Monotonic rewrite (#874)

* Rework timer_queue and monotonic architecture

Goals:
 * make Monotonic purely internal
 * make Monotonic purely tick passed, no fugit involved
 * create a wrapper struct in the user's code via a macro that then
   converts the "now" from the tick based monotonic to a fugit based
   timestamp

We need to proxy the delay functions of the timer queue anyway,
so we could simply perform the conversion in those proxy functions.

* Update cargo.lock

* Update readme of rtic-time

* CI: ESP32: Redact esp_image: Too volatile

* Fixup: Changelog double entry rebase mistake

---------

Co-authored-by: Henrik Tjäder <henrik@tjaders.com>

3 files changed, 163 insertions, 76 deletions

diff --git a/examples/rp2040_local_i2c_init/Cargo.lock b/examples/rp2040_local_i2c_init/Cargo.lock
index d40e616..d4c0155 100644
--- a/examples/rp2040_local_i2c_init/Cargo.lock
+++ b/examples/rp2040_local_i2c_init/Cargo.lock
@@ -10,9 +10,9 @@ checksum = "96d30a06541fbafbc7f82ed10c06164cfbd2c401138f6addd8404629c4b16711"
 
 [[package]]
 name = "atomic-polyfill"
-version = "1.0.2"
+version = "1.0.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c314e70d181aa6053b26e3f7fbf86d1dfff84f816a6175b967666b3506ef7289"
+checksum = "8cf2bce30dfe09ef0bfaef228b9d414faaf7e563035494d7fe092dba54b300f4"
 dependencies = [
  "critical-section",
 ]
@@ -52,7 +52,7 @@ checksum = "8ec610d8f49840a5b376c69663b6369e71f4b34484b9b2eb29fb918d92516cb9"
 dependencies = [
  "bare-metal 0.2.5",
  "bitfield",
- "embedded-hal",
+ "embedded-hal 0.2.7",
  "volatile-register",
 ]
 
@@ -73,23 +73,23 @@ checksum = "f0f6f3e36f203cfedbc78b357fb28730aa2c6dc1ab060ee5c2405e843988d3c7"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn",
+ "syn 1.0.109",
 ]
 
 [[package]]
 name = "crc-any"
-version = "2.4.3"
+version = "2.4.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "774646b687f63643eb0f4bf13dc263cb581c8c9e57973b6ddf78bda3994d88df"
+checksum = "c01a5e1f881f6fb6099a7bdf949e946719fd4f1fefa56264890574febf0eb6d0"
 dependencies = [
  "debug-helper",
 ]
 
 [[package]]
 name = "critical-section"
-version = "1.1.1"
+version = "1.1.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6548a0ad5d2549e111e1f6a11a6c2e2d00ce6a3dafe22948d67c2b443f775e52"
+checksum = "7059fff8937831a9ae6f0fe4d658ffabf58f2ca96aa9dec1c889f936f705f216"
 
 [[package]]
 name = "debug-helper"
@@ -99,9 +99,9 @@ checksum = "f578e8e2c440e7297e008bb5486a3a8a194775224bbc23729b0dbdfaeebf162e"
 
 [[package]]
 name = "either"
-version = "1.8.1"
+version = "1.10.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7fcaabb2fef8c910e7f4c7ce9f67a1283a1715879a7c230ca9d6d1ae31f16d91"
+checksum = "11157ac094ffbdde99aa67b23417ebdd801842852b500e395a45a9c0aac03e4a"
 
 [[package]]
 name = "embedded-dma"
@@ -123,10 +123,64 @@ dependencies = [
 ]
 
