RTIC v2: Initial commit

rtic-syntax is now part of RTIC repository

Cargo.toml

@@ -1,27 +1,29 @@
 [package]
 authors = [
   "The Real-Time Interrupt-driven Concurrency developers",
+  "Emil Fresk <emil.fresk@gmail.com>",
+  "Henrik Tjäder <henrik@tjaders.com>",
   "Jorge Aparicio <jorge@japaric.io>",
   "Per Lindgren <per.lindgren@ltu.se>",
 ]
-categories = ["concurrency", "embedded", "no-std"]
+categories = ["concurrency", "embedded", "no-std", "asynchronous"]
 description = "Real-Time Interrupt-driven Concurrency (RTIC): a concurrency framework for building real-time systems"
 documentation = "https://rtic.rs/"
 edition = "2021"
-keywords = ["arm", "cortex-m"]
+keywords = ["arm", "cortex-m", "risc-v", "embedded", "async", "runtime", "futures", "await", "no-std", "rtos", "bare-metal"]
 license = "MIT OR Apache-2.0"
-name = "cortex-m-rtic"
+name = "rtic"
 readme = "README.md"
-repository = "https://github.com/rtic-rs/cortex-m-rtic"
+repository = "https://github.com/rtic-rs/rtic"
 
-version = "1.1.3"
+version = "2.0.0-alpha.0"
 
 [lib]
 name = "rtic"
 
 [dependencies]
 cortex-m = "0.7.0"
-cortex-m-rtic-macros = { path = "macros", version = "1.1.5" }
+rtic-macros = { path = "macros", version = "2.0.0-alpha.0" }
 rtic-monotonic = "1.0.0"
 rtic-core = "1.0.0"
 heapless = "0.7.7"

macros/.gitignore

@@ -0,0 +1,2 @@
+/target
+/Cargo.lock

macros/Cargo.toml

@@ -1,28 +1,41 @@
 [package]
 authors = [
   "The Real-Time Interrupt-driven Concurrency developers",
+  "Emil Fresk <emil.fresk@gmail.com>",
+  "Henrik Tjäder <henrik@tjaders.com>",
   "Jorge Aparicio <jorge@japaric.io>",
+  "Per Lindgren <per.lindgren@ltu.se>",
 ]
-categories = ["concurrency", "embedded", "no-std"]
+categories = ["concurrency", "embedded", "no-std", "asynchronous"]
-description = "Procedural macros of the cortex-m-rtic crate"
+description = "Procedural macros, syntax parsing, and codegen of the RTIC crate"
-documentation = "https://rtic-rs.github.io/cortex-m-rtic/api/cortex_m_rtic"
+documentation = "https://rtic-rs.github.io/rtic/api/rtic"
 edition = "2021"
-keywords = ["arm", "cortex-m"]
+keywords = ["arm", "cortex-m", "risc-v", "embedded", "async", "runtime", "futures", "await", "no-std", "rtos", "bare-metal"]
 license = "MIT OR Apache-2.0"
-name = "cortex-m-rtic-macros"
+name = "rtic-macros"
 readme = "../README.md"
-repository = "https://github.com/rtic-rs/cortex-m-rtic"
+repository = "https://github.com/rtic-rs/rtic"
-version = "1.1.5"
+
+version = "2.0.0-alpha.0"
 
 [lib]
 proc-macro = true
 
-[dependencies]
+[feature]
-proc-macro2 = "1"
+default = []
-proc-macro-error = "1"
-quote = "1"
-syn = "1"
-rtic-syntax = "1.0.2"
-
-[features]
 debugprint = []
+# list of supported codegen backends
+thumbv6 = []
+thumbv7 = []
+# riscv-clic = []
+# riscv-ch32 = []
+
+[dependencies]
+indexmap = "1.9.2"
+proc-macro2 = "1.0.49"
+proc-macro-error = "1.0.4"
+quote = "1.0.23"
+syn = { version = "1.0.107", features = ["extra-traits", "full"] }
+
+[dev-dependencies]
+trybuild = "1.0.73"

macros/src/analyze.rs

@@ -1,17 +1,17 @@
 use core::ops;
 use std::collections::{BTreeMap, BTreeSet};
 
-use rtic_syntax::{
+use crate::syntax::{
     analyze::{self, Priority},
-    ast::{App, ExternInterrupt},
+    ast::{App, Dispatcher},
-    P,
 };
 use syn::Ident;
 
 /// Extend the upstream `Analysis` struct with our field
 pub struct Analysis {
-    parent: P<analyze::Analysis>,
+    parent: analyze::Analysis,
-    pub interrupts: BTreeMap<Priority, (Ident, ExternInterrupt)>,
+    pub interrupts_normal: BTreeMap<Priority, (Ident, Dispatcher)>,
+    pub interrupts_async: BTreeMap<Priority, (Ident, Dispatcher)>,
 }
 
 impl ops::Deref for Analysis {
@@ -23,25 +23,43 @@ impl ops::Deref for Analysis {
 }
 
 // Assign an interrupt to each priority level
-pub fn app(analysis: P<analyze::Analysis>, app: &App) -> P<Analysis> {
+pub fn app(analysis: analyze::Analysis, app: &App) -> Analysis {
+    let mut available_interrupt = app.args.dispatchers.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();
 
-    P::new(Analysis {
+    let interrupts_async: BTreeMap<Priority, _> = priorities_async
+        .iter()
+        .copied()
+        .rev()
+        .map(|p| (p, available_interrupt.pop().expect("UNREACHABLE")))
+        .collect();
+
+    Analysis {
         parent: analysis,
-        interrupts,
+        interrupts_normal,
-    })
+        interrupts_async,
+    }
 }

macros/src/codegen.rs

@@ -1,10 +1,11 @@
 use proc_macro2::TokenStream as TokenStream2;
 use quote::quote;
-use rtic_syntax::ast::App;
 
-use crate::{analyze::Analysis, check::Extra};
+use crate::analyze::Analysis;
+use crate::syntax::ast::App;
 
 mod assertions;
+mod async_dispatchers;
 mod dispatchers;
 mod hardware_tasks;
 mod idle;
@@ -12,6 +13,7 @@ mod init;
 mod local_resources;
 mod local_resources_struct;
 mod module;
+mod monotonic;
 mod post_init;
 mod pre_init;
 mod shared_resources;
@@ -21,22 +23,22 @@ mod timer_queue;
 mod util;
 
 #[allow(clippy::too_many_lines)]
-pub fn app(app: &App, analysis: &Analysis, extra: &Extra) -> TokenStream2 {
+pub fn app(app: &App, analysis: &Analysis) -> TokenStream2 {
     let mut mod_app = vec![];
     let mut mains = vec![];
     let mut root = vec![];
     let mut user = vec![];
 
     // Generate the `main` function
-    let assertion_stmts = assertions::codegen(app, analysis, extra);
+    let assertion_stmts = assertions::codegen(app, analysis);
 
-    let pre_init_stmts = pre_init::codegen(app, analysis, extra);
+    let pre_init_stmts = pre_init::codegen(app, analysis);
 
-    let (mod_app_init, root_init, user_init, call_init) = init::codegen(app, analysis, extra);
+    let (mod_app_init, root_init, user_init, call_init) = init::codegen(app, analysis);
 
     let post_init_stmts = post_init::codegen(app, analysis);
 
-    let (mod_app_idle, root_idle, user_idle, call_idle) = idle::codegen(app, analysis, extra);
+    let (mod_app_idle, root_idle, user_idle, call_idle) = idle::codegen(app, analysis);
 
     user.push(quote!(
         #user_init
@@ -84,82 +86,25 @@ pub fn app(app: &App, analysis: &Analysis, extra: &Extra) -> TokenStream2 {
         }
     ));
 
-    let (mod_app_shared_resources, mod_shared_resources) =
+    let (mod_app_shared_resources, mod_shared_resources) = shared_resources::codegen(app, analysis);
-        shared_resources::codegen(app, analysis, extra);
+    let (mod_app_local_resources, mod_local_resources) = local_resources::codegen(app, analysis);
-    let (mod_app_local_resources, mod_local_resources) =
-        local_resources::codegen(app, analysis, extra);
 
     let (mod_app_hardware_tasks, root_hardware_tasks, user_hardware_tasks) =
-        hardware_tasks::codegen(app, analysis, extra);
+        hardware_tasks::codegen(app, analysis);
 
     let (mod_app_software_tasks, root_software_tasks, user_software_tasks) =
-        software_tasks::codegen(app, analysis, extra);
+        software_tasks::codegen(app, analysis);
 
-    let mod_app_dispatchers = dispatchers::codegen(app, analysis, extra);
+    let monotonics = monotonic::codegen(app, analysis);
-    let mod_app_timer_queue = timer_queue::codegen(app, analysis, extra);
+
+    let mod_app_dispatchers = dispatchers::codegen(app, analysis);
+    let mod_app_async_dispatchers = async_dispatchers::codegen(app, analysis);
+    let mod_app_timer_queue = timer_queue::codegen(app, analysis);
     let user_imports = &app.user_imports;
     let user_code = &app.user_code;
     let name = &app.name;
-    let device = &extra.device;
+    let device = &app.args.device;
 
