Merge #390

390: Spawn and schedule from anywhere r=AfoHT a=korken89

This PR moves RTIC to the spawn and schedule from anywhere syntax.

Notable changes:
 * We do no longer support non-`Send` types.
 * Some extra code is generated as any task may spawn/schedule any task. However Rust/LLVM does a great job optimizing away non used instantiations (no real code-size difference observed).
 * Worst case priority inversion has increased, but it is now predictable.

Upsides:
 * With this we should be able to support async/await.
 * RTIC tasks can now be callbacks (spawned and scheduled).
 * RTIC tasks can be stored.

Needs the following PR to land first: https://github.com/rtic-rs/rtic-syntax/pull/34

The following now works:

```rust
#[rtic::app(device = lm3s6965, monotonic = rtic::cyccnt::CYCCNT)]
mod app {
    #[init]
    fn init(mut cx: init::Context) -> init::LateResources {
        // Init stuff...

        // New spawn syntax
        foo::spawn().unwrap();

        // New schedule syntax
        bar::schedule(now + 4_000_000.cycles()).unwrap();

        init::LateResources {}
    }

    #[task]
    fn foo(_: foo::Context) {}

    #[task]
    fn bar(_: bar::Context) {}

    extern "C" {
        fn SSI0();
    }
}

```

Co-authored-by: Per Lindgren <per.lindgren@ltu.se>
Co-authored-by: Emil Fresk <emil.fresk@gmail.com>

.github/workflows/build.yml

@@ -251,7 +251,6 @@ jobs:
               capacity
 
               types
-              not-send
               not-sync
               shared-with-init
 

examples/baseline.rs

@@ -12,19 +12,19 @@ use panic_semihosting as _;
 // NOTE: does NOT properly work on QEMU
 #[rtic::app(device = lm3s6965, monotonic = rtic::cyccnt::CYCCNT)]
 mod app {
-    #[init(spawn = [foo])]
+    #[init]
     fn init(cx: init::Context) -> init::LateResources {
         // omitted: initialization of `CYCCNT`
 
         hprintln!("init(baseline = {:?})", cx.start).unwrap();
 
         // `foo` inherits the baseline of `init`: `Instant(0)`
-        cx.spawn.foo().unwrap();
+        foo::spawn().unwrap();
 
         init::LateResources {}
     }
 
-    #[task(schedule = [foo])]
+    #[task]
     fn foo(cx: foo::Context) {
         static mut ONCE: bool = true;
 
@@ -39,12 +39,12 @@ mod app {
         }
     }
 
-    #[task(binds = UART0, spawn = [foo])]
+    #[task(binds = UART0)]
     fn uart0(cx: uart0::Context) {
         hprintln!("UART0(baseline = {:?})", cx.start).unwrap();
 
         // `foo` inherits the baseline of `UART0`: its `start` time
-        cx.spawn.foo().unwrap();
+        foo::spawn().unwrap();
     }
 
     // RTIC requires that unused interrupts are declared in an extern block when

examples/capacity.rs

@@ -18,14 +18,14 @@ mod app {
         init::LateResources {}
     }
 
-    #[task(binds = UART0, spawn = [foo, bar])]
+    #[task(binds = UART0)]
-    fn uart0(c: uart0::Context) {
+    fn uart0(_: uart0::Context) {
-        c.spawn.foo(0).unwrap();
+        foo::spawn(0).unwrap();
-        c.spawn.foo(1).unwrap();
+        foo::spawn(1).unwrap();
-        c.spawn.foo(2).unwrap();
+        foo::spawn(2).unwrap();
-        c.spawn.foo(3).unwrap();
+        foo::spawn(3).unwrap();
 
-        c.spawn.bar().unwrap();
+        bar::spawn().unwrap();
     }
 
     #[task(capacity = 4)]

examples/cfg.rs

@@ -19,10 +19,10 @@ mod app {
         count: u32,
     }
 
-    #[init(spawn = [foo])]
+    #[init]
-    fn init(cx: init::Context) -> init::LateResources {
+    fn init(_: init::Context) -> init::LateResources {
-        cx.spawn.foo().unwrap();
+        foo::spawn().unwrap();
-        cx.spawn.foo().unwrap();
+        foo::spawn().unwrap();
 
         init::LateResources {}
     }
@@ -36,13 +36,13 @@ mod app {
         }
     }
 
-    #[task(capacity = 2, resources = [count], spawn = [log])]
+    #[task(capacity = 2, resources = [count])]
     fn foo(_cx: foo::Context) {
         #[cfg(debug_assertions)]
         {
             *_cx.resources.count += 1;
 
-            _cx.spawn.log(*_cx.resources.count).unwrap();
+            log::spawn(*_cx.resources.count).unwrap();
         }
 
         // this wouldn't compile in `release` mode

examples/double_schedule.rs

@@ -16,21 +16,21 @@ mod app {
         nothing: (),
     }
 
-    #[init(spawn = [task1])]
+    #[init]
-    fn init(cx: init::Context) -> init::LateResources {
+    fn init(_: init::Context) -> init::LateResources {
-        cx.spawn.task1().ok();
+        task1::spawn().ok();
 
         init::LateResources { nothing: () }
     }
 
-    #[task(schedule = [task2])]
+    #[task]
     fn task1(_cx: task1::Context) {
-        _cx.schedule.task2(_cx.scheduled + 100.cycles()).ok();
+        task2::schedule(_cx.scheduled + 100.cycles()).ok();
     }
 
-    #[task(schedule = [task1])]
+    #[task]
     fn task2(_cx: task2::Context) {
-        _cx.schedule.task1(_cx.scheduled + 100.cycles()).ok();
+        task1::schedule(_cx.scheduled + 100.cycles()).ok();
     }
 
     extern "C" {

examples/message.rs

@@ -10,39 +10,39 @@ use panic_semihosting as _;
 
 #[rtic::app(device = lm3s6965)]
 mod app {
-    #[init(spawn = [foo])]
+    #[init]
-    fn init(c: init::Context) -> init::LateResources {
+    fn init(_: init::Context) -> init::LateResources {
-        c.spawn.foo(/* no message */).unwrap();
+        foo::spawn(/* no message */).unwrap();
 
         init::LateResources {}
     }
 
-    #[task(spawn = [bar])]
+    #[task]
-    fn foo(c: foo::Context) {
+    fn foo(_: foo::Context) {
         static mut COUNT: u32 = 0;
 
         hprintln!("foo").unwrap();
 
-        c.spawn.bar(*COUNT).unwrap();
+        bar::spawn(*COUNT).unwrap();
         *COUNT += 1;
     }
 
-    #[task(spawn = [baz])]
+    #[task]
-    fn bar(c: bar::Context, x: u32) {
+    fn bar(_: bar::Context, x: u32) {
         hprintln!("bar({})", x).unwrap();
 
-        c.spawn.baz(x + 1, x + 2).unwrap();
+        baz::spawn(x + 1, x + 2).unwrap();
     }
 
