Broke out async dispatchers into their own place

examples/async-task-multiple-prios.rs

@@ -10,7 +10,7 @@ use panic_semihosting as _;
 //   task can have a mutable reference stored.
 // - Spawning an async task equates to it being polled once.
 
-#[rtic::app(device = lm3s6965, dispatchers = [SSI0, UART0], peripherals = true)]
+#[rtic::app(device = lm3s6965, dispatchers = [SSI0, QEI0, UART0, UART1], peripherals = true)]
 mod app {
     use cortex_m_semihosting::{debug, hprintln};
     use systick_monotonic::*;

macros/src/analyze.rs

@@ -11,7 +11,8 @@ use syn::Ident;
 /// Extend the upstream `Analysis` struct with our field
 pub struct Analysis {
     parent: P<analyze::Analysis>,
-    pub interrupts: BTreeMap<Priority, (Ident, ExternInterrupt)>,
+    pub interrupts_normal: BTreeMap<Priority, (Ident, ExternInterrupt)>,
+    pub interrupts_async: BTreeMap<Priority, (Ident, ExternInterrupt)>,
 }
 
 impl ops::Deref for Analysis {
@@ -24,24 +25,42 @@ impl ops::Deref for Analysis {
 
 // Assign an interrupt to each priority level
 pub fn app(analysis: P<analyze::Analysis>, app: &App) -> P<Analysis> {
+    let mut available_interrupt = app.args.extern_interrupts.clone();
+
     // the set of priorities (each priority only once)
     let priorities = app
         .software_tasks
         .values()
+        .filter(|task| !task.is_async)
+        .map(|task| task.args.priority)
+        .collect::<BTreeSet<_>>();
+
+    let priorities_async = app
+        .software_tasks
+        .values()
+        .filter(|task| task.is_async)
         .map(|task| task.args.priority)
         .collect::<BTreeSet<_>>();
 
     // map from priorities to interrupts (holding name and attributes)
-    let interrupts: BTreeMap<Priority, _> = priorities
+
+    let interrupts_normal: BTreeMap<Priority, _> = priorities
         .iter()
         .copied()
         .rev()
-        .zip(&app.args.extern_interrupts)
+        .map(|p| (p, available_interrupt.pop().expect("UNREACHABLE")))
-        .map(|(p, (id, ext))| (p, (id.clone(), ext.clone())))
+        .collect();
+
+    let interrupts_async: BTreeMap<Priority, _> = priorities_async
+        .iter()
+        .copied()
+        .rev()
+        .map(|p| (p, available_interrupt.pop().expect("UNREACHABLE")))
         .collect();
 
     P::new(Analysis {
         parent: analysis,
-        interrupts,
+        interrupts_normal,
+        interrupts_async,
     })
 }

macros/src/check.rs

@@ -36,28 +36,39 @@ pub fn app(app: &App, _analysis: &Analysis) -> parse::Result<Extra> {
         .iter()
         .map(|(name, task)| {
             first = Some(name);
-            task.args.priority
+            (task.args.priority, task.is_async)
         })
         .collect::<HashSet<_>>();
 
-    let need = priorities
+    let need_sync = priorities
         .iter()
-        // Only count if not 0
+        // Only count if not 0 and not async
-        .filter(|prio| **prio > 0)
+        .filter(|(prio, is_async)| *prio > 0 && !*is_async)
         .count();
+
+    let need_async = priorities
+        .iter()
+        // Only count if not 0 and async
+        .filter(|(prio, is_async)| *prio > 0 && *is_async)
+        .count();
+
     let given = app.args.extern_interrupts.len();
-    if need > given {
+    if need_sync + need_async > given {
         let s = {
             format!(
-                "not enough interrupts to dispatch \
+                "not enough interrupts to dispatch all software and async tasks \
-                    all software tasks (need: {}; given: {})",
+                 (need: {}; given: {}) - one interrupt is needed per priority and sync/async task",
-                need, given
+                need_sync + need_async,
+                given
             )
         };
 
         // If not enough tasks and first still is None, may cause
         // "custom attribute panicked" due to unwrap on None
-        return Err(parse::Error::new(first.unwrap().span(), &s));
+        return Err(parse::Error::new(
+            first.expect("RTIC-ICE: needed async + needed sync").span(),
+            &s,
+        ));
     }
 
     // Check that all exceptions are valid; only exceptions with configurable priorities are

macros/src/codegen.rs

@@ -5,6 +5,7 @@ use rtic_syntax::ast::App;
 use crate::{analyze::Analysis, check::Extra};
 
 mod assertions;
+mod async_dispatchers;
 mod dispatchers;
 mod hardware_tasks;
 mod idle;
@@ -99,6 +100,7 @@ pub fn app(app: &App, analysis: &Analysis, extra: &Extra) -> TokenStream2 {
     let monotonics = monotonic::codegen(app, analysis, extra);
 
     let mod_app_dispatchers = dispatchers::codegen(app, analysis, extra);
+    let mod_app_async_dispatchers = async_dispatchers::codegen(app, analysis, extra);
     let mod_app_timer_queue = timer_queue::codegen(app, analysis, extra);
     let user_imports = &app.user_imports;
     let user_code = &app.user_code;
@@ -150,6 +152,8 @@ pub fn app(app: &App, analysis: &Analysis, extra: &Extra) -> TokenStream2 {
 
