From b23bb1192c8dc1f2e8f157db2147b1737abc1033 Mon Sep 17 00:00:00 2001
From: Emil Fresk <emil.fresk@gmail.com>
Date: Tue, 8 Dec 2020 20:49:13 +0100
Subject: TQ handlers being generated

---
 macros/src/codegen/timer_queue.rs | 20 ++++++++++++++------
 1 file changed, 14 insertions(+), 6 deletions(-)

(limited to 'macros/src/codegen/timer_queue.rs')

diff --git a/macros/src/codegen/timer_queue.rs b/macros/src/codegen/timer_queue.rs
index fa2c7b3..ccde957 100644
--- a/macros/src/codegen/timer_queue.rs
+++ b/macros/src/codegen/timer_queue.rs
@@ -8,7 +8,7 @@ use crate::{analyze::Analysis, check::Extra, codegen::util};
 pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream2> {
     let mut items = vec![];
 
-    if let Some(m) = &extra.monotonic {
+    if !app.monotonics.is_empty() {
         let t = util::schedule_t_ident();
 
         // Enumeration of `schedule`-able tasks
@@ -36,12 +36,17 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream
                 }
             ));
         }
+    }
 
-        let tq = util::tq_ident();
+    for (_, monotonic) in &app.monotonics {
+        let monotonic_name = monotonic.ident.to_string();
+        let tq = util::tq_ident(&monotonic_name);
+        let t = util::schedule_t_ident();
+        let m = &monotonic.ident;
 
-        // Static variable and resource proxy
+        // Static variables and resource proxy
         {
-            let doc = "Timer queue".to_string();
+            let doc = &format!("Timer queue for {}", monotonic_name);
             let cap = app
                 .software_tasks
                 .iter()
@@ -71,6 +76,8 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream
                     let rq = util::rq_ident(priority);
                     let rqt = util::spawn_t_ident(priority);
                     let enum_ = util::interrupt_ident();
+
+                    // The interrupt that runs the task dispatcher
                     let interrupt = &analysis.interrupts.get(&priority).expect("RTIC-ICE: interrupt not found").0;
 
                     let pend = {
@@ -90,10 +97,10 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream
                 })
                 .collect::<Vec<_>>();
 
-            let sys_tick = util::suffixed("SysTick");
+            let bound_interrupt = &monotonic.args.binds;
             items.push(quote!(
                 #[no_mangle]
-                unsafe fn #sys_tick() {
+                unsafe fn #bound_interrupt() {
                     use rtic::Mutex as _;
 
                     while let Some((task, index)) = rtic::export::interrupt::free(|_| #tq.dequeue())
@@ -106,5 +113,6 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream
             ));
         }
     }
+
     items
 }
-- 
cgit v1.2.3


From 97a48983d2859740983cbf342e1287182426ed44 Mon Sep 17 00:00:00 2001
From: Emil Fresk <emil.fresk@gmail.com>
Date: Thu, 10 Dec 2020 20:33:13 +0100
Subject: More work

---
 macros/src/codegen/timer_queue.rs | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

(limited to 'macros/src/codegen/timer_queue.rs')

diff --git a/macros/src/codegen/timer_queue.rs b/macros/src/codegen/timer_queue.rs
index ccde957..f219eef 100644
--- a/macros/src/codegen/timer_queue.rs
+++ b/macros/src/codegen/timer_queue.rs
@@ -5,7 +5,7 @@ use rtic_syntax::ast::App;
 use crate::{analyze::Analysis, check::Extra, codegen::util};
 
 /// Generates timer queues and timer queue handlers
-pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream2> {
+pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStream2> {
     let mut items = vec![];
 
     if !app.monotonics.is_empty() {
-- 
cgit v1.2.3


From 8e8ec9b7b879adae8d4de6cb2320b9b19290a7e0 Mon Sep 17 00:00:00 2001
From: Emil Fresk <emil.fresk@gmail.com>
Date: Sat, 12 Dec 2020 23:24:54 +0100
Subject: Monotonic codegen now passing compile stage

---
 macros/src/codegen/timer_queue.rs | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