-    #[task(spawn = [foo])]
+    #[task]
-    fn baz(c: baz::Context, x: u32, y: u32) {
+    fn baz(_: baz::Context, x: u32, y: u32) {
         hprintln!("baz({}, {})", x, y).unwrap();
 
         if x + y > 4 {
             debug::exit(debug::EXIT_SUCCESS);
         }
 
-        c.spawn.foo().unwrap();
+        foo::spawn().unwrap();
     }
 
     // RTIC requires that unused interrupts are declared in an extern block when

examples/not-send.rs

@@ -1,68 +0,0 @@
-//! `examples/not-send.rs`
-
-#![deny(unsafe_code)]
-#![deny(warnings)]
-#![no_main]
-#![no_std]
-
-use core::marker::PhantomData;
-
-use cortex_m_semihosting::debug;
-use panic_halt as _;
-use rtic::app;
-
-pub struct NotSend {
-    _0: PhantomData<*const ()>,
-}
-
-#[app(device = lm3s6965)]
-mod app {
-    use super::NotSend;
-
-    #[resources]
-    struct Resources {
-        #[init(None)]
-        shared: Option<NotSend>,
-    }
-
-    #[init(spawn = [baz, quux])]
-    fn init(c: init::Context) -> init::LateResources {
-        c.spawn.baz().unwrap();
-        c.spawn.quux().unwrap();
-
-        init::LateResources {}
-    }
-
-    #[task(spawn = [bar])]
-    fn foo(c: foo::Context) {
-        // scenario 1: message passed to task that runs at the same priority
-        c.spawn.bar(NotSend { _0: PhantomData }).ok();
-    }
-
-    #[task]
-    fn bar(_: bar::Context, _x: NotSend) {
-        // scenario 1
-    }
-
-    #[task(priority = 2, resources = [shared])]
-    fn baz(c: baz::Context) {
-        // scenario 2: resource shared between tasks that run at the same priority
-        *c.resources.shared = Some(NotSend { _0: PhantomData });
-    }
-
-    #[task(priority = 2, resources = [shared])]
-    fn quux(c: quux::Context) {
-        // scenario 2
-        let _not_send = c.resources.shared.take().unwrap();
-
-        debug::exit(debug::EXIT_SUCCESS);
-    }
-
-    // RTIC requires that unused interrupts are declared in an extern block when
-    // using software tasks; these free interrupts will be used to dispatch the
-    // software tasks.
-    extern "C" {
-        fn SSI0();
-        fn QEI0();
-    }
-}

examples/periodic.rs

@@ -15,21 +15,21 @@ const PERIOD: u32 = 8_000_000;
 #[rtic::app(device = lm3s6965, monotonic = rtic::cyccnt::CYCCNT)]
 mod app {
 
-    #[init(schedule = [foo])]
+    #[init]
     fn init(cx: init::Context) -> init::LateResources {
         // omitted: initialization of `CYCCNT`
 
-        cx.schedule.foo(cx.start + PERIOD.cycles()).unwrap();
+        foo::schedule(cx.start + PERIOD.cycles()).unwrap();
 
         init::LateResources {}
     }
 
-    #[task(schedule = [foo])]
+    #[task]
     fn foo(cx: foo::Context) {
         let now = Instant::now();
         hprintln!("foo(scheduled = {:?}, now = {:?})", cx.scheduled, now).unwrap();
 
-        cx.schedule.foo(cx.scheduled + PERIOD.cycles()).unwrap();
+        foo::schedule(cx.scheduled + PERIOD.cycles()).unwrap();
     }
 
     // RTIC requires that unused interrupts are declared in an extern block when

examples/pool.rs

@@ -36,16 +36,16 @@ mod app {
         init::LateResources {}
     }
 
-    #[task(binds = I2C0, priority = 2, spawn = [foo, bar])]
+    #[task(binds = I2C0, priority = 2)]
-    fn i2c0(c: i2c0::Context) {
+    fn i2c0(_: i2c0::Context) {
         // claim a memory block, leave it uninitialized and ..
         let x = P::alloc().unwrap().freeze();
 
         // .. send it to the `foo` task
-        c.spawn.foo(x).ok().unwrap();
+        foo::spawn(x).ok().unwrap();
 
         // send another block to the task `bar`
-        c.spawn.bar(P::alloc().unwrap().freeze()).ok().unwrap();
+        bar::spawn(P::alloc().unwrap().freeze()).ok().unwrap();
     }
 
     #[task]

examples/ramfunc.rs

@@ -10,9 +10,9 @@ use panic_semihosting as _;
 
 #[rtic::app(device = lm3s6965)]
 mod app {
-    #[init(spawn = [bar])]
+    #[init]
-    fn init(c: init::Context) -> init::LateResources {
+    fn init(_: init::Context) -> init::LateResources {
-        c.spawn.bar().unwrap();
+        foo::spawn().unwrap();
 
         init::LateResources {}
     }
@@ -28,9 +28,9 @@ mod app {
     // run this task from RAM
     #[inline(never)]
     #[link_section = ".data.bar"]
-    #[task(priority = 2, spawn = [foo])]
+    #[task(priority = 2)]
-    fn bar(c: bar::Context) {
+    fn bar(_: bar::Context) {
-        c.spawn.foo().unwrap();
+        foo::spawn().unwrap();
     }
 
     extern "C" {

examples/schedule.rs

@@ -13,7 +13,7 @@ use rtic::cyccnt::{Instant, U32Ext as _};
 // NOTE: does NOT work on QEMU!
 #[rtic::app(device = lm3s6965, monotonic = rtic::cyccnt::CYCCNT)]
 mod app {
-    #[init(schedule = [foo, bar])]
+    #[init()]
     fn init(mut cx: init::Context) -> init::LateResources {
         // Initialize (enable) the monotonic timer (CYCCNT)
         cx.core.DCB.enable_trace();
@@ -28,10 +28,10 @@ mod app {
         hprintln!("init @ {:?}", now).unwrap();
 
         // Schedule `foo` to run 8e6 cycles (clock cycles) in the future
-        cx.schedule.foo(now + 8_000_000.cycles()).unwrap();
+        foo::schedule(now + 8_000_000.cycles()).unwrap();
 
         // Schedule `bar` to run 4e6 cycles in the future
-        cx.schedule.bar(now + 4_000_000.cycles()).unwrap();
+        bar::schedule(now + 4_000_000.cycles()).unwrap();
 
         init::LateResources {}
     }

examples/spawn.rs

@@ -0,0 +1,35 @@
+//! examples/spawn.rs
+
+#![deny(unsafe_code)]
+#![deny(warnings)]
+#![no_main]
+#![no_std]
+
+use cortex_m_semihosting::{debug, hprintln};
+use panic_semihosting as _;
+
+#[rtic::app(device = lm3s6965)]
+mod app {
+    #[init]
+    fn init(_c: init::Context) -> init::LateResources {
+        foo::spawn(1, 2).unwrap();
+
+        init::LateResources {}
+    }
+
+    #[task()]
+    fn foo(_c: foo::Context, x: i32, y: u32) {
+        hprintln!("foo {}, {}", x, y).unwrap();
+        if x == 2 {
+            debug::exit(debug::EXIT_SUCCESS);
+        }
+        foo::spawn(2, 3).unwrap();
+    }
+
+    // RTIC requires that unused interrupts are declared in an extern block when
+    // using software tasks; these free interrupts will be used to dispatch the
+    // software tasks.
+    extern "C" {
+        fn SSI0();
+    }
+}

examples/spawn2.rs

@@ -0,0 +1,41 @@
+//! examples/spawn2.rs
+
+#![deny(unsafe_code)]
+#![deny(warnings)]
+#![no_main]
+#![no_std]
+
+use cortex_m_semihosting::{debug, hprintln};
+use panic_semihosting as _;
+
+#[rtic::app(device = lm3s6965)]
+mod app {
+    #[init]
+    fn init(_c: init::Context) -> init::LateResources {
+        foo::spawn(1, 2).unwrap();
+
+        init::LateResources {}
+    }
+
+    #[task]
+    fn foo(_c: foo::Context, x: i32, y: u32) {
+        hprintln!("foo {}, {}", x, y).unwrap();
+        if x == 2 {
+            debug::exit(debug::EXIT_SUCCESS);
+        }
+        foo2::spawn(2).unwrap();
+    }
+
+    #[task]
+    fn foo2(_c: foo2::Context, x: i32) {
+        hprintln!("foo2 {}", x).unwrap();
+        foo::spawn(x, 0).unwrap();
+    }
+
+    // RTIC requires that unused interrupts are declared in an extern block when
+    // using software tasks; these free interrupts will be used to dispatch the
+    // software tasks.
+    extern "C" {
+        fn SSI0();
+    }
+}

examples/t-cfg.rs

@@ -32,13 +32,13 @@ mod app {
         }
     }
 
-    #[task(resources = [foo], schedule = [quux], spawn = [quux])]
+    #[task(resources = [foo])]
     fn foo(_: foo::Context) {
         #[cfg(never)]
         static mut BAR: u32 = 0;
     }
 
-    #[task(priority = 3, resources = [foo], schedule = [quux], spawn = [quux])]
+    #[task(priority = 3, resources = [foo])]
     fn bar(_: bar::Context) {
         #[cfg(never)]
         static mut BAR: u32 = 0;

examples/t-schedule.rs

@@ -10,45 +10,45 @@ use rtic::cyccnt::{Instant, U32Ext as _};
 
