diff --git a/embassy/src/channel/pubsub.rs b/embassy/src/channel/pubsub.rs
index cc00f47a..41f275c4 100644
--- a/embassy/src/channel/pubsub.rs
+++ b/embassy/src/channel/pubsub.rs
@@ -10,7 +10,7 @@ use heapless::Deque;
 
 use crate::blocking_mutex::raw::RawMutex;
 use crate::blocking_mutex::Mutex;
-use crate::waitqueue::WakerRegistration;
+use crate::waitqueue::MultiWakerRegistration;
 
 /// A broadcast channel implementation where multiple publishers can send messages to multiple subscribers
 ///
@@ -42,21 +42,15 @@ impl<M: RawMutex, T: Clone, const CAP: usize, const SUBS: usize, const PUBS: usi
         self.inner.lock(|inner| {
             let mut s = inner.borrow_mut();
 
-            // Search for an empty subscriber spot
-            for (i, sub_spot) in s.subscriber_wakers.iter_mut().enumerate() {
-                if sub_spot.is_none() {
-                    // We've found a spot, so now fill it and create the subscriber
-                    *sub_spot = Some(WakerRegistration::new());
-                    return Ok(Subscriber {
-                        subscriber_index: i,
-                        next_message_id: s.next_message_id,
-                        channel: self,
-                    });
-                }
+            if s.subscriber_count >= SUBS {
+                Err(Error::MaximumSubscribersReached)
+            } else {
+                s.subscriber_count += 1;
+                Ok(Subscriber {
+                    next_message_id: s.next_message_id,
+                    channel: self,
+                })
             }
-
-            // No spot was found, we're full
-            Err(Error::MaximumSubscribersReached)
         })
     }
 
@@ -67,20 +61,12 @@ impl<M: RawMutex, T: Clone, const CAP: usize, const SUBS: usize, const PUBS: usi
         self.inner.lock(|inner| {
             let mut s = inner.borrow_mut();
 
-            // Search for an empty publisher spot
-            for (i, pub_spot) in s.publisher_wakers.iter_mut().enumerate() {
-                if pub_spot.is_none() {
-                    // We've found a spot, so now fill it and create the subscriber
-                    *pub_spot = Some(WakerRegistration::new());
-                    return Ok(Publisher {
-                        publisher_index: i,
-                        channel: self,
-                    });
-                }
+            if s.publisher_count >= PUBS {
+                Err(Error::MaximumPublishersReached)
+            } else {
+                s.publisher_count += 1;
+                Ok(Publisher { channel: self })
             }
-
-            // No spot was found, we're full
-            Err(Error::MaximumPublishersReached)
         })
     }
 
@@ -94,12 +80,7 @@ impl<M: RawMutex, T: Clone, const CAP: usize, const SUBS: usize, const PUBS: usi
 impl<M: RawMutex, T: Clone, const CAP: usize, const SUBS: usize, const PUBS: usize> PubSubBehavior<T>
     for PubSubChannel<M, T, CAP, SUBS, PUBS>
 {
-    fn get_message_with_context(
-        &self,
-        next_message_id: &mut u64,
-        subscriber_index: usize,
-        cx: Option<&mut Context<'_>>,
-    ) -> Poll<WaitResult<T>> {
+    fn get_message_with_context(&self, next_message_id: &mut u64, cx: Option<&mut Context<'_>>) -> Poll<WaitResult<T>> {
         self.inner.lock(|s| {
             let mut s = s.borrow_mut();
 
@@ -113,7 +94,7 @@ impl<M: RawMutex, T: Clone, const CAP: usize, const SUBS: usize, const PUBS: usi
                 // No, so we need to reregister our waker and sleep again
                 None => {
                     if let Some(cx) = cx {
-                        s.register_subscriber_waker(subscriber_index, cx.waker());
+                        s.register_subscriber_waker(cx.waker());
                     }
                     Poll::Pending
                 }
@@ -126,7 +107,7 @@ impl<M: RawMutex, T: Clone, const CAP: usize, const SUBS: usize, const PUBS: usi
         })
     }
 