(limited to 'macros/src/codegen/timer_queue.rs')

diff --git a/macros/src/codegen/timer_queue.rs b/macros/src/codegen/timer_queue.rs
index f219eef..dc29835 100644
--- a/macros/src/codegen/timer_queue.rs
+++ b/macros/src/codegen/timer_queue.rs
@@ -67,6 +67,8 @@ pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStrea
 
         // Timer queue handler
         {
+            let enum_ = util::interrupt_ident();
+
             let arms = app
                 .software_tasks
                 .iter()
@@ -75,7 +77,6 @@ pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStrea
                     let priority = task.args.priority;
                     let rq = util::rq_ident(priority);
                     let rqt = util::spawn_t_ident(priority);
-                    let enum_ = util::interrupt_ident();
 
                     // The interrupt that runs the task dispatcher
                     let interrupt = &analysis.interrupts.get(&priority).expect("RTIC-ICE: interrupt not found").0;
@@ -98,12 +99,15 @@ pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStrea
                 .collect::<Vec<_>>();
 
             let bound_interrupt = &monotonic.args.binds;
+
             items.push(quote!(
                 #[no_mangle]
                 unsafe fn #bound_interrupt() {
                     use rtic::Mutex as _;
 
-                    while let Some((task, index)) = rtic::export::interrupt::free(|_| #tq.dequeue())
+                    while let Some((task, index)) = rtic::export::interrupt::free(|_| #tq.dequeue(
+                                || rtic::export::NVIC::unmask(you_must_enable_the_rt_feature_for_the_pac_in_your_cargo_toml::#enum_::#bound_interrupt),
+                            ))
                     {
                         match task {
                             #(#arms)*
-- 
cgit v1.2.3


From 62771839061aaa7dd518d40969bee609d7d2bda8 Mon Sep 17 00:00:00 2001
From: Emil Fresk <emil.fresk@gmail.com>
Date: Sun, 13 Dec 2020 14:52:16 +0100
Subject: Now handling SysTick as well

---
 macros/src/codegen/timer_queue.rs | 12 ++++++++++--
 1 file changed, 10 insertions(+), 2 deletions(-)

(limited to 'macros/src/codegen/timer_queue.rs')

diff --git a/macros/src/codegen/timer_queue.rs b/macros/src/codegen/timer_queue.rs
index dc29835..ef0fda3 100644
--- a/macros/src/codegen/timer_queue.rs
+++ b/macros/src/codegen/timer_queue.rs
@@ -68,6 +68,9 @@ pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStrea
         // Timer queue handler
         {
             let enum_ = util::interrupt_ident();
+            let app_name = &app.name;
+            let app_path = quote! {crate::#app_name};
+            let rt_err = util::rt_err_ident();
 
             let arms = app
                 .software_tasks
@@ -83,7 +86,7 @@ pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStrea
 
                     let pend = {
                         quote!(
-                            rtic::pend(you_must_enable_the_rt_feature_for_the_pac_in_your_cargo_toml::#enum_::#interrupt);
+                            rtic::pend(#rt_err::#enum_::#interrupt);
                         )
                     };
 
@@ -99,6 +102,11 @@ pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStrea
                 .collect::<Vec<_>>();
 
             let bound_interrupt = &monotonic.args.binds;
+            let enable_isr = if &*bound_interrupt.to_string() == "SysTick" {
+                quote!(core::mem::transmute::<_, cortex_m::peripheral::SYST>(()).enable_interrupt())
+            } else {
+                quote!(rtic::export::NVIC::mask(#rt_err::#enum_::#bound_interrupt))
+            };
 
             items.push(quote!(
                 #[no_mangle]
@@ -106,7 +114,7 @@ pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStrea
                     use rtic::Mutex as _;
 
                     while let Some((task, index)) = rtic::export::interrupt::free(|_| #tq.dequeue(
-                                || rtic::export::NVIC::unmask(you_must_enable_the_rt_feature_for_the_pac_in_your_cargo_toml::#enum_::#bound_interrupt),
+                                || #enable_isr,
                             ))
                     {
                         match task {
-- 
cgit v1.2.3


