Fixed new TAIT requirement and release v2.0.1 of RTIC

8 files changed, 39 insertions, 17 deletions

diff --git a/Cargo.toml b/Cargo.toml
index 6fccc1d..6aedb70 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -16,6 +16,7 @@ members = [
     "rtic-time",
     "xtask",
 ]
+resolver = "2"
 
 [profile.release]
 codegen-units = 1
@@ -36,6 +37,3 @@ debug = false
 debug-assertions = false
 opt-level = 0
 overflow-checks = false
-
-[patch.crates-io]
-lm3s6965 = { git = "https://github.com/japaric/lm3s6965" }
diff --git a/rtic-macros/CHANGELOG.md b/rtic-macros/CHANGELOG.md
index d682ab7..3413d8a 100644
--- a/rtic-macros/CHANGELOG.md
+++ b/rtic-macros/CHANGELOG.md
@@ -7,12 +7,16 @@ For each category, *Added*, *Changed*, *Fixed* add new entries at the top!
 
 ## [Unreleased]
 
+## [v2.0.1] - 2023-07-25
+
 ### Added
 
-### Changed
+- `init` and `idle` can now be externed.
 
 ### Fixed
 
+- Support new TAIT syntax requirement.
+
 ## [v2.0.0] - 2023-05-31
 
 - Initial v2 release
diff --git a/rtic-macros/Cargo.toml b/rtic-macros/Cargo.toml
index 4649850..ade6842 100644
--- a/rtic-macros/Cargo.toml
+++ b/rtic-macros/Cargo.toml
@@ -22,7 +22,7 @@ name = "rtic-macros"
 readme = "../README.md"
 repository = "https://github.com/rtic-rs/rtic"
 
-version = "2.0.0"
+version = "2.0.1"
 
 [lib]
 proc-macro = true
diff --git a/rtic-macros/src/codegen/module.rs b/rtic-macros/src/codegen/module.rs
index cf066ef..7d3ac54 100644
--- a/rtic-macros/src/codegen/module.rs
+++ b/rtic-macros/src/codegen/module.rs
@@ -150,6 +150,8 @@ pub fn codegen(ctxt: Context, app: &App, analysis: &Analysis) -> TokenStream2 {
         let (input_args, input_tupled, input_untupled, input_ty) =
             util::regroup_inputs(&spawnee.inputs);
 
+        let type_name = util::internal_task_ident(name, "F");
+
         // Spawn caller
         items.push(quote!(
             #(#cfgs)*
@@ -157,10 +159,17 @@ pub fn codegen(ctxt: Context, app: &App, analysis: &Analysis) -> TokenStream2 {
             #[allow(non_snake_case)]
             #[doc(hidden)]
             pub fn #internal_spawn_ident(#(#input_args,)*) -> Result<(), #input_ty> {
-                // SAFETY: If `try_allocate` suceeds one must call `spawn`, which we do.
+                // New TAIT requirement hack; the opaque type must be in the argument or return
+                // position of a function...
+                #[inline(always)]
+                fn tait_hack(#(#input_args,)*) -> #type_name {
+                    #name(unsafe { #name::Context::new() } #(,#input_untupled)*)
+                }
+
+                // SAFETY: If `try_allocate` succeeds one must call `spawn`, which we do.
                 unsafe {
                     if #exec_name.try_allocate() {
-                        let f = #name(unsafe { #name::Context::new() } #(,#input_untupled)*);
+                        let f = tait_hack(#(#input_untupled,)*);
                         #exec_name.spawn(f);
                         #pend_interrupt
 
@@ -169,7 +178,6 @@ pub fn codegen(ctxt: Context, app: &App, analysis: &Analysis) -> TokenStream2 {
                         Err(#input_tupled)
                     }
                 }
-
             }
         ));
 
diff --git a/rtic-monotonics/src/rp2040.rs b/rtic-monotonics/src/rp2040.rs
index a9fd3f3..a6e0af6 100644
--- a/rtic-monotonics/src/rp2040.rs
+++ b/rtic-monotonics/src/rp2040.rs
@@ -38,7 +38,7 @@ impl Timer {
     /// Start a `Monotonic` based on RP2040's Timer.
     pub fn start(
         timer: TIMER,
-        resets: &mut RESETS,
+        resets: &RESETS,
         _interrupt_token: impl crate::InterruptToken<Self>,
     ) {
         resets.reset.modify(|_, w| w.timer().clear_bit());
diff --git a/rtic/CHANGELOG.md b/rtic/CHANGELOG.md
index 1987409..fb3a35b 100644
--- a/rtic/CHANGELOG.md
+++ b/rtic/CHANGELOG.md
@@ -8,12 +8,23 @@ For each category, *Added*, *Changed*, *Fixed* add new entries at the top!
 ## [Unreleased]
 
