diff --git a/Cargo.lock b/Cargo.lock
index afdd24124..2417a687b 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -654,10 +654,10 @@ dependencies = [
 [[package]]
 name = "embassy-embedded-hal"
 version = "0.1.0"
-source = "git+https://github.com/embassy-rs/embassy#e0727fe1f6bd1b8c9c356f33991b522956251ba1"
+source = "git+https://github.com/kaspar030/embassy?branch=for-riot-rs#7d05364b4868a4855849c229e36dc3e86e86840b"
 dependencies = [
  "embassy-futures",
- "embassy-sync 0.4.0",
+ "embassy-sync 0.3.0",
  "embassy-time",
  "embedded-hal 0.2.7",
  "embedded-hal 1.0.0-rc.1",
@@ -670,7 +670,8 @@ dependencies = [
 [[package]]
 name = "embassy-executor"
 version = "0.3.3"
-source = "git+https://github.com/embassy-rs/embassy#e0727fe1f6bd1b8c9c356f33991b522956251ba1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ac5b3658a8ecdcddf6d3fe0967fe0843d407071e0e32aa77ed03b60c66fbecf2"
 dependencies = [
  "cortex-m",
  "critical-section",
@@ -680,8 +681,8 @@ dependencies = [
 
 [[package]]
 name = "embassy-futures"
-version = "0.1.1"
-source = "git+https://github.com/embassy-rs/embassy#e0727fe1f6bd1b8c9c356f33991b522956251ba1"
+version = "0.1.0"
+source = "git+https://github.com/kaspar030/embassy?branch=for-riot-rs#7d05364b4868a4855849c229e36dc3e86e86840b"
 
 [[package]]
 name = "embassy-gpio"
@@ -697,7 +698,7 @@ dependencies = [
 [[package]]
 name = "embassy-hal-internal"
 version = "0.1.0"
-source = "git+https://github.com/embassy-rs/embassy#e0727fe1f6bd1b8c9c356f33991b522956251ba1"
+source = "git+https://github.com/kaspar030/embassy?branch=for-riot-rs#7d05364b4868a4855849c229e36dc3e86e86840b"
 dependencies = [
  "cortex-m",
  "critical-section",
@@ -707,7 +708,7 @@ dependencies = [
 [[package]]
 name = "embassy-macros"
 version = "0.2.1"
-source = "git+https://github.com/embassy-rs/embassy#e0727fe1f6bd1b8c9c356f33991b522956251ba1"
+source = "git+https://github.com/kaspar030/embassy?branch=for-riot-rs#7d05364b4868a4855849c229e36dc3e86e86840b"
 dependencies = [
  "darling",
  "proc-macro2",
@@ -718,18 +719,19 @@ dependencies = [
 [[package]]
 name = "embassy-net"
 version = "0.2.1"
-source = "git+https://github.com/embassy-rs/embassy#e0727fe1f6bd1b8c9c356f33991b522956251ba1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8073df9cb1f4941aaf7b328809d8d3c02da2bde228607883e332672515636929"
 dependencies = [
  "as-slice 0.2.1",
  "atomic-pool",
- "embassy-net-driver",
+ "embassy-net-driver 0.2.0 (registry+https://github.com/rust-lang/crates.io-index)",
  "embassy-sync 0.4.0",
  "embassy-time",
  "embedded-io-async",
  "embedded-nal-async",
  "futures",
  "generic-array 0.14.7",
- "heapless 0.8.0",
+ "heapless 0.7.16",
  "managed",
  "smoltcp",
  "stable_deref_trait",
@@ -738,16 +740,22 @@ dependencies = [
 [[package]]
 name = "embassy-net-driver"
 version = "0.2.0"
-source = "git+https://github.com/embassy-rs/embassy#e0727fe1f6bd1b8c9c356f33991b522956251ba1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "524eb3c489760508f71360112bca70f6e53173e6fe48fc5f0efd0f5ab217751d"
+
+[[package]]
+name = "embassy-net-driver"
+version = "0.2.0"
+source = "git+https://github.com/kaspar030/embassy?branch=for-riot-rs#7d05364b4868a4855849c229e36dc3e86e86840b"
 
 [[package]]
 name = "embassy-net-driver-channel"
 version = "0.2.0"
-source = "git+https://github.com/embassy-rs/embassy#e0727fe1f6bd1b8c9c356f33991b522956251ba1"
+source = "git+https://github.com/kaspar030/embassy?branch=for-riot-rs#7d05364b4868a4855849c229e36dc3e86e86840b"
 dependencies = [
  "embassy-futures",
- "embassy-net-driver",
- "embassy-sync 0.4.0",
+ "embassy-net-driver 0.2.0 (git+https://github.com/kaspar030/embassy?branch=for-riot-rs)",
+ "embassy-sync 0.3.0",
 ]
 