             #(#mod_app_dispatchers)*
 
+            #(#mod_app_async_dispatchers)*
+
             #(#mod_app_timer_queue)*
 
             #(#mains)*

macros/src/codegen/async_dispatchers.rs

@@ -0,0 +1,130 @@
+use proc_macro2::TokenStream as TokenStream2;
+use quote::quote;
+use rtic_syntax::ast::App;
+
+use crate::{analyze::Analysis, check::Extra, codegen::util};
+
+/// Generates task dispatchers
+pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream2> {
+    let mut items = vec![];
+
+    let interrupts = &analysis.interrupts_async;
+
+    // Generate executor definition and priority in global scope
+    for (name, task) in app.software_tasks.iter() {
+        if task.is_async {
+            let type_name = util::internal_task_ident(name, "F");
+            let exec_name = util::internal_task_ident(name, "EXEC");
+            let prio_name = util::internal_task_ident(name, "PRIORITY");
+
+            items.push(quote!(
+                #[allow(non_camel_case_types)]
+                type #type_name = impl core::future::Future + 'static;
+                #[allow(non_upper_case_globals)]
+                static #exec_name:
+                    rtic::RacyCell<rtic::export::executor::AsyncTaskExecutor<#type_name>> =
+                        rtic::RacyCell::new(rtic::export::executor::AsyncTaskExecutor::new());
+
+                // The executors priority, this can be any value - we will overwrite it when we
+                // start a task
+                #[allow(non_upper_case_globals)]
+                static #prio_name: rtic::RacyCell<rtic::export::Priority> =
+                        unsafe { rtic::RacyCell::new(rtic::export::Priority::new(0)) };
+            ));
+        }
+    }
+
+    for (&level, channel) in &analysis.channels {
+        if channel
+            .tasks
+            .iter()
+            .map(|task_name| !app.software_tasks[task_name].is_async)
+            .all(|is_not_async| is_not_async)
+        {
+            // check if all tasks are not async, if so don't generate this.
+            continue;
+        }
+
+        let mut stmts = vec![];
+        let device = &extra.device;
+        let enum_ = util::interrupt_ident();
+        let interrupt = util::suffixed(&interrupts[&level].0.to_string());
+
+        for name in channel
+            .tasks
+            .iter()
+            .filter(|name| app.software_tasks[*name].is_async)
+        {
+            let exec_name = util::internal_task_ident(name, "EXEC");
+            let prio_name = util::internal_task_ident(name, "PRIORITY");
+            let task = &app.software_tasks[name];
+            // let cfgs = &task.cfgs;
+            let (_, tupled, pats, input_types) = util::regroup_inputs(&task.inputs);
+            let executor_run_ident = util::executor_run_ident(name);
+
+            let n = util::capacity_literal(channel.capacity as usize + 1);
+            let rq = util::rq_async_ident(name);
+            let (rq_ty, rq_expr) = {
+                (
+                    quote!(rtic::export::ASYNCRQ<#input_types, #n>),
+                    quote!(rtic::export::Queue::new()),
+                )
+            };
+
+            items.push(quote!(
+                #[doc(hidden)]
+                #[allow(non_camel_case_types)]
+                #[allow(non_upper_case_globals)]
+                static #rq: rtic::RacyCell<#rq_ty> = rtic::RacyCell::new(#rq_expr);
+            ));
+
+            stmts.push(quote!(
+                if !(&mut *#exec_name.get_mut()).is_running() {
+                     if let Some(#tupled) = rtic::export::interrupt::free(|_| (&mut *#rq.get_mut()).dequeue()) {
+
+                        // The async executor needs a static priority
+                        #prio_name.get_mut().write(rtic::export::Priority::new(PRIORITY));
+                        let priority: &'static _ = &*#prio_name.get();
+
+                        (&mut *#exec_name.get_mut()).spawn(#name(#name::Context::new(priority) #(,#pats)*));
+                        #executor_run_ident.store(true, core::sync::atomic::Ordering::Relaxed);
+                    }
+                }
+
+                if #executor_run_ident.load(core::sync::atomic::Ordering::Relaxed) {
+                    #executor_run_ident.store(false, core::sync::atomic::Ordering::Relaxed);
+                    if (&mut *#exec_name.get_mut()).poll(||  {
+                        #executor_run_ident.store(true, core::sync::atomic::Ordering::Release);
+                        rtic::pend(#device::#enum_::#interrupt);
+                    }) && !rtic::export::interrupt::free(|_| (&*#rq.get_mut()).is_empty()) {
+                        // If the ready queue is not empty and the executor finished, restart this
+                        // dispatch to check if the executor should be restarted.
+                        rtic::pend(#device::#enum_::#interrupt);
+                    }
+                }
+            ));
+        }
+
+        let doc = format!(
+            "Interrupt handler to dispatch async tasks at priority {}",
+            level
+        );
+        let attribute = &interrupts[&level].1.attrs;
+        items.push(quote!(
+            #[allow(non_snake_case)]
+            #[doc = #doc]
+            #[no_mangle]
+            #(#attribute)*
+            unsafe fn #interrupt() {
+                /// The priority of this interrupt handler
+                const PRIORITY: u8 = #level;
+
+                rtic::export::run(PRIORITY, || {
+                    #(#stmts)*
+                });
+            }
+        ));
+    }
+
+    items
+}