-    let monotonic_parts: Vec<_> = app
-        .monotonics
-        .iter()
-        .map(|(_, monotonic)| {
-            let name = &monotonic.ident;
-            let name_str = &name.to_string();
-            let cfgs = &monotonic.cfgs;
-            let ident = util::monotonic_ident(name_str);
-            let doc = &format!(
-                "This module holds the static implementation for `{}::now()`",
-                name_str
-            );
-
-            let default_monotonic = if monotonic.args.default {
-                quote!(
-                #(#cfgs)*
-                pub use #name::now;
-                )
-            } else {
-                quote!()
-            };
-
-            quote! {
-                #default_monotonic
-
-                #[doc = #doc]
-                #[allow(non_snake_case)]
-                #(#cfgs)*
-                pub mod #name {
-
-                    /// Read the current time from this monotonic
-                    pub fn now() -> <super::super::#name as rtic::Monotonic>::Instant {
-                        rtic::export::interrupt::free(|_| {
-                            use rtic::Monotonic as _;
-                            if let Some(m) = unsafe{ &mut *super::super::#ident.get_mut() } {
-                                m.now()
-                            } else {
-                                <super::super::#name as rtic::Monotonic>::zero()
-                            }
-                        })
-                    }
-                }
-            }
-        })
-        .collect();
-
-    let monotonics = if monotonic_parts.is_empty() {
-        quote!()
-    } else {
-        quote!(
-            pub use rtic::Monotonic as _;
-
-            /// Holds static methods for each monotonic.
-            pub mod monotonics {
-                #(#monotonic_parts)*
-            }
-        )
-    };
     let rt_err = util::rt_err_ident();
 
     quote!(
@@ -205,6 +150,8 @@ 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/assertions.rs

@@ -1,11 +1,11 @@
 use proc_macro2::TokenStream as TokenStream2;
 use quote::quote;
 
-use crate::{analyze::Analysis, check::Extra, codegen::util};
+use crate::syntax::ast::App;
-use rtic_syntax::ast::App;
+use crate::{analyze::Analysis, codegen::util};
 
 /// Generates compile-time assertions that check that types implement the `Send` / `Sync` traits
-pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream2> {
+pub fn codegen(app: &App, analysis: &Analysis) -> Vec<TokenStream2> {
     let mut stmts = vec![];
 
     for ty in &analysis.send_types {
@@ -21,7 +21,7 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream
         stmts.push(quote!(rtic::export::assert_monotonic::<#ty>();));
     }
 
-    let device = &extra.device;
+    let device = &app.args.device;
     let chunks_name = util::priority_mask_chunks_ident();
     let no_basepri_checks: Vec<_> = app
         .hardware_tasks
@@ -29,9 +29,7 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream
         .filter_map(|(_, task)| {
             if !util::is_exception(&task.args.binds) {
                 let interrupt_name = &task.args.binds;
-                let cfgs = &task.cfgs;
                 Some(quote!(
-                    #(#cfgs)*
                     if (#device::Interrupt::#interrupt_name as usize) >= (#chunks_name * 32) {
                         ::core::panic!("An interrupt out of range is used while in armv6 or armv8m.base");
                     }

macros/src/codegen/async_dispatchers.rs

@@ -0,0 +1,129 @@
+use crate::syntax::ast::App;
+use crate::{analyze::Analysis, codegen::util};
+use proc_macro2::TokenStream as TokenStream2;
+use quote::quote;
+
+/// Generates task dispatchers
+pub fn codegen(app: &App, analysis: &Analysis) -> 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 = &app.args.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 !(&*#exec_name.get()).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

@@ -1,21 +1,31 @@
+use crate::syntax::ast::App;
+use crate::{analyze::Analysis, codegen::util};
 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> {
+pub fn codegen(app: &App, analysis: &Analysis) -> Vec<TokenStream2> {
     let mut items = vec![];
 
-    let interrupts = &analysis.interrupts;
+    let interrupts = &analysis.interrupts_normal;
 
     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;
 
@@ -45,6 +55,7 @@ pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStrea
 
         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>),
@@ -64,6 +75,13 @@ pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStrea
             static #rq: rtic::RacyCell<#rq_ty> = rtic::RacyCell::new(#rq_expr);
         ));
 
+        let interrupt = util::suffixed(
+            &interrupts
+                .get(&level)
+                .expect("RTIC-ICE: Unable to get interrrupt")
+                .0
+                .to_string(),
+        );
         let arms = channel
             .tasks
             .iter()
@@ -74,6 +92,7 @@ pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStrea
                 let inputs = util::inputs_ident(name);
                 let (_, tupled, pats, _) = util::regroup_inputs(&task.inputs);
 
+                if !task.is_async {
                     quote!(
                         #(#cfgs)*
                         #t::#name => {
@@ -91,6 +110,9 @@ pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStrea
                             )
                         }
                     )
+                } else {
+                    quote!()
+                }
             })
             .collect::<Vec<_>>();
 
@@ -103,7 +125,6 @@ pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStrea
         ));
 
         let doc = format!("Interrupt handler to dispatch tasks at priority {}", level);
-        let interrupt = util::suffixed(&interrupts[&level].0.to_string());
         let attribute = &interrupts[&level].1.attrs;
         items.push(quote!(
             #[allow(non_snake_case)]

macros/src/codegen/hardware_tasks.rs

@@ -1,18 +1,15 @@
-use proc_macro2::TokenStream as TokenStream2;
+use crate::syntax::{ast::App, Context};
-use quote::quote;
-use rtic_syntax::{ast::App, Context};
-
 use crate::{
     analyze::Analysis,
-    check::Extra,
     codegen::{local_resources_struct, module, shared_resources_struct},
 };
+use proc_macro2::TokenStream as TokenStream2;
+use quote::quote;
 
 /// Generate support code for hardware tasks (`#[exception]`s and `#[interrupt]`s)
 pub fn codegen(
     app: &App,
     analysis: &Analysis,
-    extra: &Extra,
 ) -> (
     // mod_app_hardware_tasks -- interrupt handlers and `${task}Resources` constructors
     Vec<TokenStream2>,
@@ -33,12 +30,10 @@ pub fn codegen(
         let priority = task.args.priority;
         let cfgs = &task.cfgs;
         let attrs = &task.attrs;
-        let user_hardware_task_isr_doc = &format!(" User HW task ISR trampoline for {name}");
 
         mod_app.push(quote!(
             #[allow(non_snake_case)]
             #[no_mangle]
-            #[doc = #user_hardware_task_isr_doc]
             #(#attrs)*
             #(#cfgs)*
             unsafe fn #symbol() {
@@ -87,19 +82,14 @@ pub fn codegen(
             local_needs_lt,
             app,
             analysis,
-            extra,
         ));
 
-        let user_hardware_task_doc = &format!(" User HW task: {name}");
         if !task.is_extern {
             let attrs = &task.attrs;
-            let cfgs = &task.cfgs;
             let context = &task.context;
             let stmts = &task.stmts;
             user_tasks.push(quote!(
-                #[doc = #user_hardware_task_doc]
                 #(#attrs)*
-                #(#cfgs)*
                 #[allow(non_snake_case)]
                 fn #name(#context: #name::Context) {
                     use rtic::Mutex as _;

macros/src/codegen/idle.rs

@@ -1,18 +1,15 @@
-use proc_macro2::TokenStream as TokenStream2;
+use crate::syntax::{ast::App, Context};
-use quote::quote;
-use rtic_syntax::{ast::App, Context};
-
 use crate::{
     analyze::Analysis,
-    check::Extra,
     codegen::{local_resources_struct, module, shared_resources_struct},
 };
+use proc_macro2::TokenStream as TokenStream2;
+use quote::quote;
 
 /// Generates support code for `#[idle]` functions
 pub fn codegen(
     app: &App,
     analysis: &Analysis,
-    extra: &Extra,
 ) -> (
     // mod_app_idle -- the `${idle}Resources` constructor
     Vec<TokenStream2>,
@@ -57,16 +54,13 @@ pub fn codegen(
             local_needs_lt,
             app,
             analysis,
-            extra,
         ));
-        let idle_doc = " User provided idle function".to_string();
 
         let attrs = &idle.attrs;
         let context = &idle.context;
         let stmts = &idle.stmts;
         let user_idle = Some(quote!(
             #(#attrs)*
-            #[doc = #idle_doc]
             #[allow(non_snake_case)]
             fn #name(#context: #name::Context) -> ! {
                 use rtic::Mutex as _;
@@ -82,6 +76,9 @@ pub fn codegen(
 
