a"
 dependencies = [
  "autocfg",
 ]
 
 [[package]]
 name = "panic-rtt-target"
-version = "0.1.2"
+version = "0.1.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0d6ab67bc881453e4c90f958c657c1303670ea87bc1a16e87fd71a40f656dce9"
+checksum = "608d1d809dd8960d5e8364981279c7ab280a13d98b99eae049885a7ab2b1cbfe"
 dependencies = [
- "cortex-m",
- "rtt-target 0.3.1",
+ "critical-section",
+ "rtt-target",
 ]
 
 [[package]]
 name = "paste"
-version = "1.0.12"
+version = "1.0.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9f746c4065a8fa3fe23974dd82f15431cc8d40779821001404d10d2e79ca7d79"
+checksum = "de3145af08024dea9fa9914f381a17b8fc6034dfb00f3a84013f7ff43f29ed4c"
 
 [[package]]
 name = "pin-project-lite"
@@ -379,6 +395,12 @@ 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 = "proc-macro-error"
 version = "1.0.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
@@ -404,18 +426,18 @@ dependencies = [
 
 [[package]]
 name = "proc-macro2"
-version = "1.0.63"
+version = "1.0.78"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7b368fba921b0dce7e60f5e04ec15e565b3303972b42bcfde1d0713b881959eb"
+checksum = "e2422ad645d89c99f8f3e6b88a9fdeca7fabeac836b1002371c4367c8f984aae"
 dependencies = [
  "unicode-ident",
 ]
 
 [[package]]
 name = "quote"
-version = "1.0.29"
+version = "1.0.35"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "573015e8ab27661678357f27dc26460738fd2b6c86e46f386fde94cb5d913105"
+checksum = "291ec9ab5efd934aaf503a6466c5d5251535d108ee747472c3977cc5acc868ef"
 dependencies = [
  "proc-macro2",
 ]
@@ -431,7 +453,7 @@ dependencies = [
 
 [[package]]
 name = "rtic"
-version = "2.0.0"
+version = "2.0.1"
 dependencies = [
  "atomic-polyfill",
  "bare-metal 1.0.0",
@@ -443,9 +465,10 @@ dependencies = [
 
 [[package]]
 name = "rtic-common"
-version = "1.0.0"
+version = "1.0.1"
 dependencies = [
  "critical-section",
+ "portable-atomic",
 ]
 
 [[package]]
@@ -456,49 +479,44 @@ checksum = "d9369355b04d06a3780ec0f51ea2d225624db777acbc60abd8ca4832da5c1a42"
 
 [[package]]
 name = "rtic-macros"
-version = "2.0.0"
+version = "2.0.1"
 dependencies = [
  "indexmap",
  "proc-macro-error",
  "proc-macro2",
  "quote",
- "syn 1.0.109",
+ "syn 2.0.50",
 ]
 
 [[package]]
 name = "rtic-monotonics"
-version = "1.0.0"
+version = "2.0.0"
 dependencies = [
  "atomic-polyfill",
  "cfg-if",
  "cortex-m",
+ "embedded-hal 1.0.0",
  "fugit",
  "rtic-time",
 ]
 
 [[package]]
 name = "rtic-time"
-version = "1.0.0"
+version = "2.0.0"
 dependencies = [
  "critical-section",
+ "embedded-hal 1.0.0",
+ "embedded-hal-async",
+ "fugit",
  "futures-util",
  "rtic-common",
 ]
 
 [[package]]
 name = "rtt-target"
-version = "0.3.1"
+version = "0.5.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "065d6058bb1204f51a562a67209e1817cf714759d5cf845aa45c75fa7b0b9d9b"
-dependencies = [
- "ufmt-write",
-]
-
-[[package]]
-name = "rtt-target"
-version = "0.4.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3afa12c77ba1b9bf560e4039a9b9a08bb9cde0e9e6923955eeb917dd8d5cf303"
+checksum = "10b34c9e6832388e45f3c01f1bb60a016384a0a4ad80cdd7d34913bed25037f0"
 dependencies = [
  "critical-section",
  "ufmt-write",
@@ -553,9 +571,9 @@ dependencies = [
 