macros/src/codegen/dispatchers.rs

@@ -5,41 +5,28 @@ use rtic_syntax::ast::App;
 use crate::{analyze::Analysis, check::Extra, codegen::util};
 
 /// Generates task dispatchers
-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![];
 
-    let interrupts = &analysis.interrupts;
+    let interrupts = &analysis.interrupts_normal;
-
-    // Generate executor definition and priority in global scope
-    for (name, task) in app.software_tasks.iter() {
-        if task.is_async {
-            let type_name = util::internal_task_ident(name, "F");
-            let exec_name = util::internal_task_ident(name, "EXEC");
-            let prio_name = util::internal_task_ident(name, "PRIORITY");
-
-            items.push(quote!(
-                #[allow(non_camel_case_types)]
-                type #type_name = impl core::future::Future + 'static;
-                #[allow(non_upper_case_globals)]
-                static #exec_name:
-                    rtic::RacyCell<rtic::export::executor::AsyncTaskExecutor<#type_name>> =
-                        rtic::RacyCell::new(rtic::export::executor::AsyncTaskExecutor::new());
-
-                // The executors priority, this can be any value - we will overwrite it when we
-                // start a task
-                #[allow(non_upper_case_globals)]
-                static #prio_name: rtic::RacyCell<rtic::export::Priority> =
-                        unsafe { rtic::RacyCell::new(rtic::export::Priority::new(0)) };
-            ));
-        }
-    }
 
     for (&level, channel) in &analysis.channels {
+        if channel
+            .tasks
+            .iter()
+            .map(|task_name| app.software_tasks[task_name].is_async)
+            .all(|is_async| is_async)
+        {
+            // check if all tasks are async, if so don't generate this.
+            continue;
+        }
+
         let mut stmts = vec![];
 
         let variants = channel
             .tasks
             .iter()
+            .filter(|name| !app.software_tasks[*name].is_async)
             .map(|name| {
                 let cfgs = &app.software_tasks[name].cfgs;
 
@@ -69,6 +56,7 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream
 
         let n = util::capacity_literal(channel.capacity as usize + 1);
         let rq = util::rq_ident(level);
+        // let (_, _, _, input_ty) = util::regroup_inputs(inputs);
         let (rq_ty, rq_expr) = {
             (
                 quote!(rtic::export::SCRQ<#t, #n>),
@@ -88,9 +76,13 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream
             static #rq: rtic::RacyCell<#rq_ty> = rtic::RacyCell::new(#rq_expr);
         ));
 
-        let device = &extra.device;
+        let interrupt = util::suffixed(
-        let enum_ = util::interrupt_ident();
+            &interrupts
-        let interrupt = util::suffixed(&interrupts[&level].0.to_string());
+                .get(&level)
+                .expect("RTIC-ICE: Unable to get interrrupt")
+                .0
+                .to_string(),
+        );
         let arms = channel
             .tasks
             .iter()
@@ -100,36 +92,8 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream
                 let fq = util::fq_ident(name);
                 let inputs = util::inputs_ident(name);
                 let (_, tupled, pats, _) = util::regroup_inputs(&task.inputs);
-                let exec_name = util::internal_task_ident(name, "EXEC");
-                let prio_name = util::internal_task_ident(name, "PRIORITY");
 
-                if task.is_async {
+                if !task.is_async {
-                    let executor_run_ident = util::executor_run_ident(name);
-
-                    quote!(
-                        #(#cfgs)*
-                        #t::#name => {
-                            if !(&mut *#exec_name.get_mut()).is_running() {
-                                let #tupled =
-                                    (&*#inputs
-                                    .get())
-                                    .get_unchecked(usize::from(index))
-                                    .as_ptr()
-                                    .read();
-                                (&mut *#fq.get_mut()).split().0.enqueue_unchecked(index);
-
-                                // The async executor needs a static priority
-                                #prio_name.get_mut().write(rtic::export::Priority::new(PRIORITY));
-                                let priority: &'static _ = &*#prio_name.get();
-
-                                (&mut *#exec_name.get_mut()).spawn(#name(#name::Context::new(priority) #(,#pats)*));
-                                #executor_run_ident.store(true, core::sync::atomic::Ordering::Relaxed);
-                            } else {
-                                retry_queue.push_unchecked((#t::#name, index));
-                            }
-                        }
-                    )
-                } else {
                     quote!(
                         #(#cfgs)*
                         #t::#name => {
@@ -147,37 +111,12 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream
                             )
                         }
                     )
+                } else {
+                    quote!()
                 }
             })
             .collect::<Vec<_>>();
 
