embassy: introduce InterruptExecutor::spawner() (#1211)

Co-authored-by: Jesse Braham <jessebraham@users.noreply.github.com>

CHANGELOG.md

@@ -27,6 +27,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 - Added basic `LP-I2C` driver for C6 (#1185)
 - Ensuring that the random number generator is TRNG. (#1200)
 - ESP32-C6: Add timer wakeup source for deepsleep (#1201)
+- Introduce `InterruptExecutor::spawner()` (#1211)
 
 ### Fixed
 

esp-hal/src/embassy/executor/interrupt.rs

@@ -175,4 +175,19 @@ where
         let executor = unsafe { (*self.executor.get()).assume_init_ref() };
         executor.spawner().make_send()
     }
+
+    /// Get a SendSpawner for this executor
+    ///
+    /// This returns a [`SendSpawner`] you can use to spawn tasks on this
+    /// executor.
+    ///
+    /// This MUST only be called on an executor that has already been started.
+    /// The function will panic otherwise.
+    pub fn spawner(&'static self) -> SendSpawner {
+        if self.core.load(Ordering::Acquire) == usize::MAX {
+            panic!("InterruptExecutor::spawner() called on uninitialized executor.");
+        }
+        let executor = unsafe { (&*self.executor.get()).assume_init_ref() };
+        executor.spawner().make_send()
+    }
 }