         (mod_app, root_idle, user_idle, call_idle)
     } else {
+        // TODO: No idle defined, check for 0-priority tasks and generate an executor if needed
+
+        //
         (
             vec![],
             vec![],

macros/src/codegen/init.rs

@@ -1,11 +1,10 @@
 use proc_macro2::TokenStream as TokenStream2;
 use quote::quote;
-use rtic_syntax::{ast::App, Context};
 
 use crate::{
     analyze::Analysis,
-    check::Extra,
     codegen::{local_resources_struct, module},
+    syntax::{ast::App, Context},
 };
 
 type CodegenResult = (
@@ -24,7 +23,7 @@ type CodegenResult = (
 );
 
 /// Generates support code for `#[init]` functions
-pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> CodegenResult {
+pub fn codegen(app: &App, analysis: &Analysis) -> CodegenResult {
     let init = &app.init;
     let mut local_needs_lt = false;
     let name = &init.name;
@@ -65,27 +64,22 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> CodegenResult {
             )
         })
         .collect();
-
-    let shared_resources_doc = " RTIC shared resource struct".to_string();
-    let local_resources_doc = " RTIC local resource struct".to_string();
     root_init.push(quote! {
-        #[doc = #shared_resources_doc]
         struct #shared {
             #(#shared_resources)*
         }
 
-        #[doc = #local_resources_doc]
         struct #local {
             #(#local_resources)*
         }
     });
 
+    // let locals_pat = locals_pat.iter();
+
     let user_init_return = quote! {#shared, #local, #name::Monotonics};
-    let user_init_doc = " User provided init function".to_string();
 
     let user_init = quote!(
         #(#attrs)*
-        #[doc = #user_init_doc]
         #[inline(always)]
         #[allow(non_snake_case)]
         fn #name(#context: #name::Context) -> (#user_init_return) {
@@ -105,6 +99,7 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> CodegenResult {
         mod_app = Some(constructor);
     }
 
+    // let locals_new = locals_new.iter();
     let call_init = quote! {
         let (shared_resources, local_resources, mut monotonics) = #name(#name::Context::new(core.into()));
     };
@@ -115,7 +110,6 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> CodegenResult {
         local_needs_lt,
         app,
         analysis,
-        extra,
     ));
 
     (mod_app, root_init, user_init, call_init)

macros/src/codegen/local_resources.rs

@@ -1,8 +1,7 @@
+use crate::syntax::ast::App;
+use crate::{analyze::Analysis, codegen::util};
 use proc_macro2::TokenStream as TokenStream2;
 use quote::quote;
-use rtic_syntax::ast::App;
-
-use crate::{analyze::Analysis, check::Extra, codegen::util};
 
 /// Generates `local` variables and local resource proxies
 ///
@@ -10,7 +9,6 @@ use crate::{analyze::Analysis, check::Extra, codegen::util};
 pub fn codegen(
     app: &App,
     _analysis: &Analysis,
-    _extra: &Extra,
 ) -> (
     // mod_app -- the `static` variables behind the proxies
     Vec<TokenStream2>,

macros/src/codegen/local_resources_struct.rs

@@ -1,9 +1,9 @@
-use proc_macro2::TokenStream as TokenStream2;
+use crate::syntax::{
-use quote::quote;
-use rtic_syntax::{
     ast::{App, TaskLocal},
     Context,
 };
+use proc_macro2::TokenStream as TokenStream2;
+use quote::quote;
 
 use crate::codegen::util;
 
@@ -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,
     };
@@ -49,9 +55,7 @@ pub fn codegen(ctxt: Context, needs_lt: &mut bool, app: &App) -> (TokenStream2,
             util::declared_static_local_resource_ident(name, &task_name)
         };
 
-        let local_resource_doc = format!(" Local resource `{name}`");
         fields.push(quote!(
-            #[doc = #local_resource_doc]
             #(#cfgs)*
             pub #name: &#lt mut #ty
         ));
@@ -84,7 +88,7 @@ pub fn codegen(ctxt: Context, needs_lt: &mut bool, app: &App) -> (TokenStream2,
         }
     }
 
-    let doc = format!(" Local resources `{}` has access to", ctxt.ident(app));
+    let doc = format!("Local resources `{}` has access to", ctxt.ident(app));
     let ident = util::local_resources_ident(ctxt, app);
     let item = quote!(
         #[allow(non_snake_case)]
@@ -98,7 +102,6 @@ pub fn codegen(ctxt: Context, needs_lt: &mut bool, app: &App) -> (TokenStream2,
     let constructor = quote!(
         impl<#lt> #ident<#lt> {
             #[inline(always)]
-            #[doc(hidden)]
             pub unsafe fn new() -> Self {
                 #ident {
                     #(#values,)*

macros/src/codegen/module.rs

@@ -1,7 +1,7 @@
-use crate::{analyze::Analysis, check::Extra, codegen::util};
+use crate::syntax::{ast::App, Context};
+use crate::{analyze::Analysis, codegen::util};
 use proc_macro2::TokenStream as TokenStream2;
 use quote::quote;
-use rtic_syntax::{ast::App, Context};
 
 #[allow(clippy::too_many_lines)]
 pub fn codegen(
@@ -10,12 +10,13 @@ pub fn codegen(
     local_resources_tick: bool,
     app: &App,
     analysis: &Analysis,
-    extra: &Extra,
 ) -> TokenStream2 {
     let mut items = vec![];
     let mut module_items = vec![];
     let mut fields = vec![];
     let mut values = vec![];
+    // Used to copy task cfgs to the whole module
+    let mut task_cfgs = vec![];
 
     let name = ctxt.ident(app);
 
@@ -27,8 +28,8 @@ pub fn codegen(
                 pub core: rtic::export::Peripherals
             ));
 
-            if extra.peripherals {
+            if app.args.peripherals {
-                let device = &extra.device;
+                let device = &app.args.device;
 
                 fields.push(quote!(
                     /// Device peripherals
@@ -52,14 +53,6 @@ pub fn codegen(
         Context::Idle | Context::HardwareTask(_) | Context::SoftwareTask(_) => {}
     }
 
-    // if ctxt.has_locals(app) {
-    //     let ident = util::locals_ident(ctxt, app);
-    //     module_items.push(quote!(
-    //         #[doc(inline)]
-    //         pub use super::#ident as Locals;
-    //     ));
-    // }
-
     if ctxt.has_local_resources(app) {
         let ident = util::local_resources_ident(ctxt, app);
         let lt = if local_resources_tick {
@@ -114,12 +107,8 @@ pub fn codegen(
             .monotonics
             .iter()
             .map(|(_, monotonic)| {
-                let cfgs = &monotonic.cfgs;
                 let mono = &monotonic.ty;
-                quote! {
+                quote! {#mono}
-                    #(#cfgs)*
-                    pub #mono
-                }
             })
             .collect();
 
@@ -130,7 +119,7 @@ pub fn codegen(
             #[allow(non_snake_case)]
             #[allow(non_camel_case_types)]
             pub struct #internal_monotonics_ident(
-                #(#monotonic_types),*
+                #(pub #monotonic_types),*
             );
         ));
 
@@ -141,10 +130,10 @@ pub fn codegen(
     }
 
     let doc = match ctxt {
-        Context::Idle => " Idle loop",
+        Context::Idle => "Idle loop",
-        Context::Init => " Initialization function",
+        Context::Init => "Initialization function",
-        Context::HardwareTask(_) => " Hardware task",
+        Context::HardwareTask(_) => "Hardware task",
-        Context::SoftwareTask(_) => " Software task",
+        Context::SoftwareTask(_) => "Software task",
     };
 
     let v = Vec::new();
@@ -175,8 +164,8 @@ pub fn codegen(
     let internal_context_name = util::internal_task_ident(name, "Context");
 
     items.push(quote!(
-        /// Execution context
         #(#cfgs)*
+        /// Execution context
         #[allow(non_snake_case)]
         #[allow(non_camel_case_types)]
         pub struct #internal_context_name<#lt> {
@@ -185,7 +174,6 @@ pub fn codegen(
 
         #(#cfgs)*
         impl<#lt> #internal_context_name<#lt> {
-            #[doc(hidden)]
             #[inline(always)]
             pub unsafe fn new(#core #priority) -> Self {
                 #internal_context_name {
@@ -196,8 +184,8 @@ pub fn codegen(
     ));
 
     module_items.push(quote!(
-        #[doc(inline)]
         #(#cfgs)*
+        #[doc(inline)]
         pub use super::#internal_context_name as Context;
     ));
 
@@ -206,6 +194,8 @@ pub fn codegen(
         let priority = spawnee.args.priority;
         let t = util::spawn_t_ident(priority);
         let cfgs = &spawnee.cfgs;
+        // Store a copy of the task cfgs
+        task_cfgs = cfgs.clone();
         let (args, tupled, untupled, ty) = util::regroup_inputs(&spawnee.inputs);
         let args = &args;
         let tupled = &tupled;
@@ -213,21 +203,53 @@ pub fn codegen(
         let rq = util::rq_ident(priority);
         let inputs = util::inputs_ident(name);
 
