diff --git a/embassy-sync/src/raw_rwlock.rs b/embassy-sync/src/raw_rwlock.rs
new file mode 100644
index 000000000..de4bd1dc5
--- /dev/null
+++ b/embassy-sync/src/raw_rwlock.rs
@@ -0,0 +1,86 @@
+use core::sync::atomic::{AtomicUsize, Ordering};
+use core::task::Waker;
+use core::cell::UnsafeCell;
+
+pub trait RawRwLock {
+    fn lock_read(&self);
+    fn try_lock_read(&self) -> bool;
+    fn unlock_read(&self);
+    fn lock_write(&self);
+    fn try_lock_write(&self) -> bool;
+    fn unlock_write(&self);
+}
+
+pub struct RawRwLockImpl {
+    state: AtomicUsize,
+    waker: UnsafeCell<Option<Waker>>,
+}
+
+impl RawRwLockImpl {
+    pub const fn new() -> Self {
+        Self {
+            state: AtomicUsize::new(0),
+            waker: UnsafeCell::new(None),
+        }
+    }
+}
+
+unsafe impl Send for RawRwLockImpl {}
+unsafe impl Sync for RawRwLockImpl {}
+
+impl RawRwLock for RawRwLockImpl {
+    fn lock_read(&self) {
+        loop {
+            let state = self.state.load(Ordering::Acquire);
+            if state & 1 == 0 {
+                if self.state.compare_and_swap(state, state + 2, Ordering::AcqRel) == state {
+                    break;
+                }
+            }
+        }
+    }
+
+    fn try_lock_read(&self) -> bool {
+        let state = self.state.load(Ordering::Acquire);
+        if state & 1 == 0 {
+            if self.state.compare_and_swap(state, state + 2, Ordering::AcqRel) == state {
+                return true;
+            }
+        }
+        false
+    }
+
+    fn unlock_read(&self) {
+        self.state.fetch_sub(2, Ordering::Release);
+        if self.state.load(Ordering::Acquire) == 0 {
+            if let Some(waker) = unsafe { &*self.waker.get() } {
+                waker.wake_by_ref();
+            }
+        }
+    }
+
+    fn lock_write(&self) {
+        loop {
+            let state = self.state.load(Ordering::Acquire);
+            if state == 0 {
+                if self.state.compare_and_swap(0, 1, Ordering::AcqRel) == 0 {
+                    break;
+                }
+            }
+        }
+    }
+
+    fn try_lock_write(&self) -> bool {
+        if self.state.compare_and_swap(0, 1, Ordering::AcqRel) == 0 {
+            return true;
+        }
+        false
+    }
+
+    fn unlock_write(&self) {
+        self.state.store(0, Ordering::Release);
+        if let Some(waker) = unsafe { &*self.waker.get() } {
+            waker.wake_by_ref();
+        }
+    }
+}
diff --git a/embassy-sync/src/rwlock.rs b/embassy-sync/src/rwlock.rs
index 15ea8468e..30e1e74ad 100644
--- a/embassy-sync/src/rwlock.rs
+++ b/embassy-sync/src/rwlock.rs
@@ -1,136 +1,134 @@
-use core::cell::RefCell;
-use core::future::{poll_fn, Future};
+use core::cell::UnsafeCell;
+use core::future::poll_fn;
 use core::ops::{Deref, DerefMut};
 use core::task::Poll;
 
-use crate::blocking_mutex::raw::RawMutex;
 use crate::blocking_mutex::Mutex as BlockingMutex;
-use crate::waitqueue::MultiWakerRegistration;
+use crate::waitqueue::WakerRegistration;
+use crate::raw_rwlock::RawRwLock;
 