 [[package]]
 name = "stm32f3"
-version = "0.14.0"
+version = "0.15.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "265cda62ac13307414de4aca58dbbbd8038ddba85cffbb335823aa216f2e3200"
+checksum = "b28b37228ef3fa47956af38c6abd756e912f244c1657f14e66d42fc8d74ea96f"
 dependencies = [
  "bare-metal 1.0.0",
  "cortex-m",
@@ -567,30 +585,32 @@ dependencies = [
 name = "stm32f3-blinky"
 version = "0.1.0"
 dependencies = [
- "embedded-hal",
+ "cortex-m",
+ "embedded-hal 0.2.7",
  "panic-rtt-target",
  "rtic",
  "rtic-monotonics",
- "rtt-target 0.4.0",
+ "rtt-target",
  "stm32f3xx-hal",
 ]
 
 [[package]]
 name = "stm32f3xx-hal"
-version = "0.9.2"
+version = "0.10.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4c9d827f02df3826371c897404dfbea8a1abd544eed9d6cdc3e5f6e9f04b9e06"
+checksum = "4c73e8b6e63435b75198d2fe2b27cd7f5c8e0b07bd5da9f82cffddf23210f77f"
 dependencies = [
- "bare-metal 1.0.0",
  "bxcan",
  "cfg-if",
  "cortex-m",
  "cortex-m-rt",
+ "critical-section",
  "embedded-dma",
- "embedded-hal",
+ "embedded-hal 0.2.7",
  "embedded-time",
  "enumset",
  "nb 1.1.0",
+ "num-traits",
  "paste",
  "rtcc",
  "slice-group-by",
@@ -612,9 +632,9 @@ dependencies = [
 
 [[package]]
 name = "syn"
-version = "2.0.22"
+version = "2.0.50"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2efbeae7acf4eabd6bcdcbd11c92f45231ddda7539edc7806bd1a04a03b24616"
+checksum = "74f1bdc9872430ce9b75da68329d1c1746faf50ffac5f19e02b71e37ff881ffb"
 dependencies = [
  "proc-macro2",
  "quote",
diff --git a/examples/stm32f3_blinky/Cargo.toml b/examples/stm32f3_blinky/Cargo.toml
index 3773f0e..5e28188 100644
--- a/examples/stm32f3_blinky/Cargo.toml
+++ b/examples/stm32f3_blinky/Cargo.toml
@@ -14,17 +14,21 @@ features = ["thumbv7-backend"]
 
 [dependencies.rtic-monotonics]
 path = "../../rtic-monotonics"
-version = "1.0.0"
+version = "2.0.0"
 features = ["cortex-m-systick"]
 
+[dependencies.cortex-m]
+version = "0.7.7"
+features = ["critical-section-single-core"]
+
 [dependencies]
 embedded-hal = "0.2.7"
-panic-rtt-target = { version = "0.1.2", features = ["cortex-m"] }
-rtt-target = { version = "0.4.0" }
+panic-rtt-target = { version = "0.1.3" }
+rtt-target = { version = "0.5.0" }
 
 [dependencies.stm32f3xx-hal]
 features = ["stm32f303xc", "rt"]
-version = "0.9.2"
+version = "0.10.0"
 
 # this lets you use `cargo fix`!
 [[bin]]
diff --git a/examples/stm32f3_blinky/src/main.rs b/examples/stm32f3_blinky/src/main.rs
index 28dc7c2..e8c2e50 100644
--- a/examples/stm32f3_blinky/src/main.rs
+++ b/examples/stm32f3_blinky/src/main.rs
@@ -5,11 +5,13 @@
 
 use panic_rtt_target as _;
 use rtic::app;
-use rtic_monotonics::systick::*;
+use rtic_monotonics::systick::prelude::*;
 use rtt_target::{rprintln, rtt_init_print};
 use stm32f3xx_hal::gpio::{Output, PushPull, PA5};
 use stm32f3xx_hal::prelude::*;
 
+systick_monotonic!(Mono, 1000);
+
 #[app(device = stm32f3xx_hal::pac, peripherals = true, dispatchers = [SPI1])]
 mod app {
     use super::*;
@@ -30,8 +32,7 @@ mod app {
         let mut rcc = cx.device.RCC.constrain();
 