-    fn publish_with_context(&self, message: T, publisher_index: usize, cx: Option<&mut Context<'_>>) -> Result<(), T> {
+    fn publish_with_context(&self, message: T, cx: Option<&mut Context<'_>>) -> Result<(), T> {
         self.inner.lock(|s| {
             let mut s = s.borrow_mut();
             // Try to publish the message
@@ -136,7 +117,7 @@ impl<M: RawMutex, T: Clone, const CAP: usize, const SUBS: usize, const PUBS: usi
                 // The queue is full, so we need to reregister our waker and go to sleep
                 Err(message) => {
                     if let Some(cx) = cx {
-                        s.register_publisher_waker(publisher_index, cx.waker());
+                        s.register_publisher_waker(cx.waker());
                     }
                     Err(message)
                 }
@@ -151,17 +132,17 @@ impl<M: RawMutex, T: Clone, const CAP: usize, const SUBS: usize, const PUBS: usi
         })
     }
 
-    fn unregister_subscriber(&self, subscriber_index: usize, subscriber_next_message_id: u64) {
+    fn unregister_subscriber(&self, subscriber_next_message_id: u64) {
         self.inner.lock(|s| {
             let mut s = s.borrow_mut();
-            s.unregister_subscriber(subscriber_index, subscriber_next_message_id)
+            s.unregister_subscriber(subscriber_next_message_id)
         })
     }
 
-    fn unregister_publisher(&self, publisher_index: usize) {
+    fn unregister_publisher(&self) {
         self.inner.lock(|s| {
             let mut s = s.borrow_mut();
-            s.unregister_publisher(publisher_index)
+            s.unregister_publisher()
         })
     }
 }
@@ -175,29 +156,30 @@ struct PubSubState<T: Clone, const CAP: usize, const SUBS: usize, const PUBS: us
     /// If a million messages were published every second, then the ID's would run out in about 584942 years.
     next_message_id: u64,
     /// Collection of wakers for Subscribers that are waiting.  
-    /// The [Subscriber::subscriber_index] field indexes into this array.
-    subscriber_wakers: [Option<WakerRegistration>; SUBS],
+    subscriber_wakers: MultiWakerRegistration<SUBS>,
     /// Collection of wakers for Publishers that are waiting.  
-    /// The [Publisher::publisher_index] field indexes into this array.
-    publisher_wakers: [Option<WakerRegistration>; PUBS],
+    publisher_wakers: MultiWakerRegistration<PUBS>,
+    /// The amount of subscribers that are active
+    subscriber_count: usize,
+    /// The amount of publishers that are active
+    publisher_count: usize,
 }
 
 impl<T: Clone, const CAP: usize, const SUBS: usize, const PUBS: usize> PubSubState<T, CAP, SUBS, PUBS> {
     /// Create a new internal channel state
     const fn new() -> Self {
-        const WAKER_INIT: Option<WakerRegistration> = None;
         Self {
             queue: Deque::new(),
             next_message_id: 0,
-            subscriber_wakers: [WAKER_INIT; SUBS],
-            publisher_wakers: [WAKER_INIT; PUBS],
+            subscriber_wakers: MultiWakerRegistration::new(),
+            publisher_wakers: MultiWakerRegistration::new(),
+            subscriber_count: 0,
+            publisher_count: 0,
         }
     }
 
     fn try_publish(&mut self, message: T) -> Result<(), T> {
-        let active_subscriber_count = self.subscriber_wakers.iter().flatten().count();
-
-        if active_subscriber_count == 0 {
+        if self.subscriber_count == 0 {
             // We don't need to publish anything because there is no one to receive it
             return Ok(());
         }
@@ -206,14 +188,12 @@ impl<T: Clone, const CAP: usize, const SUBS: usize, const PUBS: usize> PubSubSta
             return Err(message);
         }
         // We just did a check for this
-        self.queue.push_back((message, active_subscriber_count)).ok().unwrap();
+        self.queue.push_back((message, self.subscriber_count)).ok().unwrap();
 
         self.next_message_id += 1;
 