-/// Error returned by [`RwLock::try_read`] and [`RwLock::try_write`]
-#[derive(PartialEq, Eq, Clone, Copy, Debug)]
-#[cfg_attr(feature = "defmt", derive(defmt::Format))]
-pub struct TryLockError;
-
-/// Async read-write lock.
-///
-/// The lock is generic over a blocking [`RawMutex`](crate::blocking_mutex::raw::RawMutex).
-/// The raw mutex is used to guard access to the internal state. It
-/// is held for very short periods only, while locking and unlocking. It is *not* held
-/// for the entire time the async RwLock is locked.
-///
-/// Which implementation you select depends on the context in which you're using the lock.
-///
-/// Use [`CriticalSectionRawMutex`](crate::blocking_mutex::raw::CriticalSectionRawMutex) when data can be shared between threads and interrupts.
-///
-/// Use [`NoopRawMutex`](crate::blocking_mutex::raw::NoopRawMutex) when data is only shared between tasks running on the same executor.
-///
-/// Use [`ThreadModeRawMutex`](crate::blocking_mutex::raw::ThreadModeRawMutex) when data is shared between tasks running on the same executor but you want a singleton.
-///
 pub struct RwLock<M, T>
 where
-    M: RawMutex,
+    M: RawRwLock,
     T: ?Sized,
 {
-    state: BlockingMutex<M, RefCell<State>>,
-    inner: RefCell<T>,
+    state: BlockingMutex<M, RwLockState>,
+    inner: UnsafeCell<T>,
 }
 
-struct State {
-    readers: usize,
-    writer: bool,
-    writer_waker: MultiWakerRegistration<1>,
-    reader_wakers: MultiWakerRegistration<8>,
-}
-
-impl State {
-    fn new() -> Self {
-        Self {
-            readers: 0,
-            writer: false,
-            writer_waker: MultiWakerRegistration::new(),
-            reader_wakers: MultiWakerRegistration::new(),
-        }
-    }
-}
+unsafe impl<M: RawRwLock + Send, T: ?Sized + Send> Send for RwLock<M, T> {}
+unsafe impl<M: RawRwLock + Sync, T: ?Sized + Send> Sync for RwLock<M, T> {}
 
 impl<M, T> RwLock<M, T>
 where
-    M: RawMutex,
+    M: RawRwLock,
 {
-    /// Create a new read-write lock with the given value.
     pub const fn new(value: T) -> Self {
         Self {
-            inner: RefCell::new(value),
-            state: BlockingMutex::new(RefCell::new(State::new())),
+            inner: UnsafeCell::new(value),
+            state: BlockingMutex::new(RwLockState {
+                locked: LockedState::Unlocked,
+                writer_pending: 0,
+                readers_pending: 0,
+                waker: WakerRegistration::new(),
+            }),
         }
     }
 }
 
 impl<M, T> RwLock<M, T>
 where
-    M: RawMutex,
+    M: RawRwLock,
     T: ?Sized,
 {
-    /// Acquire a read lock.
-    ///
-    /// This will wait for the lock to be available if it's already locked for writing.
     pub fn read(&self) -> impl Future<Output = RwLockReadGuard<'_, M, T>> {
         poll_fn(|cx| {
-            let mut state = self.state.lock(|s| s.borrow_mut());
-            if state.writer {
-                state.reader_wakers.register(cx.waker());
-                Poll::Pending
-            } else {
-                state.readers += 1;
+            let ready = self.state.lock(|s| {
+                let mut s = s.borrow_mut();
+                match s.locked {
+                    LockedState::Unlocked => {
+                        s.locked = LockedState::ReadLocked(1);
+                        true
+                    }
+                    LockedState::ReadLocked(ref mut count) => {
+                        *count += 1;
+                        true
+                    }
+                    LockedState::WriteLocked => {
+                        s.readers_pending += 1;
+                        s.waker.register(cx.waker());
+                        false
+                    }
+                }
+            });
+
+            if ready {
                 Poll::Ready(RwLockReadGuard { lock: self })
+            } else {
+                Poll::Pending
             }
         })
     }
 