 #[rtic::app(device = lm3s6965, monotonic = rtic::cyccnt::CYCCNT)]
 mod app {
-    #[init(schedule = [foo, bar, baz])]
+    #[init]
     fn init(c: init::Context) -> init::LateResources {
-        let _: Result<(), ()> = c.schedule.foo(c.start + 10.cycles());
+        let _: Result<(), ()> = foo::schedule(c.start + 10.cycles());
-        let _: Result<(), u32> = c.schedule.bar(c.start + 20.cycles(), 0);
+        let _: Result<(), u32> = bar::schedule(c.start + 20.cycles(), 0);
-        let _: Result<(), (u32, u32)> = c.schedule.baz(c.start + 30.cycles(), 0, 1);
+        let _: Result<(), (u32, u32)> = baz::schedule(c.start + 30.cycles(), 0, 1);
 
         init::LateResources {}
     }
 
-    #[idle(schedule = [foo, bar, baz])]
+    #[idle]
-    fn idle(c: idle::Context) -> ! {
+    fn idle(_: idle::Context) -> ! {
-        let _: Result<(), ()> = c.schedule.foo(Instant::now() + 40.cycles());
+        let _: Result<(), ()> = foo::schedule(Instant::now() + 40.cycles());
-        let _: Result<(), u32> = c.schedule.bar(Instant::now() + 50.cycles(), 0);
+        let _: Result<(), u32> = bar::schedule(Instant::now() + 50.cycles(), 0);
-        let _: Result<(), (u32, u32)> = c.schedule.baz(Instant::now() + 60.cycles(), 0, 1);
+        let _: Result<(), (u32, u32)> = baz::schedule(Instant::now() + 60.cycles(), 0, 1);
 
         loop {
             cortex_m::asm::nop();
         }
     }
 
-    #[task(binds = SVCall, schedule = [foo, bar, baz])]
+    #[task(binds = SVCall)]
     fn svcall(c: svcall::Context) {
-        let _: Result<(), ()> = c.schedule.foo(c.start + 70.cycles());
+        let _: Result<(), ()> = foo::schedule(c.start + 70.cycles());
-        let _: Result<(), u32> = c.schedule.bar(c.start + 80.cycles(), 0);
+        let _: Result<(), u32> = bar::schedule(c.start + 80.cycles(), 0);
-        let _: Result<(), (u32, u32)> = c.schedule.baz(c.start + 90.cycles(), 0, 1);
+        let _: Result<(), (u32, u32)> = baz::schedule(c.start + 90.cycles(), 0, 1);
     }
 
-    #[task(binds = UART0, schedule = [foo, bar, baz])]
+    #[task(binds = UART0)]
     fn uart0(c: uart0::Context) {
-        let _: Result<(), ()> = c.schedule.foo(c.start + 100.cycles());
+        let _: Result<(), ()> = foo::schedule(c.start + 100.cycles());
-        let _: Result<(), u32> = c.schedule.bar(c.start + 110.cycles(), 0);
+        let _: Result<(), u32> = bar::schedule(c.start + 110.cycles(), 0);
-        let _: Result<(), (u32, u32)> = c.schedule.baz(c.start + 120.cycles(), 0, 1);
+        let _: Result<(), (u32, u32)> = baz::schedule(c.start + 120.cycles(), 0, 1);
     }
 
-    #[task(schedule = [foo, bar, baz])]
+    #[task]
     fn foo(c: foo::Context) {
-        let _: Result<(), ()> = c.schedule.foo(c.scheduled + 130.cycles());
+        let _: Result<(), ()> = foo::schedule(c.scheduled + 130.cycles());
-        let _: Result<(), u32> = c.schedule.bar(c.scheduled + 140.cycles(), 0);
+        let _: Result<(), u32> = bar::schedule(c.scheduled + 140.cycles(), 0);
-        let _: Result<(), (u32, u32)> = c.schedule.baz(c.scheduled + 150.cycles(), 0, 1);
+        let _: Result<(), (u32, u32)> = baz::schedule(c.scheduled + 150.cycles(), 0, 1);
     }
 
     #[task]

examples/t-spawn.rs

@@ -9,45 +9,45 @@ use panic_halt as _;
 
 #[rtic::app(device = lm3s6965)]
 mod app {
-    #[init(spawn = [foo, bar, baz])]
+    #[init]
-    fn init(c: init::Context) -> init::LateResources {
+    fn init(_: init::Context) -> init::LateResources {
-        let _: Result<(), ()> = c.spawn.foo();
+        let _: Result<(), ()> = foo::spawn();
-        let _: Result<(), u32> = c.spawn.bar(0);
+        let _: Result<(), u32> = bar::spawn(0);
-        let _: Result<(), (u32, u32)> = c.spawn.baz(0, 1);
+        let _: Result<(), (u32, u32)> = baz::spawn(0, 1);
 
         init::LateResources {}
     }
 
-    #[idle(spawn = [foo, bar, baz])]
+    #[idle]
-    fn idle(c: idle::Context) -> ! {
+    fn idle(_: idle::Context) -> ! {
-        let _: Result<(), ()> = c.spawn.foo();
+        let _: Result<(), ()> = foo::spawn();
-        let _: Result<(), u32> = c.spawn.bar(0);
+        let _: Result<(), u32> = bar::spawn(0);
-        let _: Result<(), (u32, u32)> = c.spawn.baz(0, 1);
+        let _: Result<(), (u32, u32)> = baz::spawn(0, 1);
 
         loop {
             cortex_m::asm::nop();
         }
     }
 
-    #[task(binds = SVCall, spawn = [foo, bar, baz])]
+    #[task(binds = SVCall)]
-    fn svcall(c: svcall::Context) {
+    fn svcall(_: svcall::Context) {
-        let _: Result<(), ()> = c.spawn.foo();
+        let _: Result<(), ()> = foo::spawn();
-        let _: Result<(), u32> = c.spawn.bar(0);
+        let _: Result<(), u32> = bar::spawn(0);
-        let _: Result<(), (u32, u32)> = c.spawn.baz(0, 1);
+        let _: Result<(), (u32, u32)> = baz::spawn(0, 1);
     }
 
-    #[task(binds = UART0, spawn = [foo, bar, baz])]
+    #[task(binds = UART0)]
-    fn uart0(c: uart0::Context) {
+    fn uart0(_: uart0::Context) {
-        let _: Result<(), ()> = c.spawn.foo();
+        let _: Result<(), ()> = foo::spawn();
-        let _: Result<(), u32> = c.spawn.bar(0);
+        let _: Result<(), u32> = bar::spawn(0);
-        let _: Result<(), (u32, u32)> = c.spawn.baz(0, 1);
+        let _: Result<(), (u32, u32)> = baz::spawn(0, 1);
     }
 
-    #[task(spawn = [foo, bar, baz])]
+    #[task]
-    fn foo(c: foo::Context) {
+    fn foo(_: foo::Context) {
-        let _: Result<(), ()> = c.spawn.foo();
+        let _: Result<(), ()> = foo::spawn();
-        let _: Result<(), u32> = c.spawn.bar(0);
+        let _: Result<(), u32> = bar::spawn(0);
-        let _: Result<(), (u32, u32)> = c.spawn.baz(0, 1);
+        let _: Result<(), (u32, u32)> = baz::spawn(0, 1);
     }
 
     #[task]

examples/t-stask-main.rs

@@ -8,9 +8,9 @@ use panic_semihosting as _;
 
 #[rtic::app(device = lm3s6965)]
 mod app {
-    #[init(spawn = [taskmain])]
+    #[init]
-    fn init(cx: init::Context) -> init::LateResources {
+    fn init(_: init::Context) -> init::LateResources {
-        cx.spawn.taskmain().ok();
+        taskmain::spawn().ok();
 
         init::LateResources {}
     }

examples/task.rs

@@ -10,27 +10,27 @@ use panic_semihosting as _;
 