 [[package]]
-name = "equivalent"
+name = "embedded-hal"
+version = "1.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "361a90feb7004eca4019fb28352a9465666b24f840f5c3cddf0ff13920590b89"
+
+[[package]]
+name = "embedded-hal-async"
 version = "1.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "88bffebc5d80432c9b140ee17875ff173a8ab62faad5b257da912bd2f6c1c0a1"
+checksum = "0c4c685bbef7fe13c3c6dd4da26841ed3980ef33e841cddfa15ce8a8fb3f1884"
+dependencies = [
+ "embedded-hal 1.0.0",
+]
+
+[[package]]
+name = "equivalent"
+version = "1.0.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5443807d6dff69373d433ab9ef5378ad8df50ca6298caf15de6e52e24aaf54d5"
+
+[[package]]
+name = "frunk"
+version = "0.4.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "11a351b59e12f97b4176ee78497dff72e4276fb1ceb13e19056aca7fa0206287"
+dependencies = [
+ "frunk_core",
+ "frunk_derives",
+]
+
+[[package]]
+name = "frunk_core"
+version = "0.4.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "af2469fab0bd07e64ccf0ad57a1438f63160c69b2e57f04a439653d68eb558d6"
+
+[[package]]
+name = "frunk_derives"
+version = "0.4.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b0fa992f1656e1707946bbba340ad244f0814009ef8c0118eb7b658395f19a2e"
+dependencies = [
+ "frunk_proc_macro_helpers",
+ "quote",
+ "syn 2.0.51",
+]
+
+[[package]]
+name = "frunk_proc_macro_helpers"
+version = "0.1.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "35b54add839292b743aeda6ebedbd8b11e93404f902c56223e51b9ec18a13d2c"
+dependencies = [
+ "frunk_core",
+ "proc-macro2",
+ "quote",
+ "syn 2.0.51",
+]
 
 [[package]]
 name = "fugit"
@@ -139,21 +193,21 @@ dependencies = [
 
 [[package]]
 name = "futures-core"
-version = "0.3.28"
+version = "0.3.30"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4bca583b7e26f571124fe5b7561d49cb2868d79116cfa0eefce955557c6fee8c"
+checksum = "dfc6580bb841c5a68e9ef15c77ccc837b40a7504914d52e47b8b0e9bbda25a1d"
 
 [[package]]
 name = "futures-task"
-version = "0.3.28"
+version = "0.3.30"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "76d3d132be6c0e6aa1534069c705a74a5997a356c0dc2f86a47765e5617c5b65"
+checksum = "38d84fa142264698cdce1a9f9172cf383a0c82de1bddcf3092901442c4097004"
 
 [[package]]
 name = "futures-util"
-version = "0.3.28"
+version = "0.3.30"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "26b01e40b772d54cf6c6d721c1d1abd0647a0106a12ecaa1c186273392a69533"
+checksum = "3d6401deb83407ab3da39eba7e33987a73c3df0c82b4bb5813ee871c19c41d48"
 dependencies = [
  "futures-core",
  "futures-task",
@@ -169,15 +223,15 @@ checksum = "1d758ba1b47b00caf47f24925c0074ecb20d6dfcffe7f6d53395c0465674841a"
 
 [[package]]
 name = "hashbrown"
-version = "0.14.0"
+version = "0.14.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2c6201b9ff9fd90a5a3bac2e56a830d0caa509576f0e503818ee82c181b3437a"
+checksum = "290f1a1d9242c78d09ce40a5e87e7554ee637af1351968159f4952f028f75604"
 
 [[package]]
 name = "indexmap"
-version = "2.0.0"
+version = "2.2.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d5477fe2230a79769d8dc68e0eabf5437907c0457a5614a9e8dddb67f65eb65d"
+checksum = "233cf39063f058ea2caae4091bf4a3ef70a653afbc026f5c4a4135d114e3c177"
 dependencies = [
  "equivalent",
  "hashbrown",
@@ -224,7 +278,7 @@ checksum = "dcbff9bc912032c62bf65ef1d5aea88983b420f4f839db1e9b0c281a25c9c799"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn",
+ "syn 1.0.109",
 ]
 
 [[package]]
@@ -238,15 +292,15 @@ dependencies = [
 
 [[package]]
 name = "paste"
-version = "1.0.12"
+version = "1.0.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9f746c4065a8fa3fe23974dd82f15431cc8d40779821001404d10d2e79ca7d79"
+checksum = "de3145af08024dea9fa9914f381a17b8fc6034dfb00f3a84013f7ff43f29ed4c"
 