-    /// Acquire a write lock.
-    ///
-    /// This will wait for the lock to be available if it's already locked for reading or writing.
     pub fn write(&self) -> impl Future<Output = RwLockWriteGuard<'_, M, T>> {
         poll_fn(|cx| {
-            let mut state = self.state.lock(|s| s.borrow_mut());
-            if state.writer || state.readers > 0 {
-                state.writer_waker.register(cx.waker());
-                Poll::Pending
-            } else {
-                state.writer = true;
+            let ready = self.state.lock(|s| {
+                let mut s = s.borrow_mut();
+                match s.locked {
+                    LockedState::Unlocked => {
+                        s.locked = LockedState::WriteLocked;
+                        true
+                    }
+                    _ => {
+                        s.writer_pending += 1;
+                        s.waker.register(cx.waker());
+                        false
+                    }
+                }
+            });
+
+            if ready {
                 Poll::Ready(RwLockWriteGuard { lock: self })
+            } else {
+                Poll::Pending
             }
         })
     }
 
-    /// Attempt to immediately acquire a read lock.
-    ///
-    /// If the lock is already locked for writing, this will return an error instead of waiting.
     pub fn try_read(&self) -> Result<RwLockReadGuard<'_, M, T>, TryLockError> {
-        let mut state = self.state.lock(|s| s.borrow_mut());
-        if state.writer {
-            Err(TryLockError)
-        } else {
-            state.readers += 1;
-            Ok(RwLockReadGuard { lock: self })
-        }
+        self.state.lock(|s| {
+            let mut s = s.borrow_mut();
+            match s.locked {
+                LockedState::Unlocked => {
+                    s.locked = LockedState::ReadLocked(1);
+                    Ok(())
+                }
+                LockedState::ReadLocked(ref mut count) => {
+                    *count += 1;
+                    Ok(())
+                }
+                LockedState::WriteLocked => Err(TryLockError),
+            }
+        })?;
+
+        Ok(RwLockReadGuard { lock: self })
     }
 
-    /// Attempt to immediately acquire a write lock.
-    ///
-    /// If the lock is already locked for reading or writing, this will return an error instead of waiting.
     pub fn try_write(&self) -> Result<RwLockWriteGuard<'_, M, T>, TryLockError> {
-        let mut state = self.state.lock(|s| s.borrow_mut());
-        if state.writer || state.readers > 0 {
-            Err(TryLockError)
-        } else {
-            state.writer = true;
-            Ok(RwLockWriteGuard { lock: self })
-        }
+        self.state.lock(|s| {
+            let mut s = s.borrow_mut();
+            match s.locked {
+                LockedState::Unlocked => {
+                    s.locked = LockedState::WriteLocked;
+                    Ok(())
+                }
+                _ => Err(TryLockError),
+            }
+        })?;
+
+        Ok(RwLockWriteGuard { lock: self })
     }
 
-    /// Consumes this lock, returning the underlying data.
     pub fn into_inner(self) -> T
     where
         T: Sized,
@@ -138,19 +136,12 @@ where
         self.inner.into_inner()
     }
 
-    /// Returns a mutable reference to the underlying data.
-    ///
-    /// Since this call borrows the RwLock mutably, no actual locking needs to
-    /// take place -- the mutable borrow statically guarantees no locks exist.
     pub fn get_mut(&mut self) -> &mut T {
         self.inner.get_mut()
     }
 }
 
-impl<M, T> From<T> for RwLock<M, T>
-where
-    M: RawMutex,
-{
+impl<M: RawRwLock, T> From<T> for RwLock<M, T> {
     fn from(from: T) -> Self {
         Self::new(from)
     }
@@ -158,7 +149,7 @@ where
 
 impl<M, T> Default for RwLock<M, T>
 where
-    M: RawMutex,
+    M: RawRwLock,
     T: Default,
 {
     fn default() -> Self {
@@ -166,91 +157,103 @@ where
     }
 }
 