 #[rtic::app(device = lm3s6965)]
 mod app {
-    #[init(spawn = [foo])]
+    #[init]
-    fn init(c: init::Context) -> init::LateResources {
+    fn init(_: init::Context) -> init::LateResources {
-        c.spawn.foo().unwrap();
+        foo::spawn().unwrap();
 
         init::LateResources {}
     }
 
-    #[task(spawn = [bar, baz])]
+    #[task]
-    fn foo(c: foo::Context) {
+    fn foo(_: foo::Context) {
         hprintln!("foo - start").unwrap();
 
         // spawns `bar` onto the task scheduler
         // `foo` and `bar` have the same priority so `bar` will not run until
         // after `foo` terminates
-        c.spawn.bar().unwrap();
+        bar::spawn().unwrap();
 
         hprintln!("foo - middle").unwrap();
 
         // spawns `baz` onto the task scheduler
         // `baz` has higher priority than `foo` so it immediately preempts `foo`
-        c.spawn.baz().unwrap();
+        baz::spawn().unwrap();
 
         hprintln!("foo - end").unwrap();
     }

examples/types.rs

@@ -17,44 +17,35 @@ mod app {
         shared: u32,
     }
 
-    #[init(schedule = [foo], spawn = [foo])]
+    #[init]
     fn init(cx: init::Context) -> init::LateResources {
         let _: cyccnt::Instant = cx.start;
         let _: rtic::Peripherals = cx.core;
         let _: lm3s6965::Peripherals = cx.device;
-        let _: init::Schedule = cx.schedule;
-        let _: init::Spawn = cx.spawn;
 
         debug::exit(debug::EXIT_SUCCESS);
 
         init::LateResources {}
     }
 
-    #[idle(schedule = [foo], spawn = [foo])]
+    #[idle]
-    fn idle(cx: idle::Context) -> ! {
+    fn idle(_: idle::Context) -> ! {
-        let _: idle::Schedule = cx.schedule;
-        let _: idle::Spawn = cx.spawn;
-
         loop {
             cortex_m::asm::nop();
         }
     }
 
-    #[task(binds = UART0, resources = [shared], schedule = [foo], spawn = [foo])]
+    #[task(binds = UART0, resources = [shared])]
     fn uart0(cx: uart0::Context) {
         let _: cyccnt::Instant = cx.start;
         let _: resources::shared = cx.resources.shared;
-        let _: uart0::Schedule = cx.schedule;
-        let _: uart0::Spawn = cx.spawn;
     }
 
-    #[task(priority = 2, resources = [shared], schedule = [foo], spawn = [foo])]
+    #[task(priority = 2, resources = [shared])]
     fn foo(cx: foo::Context) {
         let _: cyccnt::Instant = cx.scheduled;
         let _: &mut u32 = cx.resources.shared;
         let _: foo::Resources = cx.resources;
-        let _: foo::Schedule = cx.schedule;
-        let _: foo::Spawn = cx.spawn;
     }
 
     // RTIC requires that unused interrupts are declared in an extern block when

macros/src/analyze.rs

@@ -29,7 +29,6 @@ pub fn app(analysis: P<analyze::Analysis>, app: &App) -> P<Analysis> {
         .software_tasks
         .values()
         .filter_map(|task| Some(task.args.priority))
-        .chain(analysis.timer_queues.first().map(|tq| tq.priority))
         .collect::<BTreeSet<_>>();
 
     if !priorities.is_empty() {

macros/src/check.rs

@@ -19,35 +19,7 @@ impl<'a> Extra<'a> {
     }
 }
 
-pub fn app<'a>(app: &'a App, analysis: &Analysis) -> parse::Result<Extra<'a>> {
+pub fn app<'a>(app: &'a App, _analysis: &Analysis) -> parse::Result<Extra<'a>> {
-    // Check that all exceptions are valid; only exceptions with configurable priorities are
-    // accepted
-    for (name, task) in &app.hardware_tasks {
-        let name_s = task.args.binds.to_string();
-        match &*name_s {
-            "SysTick" => {
-                // If the timer queue is used, then SysTick is unavailable
-                if !analysis.timer_queues.is_empty() {
-                    return Err(parse::Error::new(
-                        name.span(),
-                        "this exception can't be used because it's being used by the runtime",
-                    ));
-                } else {
-                    // OK
-                }
-            }
-
-            "NonMaskableInt" | "HardFault" => {
-                return Err(parse::Error::new(
-                    name.span(),
-                    "only exceptions with configurable priority can be used as hardware tasks",
-                ));
-            }
-
-            _ => {}
-        }
-    }
-
     // Check that external (device-specific) interrupts are not named after known (Cortex-M)
     // exceptions
     for name in app.extern_interrupts.keys() {
@@ -76,7 +48,6 @@ pub fn app<'a>(app: &'a App, analysis: &Analysis) -> parse::Result<Extra<'a>> {
             first = Some(name);
             Some(task.args.priority)
         })
-        .chain(analysis.timer_queues.first().map(|tq| tq.priority))
         .collect::<HashSet<_>>();
 
     let need = priorities.len();
@@ -141,11 +112,32 @@ pub fn app<'a>(app: &'a App, analysis: &Analysis) -> parse::Result<Extra<'a>> {
         }
     }
 
-    if !&analysis.timer_queues.is_empty() && monotonic.is_none() {
+    // Check that all exceptions are valid; only exceptions with configurable priorities are
-        return Err(parse::Error::new(
+    // accepted
-            Span::call_site(),
+    for (name, task) in &app.hardware_tasks {
-            "a `monotonic` timer must be specified to use the `schedule` API",
+        let name_s = task.args.binds.to_string();
-        ));
+        match &*name_s {
+            "SysTick" => {
+                // If the timer queue is used, then SysTick is unavailable
+                if monotonic.is_some() {
+                    return Err(parse::Error::new(
+                        name.span(),
+                        "this exception can't be used because it's being used by the runtime",
+                    ));
+                } else {
+                    // OK
+                }
+            }
+
+            "NonMaskableInt" | "HardFault" => {
+                return Err(parse::Error::new(
+                    name.span(),
+                    "only exceptions with configurable priority can be used as hardware tasks",
+                ));
+            }
+
+            _ => {}
+        }
     }
 
     if let Some(device) = device {

macros/src/codegen.rs

@@ -15,11 +15,7 @@ mod post_init;
 mod pre_init;
 mod resources;
 mod resources_struct;
-mod schedule;
-mod schedule_body;
 mod software_tasks;
-mod spawn;
-mod spawn_body;
 mod timer_queue;
 mod util;
 
@@ -115,15 +111,9 @@ pub fn app(app: &App, analysis: &Analysis, extra: &Extra) -> TokenStream2 {
     ) = software_tasks::codegen(app, analysis, extra);
 
     let mod_app_dispatchers = dispatchers::codegen(app, analysis, extra);
-
-    let mod_app_spawn = spawn::codegen(app, analysis, extra);
-
     let mod_app_timer_queue = timer_queue::codegen(app, analysis, extra);
-
+    let user_imports = &app.user_imports;
-    let mod_app_schedule = schedule::codegen(app, extra);
+    let user_code = &app.user_code;
-
-    let user_imports = app.user_imports.clone();
-    let user_code = app.user_code.clone();
     let name = &app.name;
     let device = extra.device;
 
@@ -187,12 +177,8 @@ pub fn app(app: &App, analysis: &Analysis, extra: &Extra) -> TokenStream2 {
 
             #(#mod_app_dispatchers)*
 
-            #(#mod_app_spawn)*
-
             #(#mod_app_timer_queue)*
 
-            #(#mod_app_schedule)*
-
             #(#mains)*
         }
     )

macros/src/codegen/dispatchers.rs

@@ -35,7 +35,7 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream
             #[allow(non_camel_case_types)]
             #[derive(Clone, Copy)]
             #[doc = #doc]
-            enum #t {
+            pub enum #t {
                 #(#variants,)*
             }
         ));
@@ -57,27 +57,9 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream
         );
         items.push(quote!(
             #[doc = #doc]
-            static mut #rq: #rq_ty = #rq_expr;
+            pub static mut #rq: #rq_ty = #rq_expr;
         ));
 