         // Wake all of the subscribers
-        for active_subscriber in self.subscriber_wakers.iter_mut().flatten() {
-            active_subscriber.wake()
-        }
+        self.subscriber_wakers.wake();
 
         Ok(())
     }
@@ -250,26 +230,42 @@ impl<T: Clone, const CAP: usize, const SUBS: usize, const PUBS: usize> PubSubSta
 
         if current_message_index == 0 && queue_item.1 == 0 {
             self.queue.pop_front();
-            self.publisher_wakers.iter_mut().flatten().for_each(|w| w.wake());
+            self.publisher_wakers.wake();
         }
 
         Some(WaitResult::Message(message))
     }
 
-    fn register_subscriber_waker(&mut self, subscriber_index: usize, waker: &Waker) {
-        self.subscriber_wakers[subscriber_index]
-            .as_mut()
-            .unwrap()
-            .register(waker);
+    fn register_subscriber_waker(&mut self, waker: &Waker) {
+        match self.subscriber_wakers.register(waker) {
+            Ok(()) => {}
+            Err(_) => {
+                // All waker slots were full. This can only happen when there was a subscriber that now has dropped.
+                // We need to throw it away. It's a bit inefficient, but we can wake everything.
+                // Any future that is still active will simply reregister.
+                // This won't happen a lot, so it's ok.
+                self.subscriber_wakers.wake();
+                self.subscriber_wakers.register(waker).unwrap();
+            }
+        }
     }
 
-    fn register_publisher_waker(&mut self, publisher_index: usize, waker: &Waker) {
-        self.publisher_wakers[publisher_index].as_mut().unwrap().register(waker);
+    fn register_publisher_waker(&mut self, waker: &Waker) {
+        match self.publisher_wakers.register(waker) {
+            Ok(()) => {}
+            Err(_) => {
+                // All waker slots were full. This can only happen when there was a publisher that now has dropped.
+                // We need to throw it away. It's a bit inefficient, but we can wake everything.
+                // Any future that is still active will simply reregister.
+                // This won't happen a lot, so it's ok.
+                self.publisher_wakers.wake();
+                self.publisher_wakers.register(waker).unwrap();
+            }
+        }
     }
 
-    fn unregister_subscriber(&mut self, subscriber_index: usize, subscriber_next_message_id: u64) {
-        // Remove the subscriber from the wakers
-        self.subscriber_wakers[subscriber_index] = None;
+    fn unregister_subscriber(&mut self, subscriber_next_message_id: u64) {
+        self.subscriber_count -= 1;
 
         // All messages that haven't been read yet by this subscriber must have their counter decremented
         let start_id = self.next_message_id - self.queue.len() as u64;
@@ -282,9 +278,8 @@ impl<T: Clone, const CAP: usize, const SUBS: usize, const PUBS: usize> PubSubSta
         }
     }
 
-    fn unregister_publisher(&mut self, publisher_index: usize) {
-        // Remove the publisher from the wakers
-        self.publisher_wakers[publisher_index] = None;
+    fn unregister_publisher(&mut self) {
+        self.publisher_count -= 1;
     }
 }
 
@@ -293,8 +288,6 @@ impl<T: Clone, const CAP: usize, const SUBS: usize, const PUBS: usize> PubSubSta
 /// This instance carries a reference to the channel, but uses a trait object for it so that the channel's
 /// generics are erased on this subscriber
 pub struct Subscriber<'a, T: Clone> {
-    /// Our index into the channel
-    subscriber_index: usize,
     /// The message id of the next message we are yet to receive
     next_message_id: u64,
     /// The channel we are a subscriber to
@@ -321,10 +314,7 @@ impl<'a, T: Clone> Subscriber<'a, T> {
     ///
     /// This function does not peek. The message is received if there is one.
     pub fn try_next_message(&mut self) -> Option<WaitResult<T>> {
-        match self
-            .channel
-            .get_message_with_context(&mut self.next_message_id, self.subscriber_index, None)
-        {
+        match self.channel.get_message_with_context(&mut self.next_message_id, None) {
             Poll::Ready(result) => Some(result),
             Poll::Pending => None,
         }
@@ -346,8 +336,7 @@ impl<'a, T: Clone> Subscriber<'a, T> {
 
 impl<'a, T: Clone> Drop for Subscriber<'a, T> {
     fn drop(&mut self) {
-        self.channel
-            .unregister_subscriber(self.subscriber_index, self.next_message_id)
+        self.channel.unregister_subscriber(self.next_message_id)
     }
 }
 
