diff --git a/embassy/src/util/mod.rs b/embassy/src/util/mod.rs
index 5694d6bf..ae434a8b 100644
--- a/embassy/src/util/mod.rs
+++ b/embassy/src/util/mod.rs
@@ -1,11 +1,13 @@
 mod drop_bomb;
 mod forever;
+mod mutex;
 mod portal;
 mod signal;
 mod waker;
 
 pub use drop_bomb::*;
 pub use forever::*;
+pub use mutex::*;
 pub use portal::*;
 pub use signal::*;
 pub use waker::*;
diff --git a/embassy/src/util/mutex.rs b/embassy/src/util/mutex.rs
new file mode 100644
index 00000000..11f88049
--- /dev/null
+++ b/embassy/src/util/mutex.rs
@@ -0,0 +1,75 @@
+use core::cell::UnsafeCell;
+use cortex_m::interrupt::CriticalSection;
+
+use crate::fmt::{assert, panic, *};
+
+/// A "mutex" based on critical sections
+///
+/// # Safety
+///
+/// **This Mutex is only safe on single-core systems.**
+///
+/// On multi-core systems, a `CriticalSection` **is not sufficient** to ensure exclusive access.
+pub struct CriticalSectionMutex<T> {
+    inner: UnsafeCell<T>,
+}
+unsafe impl<T> Sync for CriticalSectionMutex<T> {}
+unsafe impl<T> Send for CriticalSectionMutex<T> {}
+
+impl<T> CriticalSectionMutex<T> {
+    /// Creates a new mutex
+    pub const fn new(value: T) -> Self {
+        CriticalSectionMutex {
+            inner: UnsafeCell::new(value),
+        }
+    }
+}
+
+impl<T> CriticalSectionMutex<T> {
+    /// Borrows the data for the duration of the critical section
+    pub fn borrow<'cs>(&'cs self, _cs: &'cs CriticalSection) -> &'cs T {
+        unsafe { &*self.inner.get() }
+    }
+}
+
+/// A "mutex" that only allows borrowing from thread mode.
+///
+/// # Safety
+///
+/// **This Mutex is only safe on single-core systems.**
+///
+/// On multi-core systems, a `ThreadModeMutex` **is not sufficient** to ensure exclusive access.
+pub struct ThreadModeMutex<T> {
+    inner: UnsafeCell<T>,
+}
+unsafe impl<T> Sync for ThreadModeMutex<T> {}
+unsafe impl<T> Send for ThreadModeMutex<T> {}
+
+impl<T> ThreadModeMutex<T> {
+    /// Creates a new mutex
+    pub const fn new(value: T) -> Self {
+        ThreadModeMutex {
+            inner: UnsafeCell::new(value),
+        }
+    }
+}
+
+impl<T> ThreadModeMutex<T> {
+    /// Borrows the data
+    pub fn borrow(&self) -> &T {
+        assert!(
+            in_thread_mode(),
+            "ThreadModeMutex can only be borrowed from thread mode."
+        );
+        unsafe { &*self.inner.get() }
+    }
+}
+
+pub fn in_thread_mode() -> bool {
+    #[cfg(feature = "std")]
+    return Some("main") == std::thread::current().name();
+
+    #[cfg(not(feature = "std"))]
+    return cortex_m::peripheral::SCB::vect_active()
+        == cortex_m::peripheral::scb::VectActive::ThreadMode;
+}