-        if let Some(ceiling) = channel.ceiling {
-            items.push(quote!(
-                struct #rq<'a> {
-                    priority: &'a rtic::export::Priority,
-                }
-            ));
-
-            items.push(util::impl_mutex(
-                extra,
-                &[],
-                false,
-                &rq,
-                rq_ty,
-                ceiling,
-                quote!(&mut #rq),
-            ));
-        }
-
         let arms = channel
             .tasks
             .iter()
@@ -88,7 +70,7 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream
                 let inputs = util::inputs_ident(name);
                 let (_, tupled, pats, _) = util::regroup_inputs(&task.inputs);
 
-                let (let_instant, instant) = if app.uses_schedule() {
+                let (let_instant, instant) = if extra.monotonic.is_some() {
                     let instants = util::instants_ident(name);
 
                     (

macros/src/codegen/hardware_tasks.rs

@@ -32,9 +32,7 @@ pub fn codegen(
     let mut hardware_tasks_imports = vec![];
 
     for (name, task) in &app.hardware_tasks {
-        let (let_instant, instant) = if app.uses_schedule() {
+        let (let_instant, instant) = if let Some(m) = extra.monotonic {
-            let m = extra.monotonic();
-
             (
                 Some(quote!(let instant = <#m as rtic::Monotonic>::now();)),
                 Some(quote!(, instant)),
@@ -97,6 +95,7 @@ pub fn codegen(
             Context::HardwareTask(name),
             needs_lt,
             app,
+            analysis,
             extra,
         ));
 

macros/src/codegen/idle.rs

@@ -62,7 +62,13 @@ pub fn codegen(
             root_idle.push(locals);
         }
 
-        root_idle.push(module::codegen(Context::Idle, needs_lt, app, extra));
+        root_idle.push(module::codegen(
+            Context::Idle,
+            needs_lt,
+            app,
+            analysis,
+            extra,
+        ));
 
         let attrs = &idle.attrs;
         let context = &idle.context;

macros/src/codegen/init.rs

@@ -116,7 +116,13 @@ pub fn codegen(
             quote!(let late = crate::#name(#(#locals_new,)* #name::Context::new(core.into()));),
         );
 
-        root_init.push(module::codegen(Context::Init, needs_lt, app, extra));
+        root_init.push(module::codegen(
+            Context::Init,
+            needs_lt,
+            app,
+            analysis,
+            extra,
+        ));
 
         (mod_app, root_init, user_init, user_init_imports, call_init)
     } else {

macros/src/codegen/module.rs

@@ -2,9 +2,15 @@ use proc_macro2::TokenStream as TokenStream2;
 use quote::quote;
 use rtic_syntax::{ast::App, Context};
 
-use crate::{check::Extra, codegen::util};
+use crate::{analyze::Analysis, check::Extra, codegen::util};
 
-pub fn codegen(ctxt: Context, resources_tick: bool, app: &App, extra: &Extra) -> TokenStream2 {
+pub fn codegen(
+    ctxt: Context,
+    resources_tick: bool,
+    app: &App,
+    analysis: &Analysis,
+    extra: &Extra,
+) -> TokenStream2 {
     let mut items = vec![];
     let mut fields = vec![];
     let mut values = vec![];
@@ -15,9 +21,7 @@ pub fn codegen(ctxt: Context, resources_tick: bool, app: &App, extra: &Extra) ->
     let mut lt = None;
     match ctxt {
         Context::Init => {
-            if extra.monotonic.is_some() {
+            if let Some(m) = extra.monotonic {
-                let m = extra.monotonic();
-
                 fields.push(quote!(
                     /// System start time = `Instant(0 /* cycles */)`
                     pub start: <#m as rtic::Monotonic>::Instant
@@ -61,9 +65,7 @@ pub fn codegen(ctxt: Context, resources_tick: bool, app: &App, extra: &Extra) ->
         Context::Idle => {}
 
         Context::HardwareTask(..) => {
-            if app.uses_schedule() {
+            if let Some(m) = extra.monotonic {
-                let m = extra.monotonic();
-
                 fields.push(quote!(
                     /// Time at which this handler started executing
                     pub start: <#m as rtic::Monotonic>::Instant
@@ -76,9 +78,7 @@ pub fn codegen(ctxt: Context, resources_tick: bool, app: &App, extra: &Extra) ->
         }
 
         Context::SoftwareTask(..) => {
-            if app.uses_schedule() {
+            if let Some(m) = extra.monotonic {
-                let m = extra.monotonic();
-
                 fields.push(quote!(
                     /// The time at which this task was scheduled to run
                     pub scheduled: <#m as rtic::Monotonic>::Instant
@@ -126,139 +126,6 @@ pub fn codegen(ctxt: Context, resources_tick: bool, app: &App, extra: &Extra) ->
         values.push(quote!(resources: Resources::new(#priority)));
     }
 
-    if ctxt.uses_schedule(app) {
-        let doc = "Tasks that can be `schedule`-d from this context";
-        if ctxt.is_init() {
-            items.push(quote!(
-                #[doc = #doc]
-                #[derive(Clone, Copy)]
-                pub struct Schedule {
-                    _not_send: core::marker::PhantomData<*mut ()>,
-                }
-            ));
-
-            fields.push(quote!(
-                #[doc = #doc]
-                pub schedule: Schedule
-            ));
-
-            values.push(quote!(
-                schedule: Schedule { _not_send: core::marker::PhantomData }
-            ));
-        } else {
-            lt = Some(quote!('a));
-
-            items.push(quote!(
-                #[doc = #doc]
-                #[derive(Clone, Copy)]
-                pub struct Schedule<'a> {
-                    priority: &'a rtic::export::Priority,
-                }
-
-                impl<'a> Schedule<'a> {
-                    #[doc(hidden)]
-                    #[inline(always)]
-                    pub unsafe fn priority(&self) -> &rtic::export::Priority {
-                        &self.priority
-                    }
-                }
-            ));
-
-            fields.push(quote!(
-                #[doc = #doc]
-                pub schedule: Schedule<'a>
-            ));
-
-            values.push(quote!(
-                schedule: Schedule { priority }
-            ));
-        }
-    }
-
-    if ctxt.uses_spawn(app) {
-        let doc = "Tasks that can be `spawn`-ed from this context";
-        if ctxt.is_init() {
-            fields.push(quote!(
-                #[doc = #doc]
-                pub spawn: Spawn
-            ));
-
-            items.push(quote!(
-                #[doc = #doc]
-                #[derive(Clone, Copy)]
-                pub struct Spawn {
-                    _not_send: core::marker::PhantomData<*mut ()>,
-                }
-            ));
-
-            values.push(quote!(spawn: Spawn { _not_send: core::marker::PhantomData }));
-        } else {
-            lt = Some(quote!('a));
-
-            fields.push(quote!(
-                #[doc = #doc]
-                pub spawn: Spawn<'a>
-            ));
-
-            let mut instant_method = None;
-            if ctxt.is_idle() {
-                items.push(quote!(
-                    #[doc = #doc]
-                    #[derive(Clone, Copy)]
-                    pub struct Spawn<'a> {
-                        priority: &'a rtic::export::Priority,
-                    }
-                ));
-
-                values.push(quote!(spawn: Spawn { priority }));
-            } else {
-                let instant_field = if app.uses_schedule() {
-                    let m = extra.monotonic();
-
-                    needs_instant = true;
-                    instant_method = Some(quote!(
-                        pub unsafe fn instant(&self) -> <#m as rtic::Monotonic>::Instant {
-                            self.instant
-                        }
-                    ));
-                    Some(quote!(instant: <#m as rtic::Monotonic>::Instant,))
-                } else {
-                    None
-                };
-
-                items.push(quote!(
-                    /// Tasks that can be spawned from this context
-                    #[derive(Clone, Copy)]
-                    pub struct Spawn<'a> {
-                        #instant_field
-                        priority: &'a rtic::export::Priority,
-                    }
-                ));
-
-                let _instant = if needs_instant {
-                    Some(quote!(, instant))
-                } else {
-                    None
-                };
-                values.push(quote!(
-                    spawn: Spawn { priority #_instant }
-                ));
-            }
-
-            items.push(quote!(
-                impl<'a> Spawn<'a> {
-                    #[doc(hidden)]
-                    #[inline(always)]
-                    pub unsafe fn priority(&self) -> &rtic::export::Priority {
-                        self.priority
-                    }
-
-                    #instant_method
-                }
-            ));
-        }
-    }
-
     if let Context::Init = ctxt {
         let init = &app.inits.first().unwrap();
         let late_resources = util::late_resources_ident(&init.name);
@@ -316,11 +183,114 @@ pub fn codegen(ctxt: Context, resources_tick: bool, app: &App, extra: &Extra) ->
         }
     ));
 