-        let device = &extra.device;
+        let device = &app.args.device;
         let enum_ = util::interrupt_ident();
-        let interrupt = &analysis
+        let interrupt = if spawnee.is_async {
-            .interrupts
+            &analysis
+                .interrupts_async
                 .get(&priority)
                 .expect("RTIC-ICE: interrupt identifer not found")
-            .0;
+                .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
+        if spawnee.is_async {
+            let rq = util::rq_async_ident(name);
             items.push(quote!(
 
-        /// Spawns the task directly
             #(#cfgs)*
+            /// Spawns the task directly
+            #[allow(non_snake_case)]
+            #[doc(hidden)]
+            pub fn #internal_spawn_ident(#(#args,)*) -> Result<(), #ty> {
+                let input = #tupled;
+
+                unsafe {
+                    let r = rtic::export::interrupt::free(|_| (&mut *#rq.get_mut()).enqueue(input));
+
+                    if r.is_ok() {
+                        rtic::pend(#device::#enum_::#interrupt);
+                    }
+
+                    r
+                }
+            }));
+        } 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;
 
@@ -242,7 +264,6 @@ pub fn codegen(
                         rtic::export::interrupt::free(|_| {
                             (&mut *#rq.get_mut()).enqueue_unchecked((#t::#name, index));
                         });
-
                         rtic::pend(#device::#enum_::#interrupt);
 
                         Ok(())
@@ -252,14 +273,16 @@ pub fn codegen(
                 }
 
             }));
+        }
 
         module_items.push(quote!(
-            #[doc(inline)]
             #(#cfgs)*
+            #[doc(inline)]
             pub use super::#internal_spawn_ident as spawn;
         ));
 
         // Schedule caller
+        if !spawnee.is_async {
             for (_, monotonic) in &app.monotonics {
                 let instants = util::monotonic_instants_ident(name, &monotonic.ident);
                 let monotonic_name = monotonic.ident.to_string();
@@ -267,7 +290,6 @@ pub fn codegen(
                 let tq = util::tq_ident(&monotonic.ident.to_string());
                 let t = util::schedule_t_ident();
                 let m = &monotonic.ident;
-            let cfgs = &monotonic.cfgs;
                 let m_ident = util::monotonic_ident(&monotonic_name);
                 let m_isr = &monotonic.args.binds;
                 let enum_ = util::interrupt_ident();
@@ -288,9 +310,6 @@ pub fn codegen(
 
                 let tq_marker = &util::timer_queue_marker_ident();
 
-            // For future use
-            // let doc = format!(" RTIC internal: {}:{}", file!(), line!());
-            // items.push(quote!(#[doc = #doc]));
                 let internal_spawn_handle_ident =
                     util::internal_monotonics_ident(name, m, "SpawnHandle");
                 let internal_spawn_at_ident = util::internal_monotonics_ident(name, m, "spawn_at");
@@ -299,26 +318,26 @@ pub fn codegen(
 
                 if monotonic.args.default {
                     module_items.push(quote!(
-                    #(#cfgs)*
+                        #[doc(inline)]
                         pub use #m::spawn_after;
-                    #(#cfgs)*
+                        #[doc(inline)]
                         pub use #m::spawn_at;
-                    #(#cfgs)*
+                        #[doc(inline)]
                         pub use #m::SpawnHandle;
                     ));
                 }
                 module_items.push(quote!(
-                #[doc(hidden)]
-                #(#cfgs)*
                     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!(
-                #[doc(hidden)]
                 #(#cfgs)*
                 #[allow(non_snake_case)]
                 #[allow(non_camel_case_types)]
@@ -329,7 +348,6 @@ pub fn codegen(
 
                 #(#cfgs)*
                 impl core::fmt::Debug for #internal_spawn_handle_ident {
-                    #[doc(hidden)]
                     fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
                         f.debug_struct(#spawn_handle_string).finish()
                     }
@@ -340,7 +358,7 @@ pub fn codegen(
                     pub fn cancel(self) -> Result<#ty, ()> {
                         rtic::export::interrupt::free(|_| unsafe {
                             let tq = &mut *#tq.get_mut();
-                            if let Some((_task, index)) = tq.cancel_marker(self.marker) {
+                            if let Some((_task, index)) = tq.cancel_task_marker(self.marker) {
                                 // Get the message
                                 let msg = (&*#inputs
                                     .get())
@@ -357,9 +375,7 @@ pub fn codegen(
                         })
                     }
 
-                    /// Reschedule after 
                     #[inline]
-                    #(#cfgs)*
                     pub fn reschedule_after(
                         self,
                         duration: <#m as rtic::Monotonic>::Duration
@@ -367,8 +383,6 @@ pub fn codegen(
                         self.reschedule_at(monotonics::#m::now() + duration)
                     }
 
-                    /// Reschedule at 
-                    #(#cfgs)*
                     pub fn reschedule_at(
                         self,
                         instant: <#m as rtic::Monotonic>::Instant
@@ -379,16 +393,17 @@ pub fn codegen(
 
                             let tq = (&mut *#tq.get_mut());
 
-                            tq.update_marker(self.marker, marker, instant, || #pend).map(|_| #name::#m::SpawnHandle { marker })
+                            tq.update_task_marker(self.marker, marker, instant, || #pend).map(|_| #name::#m::SpawnHandle { marker })
                         })
                     }
                 }
 
+
+                #(#cfgs)*
                 /// Spawns the task after a set duration relative to the current time
                 ///
                 /// This will use the time `Instant::new(0)` as baseline if called in `#[init]`,
                 /// so if you use a non-resetable timer use `spawn_at` when in `#[init]`
-                #(#cfgs)*
                 #[allow(non_snake_case)]
                 pub fn #internal_spawn_after_ident(
                     duration: <#m as rtic::Monotonic>::Duration
@@ -424,10 +439,10 @@ pub fn codegen(
 
                             rtic::export::interrupt::free(|_| {
                                 let marker = #tq_marker.get().read();
-                                let nr = rtic::export::NotReady {
+                                let nr = rtic::export::TaskNotReady {
-                                    instant,
-                                    index,
                                     task: #t::#name,
+                                    index,
+                                    instant,
                                     marker,
                                 };
 
@@ -435,7 +450,7 @@ pub fn codegen(
 
                                 let tq = &mut *#tq.get_mut();
 
-                                tq.enqueue_unchecked(
+                                tq.enqueue_task_unchecked(
                                     nr,
                                     || #enable_interrupt,
                                     || #pend,
@@ -451,14 +466,16 @@ pub fn codegen(
             ));
             }
         }
+    }
 
     if items.is_empty() {
         quote!()
     } else {
         quote!(
             #(#items)*
+
             #[allow(non_snake_case)]
-            #(#cfgs)*
+            #(#task_cfgs)*
             #[doc = #doc]
             pub mod #name {
                 #(#module_items)*