From aaa92ea2fac23d2679b5efc1178a45d994762bca Mon Sep 17 00:00:00 2001
From: Emil Fresk <emil.fresk@gmail.com>
Date: Sun, 13 Dec 2020 17:48:11 +0100
Subject: Cleanup

---
 macros/src/codegen/timer_queue.rs | 4 ----
 1 file changed, 4 deletions(-)

(limited to 'macros/src/codegen/timer_queue.rs')

diff --git a/macros/src/codegen/timer_queue.rs b/macros/src/codegen/timer_queue.rs
index ef0fda3..99dfa5b 100644
--- a/macros/src/codegen/timer_queue.rs
+++ b/macros/src/codegen/timer_queue.rs
@@ -68,8 +68,6 @@ pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStrea
         // Timer queue handler
         {
             let enum_ = util::interrupt_ident();
-            let app_name = &app.name;
-            let app_path = quote! {crate::#app_name};
             let rt_err = util::rt_err_ident();
 
             let arms = app
@@ -111,8 +109,6 @@ pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStrea
             items.push(quote!(
                 #[no_mangle]
                 unsafe fn #bound_interrupt() {
-                    use rtic::Mutex as _;
-
                     while let Some((task, index)) = rtic::export::interrupt::free(|_| #tq.dequeue(
                                 || #enable_isr,
                             ))
-- 
cgit v1.2.3


From 6fb43fa97be75f00553e0026ac06f107ee832dc2 Mon Sep 17 00:00:00 2001
From: Emil Fresk <emil.fresk@gmail.com>
Date: Thu, 4 Feb 2021 20:22:02 +0100
Subject: Minor fixes

---
 macros/src/codegen/timer_queue.rs | 1 +
 1 file changed, 1 insertion(+)

(limited to 'macros/src/codegen/timer_queue.rs')

diff --git a/macros/src/codegen/timer_queue.rs b/macros/src/codegen/timer_queue.rs
index 99dfa5b..9a430a0 100644
--- a/macros/src/codegen/timer_queue.rs
+++ b/macros/src/codegen/timer_queue.rs
@@ -108,6 +108,7 @@ pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStrea
 
             items.push(quote!(
                 #[no_mangle]
+                #[allow(non_snake_case)]
                 unsafe fn #bound_interrupt() {
                     while let Some((task, index)) = rtic::export::interrupt::free(|_| #tq.dequeue(
                                 || #enable_isr,
-- 
cgit v1.2.3


From ebf2f058a4d2a1fcf118144b9893dc3038939bad Mon Sep 17 00:00:00 2001
From: Emil Fresk <emil.fresk@gmail.com>
Date: Thu, 18 Feb 2021 19:30:59 +0100
Subject: Now with new monotonic trait and crate

---
 macros/src/codegen/timer_queue.rs | 21 +++++++++++++++++----
 1 file changed, 17 insertions(+), 4 deletions(-)

(limited to 'macros/src/codegen/timer_queue.rs')

diff --git a/macros/src/codegen/timer_queue.rs b/macros/src/codegen/timer_queue.rs
index 9a430a0..54b2c1f 100644
--- a/macros/src/codegen/timer_queue.rs
+++ b/macros/src/codegen/timer_queue.rs
@@ -42,7 +42,10 @@ pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStrea
         let monotonic_name = monotonic.ident.to_string();
         let tq = util::tq_ident(&monotonic_name);
         let t = util::schedule_t_ident();
-        let m = &monotonic.ident;
+        let m = util::mangle_monotonic_type(&monotonic_name);
+        let m_ident = util::monotonic_ident(&monotonic_name);
+        let app_name = &app.name;
+        let app_path = quote! {crate::#app_name};
 
         // Static variables and resource proxy
         {
@@ -63,6 +66,15 @@ pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStrea
                     )
                 );
             ));
+
+            let mono = util::monotonic_ident(&monotonic_name);
+            let doc = &format!("Storage for {}", monotonic_name);
+            let mono_ty = quote!(core::mem::MaybeUninit<#m>);
+
+            items.push(quote!(
+                #[doc = #doc]
+                static mut #mono: #mono_ty = core::mem::MaybeUninit::uninit();
+            ));
         }
 