 [[package]]
 name = "pin-project-lite"
-version = "0.2.9"
+version = "0.2.13"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e0a7ae3ac2f1173085d398531c705756c94a4c56843785df85a60c1a0afac116"
+checksum = "8afb450f006bf6385ca15ef45d71d2288452bc3683ce2e2cacc0d18e4be60b58"
 
 [[package]]
 name = "pin-utils"
@@ -266,6 +320,12 @@ dependencies = [
 ]
 
 [[package]]
+name = "portable-atomic"
+version = "1.6.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7170ef9988bc169ba16dd36a7fa041e5c4cbeb6a35b76d4c03daded371eae7c0"
+
+[[package]]
 name = "proc-macro-error"
 version = "1.0.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
@@ -274,7 +334,7 @@ dependencies = [
  "proc-macro-error-attr",
  "proc-macro2",
  "quote",
- "syn",
+ "syn 1.0.109",
  "version_check",
 ]
 
@@ -291,18 +351,18 @@ dependencies = [
 
 [[package]]
 name = "proc-macro2"
-version = "1.0.63"
+version = "1.0.78"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7b368fba921b0dce7e60f5e04ec15e565b3303972b42bcfde1d0713b881959eb"
+checksum = "e2422ad645d89c99f8f3e6b88a9fdeca7fabeac836b1002371c4367c8f984aae"
 dependencies = [
  "unicode-ident",
 ]
 
 [[package]]
 name = "quote"
-version = "1.0.29"
+version = "1.0.35"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "573015e8ab27661678357f27dc26460738fd2b6c86e46f386fde94cb5d913105"
+checksum = "291ec9ab5efd934aaf503a6466c5d5251535d108ee747472c3977cc5acc868ef"
 dependencies = [
  "proc-macro2",
 ]
@@ -315,11 +375,10 @@ checksum = "ec0be4795e2f6a28069bec0b5ff3e2ac9bafc99e6a9a7dc3547996c5c816922c"
 
 [[package]]
 name = "rp-pico"
-version = "0.7.0"
+version = "0.8.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "aab28f6f4e19cec2d61b64cdd685e69794b81c579fd3b765579c46018fe616d0"
+checksum = "6341771e6f8e5d130b2b3cbc23435b7847761adf198af09f4b2a60407d43bd56"
 dependencies = [
- "cortex-m",
  "cortex-m-rt",
  "fugit",
  "rp2040-boot2",
@@ -329,23 +388,24 @@ dependencies = [
 
 [[package]]
 name = "rp2040-boot2"
-version = "0.2.1"
+version = "0.3.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3c773ec49b836077aa144b58dc7654a243e1eecdb6cf0d25361ae7c7600fabd8"
+checksum = "7c92f344f63f950ee36cf4080050e4dce850839b9175da38f9d2ffb69b4dbb21"
 dependencies = [
  "crc-any",
 ]
 
 [[package]]
 name = "rp2040-hal"
-version = "0.8.2"
+version = "0.9.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1369bb84862d7f69391a96606b2f29a00bfce7f29a749e23d5f01fc3f607ada0"
+checksum = "1ff2b9ae7e6dd6720fd9f64250c9087260e50fe98b6b032ccca65be3581167ca"
 dependencies = [
  "cortex-m",
  "critical-section",
  "embedded-dma",
- "embedded-hal",
+ "embedded-hal 0.2.7",
+ "frunk",
  "fugit",
  "itertools",
  "nb 1.1.0",
@@ -368,17 +428,18 @@ dependencies = [
  "cortex-m-rt",
  "proc-macro2",
  "quote",
- "syn",
+ "syn 1.0.109",
 ]
 
 [[package]]
 name = "rp2040-pac"
-version = "0.4.0"
+version = "0.5.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9192cafbb40d717c9e0ddf767aaf9c69fee1b4e48d22ed853b57b11f6d9f3d7e"
+checksum = "12d9d8375815f543f54835d01160d4e47f9e2cae75f17ff8f1ec19ce1da96e4c"
 dependencies = [
  "cortex-m",
  "cortex-m-rt",
+ "critical-section",
  "vcell",
 ]
 