-        let n_executors = channel
-            .tasks
-            .iter()
-            .map(|name| {
-                let task = &app.software_tasks[name];
-                if task.is_async {
-                    1
-                } else {
-                    0
-                }
-            })
-            .sum::<usize>()
-            .max(1);
-
-        // TODO: This `retry_queue` comes from the current design of the dispatcher queue handling.
-        // To remove this we would need to redesign how the dispatcher handles queues, and this can
-        // be done as an optimization later.
-        //
-        // The core issue is that we should only dequeue the ready queue if the exexutor associated
-        // to the task is not running. As it is today this queue is blindly dequeued, see the
-        // `while let Some(...) = (&mut *#rq.get_mut())...` a few lines down. The current "hack" is
-        // to just requeue the executor run if it should not have been dequeued. This needs however
-        // to be done after the ready queue has been exhausted.
-        stmts.push(quote!(
-            let mut retry_queue: rtic::export::Vec<_, #n_executors> = rtic::export::Vec::new();
-        ));
-
         stmts.push(quote!(
             while let Some((task, index)) = (&mut *#rq.get_mut()).split().1.dequeue() {
                 match task {
@@ -186,37 +125,6 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream
             }
         ));
 
-        for name in channel
-            .tasks
-            .iter()
-            .filter(|name| app.software_tasks[*name].is_async)
-        {
-            let exec_name = util::internal_task_ident(name, "EXEC");
-
-            let executor_run_ident = util::executor_run_ident(name);
-            stmts.push(quote!(
-                if #executor_run_ident.load(core::sync::atomic::Ordering::Relaxed) {
-                    #executor_run_ident.store(false, core::sync::atomic::Ordering::Relaxed);
-                    if (&mut *#exec_name.get_mut()).poll(||  {
-                        #executor_run_ident.store(true, core::sync::atomic::Ordering::Release);
-                        rtic::pend(#device::#enum_::#interrupt);
-                    }) && !retry_queue.is_empty() {
-                        // If the retry queue is not empty and the executor finished, restart this
-                        // dispatch to check if the executor should be restarted.
-                        rtic::pend(#device::#enum_::#interrupt);
-                    }
-                }
-            ));
-        }
-
-        stmts.push(quote!(
-            while let Some((task, index)) = retry_queue.pop() {
-                rtic::export::interrupt::free(|_| {
-                    (&mut *#rq.get_mut()).enqueue_unchecked((task, index));
-                });
-            }
-        ));
-
         let doc = format!("Interrupt handler to dispatch tasks at priority {}", level);
         let attribute = &interrupts[&level].1.attrs;
         items.push(quote!(

macros/src/codegen/local_resources_struct.rs

@@ -13,7 +13,13 @@ pub fn codegen(ctxt: Context, needs_lt: &mut bool, app: &App) -> (TokenStream2,
 
     let resources = match ctxt {
         Context::Init => &app.init.args.local_resources,
-        Context::Idle => &app.idle.as_ref().unwrap().args.local_resources,
+        Context::Idle => {
+            &app.idle
+                .as_ref()
+                .expect("RTIC-ICE: unable to get idle name")
+                .args
+                .local_resources
+        }
         Context::HardwareTask(name) => &app.hardware_tasks[name].args.local_resources,
         Context::SoftwareTask(name) => &app.software_tasks[name].args.local_resources,
     };

macros/src/codegen/module.rs

@@ -206,44 +206,75 @@ pub fn codegen(
 
         let device = &extra.device;
         let enum_ = util::interrupt_ident();
-        let interrupt = &analysis
+        let interrupt = if spawnee.is_async {
-            .interrupts
+            &analysis
-            .get(&priority)
+                .interrupts_async
-            .expect("RTIC-ICE: interrupt identifer not found")
+                .get(&priority)
-            .0;
+                .expect("RTIC-ICE: interrupt identifer not found")
+                .0
+        } else {
+            &analysis
+                .interrupts_normal
+                .get(&priority)
+                .expect("RTIC-ICE: interrupt identifer not found")
+                .0
+        };
 
         let internal_spawn_ident = util::internal_task_ident(name, "spawn");
 
         // Spawn caller
-        items.push(quote!(
+        if spawnee.is_async {
+            let rq = util::rq_async_ident(name);
+            items.push(quote!(
 
-        #(#cfgs)*
+            #(#cfgs)*
-        /// Spawns the task directly
+            /// Spawns the task directly
-        #[allow(non_snake_case)]
+            #[allow(non_snake_case)]
-        #[doc(hidden)]
+            #[doc(hidden)]
-        pub fn #internal_spawn_ident(#(#args,)*) -> Result<(), #ty> {
+            pub fn #internal_spawn_ident(#(#args,)*) -> Result<(), #ty> {
-            let input = #tupled;
+                let input = #tupled;
 