macros/src/codegen/monotonic.rs

@@ -0,0 +1,280 @@
+use crate::syntax::ast::App;
+use proc_macro2::TokenStream as TokenStream2;
+use quote::quote;
+
+use crate::{analyze::Analysis, codegen::util};
+
+/// Generates monotonic module dispatchers
+pub fn codegen(app: &App, _analysis: &Analysis) -> TokenStream2 {
+    let mut monotonic_parts: Vec<_> = Vec::new();
+
+    let tq_marker = util::timer_queue_marker_ident();
+
+    for (_, monotonic) in &app.monotonics {
+        // let instants = util::monotonic_instants_ident(name, &monotonic.ident);
+        let monotonic_name = monotonic.ident.to_string();
+
+        let tq = util::tq_ident(&monotonic_name);
+        let m = &monotonic.ident;
+        let m_ident = util::monotonic_ident(&monotonic_name);
+        let m_isr = &monotonic.args.binds;
+        let enum_ = util::interrupt_ident();
+        let name_str = &m.to_string();
+        let ident = util::monotonic_ident(name_str);
+        let doc = &format!(
+            "This module holds the static implementation for `{}::now()`",
+            name_str
+        );
+
+        let (enable_interrupt, pend) = if &*m_isr.to_string() == "SysTick" {
+            (
+                quote!(core::mem::transmute::<_, rtic::export::SYST>(()).enable_interrupt()),
+                quote!(rtic::export::SCB::set_pendst()),
+            )
+        } else {
+            let rt_err = util::rt_err_ident();
+            (
+                quote!(rtic::export::NVIC::unmask(super::super::#rt_err::#enum_::#m_isr)),
+                quote!(rtic::pend(super::super::#rt_err::#enum_::#m_isr)),
+            )
+        };
+
+        let default_monotonic = if monotonic.args.default {
+            quote!(
+                #[doc(inline)]
+                pub use #m::now;
+                #[doc(inline)]
+                pub use #m::delay;
+                #[doc(inline)]
+                pub use #m::delay_until;
+                #[doc(inline)]
+                pub use #m::timeout_at;
+                #[doc(inline)]
+                pub use #m::timeout_after;
+            )
+        } else {
+            quote!()
+        };
+
+        monotonic_parts.push(quote! {
+            #default_monotonic
+
+            #[doc = #doc]
+            #[allow(non_snake_case)]
+            pub mod #m {
+                /// Read the current time from this monotonic
+                pub fn now() -> <super::super::#m as rtic::Monotonic>::Instant {
+                    rtic::export::interrupt::free(|_| {
+                        use rtic::Monotonic as _;
+                        if let Some(m) = unsafe{ &mut *super::super::#ident.get_mut() } {
+                            m.now()
+                        } else {
+                            <super::super::#m as rtic::Monotonic>::zero()
+                        }
+                    })
+                }
+
+                /// Delay
+                #[inline(always)]
+                #[allow(non_snake_case)]
+                pub fn delay(duration: <super::super::#m as rtic::Monotonic>::Duration)
+                    -> DelayFuture  {
+                    let until = now() + duration;
+                    DelayFuture { until, waker_storage: None }
+                }
+
+                /// Delay until a specific time
+                #[inline(always)]
+                #[allow(non_snake_case)]
+                pub fn delay_until(instant: <super::super::#m as rtic::Monotonic>::Instant)
+                    -> DelayFuture  {
+                    let until = instant;
+                    DelayFuture { until, waker_storage: None }
+                }
+
+                /// Delay future.
+                #[allow(non_snake_case)]
+                #[allow(non_camel_case_types)]
+                pub struct DelayFuture {
+                    until: <super::super::#m as rtic::Monotonic>::Instant,
+                    waker_storage: Option<rtic::export::IntrusiveNode<rtic::export::WakerNotReady<super::super::#m>>>,
+                }
+
+                impl Drop for DelayFuture {
+                    fn drop(&mut self) {
+                        if let Some(waker_storage) = &mut self.waker_storage {
+                            rtic::export::interrupt::free(|_| unsafe {
+                                let tq = &mut *super::super::#tq.get_mut();
+                                tq.cancel_waker_marker(waker_storage.val.marker);
+                            });
+                        }
+                    }
+                }
+
+                impl core::future::Future for DelayFuture {
+                    type Output = ();
+
+                    fn poll(
+                        mut self: core::pin::Pin<&mut Self>,
+                        cx: &mut core::task::Context<'_>
+                    ) -> core::task::Poll<Self::Output> {
+                        let mut s = self.as_mut();
+                        let now = now();
+                        let until = s.until;
+                        let is_ws_none = s.waker_storage.is_none();
+
+                        if now >= until {
+                            return core::task::Poll::Ready(());
+                        } else if is_ws_none {
+                            rtic::export::interrupt::free(|_| unsafe {
+                                let marker = super::super::#tq_marker.get().read();
+                                super::super::#tq_marker.get_mut().write(marker.wrapping_add(1));
+
+                                let nr = s.waker_storage.insert(rtic::export::IntrusiveNode::new(rtic::export::WakerNotReady {
+                                    waker: cx.waker().clone(),
+                                    instant: until,
+                                    marker,
+                                }));
+
+                                let tq = &mut *super::super::#tq.get_mut();
+
+                                tq.enqueue_waker(
+                                    core::mem::transmute(nr), // Transmute the reference to static
+                                    || #enable_interrupt,
+                                    || #pend,
+                                    (&mut *super::super::#m_ident.get_mut()).as_mut());
+                            });
+                        }
+
+                        core::task::Poll::Pending
+                    }
+                }
+
+                /// Timeout future.
+                #[allow(non_snake_case)]
+                #[allow(non_camel_case_types)]
+                pub struct TimeoutFuture<F: core::future::Future> {
+                    future: F,
+                    until: <super::super::#m as rtic::Monotonic>::Instant,
+                    waker_storage: Option<rtic::export::IntrusiveNode<rtic::export::WakerNotReady<super::super::#m>>>,
+                }
+
+                impl<F: core::future::Future> Drop for TimeoutFuture<F> {
+                    fn drop(&mut self) {
+                        if let Some(waker_storage) = &mut self.waker_storage {
+                            rtic::export::interrupt::free(|_| unsafe {
+                                let tq = &mut *super::super::#tq.get_mut();
+                                tq.cancel_waker_marker(waker_storage.val.marker);
+                            });
+                        }
+                    }
+                }
+
+                /// Timeout after
+                #[allow(non_snake_case)]
+                #[inline(always)]
+                pub fn timeout_after<F: core::future::Future>(
+                    future: F,
+                    duration: <super::super::#m as rtic::Monotonic>::Duration
+                ) -> TimeoutFuture<F> {
+                    let until = now() + duration;
+                    TimeoutFuture {
+                        future,
+                        until,
+                        waker_storage: None,
+                    }
+                }
+
+                /// Timeout at
+                #[allow(non_snake_case)]
+                #[inline(always)]
+                pub fn timeout_at<F: core::future::Future>(
+                    future: F,
+                    instant: <super::super::#m as rtic::Monotonic>::Instant
+                ) -> TimeoutFuture<F> {
+                    TimeoutFuture {
+                        future,
+                        until: instant,
+                        waker_storage: None,
+                    }
+                }
+
+                impl<F> core::future::Future for TimeoutFuture<F>
+                where
+                    F: core::future::Future,
+                {
+                    type Output = Result<F::Output, super::TimeoutError>;
+
+                    fn poll(
+                        self: core::pin::Pin<&mut Self>,
+                        cx: &mut core::task::Context<'_>
+                    ) -> core::task::Poll<Self::Output> {
+                        // SAFETY: We don't move the underlying pinned value.
+                        let mut s = unsafe { self.get_unchecked_mut() };
+                        let future = unsafe { core::pin::Pin::new_unchecked(&mut s.future) };
+                        let now = now();
+                        let until = s.until;
+                        let is_ws_none = s.waker_storage.is_none();
+
+                        match future.poll(cx) {
+                            core::task::Poll::Ready(r) => {
+                                if let Some(waker_storage) = &mut s.waker_storage {
+                                    rtic::export::interrupt::free(|_| unsafe {
+                                        let tq = &mut *super::super::#tq.get_mut();
+                                        tq.cancel_waker_marker(waker_storage.val.marker);
+                                    });
+                                }
+
+                                return core::task::Poll::Ready(Ok(r));
+                            }
+                            core::task::Poll::Pending => {
+                                if now >= until {
+                                    // Timeout
+                                    return core::task::Poll::Ready(Err(super::TimeoutError));
+                                } else if is_ws_none {
+                                    rtic::export::interrupt::free(|_| unsafe {
+                                        let marker = super::super::#tq_marker.get().read();
+                                        super::super::#tq_marker.get_mut().write(marker.wrapping_add(1));
+
+                                        let nr = s.waker_storage.insert(rtic::export::IntrusiveNode::new(rtic::export::WakerNotReady {
+                                            waker: cx.waker().clone(),
+                                            instant: until,
+                                            marker,
+                                        }));
+
+                                        let tq = &mut *super::super::#tq.get_mut();
+
+                                        tq.enqueue_waker(
+                                            core::mem::transmute(nr), // Transmute the reference to static
+                                            || #enable_interrupt,
+                                            || #pend,
+                                            (&mut *super::super::#m_ident.get_mut()).as_mut());
+                                    });
+                                }
+                            }
+                        }
+
+                        core::task::Poll::Pending
+                    }
+                }
+            }
+        });
+    }
+
+    if monotonic_parts.is_empty() {
+        quote!()
+    } else {
+        quote!(
+            pub use rtic::Monotonic as _;
+
+            /// Holds static methods for each monotonic.
+            pub mod monotonics {
+                /// A timeout error.
+                #[derive(Debug)]
+                pub struct TimeoutError;
+
+                #(#monotonic_parts)*
+            }
+        )
+    }
+}

macros/src/codegen/post_init.rs

@@ -1,6 +1,6 @@
+use crate::syntax::ast::App;
 use proc_macro2::{Span, TokenStream as TokenStream2};
 use quote::quote;
-use rtic_syntax::ast::App;
 use syn::Index;
 
 use crate::{analyze::Analysis, codegen::util};
@@ -43,28 +43,21 @@ pub fn codegen(app: &App, analysis: &Analysis) -> Vec<TokenStream2> {
         }
     }
 
-    for (i, (monotonic_ident, monotonic)) in app.monotonics.iter().enumerate() {
+    for (i, (monotonic, _)) in app.monotonics.iter().enumerate() {
         // For future use
         // let doc = format!(" RTIC internal: {}:{}", file!(), line!());
         // stmts.push(quote!(#[doc = #doc]));
-        let cfgs = &monotonic.cfgs;
 
         #[allow(clippy::cast_possible_truncation)]
         let idx = Index {
             index: i as u32,
             span: Span::call_site(),
         };
-        stmts.push(quote!(
+        stmts.push(quote!(monotonics.#idx.reset();));
-            #(#cfgs)*
-            monotonics.#idx.reset();
-        ));
 
