diff --git a/esp-hal/Cargo.toml b/esp-hal/Cargo.toml
index 7071de3d89..90d4a6f2b5 100644
--- a/esp-hal/Cargo.toml
+++ b/esp-hal/Cargo.toml
@@ -27,7 +27,7 @@ digest                   = { version = "0.10.7", default-features = false, optio
 document-features        = "0.2.10"
 embassy-embedded-hal     = "0.2.0"
 embassy-futures          = "0.1.1"
-embassy-sync             = "0.6.0"
+embassy-sync             = "0.6.1"
 embassy-usb-driver       = { version = "0.1.0", optional = true }
 embassy-usb-synopsys-otg = { version = "0.1.0", optional = true }
 embedded-can             = "0.4.1"
diff --git a/esp-hal/src/asynch.rs b/esp-hal/src/asynch.rs
new file mode 100644
index 0000000000..f0620f7b64
--- /dev/null
+++ b/esp-hal/src/asynch.rs
@@ -0,0 +1,30 @@
+//! Asynchronous utilities.
+use core::task::Waker;
+
+use embassy_sync::waitqueue::GenericAtomicWaker;
+
+use crate::sync::RawMutex;
+
+/// Utility struct to register and wake a waker.
+pub struct AtomicWaker {
+    waker: GenericAtomicWaker<RawMutex>,
+}
+
+impl AtomicWaker {
+    /// Create a new `AtomicWaker`.
+    #[allow(clippy::new_without_default)]
+    pub const fn new() -> Self {
+        Self {
+            waker: GenericAtomicWaker::new(RawMutex::new()),
+        }
+    }
+
+    delegate::delegate! {
+        to self.waker {
+            /// Register a waker. Overwrites the previous waker, if any.
+            pub fn register(&self, w: &Waker);
+            /// Wake the registered waker, if any.
+            pub fn wake(&self);
+        }
+    }
+}
diff --git a/esp-hal/src/lib.rs b/esp-hal/src/lib.rs
index 7b2676790a..ea2e912752 100644
--- a/esp-hal/src/lib.rs
+++ b/esp-hal/src/lib.rs
@@ -145,6 +145,8 @@
 // MUST be the first module
 mod fmt;
 
+pub mod asynch;
+
 #[cfg(riscv)]
 pub use esp_riscv_rt::{self, entry, riscv};
 #[cfg(xtensa)]
@@ -572,48 +574,3 @@ pub fn init(config: Config) -> Peripherals {
 
     peripherals
 }
-
-/// Asynchronous utilities.
-pub mod asynch {
-    use core::{cell::Cell, task::Waker};
-
-    use embassy_sync::blocking_mutex::Mutex;
-
-    use crate::sync::RawMutex;
-
-    /// TODO: this just exists to test RawMutex, otherwise it should be replaced
-    /// by embassy_sync::waitqueue::atomic_waker::GenericAtomicWaker.
-    pub struct AtomicWaker {
-        waker: Mutex<RawMutex, Cell<Option<Waker>>>,
-    }
-
-    impl AtomicWaker {
-        /// Create a new `AtomicWaker`.
-        #[allow(clippy::new_without_default)]
-        pub const fn new() -> Self {
-            Self {
-                waker: Mutex::const_new(RawMutex::new(), Cell::new(None)),
-            }
-        }
-
-        /// Register a waker. Overwrites the previous waker, if any.
-        pub fn register(&self, w: &Waker) {
-            self.waker.lock(|cell| {
-                cell.set(match cell.replace(None) {
-                    Some(w2) if (w2.will_wake(w)) => Some(w2),
-                    _ => Some(w.clone()),
-                })
-            })
-        }
-
-        /// Wake the registered waker, if any.
-        pub fn wake(&self) {
-            self.waker.lock(|cell| {
-                if let Some(w) = cell.replace(None) {
-                    w.wake_by_ref();
-                    cell.set(Some(w));
-                }
-            })
-        }
-    }
-}