-            unsafe {
+                unsafe {
-                if let Some(index) = rtic::export::interrupt::free(|_| (&mut *#fq.get_mut()).dequeue()) {
+                    let r = rtic::export::interrupt::free(|_| (&mut *#rq.get_mut()).enqueue(input));
-                    (&mut *#inputs
-                        .get_mut())
-                        .get_unchecked_mut(usize::from(index))
-                        .as_mut_ptr()
-                        .write(input);
 
-                    rtic::export::interrupt::free(|_| {
+                    if r.is_ok() {
-                        (&mut *#rq.get_mut()).enqueue_unchecked((#t::#name, index));
+                        rtic::pend(#device::#enum_::#interrupt);
-                    });
+                    }
-                    rtic::pend(#device::#enum_::#interrupt);
 
-                    Ok(())
+                    r
-                } else {
-                    Err(input)
                 }
-            }
+            }));
+        } else {
+            items.push(quote!(
 
-        }));
+            #(#cfgs)*
+            /// Spawns the task directly
+            #[allow(non_snake_case)]
+            #[doc(hidden)]
+            pub fn #internal_spawn_ident(#(#args,)*) -> Result<(), #ty> {
+                let input = #tupled;
+
+                unsafe {
+                    if let Some(index) = rtic::export::interrupt::free(|_| (&mut *#fq.get_mut()).dequeue()) {
+                        (&mut *#inputs
+                            .get_mut())
+                            .get_unchecked_mut(usize::from(index))
+                            .as_mut_ptr()
+                            .write(input);
+
+                        rtic::export::interrupt::free(|_| {
+                            (&mut *#rq.get_mut()).enqueue_unchecked((#t::#name, index));
+                        });
+                        rtic::pend(#device::#enum_::#interrupt);
+
+                        Ok(())
+                    } else {
+                        Err(input)
+                    }
+                }
+
+            }));
+        }
 
         module_items.push(quote!(
             #(#cfgs)*
@@ -252,64 +283,62 @@ pub fn codegen(
         ));
 
         // Schedule caller
-        for (_, monotonic) in &app.monotonics {
+        if !spawnee.is_async {
-            let instants = util::monotonic_instants_ident(name, &monotonic.ident);
+            for (_, monotonic) in &app.monotonics {
-            let monotonic_name = monotonic.ident.to_string();
+                let instants = util::monotonic_instants_ident(name, &monotonic.ident);
+                let monotonic_name = monotonic.ident.to_string();
 
-            let tq = util::tq_ident(&monotonic.ident.to_string());
+                let tq = util::tq_ident(&monotonic.ident.to_string());
-            let t = util::schedule_t_ident();
+                let t = util::schedule_t_ident();
-            let m = &monotonic.ident;
+                let m = &monotonic.ident;
-            let m_ident = util::monotonic_ident(&monotonic_name);
+                let m_ident = util::monotonic_ident(&monotonic_name);
-            let m_isr = &monotonic.args.binds;
+                let m_isr = &monotonic.args.binds;
-            let enum_ = util::interrupt_ident();
+                let enum_ = util::interrupt_ident();
-            let spawn_handle_string = format!("{}::SpawnHandle", m);
+                let spawn_handle_string = format!("{}::SpawnHandle", m);
 
-            let (enable_interrupt, pend) = if &*m_isr.to_string() == "SysTick" {
+                let (enable_interrupt, pend) = if &*m_isr.to_string() == "SysTick" {
-                (
+                    (
-                    quote!(core::mem::transmute::<_, rtic::export::SYST>(()).enable_interrupt()),
+                        quote!(core::mem::transmute::<_, rtic::export::SYST>(()).enable_interrupt()),
-                    quote!(rtic::export::SCB::set_pendst()),
+                        quote!(rtic::export::SCB::set_pendst()),
-                )
+                    )
-            } else {
+                } else {
-                let rt_err = util::rt_err_ident();
+                    let rt_err = util::rt_err_ident();
-                (
+                    (
-                    quote!(rtic::export::NVIC::unmask(#rt_err::#enum_::#m_isr)),
+                        quote!(rtic::export::NVIC::unmask(#rt_err::#enum_::#m_isr)),
-                    quote!(rtic::pend(#rt_err::#enum_::#m_isr)),
+                        quote!(rtic::pend(#rt_err::#enum_::#m_isr)),
-                )
+                    )
-            };
+                };
 
-            let tq_marker = &util::timer_queue_marker_ident();
+                let tq_marker = &util::timer_queue_marker_ident();
 
-            // For future use
+                let internal_spawn_handle_ident =
-            // let doc = format!(" RTIC internal: {}:{}", file!(), line!());
+                    util::internal_monotonics_ident(name, m, "SpawnHandle");
-            // items.push(quote!(#[doc = #doc]));
+                let internal_spawn_at_ident = util::internal_monotonics_ident(name, m, "spawn_at");
-            let internal_spawn_handle_ident =
+                let internal_spawn_after_ident =
-                util::internal_monotonics_ident(name, m, "SpawnHandle");
+                    util::internal_monotonics_ident(name, m, "spawn_after");
-            let internal_spawn_at_ident = util::internal_monotonics_ident(name, m, "spawn_at");
-            let internal_spawn_after_ident =
-                util::internal_monotonics_ident(name, m, "spawn_after");
 