         // Store the monotonic
-        let name = util::monotonic_ident(&monotonic_ident.to_string());
+        let name = util::monotonic_ident(&monotonic.to_string());
-        stmts.push(quote!(
+        stmts.push(quote!(#name.get_mut().write(Some(monotonics.#idx));));
-            #(#cfgs)*
-            #name.get_mut().write(Some(monotonics.#idx));
-        ));
     }
 
     // Enable the interrupts -- this completes the `init`-ialization phase

macros/src/codegen/pre_init.rs

@@ -1,11 +1,11 @@
+use crate::syntax::ast::App;
 use proc_macro2::TokenStream as TokenStream2;
 use quote::quote;
-use rtic_syntax::ast::App;
 
-use crate::{analyze::Analysis, check::Extra, codegen::util};
+use crate::{analyze::Analysis, codegen::util};
 
 /// Generates code that runs before `#[init]`
-pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream2> {
+pub fn codegen(app: &App, analysis: &Analysis) -> Vec<TokenStream2> {
     let mut stmts = vec![];
 
     let rt_err = util::rt_err_ident();
@@ -15,12 +15,14 @@ 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 cfgs = &task.cfgs;
         let fq_ident = util::fq_ident(name);
 
         stmts.push(quote!(
-            #(#cfgs)*
             (0..#cap).for_each(|i| (&mut *#fq_ident.get_mut()).enqueue_unchecked(i));
         ));
     }
@@ -30,17 +32,21 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream
         let mut core: rtic::export::Peripherals = rtic::export::Peripherals::steal().into();
     ));
 
-    let device = &extra.device;
+    let device = &app.args.device;
     let nvic_prio_bits = quote!(#device::NVIC_PRIO_BITS);
 
     // check that all dispatchers exists in the `Interrupt` enumeration regardless of whether
     // they are used or not
     let interrupt = util::interrupt_ident();
-    for name in app.args.extern_interrupts.keys() {
+    for name in app.args.dispatchers.keys() {
         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

@@ -1,14 +1,13 @@
-use crate::{analyze::Analysis, check::Extra, codegen::util};
+use crate::syntax::{analyze::Ownership, ast::App};
+use crate::{analyze::Analysis, codegen::util};
 use proc_macro2::TokenStream as TokenStream2;
 use quote::quote;
-use rtic_syntax::{analyze::Ownership, ast::App};
 use std::collections::HashMap;
 
 /// Generates `static` variables and shared resource proxies
 pub fn codegen(
     app: &App,
     analysis: &Analysis,
-    extra: &Extra,
 ) -> (
     // mod_app -- the `static` variables behind the proxies
     Vec<TokenStream2>,
@@ -90,7 +89,7 @@ pub fn codegen(
             // let doc = format!(" RTIC internal ({} resource): {}:{}", doc, file!(), line!());
 
             mod_app.push(util::impl_mutex(
-                extra,
+                app,
                 cfgs,
                 true,
                 &shared_name,
@@ -112,10 +111,14 @@ 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;
+    let device = &app.args.device;
     let mut uses_exceptions_with_resources = false;
 
     let mut mask_ids = Vec::new();
@@ -147,8 +150,7 @@ pub fn codegen(
             None
         }
     })) {
-        #[allow(clippy::or_fun_call)]
+        let v: &mut Vec<_> = prio_to_masks.entry(priority - 1).or_default();
-        let v = prio_to_masks.entry(priority - 1).or_insert(Vec::new());
         v.push(quote!(#device::Interrupt::#name as u32));
         mask_ids.push(quote!(#device::Interrupt::#name as u32));
     }

macros/src/codegen/shared_resources_struct.rs

@@ -1,6 +1,6 @@
+use crate::syntax::{ast::App, Context};
 use proc_macro2::TokenStream as TokenStream2;
 use quote::quote;
-use rtic_syntax::{ast::App, Context};
 
 use crate::codegen::util;
 
@@ -10,24 +10,17 @@ 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,
     };
 
-    let v = Vec::new();
-    let task_cfgs = match ctxt {
-        Context::HardwareTask(t) => {
-            &app.hardware_tasks[t].cfgs
-            // ...
-        }
-        Context::SoftwareTask(t) => {
-            &app.software_tasks[t].cfgs
-            // ...
-        }
-        _ => &v,
-    };
-
     let mut fields = vec![];
     let mut values = vec![];
     let mut has_cfgs = false;
@@ -57,18 +50,14 @@ pub fn codegen(ctxt: Context, needs_lt: &mut bool, app: &App) -> (TokenStream2,
                 quote!('a)
             };
 
-            let lock_free_resource_doc = format!(" Lock free resource `{name}`");
             fields.push(quote!(
-                #[doc = #lock_free_resource_doc]
                 #(#cfgs)*
                 pub #name: &#lt #mut_ #ty
             ));
         } else if access.is_shared() {
             lt = Some(quote!('a));
 
-            let shared_resource_doc = format!(" Shared resource `{name}`");
             fields.push(quote!(
-                #[doc = #shared_resource_doc]
                 #(#cfgs)*
                 pub #name: &'a #ty
             ));
@@ -76,16 +65,12 @@ pub fn codegen(ctxt: Context, needs_lt: &mut bool, app: &App) -> (TokenStream2,
             // Resource proxy
             lt = Some(quote!('a));
 
-            let resource_doc =
-                format!(" Resource proxy resource `{name}`. Use method `.lock()` to gain access");
             fields.push(quote!(
-                #[doc = #resource_doc]
                 #(#cfgs)*
                 pub #name: shared_resources::#shared_name<'a>
             ));
 
             values.push(quote!(
-                #[doc(hidden)]
                 #(#cfgs)*
                 #name: shared_resources::#shared_name::new(priority)
 
@@ -95,17 +80,13 @@ pub fn codegen(ctxt: Context, needs_lt: &mut bool, app: &App) -> (TokenStream2,
             continue;
         }
 
-        let resource_doc;
         let expr = if access.is_exclusive() {
-            resource_doc = format!(" Exclusive access resource `{name}`");
             quote!(&mut *(&mut *#mangled_name.get_mut()).as_mut_ptr())
         } else {
-            resource_doc = format!(" Non-exclusive access resource `{name}`");
             quote!(&*(&*#mangled_name.get()).as_ptr())
         };
 
         values.push(quote!(
-            #[doc = #resource_doc]
             #(#cfgs)*
             #name: #expr
         ));
@@ -125,13 +106,12 @@ pub fn codegen(ctxt: Context, needs_lt: &mut bool, app: &App) -> (TokenStream2,
         }
     }
 
-    let doc = format!(" Shared resources `{}` has access to", ctxt.ident(app));
+    let doc = format!("Shared resources `{}` has access to", ctxt.ident(app));
     let ident = util::shared_resources_ident(ctxt, app);
     let item = quote!(
         #[allow(non_snake_case)]
         #[allow(non_camel_case_types)]
         #[doc = #doc]
-        #(#task_cfgs)*
         pub struct #ident<#lt> {
             #(#fields,)*
         }
@@ -143,9 +123,7 @@ pub fn codegen(ctxt: Context, needs_lt: &mut bool, app: &App) -> (TokenStream2,
         Some(quote!(priority: &#lt rtic::export::Priority))
     };
     let constructor = quote!(
-        #(#task_cfgs)*
         impl<#lt> #ident<#lt> {
-            #[doc(hidden)]
             #[inline(always)]
             pub unsafe fn new(#arg) -> Self {
                 #ident {

macros/src/codegen/software_tasks.rs

@@ -1,17 +1,14 @@
-use proc_macro2::TokenStream as TokenStream2;
+use crate::syntax::{ast::App, Context};
-use quote::quote;
-use rtic_syntax::{ast::App, Context};
-
 use crate::{
     analyze::Analysis,
-    check::Extra,
     codegen::{local_resources_struct, module, shared_resources_struct, util},
 };
+use proc_macro2::TokenStream as TokenStream2;
+use quote::quote;
 
 pub fn codegen(
     app: &App,
     analysis: &Analysis,
-    extra: &Extra,
 ) -> (
     // mod_app_software_tasks -- free queues, buffers and `${task}Resources` constructors
     Vec<TokenStream2>,
@@ -27,15 +24,16 @@ pub fn codegen(
     let mut root = vec![];
     let mut user_tasks = vec![];
 
-    for (name, task) in &app.software_tasks {
+    // Any task
+    for (name, task) in app.software_tasks.iter() {
         let inputs = &task.inputs;
-        let cfgs = &task.cfgs;
         let (_, _, _, input_ty) = util::regroup_inputs(inputs);
 
         let cap = task.args.capacity;
         let cap_lit = util::capacity_literal(cap as usize);
         let cap_lit_p1 = util::capacity_literal(cap as usize + 1);
 