@@ -357,10 +346,9 @@ impl<'a, T: Clone> futures::Stream for Subscriber<'a, T> {
     type Item = T;
 
     fn poll_next(mut self: Pin<&mut Self>, cx: &mut Context<'_>) -> Poll<Option<Self::Item>> {
-        let sub_index = self.subscriber_index;
         match self
             .channel
-            .get_message_with_context(&mut self.next_message_id, sub_index, Some(cx))
+            .get_message_with_context(&mut self.next_message_id, Some(cx))
         {
             Poll::Ready(WaitResult::Message(message)) => Poll::Ready(Some(message)),
             Poll::Ready(WaitResult::Lagged(_)) => {
@@ -377,8 +365,6 @@ impl<'a, T: Clone> futures::Stream for Subscriber<'a, T> {
 /// This instance carries a reference to the channel, but uses a trait object for it so that the channel's
 /// generics are erased on this subscriber
 pub struct Publisher<'a, T: Clone> {
-    /// Our index into the channel
-    publisher_index: usize,
     /// The channel we are a publisher for
     channel: &'a dyn PubSubBehavior<T>,
 }
@@ -400,13 +386,13 @@ impl<'a, T: Clone> Publisher<'a, T> {
 
     /// Publish a message if there is space in the message queue
     pub fn try_publish(&self, message: T) -> Result<(), T> {
-        self.channel.publish_with_context(message, self.publisher_index, None)
+        self.channel.publish_with_context(message, None)
     }
 }
 
 impl<'a, T: Clone> Drop for Publisher<'a, T> {
     fn drop(&mut self) {
-        self.channel.unregister_publisher(self.publisher_index)
+        self.channel.unregister_publisher()
     }
 }
 
@@ -426,7 +412,7 @@ impl<'a, T: Clone> ImmediatePublisher<'a, T> {
 
     /// Publish a message if there is space in the message queue
     pub fn try_publish(&self, message: T) -> Result<(), T> {
-        self.channel.publish_with_context(message, usize::MAX, None)
+        self.channel.publish_with_context(message, None)
     }
 }
 
@@ -442,20 +428,15 @@ pub enum Error {
 }
 
 trait PubSubBehavior<T> {
-    fn get_message_with_context(
-        &self,
-        next_message_id: &mut u64,
-        subscriber_index: usize,
-        cx: Option<&mut Context<'_>>,
-    ) -> Poll<WaitResult<T>>;
+    fn get_message_with_context(&self, next_message_id: &mut u64, cx: Option<&mut Context<'_>>) -> Poll<WaitResult<T>>;
 
-    fn publish_with_context(&self, message: T, publisher_index: usize, cx: Option<&mut Context<'_>>) -> Result<(), T>;
+    fn publish_with_context(&self, message: T, cx: Option<&mut Context<'_>>) -> Result<(), T>;
 
     fn publish_immediate(&self, message: T);
 
-    fn unregister_subscriber(&self, subscriber_index: usize, subscriber_next_message_id: u64);
+    fn unregister_subscriber(&self, subscriber_next_message_id: u64);
 
-    fn unregister_publisher(&self, publisher_index: usize);
+    fn unregister_publisher(&self);
 }
 