-            if monotonic.args.default {
+                if monotonic.args.default {
-                module_items.push(quote!(
+                    module_items.push(quote!(
-                    #[doc(inline)]
+                        #[doc(inline)]
-                    pub use #m::spawn_after;
+                        pub use #m::spawn_after;
-                    #[doc(inline)]
+                        #[doc(inline)]
-                    pub use #m::spawn_at;
+                        pub use #m::spawn_at;
-                    #[doc(inline)]
+                        #[doc(inline)]
-                    pub use #m::SpawnHandle;
+                        pub use #m::SpawnHandle;
-                ));
+                    ));
-            }
-            module_items.push(quote!(
-                pub mod #m {
-                    #[doc(inline)]
-                    pub use super::super::#internal_spawn_after_ident as spawn_after;
-                    #[doc(inline)]
-                    pub use super::super::#internal_spawn_at_ident as spawn_at;
-                    #[doc(inline)]
-                    pub use super::super::#internal_spawn_handle_ident as SpawnHandle;
                 }
-            ));
+                module_items.push(quote!(
+                    pub mod #m {
+                        #[doc(inline)]
+                        pub use super::super::#internal_spawn_after_ident as spawn_after;
+                        #[doc(inline)]
+                        pub use super::super::#internal_spawn_at_ident as spawn_at;
+                        #[doc(inline)]
+                        pub use super::super::#internal_spawn_handle_ident as SpawnHandle;
+                    }
+                ));
 
-            items.push(quote!(
+                items.push(quote!(
                 #(#cfgs)*
                 #[allow(non_snake_case)]
                 #[allow(non_camel_case_types)]
@@ -436,6 +465,7 @@ pub fn codegen(
                     }
                 }
             ));
+            }
         }
     }
 

macros/src/codegen/pre_init.rs

@@ -15,6 +15,10 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream
 
     // Populate the FreeQueue
     for (name, task) in &app.software_tasks {
+        if task.is_async {
+            continue;
+        }
+
         let cap = task.args.capacity;
         let fq_ident = util::fq_ident(name);
 
@@ -38,7 +42,11 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream
         stmts.push(quote!(let _ = #rt_err::#interrupt::#name;));
     }
 
-    let interrupt_ids = analysis.interrupts.iter().map(|(p, (id, _))| (p, id));
+    let interrupt_ids = analysis
+        .interrupts_normal
+        .iter()
+        .map(|(p, (id, _))| (p, id))
+        .chain(analysis.interrupts_async.iter().map(|(p, (id, _))| (p, id)));
 
     // Unmask interrupts and set their priorities
     for (&priority, name) in interrupt_ids.chain(app.hardware_tasks.values().filter_map(|task| {

macros/src/codegen/shared_resources.rs

@@ -112,7 +112,11 @@ pub fn codegen(
     };
 
     // Computing mapping of used interrupts to masks
-    let interrupt_ids = analysis.interrupts.iter().map(|(p, (id, _))| (p, id));
+    let interrupt_ids = analysis
+        .interrupts_normal
+        .iter()
+        .map(|(p, (id, _))| (p, id))
+        .chain(analysis.interrupts_async.iter().map(|(p, (id, _))| (p, id)));
 
     let mut prio_to_masks = HashMap::new();
     let device = &extra.device;
@@ -147,7 +151,7 @@ pub fn codegen(
             None
         }
     })) {
-        let v = prio_to_masks.entry(priority - 1).or_insert(Vec::new());
+        let v: &mut Vec<_> = prio_to_masks.entry(priority - 1).or_default();
         v.push(quote!(#device::Interrupt::#name as u32));
         mask_ids.push(quote!(#device::Interrupt::#name as u32));
     }

macros/src/codegen/shared_resources_struct.rs

@@ -10,7 +10,13 @@ pub fn codegen(ctxt: Context, needs_lt: &mut bool, app: &App) -> (TokenStream2,
 
     let resources = match ctxt {
         Context::Init => unreachable!("Tried to generate shared resources struct for init"),
-        Context::Idle => &app.idle.as_ref().unwrap().args.shared_resources,
+        Context::Idle => {
+            &app.idle
+                .as_ref()
+                .expect("RTIC-ICE: unable to get idle name")
+                .args
+                .shared_resources
+        }
         Context::HardwareTask(name) => &app.hardware_tasks[name].args.shared_resources,
         Context::SoftwareTask(name) => &app.software_tasks[name].args.shared_resources,
     };

macros/src/codegen/software_tasks.rs

@@ -36,38 +36,40 @@ pub fn codegen(
         let cap_lit = util::capacity_literal(cap as usize);
         let cap_lit_p1 = util::capacity_literal(cap as usize + 1);
 