+        if !task.is_async {
             // Create free queues and inputs / instants buffers
             let fq = util::fq_ident(name);
 
@@ -47,10 +45,10 @@ pub fn codegen(
                     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
-            #(#cfgs)*
                 #[allow(non_camel_case_types)]
                 #[allow(non_upper_case_globals)]
                 #[doc(hidden)]
@@ -64,7 +62,6 @@ pub fn codegen(
             for (_, monotonic) in &app.monotonics {
                 let instants = util::monotonic_instants_ident(name, &monotonic.ident);
                 let mono_type = &monotonic.ty;
-            let cfgs = &monotonic.cfgs;
 
                 let uninit = mk_uninit();
                 // For future use
@@ -76,7 +73,6 @@ pub fn codegen(
                 #[allow(non_camel_case_types)]
                 #[allow(non_upper_case_globals)]
                 #[doc(hidden)]
-                #(#cfgs)*
                 static #instants:
                     rtic::RacyCell<[core::mem::MaybeUninit<<#mono_type as rtic::Monotonic>::Instant>; #cap_lit]> =
                     rtic::RacyCell::new([#(#elems,)*]);
@@ -85,16 +81,30 @@ pub fn codegen(
 
             let uninit = mk_uninit();
             let inputs_ident = util::inputs_ident(name);
+
+            // Buffer that holds the inputs of a task
             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)]
-            #(#cfgs)*
                 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!(
+                #[allow(non_camel_case_types)]
+                #[allow(non_upper_case_globals)]
+                #[doc(hidden)]
+                static #executor_ident: core::sync::atomic::AtomicBool =
+                    core::sync::atomic::AtomicBool::new(false);
+            ));
+        }
+
+        let inputs = &task.inputs;
 
         // `${task}Resources`
         let mut shared_needs_lt = false;
@@ -130,13 +140,24 @@ pub fn codegen(
             let attrs = &task.attrs;
             let cfgs = &task.cfgs;
             let stmts = &task.stmts;
-            let user_task_doc = format!(" User SW task {name}");
+            let (async_marker, context_lifetime) = if task.is_async {
+                (
+                    quote!(async),
+                    if shared_needs_lt || local_needs_lt {
+                        quote!(<'static>)
+                    } else {
+                        quote!()
+                    },
+                )
+            } else {
+                (quote!(), quote!())
+            };
+
             user_tasks.push(quote!(
-                #[doc = #user_task_doc]
                 #(#attrs)*
                 #(#cfgs)*
                 #[allow(non_snake_case)]
-                fn #name(#context: #name::Context #(,#inputs)*) {
+                #async_marker fn #name(#context: #name::Context #context_lifetime #(,#inputs)*) {
                     use rtic::Mutex as _;
                     use rtic::mutex::prelude::*;
 
@@ -151,7 +172,6 @@ pub fn codegen(
             local_needs_lt,
             app,
             analysis,
-            extra,
         ));
     }
 

macros/src/codegen/timer_queue.rs

@@ -1,18 +1,18 @@
+use crate::syntax::ast::App;
+use crate::{analyze::Analysis, codegen::util};
 use proc_macro2::TokenStream as TokenStream2;
 use quote::quote;
-use rtic_syntax::ast::App;
-
-use crate::{analyze::Analysis, check::Extra, codegen::util};
 
 /// Generates timer queues and timer queue handlers
 #[allow(clippy::too_many_lines)]
-pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStream2> {
+pub fn codegen(app: &App, analysis: &Analysis) -> Vec<TokenStream2> {
     let mut items = vec![];
 
     if !app.monotonics.is_empty() {
         // Generate the marker counter used to track for `cancel` and `reschedule`
         let tq_marker = util::timer_queue_marker_ident();
         items.push(quote!(
+            // #[doc = #doc]
             #[doc(hidden)]
             #[allow(non_camel_case_types)]
             #[allow(non_upper_case_globals)]
@@ -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;
 
@@ -55,7 +56,6 @@ pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStrea
         let tq = util::tq_ident(&monotonic_name);
         let t = util::schedule_t_ident();
         let mono_type = &monotonic.ty;
-        let cfgs = &monotonic.cfgs;
         let m_ident = util::monotonic_ident(&monotonic_name);
 
         // Static variables and resource proxy
@@ -67,8 +67,8 @@ pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStrea
                 .iter()
                 .map(|(_name, task)| task.args.capacity as usize)
                 .sum();
-            let n = util::capacity_literal(cap);
+            let n_task = util::capacity_literal(cap);
-            let tq_ty = quote!(rtic::export::TimerQueue<#mono_type, #t, #n>);
+            let tq_ty = quote!(rtic::export::TimerQueue<#mono_type, #t, #n_task>);
 
             // For future use
             // let doc = format!(" RTIC internal: {}:{}", file!(), line!());
@@ -76,9 +76,12 @@ pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStrea
                 #[doc(hidden)]
                 #[allow(non_camel_case_types)]
                 #[allow(non_upper_case_globals)]
-                #(#cfgs)*
+                static #tq: rtic::RacyCell<#tq_ty> = rtic::RacyCell::new(
-                static #tq: rtic::RacyCell<#tq_ty> =
+                    rtic::export::TimerQueue {
-                    rtic::RacyCell::new(rtic::export::TimerQueue(rtic::export::SortedLinkedList::new_u16()));
+                        task_queue: rtic::export::SortedLinkedList::new_u16(),
+                        waker_queue: rtic::export::IntrusiveSortedLinkedList::new(),
+                    }
+                );
             ));
 
             let mono = util::monotonic_ident(&monotonic_name);
@@ -89,7 +92,6 @@ pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStrea
                 #[doc(hidden)]
                 #[allow(non_camel_case_types)]
                 #[allow(non_upper_case_globals)]
-                #(#cfgs)*
                 static #mono: rtic::RacyCell<Option<#mono_type>> = rtic::RacyCell::new(None);
             ));
         }
@@ -102,6 +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;
@@ -109,7 +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!(
@@ -120,7 +123,9 @@ pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStrea
                     quote!(
                         #(#cfgs)*
                         #t::#name => {
-                            rtic::export::interrupt::free(|_| (&mut *#rq.get_mut()).split().0.enqueue_unchecked((#rqt::#name, index)));
+                            rtic::export::interrupt::free(|_|
+                                (&mut *#rq.get_mut()).split().0.enqueue_unchecked((#rqt::#name, index))
+                            );
 
                             #pend
                         }
@@ -128,7 +133,6 @@ pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStrea
                 })
                 .collect::<Vec<_>>();
 
-            let cfgs = &monotonic.cfgs;
             let bound_interrupt = &monotonic.args.binds;
             let disable_isr = if &*bound_interrupt.to_string() == "SysTick" {
                 quote!(core::mem::transmute::<_, rtic::export::SYST>(()).disable_interrupt())
@@ -139,7 +143,6 @@ pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStrea
             items.push(quote!(
                 #[no_mangle]
                 #[allow(non_snake_case)]
-                #(#cfgs)*
                 unsafe fn #bound_interrupt() {
                     while let Some((task, index)) = rtic::export::interrupt::free(|_|
                         if let Some(mono) = (&mut *#m_ident.get_mut()).as_mut() {

macros/src/codegen/util.rs

@@ -1,12 +1,10 @@
 use core::sync::atomic::{AtomicUsize, Ordering};
 
+use crate::syntax::{ast::App, Context};
 use proc_macro2::{Span, TokenStream as TokenStream2};
 use quote::quote;
-use rtic_syntax::{ast::App, Context};
 use syn::{Attribute, Ident, LitInt, PatType};
 
-use crate::check::Extra;
-
 const RTIC_INTERNAL: &str = "__rtic_internal";
 
 /// Turns `capacity` into an unsuffixed integer literal
@@ -21,7 +19,7 @@ pub fn fq_ident(task: &Ident) -> Ident {
 
 /// Generates a `Mutex` implementation
 pub fn impl_mutex(
-    extra: &Extra,
+    app: &App,
     cfgs: &[Attribute],
     resources_prefix: bool,
     name: &Ident,
@@ -35,7 +33,7 @@ pub fn impl_mutex(
         (quote!(#name), quote!(self.priority))
     };
 
-    let device = &extra.device;
+    let device = &app.args.device;
     let masks_name = priority_masks_ident();
     quote!(
         #(#cfgs)*
@@ -67,6 +65,11 @@ pub fn inputs_ident(task: &Ident) -> Ident {
     mark_internal_name(&format!("{}_INPUTS", task))
 }
 
+/// Generates an identifier for the `EXECUTOR_RUN` atomics (`async` API)
+pub fn executor_run_ident(task: &Ident) -> Ident {
+    mark_internal_name(&format!("{}_EXECUTOR_RUN", task))
+}
+
 /// Generates an identifier for the `INSTANTS` buffer (`schedule` API)
 pub fn monotonic_instants_ident(task: &Ident, monotonic: &Ident) -> Ident {
     mark_internal_name(&format!("{}_{}_INSTANTS", task, monotonic))
@@ -179,7 +182,12 @@ 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(),
     };
 