         // Initialize the systick interrupt & obtain the token to prove that we did
-        let systick_mono_token = rtic_monotonics::create_systick_token!();
-        Systick::start(cx.core.SYST, 36_000_000, systick_mono_token); // default STM32F303 clock-rate is 36MHz
+        Mono::start(cx.core.SYST, 36_000_000); // default STM32F303 clock-rate is 36MHz
 
         rtt_init_print!();
         rprintln!("init");
@@ -67,7 +68,7 @@ mod app {
                 cx.local.led.set_low().unwrap();
                 *cx.local.state = true;
             }
-            Systick::delay(1000.millis()).await;
+            Mono::delay(1000.millis()).await;
         }
     }
 }
diff --git a/examples/stm32g030f6_periodic_prints/.cargo/config.toml b/examples/stm32g030f6_periodic_prints/.cargo/config.toml
new file mode 100644
index 0000000..15ddd2a
--- /dev/null
+++ b/examples/stm32g030f6_periodic_prints/.cargo/config.toml
@@ -0,0 +1,24 @@
+[target.'cfg(all(target_arch = "arm", target_os = "none"))']
+# TODO(2) replace `$CHIP` with your chip's name (see `probe-run --list-chips` output)
+runner = "probe-run --chip STM32G030F6Px"
+rustflags = [
+  "-C", "linker=flip-link",
+  "-C", "link-arg=-Tlink.x",
+  "-C", "link-arg=-Tdefmt.x",
+  # This is needed if your flash or ram addresses are not aligned to 0x10000 in memory.x
+  # See https://github.com/rust-embedded/cortex-m-quickstart/pull/95
+  "-C", "link-arg=--nmagic",
+]
+
+[build]
+# TODO(3) Adjust the compilation target.
+# (`thumbv6m-*` is compatible with all ARM Cortex-M chips but using the right
+# target improves performance)
+target = "thumbv6m-none-eabi"    # Cortex-M0 and Cortex-M0+
+# target = "thumbv7m-none-eabi"    # Cortex-M3
+# target = "thumbv7em-none-eabi"   # Cortex-M4 and Cortex-M7 (no FPU)
+# target = "thumbv7em-none-eabihf" # Cortex-M4F and Cortex-M7F (with FPU)
+
+[alias]
+rb = "run --bin"
+rrb = "run --release --bin"
diff --git a/examples/stm32g030f6_periodic_prints/.vscode/settings.json b/examples/stm32g030f6_periodic_prints/.vscode/settings.json
new file mode 100644
index 0000000..c684c24
--- /dev/null
+++ b/examples/stm32g030f6_periodic_prints/.vscode/settings.json
@@ -0,0 +1,9 @@
+{
+    // override the default setting (`cargo check --all-targets`) which produces the following error
+    // "can't find crate for `test`" when the default compilation target is a no_std target
+    // with these changes RA will call `cargo check --bins` on save
+    "rust-analyzer.checkOnSave.allTargets": false,
+    "rust-analyzer.checkOnSave.extraArgs": [
+        "--bins"
+    ]
+}
diff --git a/examples/stm32g030f6_periodic_prints/Cargo.lock b/examples/stm32g030f6_periodic_prints/Cargo.lock
new file mode 100644
index 0000000..65dbf61
--- /dev/null
+++ b/examples/stm32g030f6_periodic_prints/Cargo.lock
@@ -0,0 +1,511 @@
+# This file is automatically @generated by Cargo.
+# It is not intended for manual editing.
+version = 3
+
+[[package]]
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+version = "1.0.3"
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+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1d7eb9ef2c18661902cc47e535f9bc51b78acd254da71d375c2f6720d9a40403"
+dependencies = [
+ "semver-parser",
+]
+
+[[package]]
+name = "semver-parser"
+version = "0.7.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "388a1df253eca08550bef6c72392cfe7c30914bf41df5269b68cbd6ff8f570a3"
+
+[[package]]
+name = "stm32-metapac"
+version = "15.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "deabea56a8821dcea05d0109f3ab3135f31eb572444e5da203d06149c594c8c6"
+dependencies = [
+ "cortex-m",