 ### Added
-- Allow #[init] and #[idle] to be defined externally
 
 ### Fixed
 
 ### Changed
 
+## [v2.0.1] - 2023-07-25
+
+### Added
+
+- Allow `#[init]` and `#[idle]` to be defined externally
+
+### Fixed
+
+- Support new TAIT syntax requirement.
+
+### Changed
+
 - `cortex-m` set as an optional dependency
 - Moved `cortex-m`-related utilities from `rtic/lib.rs` to `rtic/export.rs`
 - Make async task priorities start at 0, instead of 1, to always start at the lowest priority
@@ -568,7 +579,8 @@ Yanked due to a soundness issue in `init`; the issue has been mostly fixed in v0
 
 - Initial release
 
-[Unreleased]: https://github.com/rtic-rs/rtic/compare/v2.0.0...HEAD
+[Unreleased]: https://github.com/rtic-rs/rtic/compare/v2.0.1...HEAD
+[v2.0.1]: https://github.com/rtic-rs/rtic/compare/v2.0.0...v2.0.1
 [v2.0.0]: https://github.com/rtic-rs/rtic/compare/v1.1.4...v2.0.0
 [v1.1.4]: https://github.com/rtic-rs/rtic/compare/v1.1.3...v1.1.4
 [v1.1.3]: https://github.com/rtic-rs/rtic/compare/v1.1.2...v1.1.3
diff --git a/rtic/Cargo.toml b/rtic/Cargo.toml
index 05c6362..310c71f 100644
--- a/rtic/Cargo.toml
+++ b/rtic/Cargo.toml
@@ -22,7 +22,7 @@ name = "rtic"
 readme = "../README.md"
 repository = "https://github.com/rtic-rs/rtic"
 
-version = "2.0.0"
+version = "2.0.1"
 
 [package.metadata.docs.rs]
 features = ["rtic-macros/test-template"]
@@ -36,13 +36,13 @@ bare-metal = "1.0.0"
 #portable-atomic = { version = "0.3.19" }
 atomic-polyfill = "1"
 rtic-monotonics = { path = "../rtic-monotonics", version = "1.0.0", optional = true }
-rtic-macros = { path = "../rtic-macros", version = "2.0.0" }
+rtic-macros = { path = "../rtic-macros", version = "2.0.1" }
 rtic-core = "1"
 critical-section = "1"
 
 [dev-dependencies]
 heapless = "0.7.7"
-lm3s6965 = "0.1.3"
+lm3s6965 = "0.2"
 cortex-m-semihosting = "0.5.0"
 rtic-time = { path = "../rtic-time" }
 rtic-sync = { path = "../rtic-sync" }
diff --git a/rtic/examples/async-task-multiple-prios.rs b/rtic/examples/async-task-multiple-prios.rs
index 88f4cf4..7580b51 100644
--- a/rtic/examples/async-task-multiple-prios.rs
+++ b/rtic/examples/async-task-multiple-prios.rs
@@ -32,7 +32,7 @@ mod app {
     fn init(_: init::Context) -> (Shared, Local) {
         hprintln!("init");
 
-        async_task1::spawn().ok();
+        async_task1::spawn(1).ok();
         async_task2::spawn().ok();
         async_task3::spawn().ok();
         async_task4::spawn().ok();
@@ -49,11 +49,11 @@ mod app {
     }
 
     #[task(priority = 1, shared = [a, b])]
-    async fn async_task1(mut cx: async_task1::Context) {
+    async fn async_task1(mut cx: async_task1::Context, inc: u32) {
         hprintln!(
             "hello from async 1 a {}",
             cx.shared.a.lock(|a| {
-                *a += 1;
+                *a += inc;
                 *a
             })
         );