         // Timer queue handler
@@ -100,8 +112,8 @@ pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStrea
                 .collect::<Vec<_>>();
 
             let bound_interrupt = &monotonic.args.binds;
-            let enable_isr = if &*bound_interrupt.to_string() == "SysTick" {
-                quote!(core::mem::transmute::<_, cortex_m::peripheral::SYST>(()).enable_interrupt())
+            let disable_isr = if &*bound_interrupt.to_string() == "SysTick" {
+                quote!(core::mem::transmute::<_, cortex_m::peripheral::SYST>(()).disable_interrupt())
             } else {
                 quote!(rtic::export::NVIC::mask(#rt_err::#enum_::#bound_interrupt))
             };
@@ -111,7 +123,8 @@ pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStrea
                 #[allow(non_snake_case)]
                 unsafe fn #bound_interrupt() {
                     while let Some((task, index)) = rtic::export::interrupt::free(|_| #tq.dequeue(
-                                || #enable_isr,
+                                || #disable_isr,
+                                &mut *#app_path::#m_ident.as_mut_ptr(),
                             ))
                     {
                         match task {
-- 
cgit v1.2.3


From 1a46345a2aa710c4ec5ea8fb6589424bc4450d0f Mon Sep 17 00:00:00 2001
From: Emil Fresk <emil.fresk@gmail.com>
Date: Sun, 21 Feb 2021 16:15:34 +0100
Subject: Fixed UB in generated `Monotonic::now()`

---
 macros/src/codegen/timer_queue.rs | 17 +++++++++++------
 1 file changed, 11 insertions(+), 6 deletions(-)

(limited to 'macros/src/codegen/timer_queue.rs')

diff --git a/macros/src/codegen/timer_queue.rs b/macros/src/codegen/timer_queue.rs
index 54b2c1f..6556068 100644
--- a/macros/src/codegen/timer_queue.rs
+++ b/macros/src/codegen/timer_queue.rs
@@ -69,11 +69,11 @@ pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStrea
 
             let mono = util::monotonic_ident(&monotonic_name);
             let doc = &format!("Storage for {}", monotonic_name);
-            let mono_ty = quote!(core::mem::MaybeUninit<#m>);
+            let mono_ty = quote!(Option<#m>);
 
             items.push(quote!(
                 #[doc = #doc]
-                static mut #mono: #mono_ty = core::mem::MaybeUninit::uninit();
+                static mut #mono: #mono_ty = None;
             ));
         }
 
@@ -122,10 +122,15 @@ pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStrea
                 #[no_mangle]
                 #[allow(non_snake_case)]
                 unsafe fn #bound_interrupt() {
-                    while let Some((task, index)) = rtic::export::interrupt::free(|_| #tq.dequeue(
-                                || #disable_isr,
-                                &mut *#app_path::#m_ident.as_mut_ptr(),
-                            ))
+
+                    while let Some((task, index)) = rtic::export::interrupt::free(|_|
+                        if let Some(mono) = #app_path::#m_ident.as_mut() {
+                            #tq.dequeue(|| #disable_isr, mono)
+                        } else {
+                            // We can only use the timer queue if `init` has returned, and it
+                            // writes the `Some(monotonic)` we are accessing here.
+                            core::hint::unreachable_unchecked()
+                        })
                     {
                         match task {
                             #(#arms)*
-- 
cgit v1.2.3


From 1345f30a692843485208b2ecf2866010423d2f02 Mon Sep 17 00:00:00 2001
From: Emil Fresk <emil.fresk@gmail.com>
Date: Sun, 21 Feb 2021 21:57:18 +0100
Subject: Properly call `on_interrupt`

---
 macros/src/codegen/timer_queue.rs | 4 ++++
 1 file changed, 4 insertions(+)