+]
+
+[[package]]
+name = "stm32g0"
+version = "0.14.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "dfc2ac544cea741c92a501bfd027d197354cd22ee92b439aea26d2ee0b55bcd7"
+dependencies = [
+ "bare-metal 1.0.0",
+ "cortex-m",
+ "cortex-m-rt",
+ "vcell",
+]
+
+[[package]]
+name = "stm32g030f6_periodic_prints"
+version = "0.1.0"
+dependencies = [
+ "cortex-m",
+ "cortex-m-rt",
+ "defmt",
+ "defmt-rtt",
+ "fugit",
+ "panic-probe",
+ "rtic",
+ "rtic-monotonics",
+ "stm32g0xx-hal",
+]
+
+[[package]]
+name = "stm32g0xx-hal"
+version = "0.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "fae457e81f9601121c5b92dca20e3612c80ea957898f8e0e68efcaab6b242067"
+dependencies = [
+ "bare-metal 1.0.0",
+ "cortex-m",
+ "embedded-hal 0.2.7",
+ "fugit",
+ "nb 1.1.0",
+ "stm32g0",
+ "void",
+]
+
+[[package]]
+name = "syn"
+version = "1.0.109"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "72b64191b275b66ffe2469e8af2c1cfe3bafa67b529ead792a6d0160888b4237"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "unicode-ident",
+]
+
+[[package]]
+name = "syn"
+version = "2.0.51"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6ab617d94515e94ae53b8406c628598680aa0c9587474ecbe58188f7b345d66c"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "unicode-ident",
+]
+
+[[package]]
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+version = "1.0.57"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1e45bcbe8ed29775f228095caf2cd67af7a4ccf756ebff23a306bf3e8b47b24b"
+dependencies = [
+ "thiserror-impl",
+]
+
+[[package]]
+name = "thiserror-impl"
+version = "1.0.57"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a953cb265bef375dae3de6663da4d3804eee9682ea80d8e2542529b73c531c81"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.51",
+]
+
+[[package]]
+name = "unicode-ident"
+version = "1.0.12"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3354b9ac3fae1ff6755cb6db53683adb661634f67557942dea4facebec0fee4b"
+
+[[package]]
+name = "vcell"
+version = "0.1.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "77439c1b53d2303b20d9459b1ade71a83c716e3f9c34f3228c00e6f185d6c002"
+
+[[package]]
+name = "version_check"
+version = "0.9.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "49874b5167b65d7193b8aba1567f5c7d93d001cafc34600cee003eda787e483f"
+
+[[package]]
+name = "void"
+version = "1.0.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6a02e4885ed3bc0f2de90ea6dd45ebcbb66dacffe03547fadbb0eeae2770887d"
+
+[[package]]
+name = "volatile-register"
+version = "0.2.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "de437e2a6208b014ab52972a27e59b33fa2920d3e00fe05026167a1c509d19cc"
+dependencies = [
+ "vcell",
+]
diff --git a/examples/stm32g030f6_periodic_prints/Cargo.toml b/examples/stm32g030f6_periodic_prints/Cargo.toml
new file mode 100644
index 0000000..d8d8e35
--- /dev/null
+++ b/examples/stm32g030f6_periodic_prints/Cargo.toml
@@ -0,0 +1,48 @@
+[package]
+authors = ["Finomnis <finomnis@gmail.com>"]
+name = "stm32g030f6_periodic_prints"
+edition = "2021"
+version = "0.1.0"
+
+[workspace]
+
+
+[dependencies.rtic]
+path = "../../rtic"
+version = "2.0.1"
+features = ["thumbv6-backend"]
+
+[dependencies.rtic-monotonics]
+path = "../../rtic-monotonics"
+version = "2.0.0"
+features = ["stm32g030f6", "stm32_tim3"]
+
+
+[dependencies]
+cortex-m = { version = "0.7.7", features = ["critical-section-single-core"] }
+cortex-m-rt = "0.7.3"
+defmt = "0.3.4"
+defmt-rtt = "0.4.0"
+fugit = "0.3.7"
+panic-probe = { version = "0.3.1", features = ["print-defmt"] }
+
+stm32g0xx-hal = { version = "0.2.0", features = ["rt", "stm32g030"] }
+
+# cargo build/run