@@ -387,7 +448,7 @@ name = "rp2040_local_i2c_init"
 version = "0.1.0"
 dependencies = [
  "cortex-m",
- "embedded-hal",
+ "embedded-hal 0.2.7",
  "fugit",
  "panic-probe",
  "rp-pico",
@@ -397,7 +458,7 @@ dependencies = [
 
 [[package]]
 name = "rtic"
-version = "2.0.0"
+version = "2.0.1"
 dependencies = [
  "atomic-polyfill",
  "bare-metal 1.0.0",
@@ -409,9 +470,10 @@ dependencies = [
 
 [[package]]
 name = "rtic-common"
-version = "1.0.0"
+version = "1.0.1"
 dependencies = [
  "critical-section",
+ "portable-atomic",
 ]
 
 [[package]]
@@ -422,22 +484,23 @@ checksum = "d9369355b04d06a3780ec0f51ea2d225624db777acbc60abd8ca4832da5c1a42"
 
 [[package]]
 name = "rtic-macros"
-version = "2.0.0"
+version = "2.0.1"
 dependencies = [
  "indexmap",
  "proc-macro-error",
  "proc-macro2",
  "quote",
- "syn",
+ "syn 2.0.51",
 ]
 
 [[package]]
 name = "rtic-monotonics"
-version = "1.0.0"
+version = "2.0.0"
 dependencies = [
  "atomic-polyfill",
  "cfg-if",
  "cortex-m",
+ "embedded-hal 1.0.0",
  "fugit",
  "rp2040-pac",
  "rtic-time",
@@ -445,9 +508,12 @@ dependencies = [
 
 [[package]]
 name = "rtic-time"
-version = "1.0.0"
+version = "2.0.0"
 dependencies = [
  "critical-section",
+ "embedded-hal 1.0.0",
+ "embedded-hal-async",
+ "fugit",
  "futures-util",
  "rtic-common",
 ]
@@ -494,10 +560,21 @@ dependencies = [
 ]
 
 [[package]]
+name = "syn"
+version = "2.0.51"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6ab617d94515e94ae53b8406c628598680aa0c9587474ecbe58188f7b345d66c"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "unicode-ident",
+]
+
+[[package]]
 name = "unicode-ident"
-version = "1.0.9"
+version = "1.0.12"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b15811caf2415fb889178633e7724bad2509101cde276048e013b9def5e51fa0"
+checksum = "3354b9ac3fae1ff6755cb6db53683adb661634f67557942dea4facebec0fee4b"
 
 [[package]]
 name = "usb-device"
@@ -525,9 +602,9 @@ checksum = "6a02e4885ed3bc0f2de90ea6dd45ebcbb66dacffe03547fadbb0eeae2770887d"
 
 [[package]]
 name = "volatile-register"
-version = "0.2.1"
+version = "0.2.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9ee8f19f9d74293faf70901bc20ad067dc1ad390d2cbf1e3f75f721ffee908b6"
+checksum = "de437e2a6208b014ab52972a27e59b33fa2920d3e00fe05026167a1c509d19cc"
 dependencies = [
  "vcell",
 ]
diff --git a/examples/rp2040_local_i2c_init/Cargo.toml b/examples/rp2040_local_i2c_init/Cargo.toml
index 6e501b6..300bede 100644
--- a/examples/rp2040_local_i2c_init/Cargo.toml
+++ b/examples/rp2040_local_i2c_init/Cargo.toml
@@ -15,14 +15,14 @@ features = ["thumbv6-backend"]
 
 [dependencies.rtic-monotonics]
 path = "../../rtic-monotonics"
-version = "1.0.0"
+version = "2.0.0"
 features = ["rp2040"]
 
 [dependencies]
 cortex-m = "0.7"
 embedded-hal = { version = "0.2.7", features = ["unproven"] }
 fugit = "0.3"
-rp-pico = "0.7.0"
+rp-pico = "0.8.0"
 panic-probe = "0.3"
 
 [profile.dev]
diff --git a/examples/rp2040_local_i2c_init/src/main.rs b/examples/rp2040_local_i2c_init/src/main.rs
index 97049dc..799376c 100644
--- a/examples/rp2040_local_i2c_init/src/main.rs
+++ b/examples/rp2040_local_i2c_init/src/main.rs
@@ -1,15 +1,21 @@
 #![no_std]
 #![no_main]
 
