diff --git a/Cargo.lock b/Cargo.lock
index 545313a..e8ec985 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -163,6 +163,11 @@ name = "managed"
 version = "0.7.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 
+[[package]]
+name = "panic-halt"
+version = "0.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+
 [[package]]
 name = "panic-semihosting"
 version = "0.5.3"
@@ -313,6 +318,7 @@ dependencies = [
  "cortex-m-rtfm 0.5.0-beta.1 (git+https://github.com/rtfm-rs/cortex-m-rtfm?rev=3830638)",
  "heapless 0.5.1 (registry+https://github.com/rust-lang/crates.io-index)",
  "log 0.4.8 (registry+https://github.com/rust-lang/crates.io-index)",
+ "panic-halt 0.2.0 (registry+https://github.com/rust-lang/crates.io-index)",
  "panic-semihosting 0.5.3 (registry+https://github.com/rust-lang/crates.io-index)",
  "serde 1.0.101 (registry+https://github.com/rust-lang/crates.io-index)",
  "serde-json-core 0.0.1 (git+https://github.com/quartiq/serde-json-core.git?rev=fc764de)",
@@ -405,6 +411,7 @@ dependencies = [
 "checksum indexmap 1.2.0 (registry+https://github.com/rust-lang/crates.io-index)" = "a61202fbe46c4a951e9404a720a0180bcf3212c750d735cb5c4ba4dc551299f3"
 "checksum log 0.4.8 (registry+https://github.com/rust-lang/crates.io-index)" = "14b6052be84e6b71ab17edffc2eeabf5c2c3ae1fdb464aae35ac50c67a44e1f7"
 "checksum managed 0.7.1 (registry+https://github.com/rust-lang/crates.io-index)" = "fdcec5e97041c7f0f1c5b7d93f12e57293c831c646f4cc7a5db59460c7ea8de6"
+"checksum panic-halt 0.2.0 (registry+https://github.com/rust-lang/crates.io-index)" = "de96540e0ebde571dc55c73d60ef407c653844e6f9a1e2fdbd40c07b9252d812"
 "checksum panic-semihosting 0.5.3 (registry+https://github.com/rust-lang/crates.io-index)" = "c03864ac862876c16a308f5286f4aa217f1a69ac45df87ad3cd2847f818a642c"
 "checksum proc-macro2 0.4.30 (registry+https://github.com/rust-lang/crates.io-index)" = "cf3d2011ab5c909338f7887f4fc896d35932e29146c12c8d01da6b22a80ba759"
 "checksum proc-macro2 1.0.3 (registry+https://github.com/rust-lang/crates.io-index)" = "e98a83a9f9b331f54b924e68a66acb1bb35cb01fb0a23645139967abefb697e8"
diff --git a/Cargo.toml b/Cargo.toml
index 8d5010d..a386926 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -27,11 +27,12 @@ features = []
 default-target = "thumbv7em-none-eabihf"
 
 [dependencies]
-cortex-m = { version = "0.6", features = ["inline-asm", "const-fn"] }
+cortex-m = { version = "0.6", features = ["const-fn"] }
 cortex-m-rt = { version = "0.6", features = ["device"] }
 cortex-m-log = { version = "0.6", features = ["log-integration"] }
 log = "0.4"
 panic-semihosting = { version = "0.5", optional = true }
+panic-halt = { version = "0.2" }
 serde = { version = "1.0", features = ["derive"], default-features = false }
 heapless = { version = "0.5" }
 
@@ -57,6 +58,7 @@ rev = "3830638"
 [features]
 semihosting = ["panic-semihosting", "cortex-m-log/semihosting"]
 bkpt = [ ]
+nightly = ["cortex-m/inline-asm"]
 
 [profile.dev]
 codegen-units = 1
diff --git a/README.md b/README.md
index efd79e5..8efa07e 100644
--- a/README.md
+++ b/README.md
@@ -32,7 +32,6 @@ See https://github.com/sinara-hw/Stabilizer
 
 * Clone or download this
 * Get [rustup](https://rustup.rs/)
-* `rustup override add nightly`
 * `rustup target add thumbv7em-none-eabihf`
 * `cargo build --release`
 * Do not try the debug (default) mode. It is guaranteed to panic.
diff --git a/src/main.rs b/src/main.rs
index 92a3574..96ad21e 100644
--- a/src/main.rs
+++ b/src/main.rs
@@ -1,13 +1,13 @@
 #![no_std]
 #![no_main]
-#![feature(asm)]
+#![cfg_attr(feature = "nightly", feature(asm))]
 // Enable returning `!`
-#![feature(never_type)]
-#![feature(core_intrinsics)]
+#![cfg_attr(feature = "nightly", feature(never_type))]
+#![cfg_attr(feature = "nightly", feature(core_intrinsics))]
 
 #[inline(never)]
 #[panic_handler]
-#[cfg(not(feature = "semihosting"))]
+#[cfg(all(feature = "nightly", not(feature = "semihosting")))]
 fn panic(_info: &core::panic::PanicInfo) -> ! {
     let gpiod = unsafe { &*pac::GPIOD::ptr() };
     gpiod.odr.modify(|_, w| w.odr6().high().odr12().high());  // FP_LED_1, FP_LED_3
@@ -17,6 +17,9 @@ fn panic(_info: &core::panic::PanicInfo) -> ! {
 #[cfg(feature = "semihosting")]
 extern crate panic_semihosting;
 
+#[cfg(not(any(feature = "nightly", feature = "semihosting")))]
+extern crate panic_halt;
+
 #[macro_use]
 extern crate log;