+[profile.dev]
+codegen-units = 1
+debug = 2
+debug-assertions = true # <-
+incremental = false
+opt-level = 3           # <-
+overflow-checks = true  # <-
+
+# cargo build/run --release
+[profile.release]
+codegen-units = 1
+debug = 2
+debug-assertions = false # <-
+incremental = false
+lto = 'fat'
+opt-level = 3            # <-
+overflow-checks = false  # <-
diff --git a/examples/stm32g030f6_periodic_prints/README.md b/examples/stm32g030f6_periodic_prints/README.md
new file mode 100644
index 0000000..e669378
--- /dev/null
+++ b/examples/stm32g030f6_periodic_prints/README.md
@@ -0,0 +1,31 @@
+# `stm32g030f6_periodic_prints`
+
+An RTIC periodic print example intended for the stm32g030f6 chip.
+
+## Dependencies
+
+#### 1. `flip-link`:
+
+```console
+$ cargo install flip-link
+```
+
+#### 2. `probe-rs`:
+
+``` console
+$ # make sure to install v0.2.0 or later
+$ cargo install probe-rs --features cli
+```
+
+
+## Run
+
+The stm32g030f6 chip needs to be connected to the computer via an SWD probe, like a [J-Link EDU Mini].
+
+Then, run:
+
+```
+cargo run --release
+```
+
+[J-Link EDU Mini]: https://www.segger.com/products/debug-probes/j-link/models/j-link-edu-mini/
diff --git a/examples/stm32g030f6_periodic_prints/memory.x b/examples/stm32g030f6_periodic_prints/memory.x
new file mode 100644
index 0000000..3f89120
--- /dev/null
+++ b/examples/stm32g030f6_periodic_prints/memory.x
@@ -0,0 +1,6 @@
+/* Linker script for the STM32G030F6 */
+MEMORY
+{
+  FLASH : ORIGIN = 0x08000000, LENGTH = 32K
+  RAM : ORIGIN = 0x20000000, LENGTH = 8K
+}
diff --git a/examples/stm32g030f6_periodic_prints/src/main.rs b/examples/stm32g030f6_periodic_prints/src/main.rs
new file mode 100644
index 0000000..00fa802
--- /dev/null
+++ b/examples/stm32g030f6_periodic_prints/src/main.rs
@@ -0,0 +1,57 @@
+#![deny(unsafe_code)]
+#![deny(warnings)]
+#![no_main]
+#![no_std]
+
+use defmt_rtt as _; // global logger
+
+pub use stm32g0xx_hal as hal; // memory layout
+
+use panic_probe as _;
+
+// same panicking *behavior* as `panic-probe` but doesn't print a panic message
+// this prevents the panic message being printed *twice* when `defmt::panic` is invoked
+#[defmt::panic_handler]
+fn panic() -> ! {
+    cortex_m::asm::udf()
+}
+
+use rtic_monotonics::stm32::prelude::*;
+stm32_tim3_monotonic!(Mono, 1_000_000);
+
+#[rtic::app(device = hal::stm32, peripherals = true, dispatchers = [USART1, USART2])]
+mod app {
+    use super::*;
+
+    #[local]
+    struct LocalResources {}
+
+    #[shared]
+    struct SharedResources {}
+
+    #[init]
+    fn init(ctx: init::Context) -> (SharedResources, LocalResources) {
+        // enable dma clock during sleep, otherwise defmt doesn't work
+        ctx.device.RCC.ahbenr.modify(|_, w| w.dmaen().set_bit());
+
+        defmt::println!("TIM Monotonic blinker example!");
+
+        // Start the monotonic
+        Mono::start(16_000_000);
+
+        print_messages::spawn().unwrap();
+
+        (SharedResources {}, LocalResources {})
+    }
+
+    #[task(priority = 2)]
+    async fn print_messages(_cx: print_messages::Context) {
+        let mut next_update = <Mono as Monotonic>::Instant::from_ticks(0u64);
+
+        loop {
+            defmt::println!("Time: {} ticks", Mono::now().ticks());
+            next_update += 1000u64.millis();
+            Mono::delay_until(next_update).await;
+        }
+    }
+}
diff --git a/examples/teensy4_blinky/Cargo.lock b/examples/teensy4_blinky/Cargo.lock
index 314eae0..8ae5b95 100644
--- a/examples/teensy4_blinky/Cargo.lock
+++ b/examples/teensy4_blinky/Cargo.lock
@@ -133,9 +133,18 @@ dependencies = [
 