+    // not sure if this is the right way, maybe its backwards,
+    // that spawn_module should put in in root
+
+    if let Context::SoftwareTask(..) = ctxt {
+        let spawnee = &app.software_tasks[name];
+        let priority = spawnee.args.priority;
+        let t = util::spawn_t_ident(priority);
+        let cfgs = &spawnee.cfgs;
+        let (args, tupled, _untupled, ty) = util::regroup_inputs(&spawnee.inputs);
+        let args = &args;
+        let tupled = &tupled;
+        let fq = util::fq_ident(name);
+        let rq = util::rq_ident(priority);
+        let inputs = util::inputs_ident(name);
+
+        let app_name = &app.name;
+        let app_path = quote! {crate::#app_name};
+
+        let device = extra.device;
+        let enum_ = util::interrupt_ident();
+        let interrupt = &analysis.interrupts.get(&priority);
+
+        // Spawn caller
+        items.push(quote!(
+        #(#cfgs)*
+        pub fn spawn(#(#args,)*) -> Result<(), #ty> {
+            // #let_instant // do we need it?
+            use rtic::Mutex as _;
+
+            let input = #tupled;
+
+            unsafe {
+                if let Some(index) = rtic::export::interrupt::free(|_| #app_path::#fq.dequeue()) {
+                    #app_path::#inputs
+                        .get_unchecked_mut(usize::from(index))
+                        .as_mut_ptr()
+                        .write(input);
+
+                    rtic::export::interrupt::free(|_| {
+                        #app_path::#rq.enqueue_unchecked((#app_path::#t::#name, index));
+                    });
+
+                    rtic::pend(#device::#enum_::#interrupt);
+
+                    Ok(())
+                } else {
+                    Err(input)
+                }
+            }
+
+        }));
+
+        // Schedule caller
+        if let Some(m) = extra.monotonic {
+            let instants = util::instants_ident(name);
+
+            let tq = util::tq_ident();
+            let t = util::schedule_t_ident();
+
+            items.push(quote!(
+            #(#cfgs)*
+            pub fn schedule(
+                instant: <#m as rtic::Monotonic>::Instant
+                #(,#args)*
+            ) -> Result<(), #ty> {
+                unsafe {
+                    use rtic::Mutex as _;
+
+                    let input = #tupled;
+                    if let Some(index) = rtic::export::interrupt::free(|_| #app_path::#fq.dequeue()) {
+                        #app_path::#inputs
+                            .get_unchecked_mut(usize::from(index))
+                            .as_mut_ptr()
+                            .write(input);
+
+                        #app_path::#instants
+                            .get_unchecked_mut(usize::from(index))
+                            .as_mut_ptr()
+                            .write(instant);
+
+                        let nr = rtic::export::NotReady {
+                            instant,
+                            index,
+                            task: #app_path::#t::#name,
+                        };
+
+                        rtic::export::interrupt::free(|_| #app_path::#tq.enqueue_unchecked(nr));
+
+                        Ok(())
+                    } else {
+                        Err(input)
+                    }
+                }
+            }));
+        }
+    }
+
     if !items.is_empty() {
+        let user_imports = &app.user_imports;
+
         quote!(
             #[allow(non_snake_case)]
             #[doc = #doc]
             pub mod #name {
+                #(
+                    #[allow(unused_imports)]
+                    #user_imports
+                )*
                 #(#items)*
             }
         )

macros/src/codegen/pre_init.rs

@@ -12,12 +12,8 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream
     stmts.push(quote!(rtic::export::interrupt::disable();));
 
     // Populate the FreeQueue
-    for fq in &analysis.free_queues {
+    for (name, task) in &app.software_tasks {
-        // Get the task name
-        let name = fq.0;
-        let task = &app.software_tasks[name];
         let cap = task.args.capacity;
-
         let fq_ident = util::fq_ident(name);
 
         stmts.push(quote!(
@@ -81,8 +77,8 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream
     }
 
     // Initialize the SysTick if there exist a TimerQueue
-    if let Some(tq) = analysis.timer_queues.first() {
+    if extra.monotonic.is_some() {
-        let priority = tq.priority;
+        let priority = analysis.channels.keys().max().unwrap();
 
         // Compile time assert that this priority is supported by the device
         stmts.push(quote!(let _ = [(); ((1 << #nvic_prio_bits) - #priority as usize)];));

macros/src/codegen/schedule.rs

@@ -1,90 +0,0 @@
-use std::collections::HashSet;
-
-use proc_macro2::TokenStream as TokenStream2;
-use quote::quote;
-use rtic_syntax::ast::App;
-
-use crate::{
-    check::Extra,
-    codegen::{schedule_body, util},
-};
-
-/// Generates all `${ctxt}::Schedule` methods
-pub fn codegen(app: &App, extra: &Extra) -> Vec<TokenStream2> {
-    let mut items = vec![];
-
-    let mut seen = HashSet::<_>::new();
-    for (scheduler, schedulees) in app.schedule_callers() {
-        let m = extra.monotonic();
-        let instant = quote!(<#m as rtic::Monotonic>::Instant);
-
-        let mut methods = vec![];
-
-        for name in schedulees {
-            let schedulee = &app.software_tasks[name];
-            let cfgs = &schedulee.cfgs;
-            let (args, _, untupled, ty) = util::regroup_inputs(&schedulee.inputs);
-            let args = &args;
-
-            if scheduler.is_init() {
-                // `init` uses a special `schedule` implementation; it doesn't use the
-                // `schedule_${name}` functions which are shared by other contexts
-
-                let body = schedule_body::codegen(scheduler, &name, app);
-
-                methods.push(quote!(
-                    #(#cfgs)*
-                    pub fn #name(&self, instant: #instant #(,#args)*) -> Result<(), #ty> {
-                        #body
-                    }
-                ));
-            } else {
-                let schedule = util::schedule_ident(name);
-
-                if !seen.contains(name) {
-                    // Generate a `schedule_${name}_S${sender}` function
-                    seen.insert(name);
-
-                    let body = schedule_body::codegen(scheduler, &name, app);
-
-                    items.push(quote!(
-                        #(#cfgs)*
-                        pub unsafe fn #schedule(
-                            priority: &rtic::export::Priority,
-                            instant: #instant
-                            #(,#args)*
-                        ) -> Result<(), #ty> {
-                            #body
-                        }
-                    ));
-                }
-
-                methods.push(quote!(
-                    #(#cfgs)*
-                    #[inline(always)]
-                    pub fn #name(&self, instant: #instant #(,#args)*) -> Result<(), #ty> {
-                        unsafe {
-                            #schedule(self.priority(), instant #(,#untupled)*)
-                        }
-                    }
-                ));
-            }
-        }
-
-        let lt = if scheduler.is_init() {
-            None
-        } else {
-            Some(quote!('a))
-        };
-
-        let scheduler = scheduler.ident(app);
-        debug_assert!(!methods.is_empty());
-        items.push(quote!(
-            impl<#lt> #scheduler::Schedule<#lt> {
-                #(#methods)*
-            }
-        ));
-    }
-
-    items
-}