-#[rtic::app(
-    device = rp_pico::hal::pac,
-    dispatchers = [TIMER_IRQ_1]
-)]
+use rtic_monotonics::rp2040::prelude::*;
+
+rp2040_timer_monotonic!(Mono);
+
+#[rtic::app(device = rp_pico::hal::pac)]
 mod app {
+    use super::*;
+
     use rp_pico::hal::{
-        clocks, gpio,
-        gpio::pin::bank0::{Gpio2, Gpio25, Gpio3},
-        gpio::pin::PushPullOutput,
+        clocks,
+        gpio::{
+            self,
+            bank0::{Gpio2, Gpio25, Gpio3},
+            FunctionSioOutput, PullNone, PullUp,
+        },
         pac,
         sio::Sio,
         watchdog::Watchdog,
@@ -20,15 +26,13 @@ mod app {
     use core::mem::MaybeUninit;
     use embedded_hal::digital::v2::{OutputPin, ToggleableOutputPin};
     use fugit::RateExtU32;
-    use rtic_monotonics::rp2040::*;
-
     use panic_probe as _;
 
     type I2CBus = I2C<
         pac::I2C1,
         (
-            gpio::Pin<Gpio2, gpio::FunctionI2C>,
-            gpio::Pin<Gpio3, gpio::FunctionI2C>,
+            gpio::Pin<Gpio2, gpio::FunctionI2C, PullUp>,
+            gpio::Pin<Gpio3, gpio::FunctionI2C, PullUp>,
         ),
     >;
 
@@ -37,7 +41,7 @@ mod app {
 
     #[local]
     struct Local {
-        led: gpio::Pin<Gpio25, PushPullOutput>,
+        led: gpio::Pin<Gpio25, FunctionSioOutput, PullNone>,
         i2c: &'static mut I2CBus,
     }
 
@@ -48,11 +52,8 @@ mod app {
         i2c_ctx: MaybeUninit<I2CBus> = MaybeUninit::uninit()
     ])]
     fn init(mut ctx: init::Context) -> (Shared, Local) {
-        // Initialize the interrupt for the RP2040 timer and obtain the token
-        // proving that we have.
-        let rp2040_timer_token = rtic_monotonics::create_rp2040_monotonic_token!();
         // Configure the clocks, watchdog - The default is to generate a 125 MHz system clock
-        Timer::start(ctx.device.TIMER, &mut ctx.device.RESETS, rp2040_timer_token); // default rp2040 clock-rate is 125MHz
+        Mono::start(ctx.device.TIMER, &mut ctx.device.RESETS); // default rp2040 clock-rate is 125MHz
         let mut watchdog = Watchdog::new(ctx.device.WATCHDOG);
         let clocks = clocks::init_clocks_and_plls(
             XOSC_CRYSTAL_FREQ,
@@ -74,12 +75,21 @@ mod app {
             sio.gpio_bank0,
             &mut ctx.device.RESETS,
         );
-        let mut led = gpioa.led.into_push_pull_output();
+        let mut led = gpioa
+            .led
+            .into_pull_type::<PullNone>()
+            .into_push_pull_output();
         led.set_low().unwrap();
 
         // Init I2C pins
-        let sda_pin = gpioa.gpio2.into_mode::<gpio::FunctionI2C>();
-        let scl_pin = gpioa.gpio3.into_mode::<gpio::FunctionI2C>();
+        let sda_pin = gpioa
+            .gpio2
+            .into_pull_up_disabled()
+            .into_function::<gpio::FunctionI2C>();
+        let scl_pin = gpioa
+            .gpio3
+            .into_pull_up_disabled()
+            .into_function::<gpio::FunctionI2C>();
 
         // Init I2C itself, using MaybeUninit to overwrite the previously
         // uninitialized i2c_ctx variable without dropping its value
@@ -118,7 +128,7 @@ mod app {
             // now to do something with it!
 
             // Delay for 1 second
-            Timer::delay(1000.millis()).await;
+            Mono::delay(1000.millis()).await;
         }
     }
 }