 [[package]]
 name = "embedded-hal"
-version = "1.0.0-rc.2"
+version = "1.0.0-rc.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3e57ec6ad0bc8eb967cf9c9f144177f5e8f2f6f02dad0b8b683f9f05f6b22def"
+checksum = "bc402f79e1fd22731ca945b4f97b5ff37e7b3f379312595c42bb2e8811c29920"
+
+[[package]]
+name = "embedded-hal-async"
+version = "1.0.0-rc.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "fa1fba2ef2ffb35d614acc6fb323ddf7facc45c069f24544d49ea54e5043626d"
+dependencies = [
+ "embedded-hal 1.0.0-rc.3",
+]
 
 [[package]]
 name = "equivalent"
@@ -440,12 +449,12 @@ dependencies = [
 
 [[package]]
 name = "rtic-monotonics"
-version = "1.4.0"
+version = "2.0.0"
 dependencies = [
  "atomic-polyfill",
  "cfg-if",
  "cortex-m",
- "embedded-hal 1.0.0-rc.2",
+ "embedded-hal 1.0.0-rc.3",
  "fugit",
  "imxrt-ral",
  "rtic-time",
@@ -453,9 +462,12 @@ dependencies = [
 
 [[package]]
 name = "rtic-time"
-version = "1.1.0"
+version = "2.0.0"
 dependencies = [
  "critical-section",
+ "embedded-hal 1.0.0-rc.3",
+ "embedded-hal-async",
+ "fugit",
  "futures-util",
  "rtic-common",
 ]
diff --git a/examples/teensy4_blinky/Cargo.toml b/examples/teensy4_blinky/Cargo.toml
index a81a155..e050213 100644
--- a/examples/teensy4_blinky/Cargo.toml
+++ b/examples/teensy4_blinky/Cargo.toml
@@ -14,7 +14,7 @@ features = ["thumbv7-backend"]
 
 [dependencies.rtic-monotonics]
 path = "../../rtic-monotonics"
-version = "1.2.1"
+version = "2.0.0"
 features = ["imxrt_gpt1"]
 
 [dependencies]
diff --git a/examples/teensy4_blinky/examples/with_logs.rs b/examples/teensy4_blinky/examples/with_logs.rs
index 82c7154..111e21e 100644
--- a/examples/teensy4_blinky/examples/with_logs.rs
+++ b/examples/teensy4_blinky/examples/with_logs.rs
@@ -13,9 +13,8 @@ use bsp::logging;
 
 use embedded_hal::serial::Write;
 
-use rtic_monotonics::imxrt::Gpt1 as Mono;
-use rtic_monotonics::imxrt::*;
-use rtic_monotonics::Monotonic;
+use rtic_monotonics::imxrt::prelude::*;
+imxrt_gpt1_monotonic!(Mono, board::PERCLK_FREQUENCY);
 
 #[rtic::app(device = teensy4_bsp, dispatchers = [LPSPI1])]
 mod app {
@@ -61,8 +60,7 @@ mod app {
 
         // Initialize Monotonic
         gpt1.set_clock_source(hal::gpt::ClockSource::PeripheralClock);
-        let gpt1_mono_token = rtic_monotonics::create_imxrt_gpt1_token!();
-        Mono::start(board::PERCLK_FREQUENCY, gpt1.release(), gpt1_mono_token);
+        Mono::start(gpt1.release());
 
         // Setup LED
         let led = board::led(&mut gpio2, pins.p13);
diff --git a/examples/teensy4_blinky/src/main.rs b/examples/teensy4_blinky/src/main.rs
index 443e605..b3b1773 100644
--- a/examples/teensy4_blinky/src/main.rs
+++ b/examples/teensy4_blinky/src/main.rs
@@ -10,8 +10,8 @@ fn panic(_: &::core::panic::PanicInfo) -> ! {
 
 use teensy4_bsp::{board, hal};
 
-use rtic_monotonics::imxrt::Gpt1 as Mono;
-use rtic_monotonics::imxrt::*;
+use rtic_monotonics::imxrt::prelude::*;
+imxrt_gpt1_monotonic!(Mono, board::PERCLK_FREQUENCY);
 
 #[rtic::app(device = teensy4_bsp, dispatchers = [LPSPI1])]
 mod app {
@@ -36,8 +36,7 @@ mod app {
 
         // Initialize Monotonic
         gpt1.set_clock_source(hal::gpt::ClockSource::PeripheralClock);
-        let gpt1_mono_token = rtic_monotonics::create_imxrt_gpt1_token!();
-        Mono::start(board::PERCLK_FREQUENCY, gpt1.release(), gpt1_mono_token);
+        Mono::start(gpt1.release());
 
         // Setup LED
         let led = board::led(&mut gpio2, pins.p13);