(limited to 'macros/src/codegen/timer_queue.rs')

diff --git a/macros/src/codegen/timer_queue.rs b/macros/src/codegen/timer_queue.rs
index 6556068..ea2fee6 100644
--- a/macros/src/codegen/timer_queue.rs
+++ b/macros/src/codegen/timer_queue.rs
@@ -136,6 +136,10 @@ pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStrea
                             #(#arms)*
                         }
                     }
+
+                    rtic::export::interrupt::free(|_| if let Some(mono) = #app_path::#m_ident.as_mut() {
+                        mono.on_interrupt();
+                    });
                 }
             ));
         }
-- 
cgit v1.2.3


From d351f55e1c8e60a9bbd69b40b84a39dab5d20051 Mon Sep 17 00:00:00 2001
From: Emil Fresk <emil.fresk@gmail.com>
Date: Thu, 25 Feb 2021 19:05:39 +0100
Subject: Documentation generation fixes

Test fixes
---
 macros/src/codegen/timer_queue.rs | 24 ++++++++++++++----------
 1 file changed, 14 insertions(+), 10 deletions(-)

(limited to 'macros/src/codegen/timer_queue.rs')

diff --git a/macros/src/codegen/timer_queue.rs b/macros/src/codegen/timer_queue.rs
index ea2fee6..82d0ac9 100644
--- a/macros/src/codegen/timer_queue.rs
+++ b/macros/src/codegen/timer_queue.rs
@@ -26,9 +26,10 @@ pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStrea
                 })
                 .collect::<Vec<_>>();
 
-            let doc = "Tasks that can be scheduled".to_string();
+            // let doc = "Tasks that can be scheduled".to_string();
             items.push(quote!(
-                #[doc = #doc]
+                // #[doc = #doc]
+                #[doc(hidden)]
                 #[allow(non_camel_case_types)]
                 #[derive(Clone, Copy)]
                 enum #t {
@@ -41,25 +42,27 @@ pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStrea
     for (_, monotonic) in &app.monotonics {
         let monotonic_name = monotonic.ident.to_string();
         let tq = util::tq_ident(&monotonic_name);
+        let tq = util::mark_internal_ident(&tq);
         let t = util::schedule_t_ident();
-        let m = util::mangle_monotonic_type(&monotonic_name);
+        let mono_type = &monotonic.ty;
         let m_ident = util::monotonic_ident(&monotonic_name);
+        let m_ident = util::mark_internal_ident(&m_ident);
         let app_name = &app.name;
         let app_path = quote! {crate::#app_name};
 
         // Static variables and resource proxy
         {
-            let doc = &format!("Timer queue for {}", monotonic_name);
+            // let doc = &format!("Timer queue for {}", monotonic_name);
             let cap = app
                 .software_tasks
                 .iter()
                 .map(|(_name, task)| task.args.capacity)
                 .sum();
             let n = util::capacity_typenum(cap, false);
-            let tq_ty = quote!(rtic::export::TimerQueue<#m, #t, #n>);
+            let tq_ty = quote!(rtic::export::TimerQueue<#mono_type, #t, #n>);
 
             items.push(quote!(
-                #[doc = #doc]
+                #[doc(hidden)]
                 static mut #tq: #tq_ty = rtic::export::TimerQueue(
                     rtic::export::BinaryHeap(
                         rtic::export::iBinaryHeap::new()
@@ -68,12 +71,12 @@ pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStrea
             ));
 
             let mono = util::monotonic_ident(&monotonic_name);
-            let doc = &format!("Storage for {}", monotonic_name);
-            let mono_ty = quote!(Option<#m>);
+            let mono = util::mark_internal_ident(&mono);
+            // let doc = &format!("Storage for {}", monotonic_name);
 
             items.push(quote!(
-                #[doc = #doc]
-                static mut #mono: #mono_ty = None;
+                #[doc(hidden)]
+                static mut #mono: Option<#mono_type> = None;
             ));
         }
 
@@ -89,6 +92,7 @@ pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStrea
                     let cfgs = &task.cfgs;
                     let priority = task.args.priority;
                     let rq = util::rq_ident(priority);
+                    let rq = util::mark_internal_ident(&rq);
                     let rqt = util::spawn_t_ident(priority);
 
                     // The interrupt that runs the task dispatcher
-- 
cgit v1.2.3