 /// Future for the subscriber wait action
@@ -467,10 +448,9 @@ impl<'s, 'a, T: Clone> Future for SubscriberWaitFuture<'s, 'a, T> {
     type Output = WaitResult<T>;
 
     fn poll(mut self: Pin<&mut Self>, cx: &mut Context<'_>) -> Poll<Self::Output> {
-        let sub_index = self.subscriber.subscriber_index;
         self.subscriber
             .channel
-            .get_message_with_context(&mut self.subscriber.next_message_id, sub_index, Some(cx))
+            .get_message_with_context(&mut self.subscriber.next_message_id, Some(cx))
     }
 }
 
@@ -488,11 +468,7 @@ impl<'s, 'a, T: Clone> Future for PublisherWaitFuture<'s, 'a, T> {
 
     fn poll(mut self: Pin<&mut Self>, cx: &mut Context<'_>) -> Poll<Self::Output> {
         let message = self.message.take().unwrap();
-        match self
-            .publisher
-            .channel
-            .publish_with_context(message, self.publisher.publisher_index, Some(cx))
-        {
+        match self.publisher.channel.publish_with_context(message, Some(cx)) {
             Ok(()) => Poll::Ready(()),
             Err(message) => {
                 self.message = Some(message);
diff --git a/embassy/src/waitqueue/mod.rs b/embassy/src/waitqueue/mod.rs
index a2bafad9..5c4e1bc3 100644
--- a/embassy/src/waitqueue/mod.rs
+++ b/embassy/src/waitqueue/mod.rs
@@ -3,3 +3,6 @@
 #[cfg_attr(feature = "executor-agnostic", path = "waker_agnostic.rs")]
 mod waker;
 pub use waker::*;
+
+mod multi_waker;
+pub use multi_waker::*;
diff --git a/embassy/src/waitqueue/multi_waker.rs b/embassy/src/waitqueue/multi_waker.rs
new file mode 100644
index 00000000..6e8710cb
--- /dev/null
+++ b/embassy/src/waitqueue/multi_waker.rs
@@ -0,0 +1,31 @@
+use core::task::Waker;
+
+use super::WakerRegistration;
+
+pub struct MultiWakerRegistration<const N: usize> {
+    wakers: [WakerRegistration; N],
+}
+
+impl<const N: usize> MultiWakerRegistration<N> {
+    pub const fn new() -> Self {
+        const WAKER: WakerRegistration = WakerRegistration::new();
+        Self { wakers: [WAKER; N] }
+    }
+
+    /// Register a waker. If the buffer is full the function returns it in the error
+    pub fn register<'a>(&mut self, w: &'a Waker) -> Result<(), &'a Waker> {
+        if let Some(waker_slot) = self.wakers.iter_mut().find(|waker_slot| !waker_slot.occupied()) {
+            waker_slot.register(w);
+            Ok(())
+        } else {
+            Err(w)
+        }
+    }
+
+    /// Wake all registered wakers. This clears the buffer
+    pub fn wake(&mut self) {
+        for waker_slot in self.wakers.iter_mut() {
+            waker_slot.wake()
+        }
+    }
+}
diff --git a/embassy/src/waitqueue/waker.rs b/embassy/src/waitqueue/waker.rs
index da907300..a90154cc 100644
--- a/embassy/src/waitqueue/waker.rs
+++ b/embassy/src/waitqueue/waker.rs
@@ -50,6 +50,11 @@ impl WakerRegistration {
             unsafe { wake_task(w) }
         }
     }
+
+    /// Returns true if a waker is currently registered
+    pub fn occupied(&self) -> bool {
+        self.waker.is_some()
+    }
 }
 
 // SAFETY: `WakerRegistration` effectively contains an `Option<Waker>`,
diff --git a/embassy/src/waitqueue/waker_agnostic.rs b/embassy/src/waitqueue/waker_agnostic.rs
index 89430aa4..62e3adb7 100644
--- a/embassy/src/waitqueue/waker_agnostic.rs
+++ b/embassy/src/waitqueue/waker_agnostic.rs
@@ -47,6 +47,11 @@ impl WakerRegistration {
             w.wake()
         }
     }
+
+    /// Returns true if a waker is currently registered
+    pub fn occupied(&self) -> bool {
+        self.waker.is_some()
+    }
 }
 
 /// Utility struct to register and wake a waker.