 [[package]]
@@ -779,7 +787,7 @@ dependencies = [
 [[package]]
 name = "embassy-nrf"
 version = "0.1.0"
-source = "git+https://github.com/embassy-rs/embassy#e0727fe1f6bd1b8c9c356f33991b522956251ba1"
+source = "git+https://github.com/kaspar030/embassy?branch=for-riot-rs#7d05364b4868a4855849c229e36dc3e86e86840b"
 dependencies = [
  "cfg-if",
  "cortex-m",
@@ -787,7 +795,7 @@ dependencies = [
  "critical-section",
  "embassy-embedded-hal",
  "embassy-hal-internal",
- "embassy-sync 0.4.0",
+ "embassy-sync 0.3.0",
  "embassy-time",
  "embassy-usb-driver",
  "embedded-hal 0.2.7",
@@ -798,6 +806,7 @@ dependencies = [
  "embedded-storage",
  "embedded-storage-async",
  "fixed",
+ "futures",
  "nrf52805-pac",
  "nrf52810-pac",
  "nrf52811-pac",
@@ -814,7 +823,7 @@ dependencies = [
 [[package]]
 name = "embassy-rp"
 version = "0.1.0"
-source = "git+https://github.com/embassy-rs/embassy#e0727fe1f6bd1b8c9c356f33991b522956251ba1"
+source = "git+https://github.com/kaspar030/embassy?branch=for-riot-rs#7d05364b4868a4855849c229e36dc3e86e86840b"
 dependencies = [
  "atomic-polyfill 1.0.3",
  "cfg-if",
@@ -824,7 +833,7 @@ dependencies = [
  "embassy-embedded-hal",
  "embassy-futures",
  "embassy-hal-internal",
- "embassy-sync 0.4.0",
+ "embassy-sync 0.3.0",
  "embassy-time",
  "embassy-usb-driver",
  "embedded-hal 0.2.7",
@@ -847,8 +856,7 @@ dependencies = [
 [[package]]
 name = "embassy-sync"
 version = "0.3.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f0525b466ca3ace30b57f2db868a35215dfaecd038d8668cb2db03feb7c069a0"
+source = "git+https://github.com/kaspar030/embassy?branch=for-riot-rs#7d05364b4868a4855849c229e36dc3e86e86840b"
 dependencies = [
  "cfg-if",
  "critical-section",
@@ -859,18 +867,19 @@ dependencies = [
 [[package]]
 name = "embassy-sync"
 version = "0.4.0"
-source = "git+https://github.com/embassy-rs/embassy#e0727fe1f6bd1b8c9c356f33991b522956251ba1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c86460434eb3defd987d872ecc1b8bc6a106a6770232180589a892721b5d8446"
 dependencies = [
  "cfg-if",
  "critical-section",
  "futures-util",
- "heapless 0.8.0",
+ "heapless 0.7.16",
 ]
 
 [[package]]
 name = "embassy-time"
 version = "0.1.5"
-source = "git+https://github.com/embassy-rs/embassy#e0727fe1f6bd1b8c9c356f33991b522956251ba1"
+source = "git+https://github.com/kaspar030/embassy?branch=for-riot-rs#7d05364b4868a4855849c229e36dc3e86e86840b"
 dependencies = [
  "cfg-if",
  "critical-section",
@@ -878,25 +887,25 @@ dependencies = [
  "embedded-hal 1.0.0-rc.1",
  "embedded-hal-async",
  "futures-util",
- "heapless 0.8.0",
+ "heapless 0.7.16",
 ]
 
 [[package]]
 name = "embassy-usb"
 version = "0.1.0"
-source = "git+https://github.com/embassy-rs/embassy#e0727fe1f6bd1b8c9c356f33991b522956251ba1"
+source = "git+https://github.com/kaspar030/embassy?branch=for-riot-rs#7d05364b4868a4855849c229e36dc3e86e86840b"
 dependencies = [
  "embassy-futures",
  "embassy-net-driver-channel",
- "embassy-sync 0.4.0",
+ "embassy-sync 0.3.0",
  "embassy-usb-driver",
- "heapless 0.8.0",
+ "heapless 0.7.16",
 ]
 