-        // Create free queues and inputs / instants buffers
+        if !task.is_async {
-        let fq = util::fq_ident(name);
+            // Create free queues and inputs / instants buffers
+            let fq = util::fq_ident(name);
 
-        #[allow(clippy::redundant_closure)]
+            #[allow(clippy::redundant_closure)]
-        let (fq_ty, fq_expr, mk_uninit): (_, _, Box<dyn Fn() -> Option<_>>) = {
+            let (fq_ty, fq_expr, mk_uninit): (_, _, Box<dyn Fn() -> Option<_>>) = {
-            (
+                (
-                quote!(rtic::export::SCFQ<#cap_lit_p1>),
+                    quote!(rtic::export::SCFQ<#cap_lit_p1>),
-                quote!(rtic::export::Queue::new()),
+                    quote!(rtic::export::Queue::new()),
-                Box::new(|| Some(util::link_section_uninit())),
+                    Box::new(|| Some(util::link_section_uninit())),
-            )
+                )
-        };
+            };
-        mod_app.push(quote!(
-            // /// Queue version of a free-list that keeps track of empty slots in
-            // /// the following buffers
-            #[allow(non_camel_case_types)]
-            #[allow(non_upper_case_globals)]
-            #[doc(hidden)]
-            static #fq: rtic::RacyCell<#fq_ty> = rtic::RacyCell::new(#fq_expr);
-        ));
 
-        let elems = &(0..cap)
-            .map(|_| quote!(core::mem::MaybeUninit::uninit()))
-            .collect::<Vec<_>>();
-
-        for (_, monotonic) in &app.monotonics {
-            let instants = util::monotonic_instants_ident(name, &monotonic.ident);
-            let mono_type = &monotonic.ty;
-
-            let uninit = mk_uninit();
-            // For future use
-            // let doc = format!(" RTIC internal: {}:{}", file!(), line!());
             mod_app.push(quote!(
+                // /// Queue version of a free-list that keeps track of empty slots in
+                // /// the following buffers
+                #[allow(non_camel_case_types)]
+                #[allow(non_upper_case_globals)]
+                #[doc(hidden)]
+                static #fq: rtic::RacyCell<#fq_ty> = rtic::RacyCell::new(#fq_expr);
+            ));
+
+            let elems = &(0..cap)
+                .map(|_| quote!(core::mem::MaybeUninit::uninit()))
+                .collect::<Vec<_>>();
+
+            for (_, monotonic) in &app.monotonics {
+                let instants = util::monotonic_instants_ident(name, &monotonic.ident);
+                let mono_type = &monotonic.ty;
+
+                let uninit = mk_uninit();
+                // For future use
+                // let doc = format!(" RTIC internal: {}:{}", file!(), line!());
+                mod_app.push(quote!(
                 #uninit
                 // /// Buffer that holds the instants associated to the inputs of a task
                 // #[doc = #doc]
@@ -78,20 +80,22 @@ pub fn codegen(
                     rtic::RacyCell<[core::mem::MaybeUninit<<#mono_type as rtic::Monotonic>::Instant>; #cap_lit]> =
                     rtic::RacyCell::new([#(#elems,)*]);
             ));
+            }
+
+            let uninit = mk_uninit();
+            let inputs_ident = util::inputs_ident(name);
+
+            // Buffer that holds the inputs of a task
+            mod_app.push(quote!(
+                #uninit
+                #[allow(non_camel_case_types)]
+                #[allow(non_upper_case_globals)]
+                #[doc(hidden)]
+                static #inputs_ident: rtic::RacyCell<[core::mem::MaybeUninit<#input_ty>; #cap_lit]> =
+                    rtic::RacyCell::new([#(#elems,)*]);
+            ));
         }
 
-        let uninit = mk_uninit();
-        let inputs_ident = util::inputs_ident(name);
-
-        mod_app.push(quote!(
-            #uninit
-            // /// Buffer that holds the inputs of a task
-            #[allow(non_camel_case_types)]
-            #[allow(non_upper_case_globals)]
-            #[doc(hidden)]
-            static #inputs_ident: rtic::RacyCell<[core::mem::MaybeUninit<#input_ty>; #cap_lit]> =
-                rtic::RacyCell::new([#(#elems,)*]);
-        ));
         if task.is_async {
             let executor_ident = util::executor_run_ident(name);
             mod_app.push(quote!(

macros/src/codegen/timer_queue.rs

@@ -26,6 +26,7 @@ pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStrea
             let variants = app
                 .software_tasks
                 .iter()
+                .filter(|(_, task)| !task.is_async)
                 .map(|(name, task)| {
                     let cfgs = &task.cfgs;
 
@@ -103,6 +104,7 @@ pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStrea
             let arms = app
                 .software_tasks
                 .iter()
+                .filter(|(_, task)| !task.is_async)
                 .map(|(name, task)| {
                     let cfgs = &task.cfgs;
                     let priority = task.args.priority;
@@ -110,7 +112,7 @@ pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStrea
                     let rqt = util::spawn_t_ident(priority);
 