macros/src/codegen/schedule_body.rs

@@ -1,59 +0,0 @@
-use proc_macro2::TokenStream as TokenStream2;
-use quote::quote;
-use rtic_syntax::{ast::App, Context};
-use syn::Ident;
-
-use crate::codegen::util;
-
-pub fn codegen(scheduler: Context, name: &Ident, app: &App) -> TokenStream2 {
-    let schedulee = &app.software_tasks[name];
-
-    let fq = util::fq_ident(name);
-    let tq = util::tq_ident();
-    let (dequeue, enqueue) = if scheduler.is_init() {
-        (quote!(#fq.dequeue()), quote!(#tq.enqueue_unchecked(nr);))
-    } else {
-        (
-            quote!((#fq { priority }).lock(|fq| fq.split().1.dequeue())),
-            quote!((#tq { priority }).lock(|tq| tq.enqueue_unchecked(nr));),
-        )
-    };
-
-    let write_instant = if app.uses_schedule() {
-        let instants = util::instants_ident(name);
-
-        Some(quote!(
-            #instants.get_unchecked_mut(usize::from(index)).as_mut_ptr().write(instant);
-        ))
-    } else {
-        None
-    };
-
-    let (_, tupled, _, _) = util::regroup_inputs(&schedulee.inputs);
-    let inputs = util::inputs_ident(name);
-    let t = util::schedule_t_ident();
-    quote!(
-        unsafe {
-            use rtic::Mutex as _;
-
-            let input = #tupled;
-            if let Some(index) = #dequeue {
-                #inputs.get_unchecked_mut(usize::from(index)).as_mut_ptr().write(input);
-
-                #write_instant
-
-                let nr = rtic::export::NotReady {
-                    instant,
-                    index,
-                    task: #t::#name,
-                };
-
-                #enqueue
-
-                Ok(())
-            } else {
-                Err(input)
-            }
-        }
-    )
-}

macros/src/codegen/software_tasks.rs

@@ -39,71 +39,49 @@ pub fn codegen(
         let cap_ty = util::capacity_typenum(cap, true);
 
         // Create free queues and inputs / instants buffers
-        if let Some(&ceiling) = analysis.free_queues.get(name) {
+        let fq = util::fq_ident(name);
-            let fq = util::fq_ident(name);
 
-            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_ty>),
+                quote!(rtic::export::SCFQ<#cap_ty>),
-                    quote!(rtic::export::Queue(unsafe {
+                quote!(rtic::export::Queue(unsafe {
-                        rtic::export::iQueue::u8_sc()
+                    rtic::export::iQueue::u8_sc()
-                    })),
+                })),
-                    Box::new(|| util::link_section_uninit(true)),
+                Box::new(|| util::link_section_uninit(true)),
-                )
+            )
-            };
+        };
-            mod_app.push(quote!(
+        mod_app.push(quote!(
-                /// Queue version of a free-list that keeps track of empty slots in
+            /// Queue version of a free-list that keeps track of empty slots in
-                /// the following buffers
+            /// the following buffers
-                static mut #fq: #fq_ty = #fq_expr;
+            pub static mut #fq: #fq_ty = #fq_expr;
-            ));
+        ));
 
-            // Generate a resource proxy if needed
+        let ref elems = (0..cap)
-            if let Some(ceiling) = ceiling {
+            .map(|_| quote!(core::mem::MaybeUninit::uninit()))
-                mod_app.push(quote!(
+            .collect::<Vec<_>>();
-                    struct #fq<'a> {
-                        priority: &'a rtic::export::Priority,
-                    }
-                ));
 
-                mod_app.push(util::impl_mutex(
+        if let Some(m) = extra.monotonic {
-                    extra,
+            let instants = util::instants_ident(name);
-                    &[],
-                    false,
-                    &fq,
-                    fq_ty,
-                    ceiling,
-                    quote!(&mut #fq),
-                ));
-            }
-
-            let ref elems = (0..cap)
-                .map(|_| quote!(core::mem::MaybeUninit::uninit()))
-                .collect::<Vec<_>>();
-
-            if app.uses_schedule() {
-                let m = extra.monotonic();
-                let instants = util::instants_ident(name);
-
-                let uninit = mk_uninit();
-                mod_app.push(quote!(
-                    #uninit
-                    /// Buffer that holds the instants associated to the inputs of a task
-                    static mut #instants:
-                        [core::mem::MaybeUninit<<#m as rtic::Monotonic>::Instant>; #cap_lit] =
-                        [#(#elems,)*];
-                ));
-            }
 
             let uninit = mk_uninit();
-            let inputs = util::inputs_ident(name);
             mod_app.push(quote!(
                 #uninit
-                /// Buffer that holds the inputs of a task
+                /// Buffer that holds the instants associated to the inputs of a task
-                static mut #inputs: [core::mem::MaybeUninit<#input_ty>; #cap_lit] =
+                pub static mut #instants:
+                    [core::mem::MaybeUninit<<#m as rtic::Monotonic>::Instant>; #cap_lit] =
                     [#(#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
+            pub static mut #inputs_ident: [core::mem::MaybeUninit<#input_ty>; #cap_lit] =
+                [#(#elems,)*];
+        ));
+
         // `${task}Resources`
         let mut needs_lt = false;
         if !task.args.resources.is_empty() {
@@ -161,6 +139,7 @@ pub fn codegen(
             Context::SoftwareTask(name),
             needs_lt,
             app,
+            analysis,
             extra,
         ));
     }

macros/src/codegen/spawn.rs

@@ -1,121 +0,0 @@
-use std::collections::HashSet;
-
-use proc_macro2::TokenStream as TokenStream2;
-use quote::quote;
-use rtic_syntax::ast::App;
-
-use crate::{
-    analyze::Analysis,
-    check::Extra,
-    codegen::{spawn_body, util},
-};
-
-/// Generates all `${ctxt}::Spawn` methods
-pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream2> {
-    let mut items = vec![];
-
-    let mut seen = HashSet::<_>::new();
-    for (spawner, spawnees) in app.spawn_callers() {
-        let mut methods = vec![];
-
-        for name in spawnees {
-            let spawnee = &app.software_tasks[name];
-            let cfgs = &spawnee.cfgs;
-            let (args, _, untupled, ty) = util::regroup_inputs(&spawnee.inputs);
-            let args = &args;
-
-            if spawner.is_init() {
-                // `init` uses a special spawn implementation; it doesn't use the `spawn_${name}`
-                // functions which are shared by other contexts
-
-                let body = spawn_body::codegen(spawner, &name, app, analysis, extra);
-
-                let let_instant = if app.uses_schedule() {
-                    let m = extra.monotonic();
-
-                    Some(quote!(let instant = unsafe { <#m as rtic::Monotonic>::zero() };))
-                } else {
-                    None
-                };
-
-                methods.push(quote!(
-                    #(#cfgs)*
-                    pub fn #name(&self #(,#args)*) -> Result<(), #ty> {
-                        #let_instant
-                        #body
-                    }
-                ));
-            } else {
-                let spawn = util::spawn_ident(name);
-
-                if !seen.contains(name) {
-                    // Generate a `spawn_${name}_S${sender}` function
-                    seen.insert(name);
-
-                    let instant = if app.uses_schedule() {
-                        let m = extra.monotonic();
-
-                        Some(quote!(, instant: <#m as rtic::Monotonic>::Instant))
-                    } else {
-                        None
-                    };
-
-                    let body = spawn_body::codegen(spawner, &name, app, analysis, extra);
-
-                    items.push(quote!(
-                        #(#cfgs)*
-                        unsafe fn #spawn(
-                            priority: &rtic::export::Priority
-                            #instant
-                            #(,#args)*
-                        ) -> Result<(), #ty> {
-                            #body
-                        }
-                    ));
-                }
-
-                let (let_instant, instant) = if app.uses_schedule() {
-                    let m = extra.monotonic();
-
-                    (
-                        Some(if spawner.is_idle() {
-                            quote!(let instant = <#m as rtic::Monotonic>::now();)
-                        } else {
-                            quote!(let instant = self.instant();)
-                        }),
-                        Some(quote!(, instant)),
-                    )
-                } else {
-                    (None, None)
-                };
-
-                methods.push(quote!(
-                    #(#cfgs)*
-                    #[inline(always)]
-                    pub fn #name(&self #(,#args)*) -> Result<(), #ty> {
-                        unsafe {
-                            #let_instant
-                            #spawn(self.priority() #instant #(,#untupled)*)
-                        }
-                    }
-                ));
-            }
-        }
-
-        let lt = if spawner.is_init() {
-            None
-        } else {
-            Some(quote!('a))
-        };
-
-        let spawner = spawner.ident(app);
-        debug_assert!(!methods.is_empty());
-        items.push(quote!(
-            impl<#lt> #spawner::Spawn<#lt> {
-                #(#methods)*
-            }
-        ));
-    }
-
-    items
-}