 [[package]]
 name = "embassy-usb-driver"
 version = "0.1.0"
-source = "git+https://github.com/embassy-rs/embassy#e0727fe1f6bd1b8c9c356f33991b522956251ba1"
+source = "git+https://github.com/kaspar030/embassy?branch=for-riot-rs#7d05364b4868a4855849c229e36dc3e86e86840b"
 
 [[package]]
 name = "embedded-dma"
@@ -964,22 +973,24 @@ dependencies = [
 
 [[package]]
 name = "embedded-nal"
-version = "0.8.0"
+version = "0.7.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b8a943fad5ed3d3f8a00f1e80f6bba371f1e7f0df28ec38477535eb318dc19cc"
+checksum = "447416d161ba378782c13e82b11b267d6d2104b4913679a7c5640e7e94f96ea7"
 dependencies = [
+ "heapless 0.7.16",
  "nb 1.1.0",
  "no-std-net",
 ]
 
 [[package]]
 name = "embedded-nal-async"
-version = "0.7.0"
+version = "0.6.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "24708d5aedfd9e82aec45d2782cd0f59561822c5f352a3c40bb5824b72337653"
+checksum = "a0f75f0ac83505f354443332324ef1399463902718b95b4ce153ae9b3660f341"
 dependencies = [
  "embedded-io-async",
  "embedded-nal",
+ "heapless 0.7.16",
  "no-std-net",
 ]
 
@@ -2116,6 +2127,7 @@ version = "0.1.0"
 dependencies = [
  "cfg-if",
  "dwm1001",
+ "linkme",
  "lm3s6965evb",
  "microbit",
  "microbit-v2",
@@ -2123,6 +2135,7 @@ dependencies = [
  "nrf52840dk",
  "nrf52dk",
  "nucleo-f401re",
+ "riot-rs-rt",
  "rpi-pico",
 ]
 
@@ -2484,12 +2497,13 @@ checksum = "4dccd0940a2dcdf68d092b8cbab7dc0ad8fa938bf95787e1b916b0e3d0e8e970"
 [[package]]
 name = "smoltcp"
 version = "0.10.0"
-source = "git+https://github.com/smoltcp-rs/smoltcp.git?rev=b57e2f9e70e82a13f31d5ea17e55232c11cc2b2d#b57e2f9e70e82a13f31d5ea17e55232c11cc2b2d"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8d2e3a36ac8fea7b94e666dfa3871063d6e0a5c9d5d4fec9a1a6b7b6760f0229"
 dependencies = [
  "bitflags 1.3.2",
  "byteorder",
  "cfg-if",
- "heapless 0.8.0",
+ "heapless 0.7.16",
  "managed",
 ]
 
@@ -2871,3 +2885,13 @@ name = "windows_x86_64_msvc"
 version = "0.48.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "ed94fce61571a4006852b7389a063ab983c02eb1bb37b47f8272ce92d06d9538"
+
+[[patch.unused]]
+name = "embassy-executor"
+version = "0.3.0"
+source = "git+https://github.com/kaspar030/embassy?branch=for-riot-rs#7d05364b4868a4855849c229e36dc3e86e86840b"
+
+[[patch.unused]]
+name = "embassy-net"
+version = "0.2.0"
+source = "git+https://github.com/kaspar030/embassy?branch=for-riot-rs#7d05364b4868a4855849c229e36dc3e86e86840b"
diff --git a/Cargo.toml b/Cargo.toml
index 555eed3aa..d00e88bfb 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -30,15 +30,15 @@ cortex-m-rt = { version = "0.7" }
 cortex-m-semihosting = { version = "0.5" }
 critical-section = { version = "1.1.2" }
 
-embassy-executor = { version = "0.3.3", default-features = false }
+embassy-executor = { version = "0.4", default-features = false }
 embassy-net = { version = "0.2.1", default-features = false }
 embassy-nrf = { version = "0.1.0", default-features = false }
 embassy-rp = { version = "0.1.0", default-features = false }
-embassy-sync = { version = "0.3.0", default-features = false }
-embassy-time = { version = "0.1.5", default-features = false }
+embassy-sync = { version = "0.5.0", default-features = false }
+embassy-time = { version = "0.2", default-features = false }
 embassy-usb = { version = "0.1.0", default-features = false }
 