                     // The interrupt that runs the task dispatcher
-                    let interrupt = &analysis.interrupts.get(&priority).expect("RTIC-ICE: interrupt not found").0;
+                    let interrupt = &analysis.interrupts_normal.get(&priority).expect("RTIC-ICE: interrupt not found").0;
 
                     let pend = {
                         quote!(

macros/src/codegen/util.rs

@@ -184,7 +184,12 @@ pub fn regroup_inputs(
 pub fn get_task_name(ctxt: Context, app: &App) -> Ident {
     let s = match ctxt {
         Context::Init => app.init.name.to_string(),
-        Context::Idle => app.idle.as_ref().unwrap().name.to_string(),
+        Context::Idle => app
+            .idle
+            .as_ref()
+            .expect("RTIC-ICE: unable to find idle name")
+            .name
+            .to_string(),
         Context::HardwareTask(ident) | Context::SoftwareTask(ident) => ident.to_string(),
     };
 
@@ -195,7 +200,12 @@ pub fn get_task_name(ctxt: Context, app: &App) -> Ident {
 pub fn shared_resources_ident(ctxt: Context, app: &App) -> Ident {
     let mut s = match ctxt {
         Context::Init => app.init.name.to_string(),
-        Context::Idle => app.idle.as_ref().unwrap().name.to_string(),
+        Context::Idle => app
+            .idle
+            .as_ref()
+            .expect("RTIC-ICE: unable to find idle name")
+            .name
+            .to_string(),
         Context::HardwareTask(ident) | Context::SoftwareTask(ident) => ident.to_string(),
     };
 
@@ -208,7 +218,12 @@ pub fn shared_resources_ident(ctxt: Context, app: &App) -> Ident {
 pub fn local_resources_ident(ctxt: Context, app: &App) -> Ident {
     let mut s = match ctxt {
         Context::Init => app.init.name.to_string(),
-        Context::Idle => app.idle.as_ref().unwrap().name.to_string(),
+        Context::Idle => app
+            .idle
+            .as_ref()
+            .expect("RTIC-ICE: unable to find idle name")
+            .name
+            .to_string(),
         Context::HardwareTask(ident) | Context::SoftwareTask(ident) => ident.to_string(),
     };
 
@@ -225,6 +240,11 @@ pub fn rq_ident(priority: u8) -> Ident {
     mark_internal_name(&format!("P{}_RQ", priority))
 }
 
+/// Generates an identifier for a ready queue, async task version
+pub fn rq_async_ident(async_task_name: &Ident) -> Ident {
+    mark_internal_name(&format!("ASYNC_TACK_{}_RQ", async_task_name))
+}
+
 /// Generates an identifier for the `enum` of `schedule`-able tasks
 pub fn schedule_t_ident() -> Ident {
     mark_internal_name("SCHED_T")

macros/src/tests/single.rs

@@ -33,8 +33,8 @@ fn analyze() {
     .unwrap();
 
     let analysis = crate::analyze::app(analysis, &app);
-    let interrupts = &analysis.interrupts;
+    let interrupts = &analysis.interrupts_normal;
     assert_eq!(interrupts.len(), 2);
-    assert_eq!(interrupts[&2].0.to_string(), "B");
+    assert_eq!(interrupts[&2].0.to_string(), "A");
-    assert_eq!(interrupts[&1].0.to_string(), "A");
+    assert_eq!(interrupts[&1].0.to_string(), "B");
 }

src/export.rs

@@ -145,6 +145,7 @@ pub mod executor {
 
 pub type SCFQ<const N: usize> = Queue<u8, N>;
 pub type SCRQ<T, const N: usize> = Queue<(T, u8), N>;
+pub type ASYNCRQ<T, const N: usize> = Queue<T, N>;
 
 /// Mask is used to store interrupt masks on systems without a BASEPRI register (M0, M0+, M23).
 /// It needs to be large enough to cover all the relevant interrupts in use.

ui/extern-interrupt-not-enough.stderr

@@ -1,5 +1,5 @@
-error: not enough interrupts to dispatch all software tasks (need: 1; given: 0)
+error: not enough interrupts to dispatch all software and async tasks (need: 1; given: 0) - one interrupt is needed per priority and sync/async task
-  --> $DIR/extern-interrupt-not-enough.rs:17:8
+  --> ui/extern-interrupt-not-enough.rs:17:8
    |
 17 |     fn a(_: a::Context) {}
    |        ^

ui/task-priority-too-high.stderr

@@ -12,4 +12,4 @@ error[E0080]: evaluation of constant value failed
 3 | #[rtic::app(device = lm3s6965)]
   | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ the evaluated program panicked at 'Maximum priority used by interrupt vector 'I2C0' is more than supported by hardware', $DIR/ui/task-priority-too-high.rs:3:1
   |
-  = note: this error originates in the macro `$crate::panic::panic_2021` (in Nightly builds, run with -Z macro-backtrace for more info)
+  = note: this error originates in the macro `$crate::panic::panic_2021` which comes from the expansion of the macro `::core::panic` (in Nightly builds, run with -Z macro-backtrace for more info)