-/// Async read lock guard.
-///
-/// Owning an instance of this type indicates having
-/// successfully locked the RwLock for reading, and grants access to the contents.
-///
-/// Dropping it unlocks the RwLock.
-#[must_use = "if unused the RwLock will immediately unlock"]
 pub struct RwLockReadGuard<'a, M, T>
 where
-    M: RawMutex,
+    M: RawRwLock,
     T: ?Sized,
 {
     lock: &'a RwLock<M, T>,
 }
 
-impl<'a, M, T> Drop for RwLockReadGuard<'a, M, T>
-where
-    M: RawMutex,
-    T: ?Sized,
-{
-    fn drop(&mut self) {
-        let mut state = self.lock.state.lock(|s| s.borrow_mut());
-        state.readers -= 1;
-        if state.readers == 0 {
-            state.writer_waker.wake();
-        }
-    }
-}
-
 impl<'a, M, T> Deref for RwLockReadGuard<'a, M, T>
 where
-    M: RawMutex,
+    M: RawRwLock,
     T: ?Sized,
 {
     type Target = T;
+
     fn deref(&self) -> &Self::Target {
-        self.lock.inner.borrow()
+        unsafe { &*self.lock.inner.get() }
+    }
+}
+
+impl<'a, M, T> Drop for RwLockReadGuard<'a, M, T>
+where
+    M: RawRwLock,
+    T: ?Sized,
+{
+    fn drop(&mut self) {
+        self.lock.state.lock(|s| {
+            let mut s = s.borrow_mut();
+            match s.locked {
+                LockedState::ReadLocked(ref mut count) => {
+                    *count -= 1;
+                    if *count == 0 {
+                        s.locked = LockedState::Unlocked;
+                        s.waker.wake();
+                    }
+                }
+                _ => unreachable!(),
+            }
+        });
     }
 }
 
-/// Async write lock guard.
-///
-/// Owning an instance of this type indicates having
-/// successfully locked the RwLock for writing, and grants access to the contents.
-///
-/// Dropping it unlocks the RwLock.
-#[must_use = "if unused the RwLock will immediately unlock"]
 pub struct RwLockWriteGuard<'a, M, T>
 where
-    M: RawMutex,
+    M: RawRwLock,
     T: ?Sized,
 {
     lock: &'a RwLock<M, T>,
 }
 
-impl<'a, M, T> Drop for RwLockWriteGuard<'a, M, T>
-where
-    M: RawMutex,
-    T: ?Sized,
-{
-    fn drop(&mut self) {
-        let mut state = self.lock.state.lock(|s| s.borrow_mut());
-        state.writer = false;
-        state.reader_wakers.wake();
-        state.writer_waker.wake();
-    }
-}
-
 impl<'a, M, T> Deref for RwLockWriteGuard<'a, M, T>
 where
-    M: RawMutex,
+    M: RawRwLock,
     T: ?Sized,
 {
     type Target = T;
+
     fn deref(&self) -> &Self::Target {
-        self.lock.inner.borrow()
+        unsafe { &*self.lock.inner.get() }
     }
 }
 
 impl<'a, M, T> DerefMut for RwLockWriteGuard<'a, M, T>
 where
-    M: RawMutex,
+    M: RawRwLock,
     T: ?Sized,
 {
     fn deref_mut(&mut self) -> &mut Self::Target {
-        self.lock.inner.borrow_mut()
+        unsafe { &mut *self.lock.inner.get() }
     }
 }
+
+impl<'a, M, T> Drop for RwLockWriteGuard<'a, M, T>
+where
+    M: RawRwLock,
+    T: ?Sized,
+{
+    fn drop(&mut self) {
+        self.lock.state.lock(|s| {
+            let mut s = s.borrow_mut();
+            s.locked = LockedState::Unlocked;
+            s.waker.wake();
+        });
+    }
+}
+
+struct RwLockState {
+    locked: LockedState,
+    writer_pending: usize,
+    readers_pending: usize,
+    waker: WakerRegistration,
+}
+
+enum LockedState {
+    Unlocked,
+    ReadLocked(usize),
+    WriteLocked,
+}
+
+pub struct TryLockError;