-linkme = { version = "0.3.17", features = ["used_linker"] }
+linkme = { version = "0.3.19", features = ["used_linker"] }
 
 riot-rs = { path = "src/riot-rs" }
 riot-rs-rt = { path = "src/riot-rs-rt" }
@@ -79,11 +79,11 @@ riot-rs-runqueue = { path = "src/riot-rs-runqueue" }
 nrf51-pac = { git = "https://github.com/kaspar030/nrf-pacs", branch = "riot-rs" }
 nrf52840-pac = { git = "https://github.com/kaspar030/nrf-pacs", branch = "riot-rs" }
 nrf52832-pac = { git = "https://github.com/kaspar030/nrf-pacs", branch = "riot-rs" }
-embassy-macros = { git = "https://github.com/embassy-rs/embassy"}
-embassy-executor = { git = "https://github.com/embassy-rs/embassy"}
-embassy-net = { git = "https://github.com/embassy-rs/embassy"}
-embassy-nrf = { git = "https://github.com/embassy-rs/embassy"}
-embassy-rp = { git = "https://github.com/embassy-rs/embassy"}
-embassy-time = { git = "https://github.com/embassy-rs/embassy"}
-embassy-sync = { git = "https://github.com/embassy-rs/embassy"}
-embassy-usb = { git = "https://github.com/embassy-rs/embassy"}
+embassy-macros = { git = "https://github.com/kaspar030/embassy", branch = "for-riot-rs"}
+embassy-executor = { git = "https://github.com/kaspar030/embassy", branch = "for-riot-rs" }
+embassy-net = { git = "https://github.com/kaspar030/embassy", branch = "for-riot-rs" }
+embassy-nrf = { git = "https://github.com/kaspar030/embassy", branch = "for-riot-rs" }
+embassy-rp = { git = "https://github.com/kaspar030/embassy", branch = "for-riot-rs" }
+embassy-time = { git = "https://github.com/kaspar030/embassy", branch = "for-riot-rs" }
+embassy-sync = { git = "https://github.com/kaspar030/embassy", branch = "for-riot-rs" }
+embassy-usb = { git = "https://github.com/kaspar030/embassy", branch = "for-riot-rs" }
diff --git a/examples/embassy-net-tcp/Cargo.toml b/examples/embassy-net-tcp/Cargo.toml
index cb558e082..80a8634a0 100644
--- a/examples/embassy-net-tcp/Cargo.toml
+++ b/examples/embassy-net-tcp/Cargo.toml
@@ -12,4 +12,4 @@ embassy-executor = { workspace = true, default-features = false }
 embassy-time = { workspace = true, default-features = false }
 linkme.workspace = true
 embassy-net = { workspace = true, features = ["tcp", "nightly"] }
-embedded-io-async = "0.6.0"
+embedded-io-async = "0.6.1"
diff --git a/examples/embassy-net-udp/Cargo.toml b/examples/embassy-net-udp/Cargo.toml
index 8237595f7..a3ece8549 100644
--- a/examples/embassy-net-udp/Cargo.toml
+++ b/examples/embassy-net-udp/Cargo.toml
@@ -12,4 +12,4 @@ embassy-executor = { workspace = true, default-features = false }
 embassy-time = { workspace = true, default-features = false }
 linkme.workspace = true
 embassy-net = { workspace = true, features = ["udp", "nightly"] }
-embedded-io-async = "0.6.0"
+embedded-io-async = "0.6.1"
diff --git a/src/riot-rs-embassy/Cargo.toml b/src/riot-rs-embassy/Cargo.toml
index ed9022393..be9b0b627 100644
--- a/src/riot-rs-embassy/Cargo.toml
+++ b/src/riot-rs-embassy/Cargo.toml
@@ -14,7 +14,6 @@ riot-rs-rt = { path = "../riot-rs-rt" }
 
 # time
 embassy-time = { workspace = true, optional = true, features = [
-  "nightly",
   "unstable-traits",
 ] }
 
diff --git a/src/riot-rs-rt/Cargo.toml b/src/riot-rs-rt/Cargo.toml
index 84488702c..a6f298422 100644
--- a/src/riot-rs-rt/Cargo.toml
+++ b/src/riot-rs-rt/Cargo.toml
@@ -11,7 +11,7 @@ cfg-if = "1.0.0"
 cortex-m = { workspace = true, features = ["critical-section-single-core"] }
 cortex-m-rt = { workspace = true }
 cortex-m-semihosting = { workspace = true, optional = true }
-portable-atomic = { version = "1.5.1", features = ["critical-section"] }
+portable-atomic = { version = "1.6.0", features = ["critical-section"] }
 riot-rs-threads = { path = "../riot-rs-threads", optional = true }
 rtt-target = { version = "0.4.0", optional = true }
 linkme.workspace = true