macros/src/codegen/spawn_body.rs

@@ -1,75 +0,0 @@
-use proc_macro2::TokenStream as TokenStream2;
-use quote::quote;
-use rtic_syntax::{ast::App, Context};
-use syn::Ident;
-
-use crate::{analyze::Analysis, check::Extra, codegen::util};
-
-pub fn codegen(
-    spawner: Context,
-    name: &Ident,
-    app: &App,
-    analysis: &Analysis,
-    _extra: &Extra,
-) -> TokenStream2 {
-    let spawnee = &app.software_tasks[name];
-    let priority = spawnee.args.priority;
-
-    let write_instant = if app.uses_schedule() {
-        let instants = util::instants_ident(name);
-
-        Some(quote!(
-            #instants.get_unchecked_mut(usize::from(index)).as_mut_ptr().write(instant);
-        ))
-    } else {
-        None
-    };
-
-    let t = util::spawn_t_ident(priority);
-    let fq = util::fq_ident(name);
-    let rq = util::rq_ident(priority);
-    let (dequeue, enqueue) = if spawner.is_init() {
-        (
-            quote!(#fq.dequeue()),
-            quote!(#rq.enqueue_unchecked((#t::#name, index));),
-        )
-    } else {
-        (
-            quote!((#fq { priority }.lock(|fq| fq.split().1.dequeue()))),
-            quote!((#rq { priority }.lock(|rq| {
-                rq.split().0.enqueue_unchecked((#t::#name, index))
-            }));),
-        )
-    };
-
-    let enum_ = util::interrupt_ident();
-    let interrupt = &analysis.interrupts.get(&priority);
-    let pend = {
-        quote!(
-            rtic::pend(you_must_enable_the_rt_feature_for_the_pac_in_your_cargo_toml::#enum_::#interrupt);
-        )
-    };
-
-    let (_, tupled, _, _) = util::regroup_inputs(&spawnee.inputs);
-    let inputs = util::inputs_ident(name);
-    quote!(
-        unsafe {
-            use rtic::Mutex as _;
-
-            let input = #tupled;
-            if let Some(index) = #dequeue {
-                #inputs.get_unchecked_mut(usize::from(index)).as_mut_ptr().write(input);
-
-                #write_instant
-
-                #enqueue
-
-                #pend
-
-                Ok(())
-            } else {
-                Err(input)
-            }
-        }
-    )
-}

macros/src/codegen/timer_queue.rs

@@ -8,16 +8,16 @@ 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(timer_queue) = &analysis.timer_queues.first() {
+    if let Some(m) = extra.monotonic {
         let t = util::schedule_t_ident();
 
         // Enumeration of `schedule`-able tasks
         {
-            let variants = timer_queue
+            let variants = app
-                .tasks
+                .software_tasks
                 .iter()
-                .map(|name| {
+                .map(|(name, task)| {
-                    let cfgs = &app.software_tasks[name].cfgs;
+                    let cfgs = &task.cfgs;
 
                     quote!(
                         #(#cfgs)*
@@ -31,7 +31,7 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream
                 #[doc = #doc]
                 #[allow(non_camel_case_types)]
                 #[derive(Clone, Copy)]
-                enum #t {
+                pub enum #t {
                     #(#variants,)*
                 }
             ));
@@ -42,42 +42,30 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream
         // Static variable and resource proxy
         {
             let doc = format!("Timer queue");
-            let m = extra.monotonic();
+            let cap = app
-            let n = util::capacity_typenum(timer_queue.capacity, false);
+                .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>);
 
             items.push(quote!(
                 #[doc = #doc]
-                static mut #tq: #tq_ty = rtic::export::TimerQueue(
+                pub static mut #tq: #tq_ty = rtic::export::TimerQueue(
                     rtic::export::BinaryHeap(
                         rtic::export::iBinaryHeap::new()
                     )
                 );
-
-                struct #tq<'a> {
-                    priority: &'a rtic::export::Priority,
-                }
-            ));
-
-            items.push(util::impl_mutex(
-                extra,
-                &[],
-                false,
-                &tq,
-                tq_ty,
-                timer_queue.ceiling,
-                quote!(&mut #tq),
             ));
         }
 
         // Timer queue handler
         {
-            let arms = timer_queue
+            let arms = app
-                .tasks
+                .software_tasks
                 .iter()
-                .map(|name| {
+                .map(|(name, task)| {
-                    let task = &app.software_tasks[name];
-
                     let cfgs = &task.cfgs;
                     let priority = task.args.priority;
                     let rq = util::rq_ident(priority);
@@ -94,9 +82,7 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream
                     quote!(
                         #(#cfgs)*
                         #t::#name => {
-                            (#rq { priority: &rtic::export::Priority::new(PRIORITY) }).lock(|rq| {
+                            rtic::export::interrupt::free(|_| #rq.split().0.enqueue_unchecked((#rqt::#name, index)));
-                                rq.split().0.enqueue_unchecked((#rqt::#name, index))
-                            });
 
                             #pend
                         }
@@ -104,30 +90,18 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream
                 })
                 .collect::<Vec<_>>();
 
-            let priority = timer_queue.priority;
             let sys_tick = util::suffixed("SysTick");
             items.push(quote!(
                 #[no_mangle]
                 unsafe fn #sys_tick() {
                     use rtic::Mutex as _;
 
-                    /// The priority of this handler
+                    while let Some((task, index)) = rtic::export::interrupt::free(|_| #tq.dequeue())
-                    const PRIORITY: u8 = #priority;
+                    {
-
+                        match task {
-                    rtic::export::run(PRIORITY, || {
+                            #(#arms)*
-                        while let Some((task, index)) = (#tq {
-                            // NOTE dynamic priority is always the static priority at this point
-                            priority: &rtic::export::Priority::new(PRIORITY),
-                        })
-                        // NOTE `inline(always)` produces faster and smaller code
-                            .lock(#[inline(always)]
-                                |tq| tq.dequeue())
-                        {
-                            match task {
-                                #(#arms)*
-                            }
                         }
-                    });
+                    }
                 }
             ));
         }

macros/src/codegen/util.rs

@@ -207,23 +207,9 @@ pub fn rq_ident(priority: u8) -> Ident {
     Ident::new(&format!("P{}_RQ", priority), Span::call_site())
 }
 
-/// Generates an identifier for a "schedule" function
-///
-/// The methods of the `Schedule` structs invoke these functions.
-pub fn schedule_ident(name: &Ident) -> Ident {
-    Ident::new(&format!("schedule_{}", name.to_string()), Span::call_site())
-}
-
 /// Generates an identifier for the `enum` of `schedule`-able tasks
 pub fn schedule_t_ident() -> Ident {
-    Ident::new(&format!("T"), Span::call_site())
+    Ident::new(&format!("SCHED_T"), Span::call_site())
-}
-
-/// Generates an identifier for a "spawn" function
-///
-/// The methods of the `Spawn` structs invoke these functions.
-pub fn spawn_ident(name: &Ident) -> Ident {
-    Ident::new(&format!("spawn_{}", name.to_string()), Span::call_site())
 }
 
 /// Generates an identifier for the `enum` of `spawn`-able tasks

macros/src/lib.rs

@@ -207,7 +207,6 @@ pub fn app(args: TokenStream, input: TokenStream) -> TokenStream {
     settings.optimize_priorities = true;
     settings.parse_binds = true;
     settings.parse_extern_interrupt = true;
-    settings.parse_schedule = true;
 
     let (app, analysis) = match rtic_syntax::parse(args, input, settings) {
         Err(e) => return e.to_compile_error().into(),

ui/single/exception-systick-used.rs

@@ -1,10 +1,7 @@
 #![no_main]
 
-#[rtic::app(device = lm3s6965)]
+#[rtic::app(device = lm3s6965, monotonic = rtic::cyccnt::CYCCNT)]
 mod app {
     #[task(binds = SysTick)]
     fn sys_tick(_: sys_tick::Context) {}
-
-    #[task(schedule = [foo])]
-    fn foo(_: foo::Context) {}
 }