@@ -190,7 +198,12 @@ 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(),
     };
 
@@ -203,7 +216,12 @@ 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(),
     };
 
@@ -220,9 +238,14 @@ 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 {
-    Ident::new("SCHED_T", Span::call_site())
+    mark_internal_name("SCHED_T")
 }
 
 /// Generates an identifier for the `enum` of `spawn`-able tasks
@@ -230,7 +253,7 @@ pub fn schedule_t_ident() -> Ident {
 /// This identifier needs the same structure as the `RQ` identifier because there's one ready queue
 /// for each of these `T` enums
 pub fn spawn_t_ident(priority: u8) -> Ident {
-    Ident::new(&format!("P{}_T", priority), Span::call_site())
+    mark_internal_name(&format!("P{}_T", priority))
 }
 
 /// Suffixed identifier

macros/src/lib.rs

@@ -1,21 +1,46 @@
 #![doc(
-    html_logo_url = "https://raw.githubusercontent.com/rtic-rs/cortex-m-rtic/master/book/en/src/RTIC.svg",
+    html_logo_url = "https://raw.githubusercontent.com/rtic-rs/rtic/master/book/en/src/RTIC.svg",
-    html_favicon_url = "https://raw.githubusercontent.com/rtic-rs/cortex-m-rtic/master/book/en/src/RTIC.svg"
+    html_favicon_url = "https://raw.githubusercontent.com/rtic-rs/rtic/master/book/en/src/RTIC.svg"
 )]
-//deny_warnings_placeholder_for_ci
 
-extern crate proc_macro;
+//deny_warnings_placeholder_for_ci
 
 use proc_macro::TokenStream;
 use std::{env, fs, path::Path};
 
-use rtic_syntax::Settings;
-
 mod analyze;
-mod check;
+mod bindings;
 mod codegen;
-#[cfg(test)]
+mod syntax;
-mod tests;
+
+// Used for mocking the API in testing
+#[doc(hidden)]
+#[proc_macro_attribute]
+pub fn mock_app(args: TokenStream, input: TokenStream) -> TokenStream {
+    let mut settings = syntax::Settings::default();
+    let mut rtic_args = vec![];
+    for arg in args.to_string().split(',') {
+        if arg.trim() == "parse_binds" {
+            settings.parse_binds = true;
+        } else if arg.trim() == "parse_extern_interrupt" {
+            settings.parse_extern_interrupt = true;
+        } else {
+            rtic_args.push(arg.to_string());
+        }
+    }
+
+    // rtic_args.push("device = mock".into());
+
+    let args = rtic_args.join(", ").parse();
+
+    println!("args: {:?}", args);
+
+    if let Err(e) = syntax::parse(args.unwrap(), input, settings) {
+        e.to_compile_error().into()
+    } else {
+        "fn main() {}".parse().unwrap()
+    }
+}
 
 /// Attribute used to declare a RTIC application
 ///
@@ -26,24 +51,19 @@ mod tests;
 /// Should never panic, cargo feeds a path which is later converted to a string
 #[proc_macro_attribute]
 pub fn app(args: TokenStream, input: TokenStream) -> TokenStream {
-    let mut settings = Settings::default();
+    let mut settings = syntax::Settings::default();
     settings.optimize_priorities = false;
     settings.parse_binds = true;
     settings.parse_extern_interrupt = true;
 
-    let (app, analysis) = match rtic_syntax::parse(args, input, settings) {
+    let (app, analysis) = match syntax::parse(args, input, settings) {
-        Err(e) => return e.to_compile_error().into(),
-        Ok(x) => x,
-    };
-
-    let extra = match check::app(&app, &analysis) {
         Err(e) => return e.to_compile_error().into(),
         Ok(x) => x,
     };
 
     let analysis = analyze::app(analysis, &app);
 
-    let ts = codegen::app(&app, &analysis, &extra);
+    let ts = codegen::app(&app, &analysis);
 
     // Default output path: <project_dir>/target/
     let mut out_dir = Path::new("target");
@@ -52,22 +72,7 @@ pub fn app(args: TokenStream, input: TokenStream) -> TokenStream {
     // TODO don't want to break builds if OUT_DIR is not set, is this ever the case?
     let out_str = env::var("OUT_DIR").unwrap_or_else(|_| "".to_string());
 
-    // Assuming we are building for a thumbv* target
+    if !out_dir.exists() {
-    let target_triple_prefix = "thumbv";
-
-    // Check for special scenario where default target/ directory is not present
-    //
-    // This is configurable in .cargo/config:
-    //
-    // [build]
-    // target-dir = "target"
-    #[cfg(feature = "debugprint")]
-    println!("OUT_DIR\n{:#?}", out_str);
-
-    if out_dir.exists() {
-        #[cfg(feature = "debugprint")]
-        println!("\ntarget/ exists\n");
-    } else {
         // Set out_dir to OUT_DIR
         out_dir = Path::new(&out_str);
 
@@ -81,16 +86,11 @@ pub fn app(args: TokenStream, input: TokenStream) -> TokenStream {
         // If no "target" directory is found, <project_dir>/<out_dir_root> is used
         for path in out_dir.ancestors() {
             if let Some(dir) = path.components().last() {
-                if dir
+                let dir = dir.as_os_str().to_str().unwrap();
-                    .as_os_str()
+
-                    .to_str()
+                if dir.starts_with("thumbv") || dir.starts_with("riscv") {
-                    .unwrap()
-                    .starts_with(target_triple_prefix)
-                {
                     if let Some(out) = path.parent() {
                         out_dir = out;
-                        #[cfg(feature = "debugprint")]
-                        println!("{:#?}\n", out_dir);
                         break;
                     }
                     // If no parent, just use it
@@ -103,8 +103,6 @@ pub fn app(args: TokenStream, input: TokenStream) -> TokenStream {
 
     // Try to write the expanded code to disk
     if let Some(out_str) = out_dir.to_str() {
-        #[cfg(feature = "debugprint")]
-        println!("Write file:\n{}/rtic-expansion.rs\n", out_str);
         fs::write(format!("{}/rtic-expansion.rs", out_str), ts.to_string()).ok();
     }
 

macros/src/syntax.rs

@@ -0,0 +1,158 @@
+#[allow(unused_extern_crates)]
+extern crate proc_macro;
+
+use core::ops;
+use proc_macro::TokenStream;
+
+use indexmap::{IndexMap, IndexSet};
+use proc_macro2::TokenStream as TokenStream2;
+use syn::Ident;
+
+use crate::syntax::ast::App;
+
+mod accessors;
+pub mod analyze;
+pub mod ast;
+mod check;
+mod optimize;
+mod parse;
+
+/// An ordered map keyed by identifier
+pub type Map<T> = IndexMap<Ident, T>;
+
+/// An order set
+pub type Set<T> = IndexSet<T>;
+
+/// Immutable pointer
+pub struct P<T> {
+    ptr: Box<T>,
+}
+
+impl<T> P<T> {
+    /// Boxes `x` making the value immutable
+    pub fn new(x: T) -> P<T> {
+        P { ptr: Box::new(x) }
+    }
+}
+
+impl<T> ops::Deref for P<T> {
+    type Target = T;
+
+    fn deref(&self) -> &T {
+        &self.ptr
+    }
+}
+
+/// Execution context
+#[derive(Clone, Copy)]
+pub enum Context<'a> {
+    /// The `idle` context
+    Idle,
+
+    /// The `init`-ialization function
+    Init,
+
+    /// A software task: `#[task]`
+    SoftwareTask(&'a Ident),
+
+    /// A hardware task: `#[exception]` or `#[interrupt]`
+    HardwareTask(&'a Ident),
+}
+
+impl<'a> Context<'a> {
+    /// The identifier of this context
+    pub fn ident(&self, app: &'a App) -> &'a Ident {
+        match self {
+            Context::HardwareTask(ident) => ident,
+            Context::Idle => &app.idle.as_ref().unwrap().name,
+            Context::Init => &app.init.name,
+            Context::SoftwareTask(ident) => ident,
+        }
+    }
+
+    /// Is this the `idle` context?
+    pub fn is_idle(&self) -> bool {
+        matches!(self, Context::Idle)
+    }
+
+    /// Is this the `init`-ialization context?
+    pub fn is_init(&self) -> bool {
+        matches!(self, Context::Init)
+    }
+
+    /// Whether this context runs only once
+    pub fn runs_once(&self) -> bool {
+        self.is_init() || self.is_idle()
+    }
+
+    /// Whether this context has shared resources
+    pub fn has_shared_resources(&self, app: &App) -> bool {
+        match *self {
+            Context::HardwareTask(name) => {
+                !app.hardware_tasks[name].args.shared_resources.is_empty()
+            }
+            Context::Idle => !app.idle.as_ref().unwrap().args.shared_resources.is_empty(),
+            Context::Init => false,
+            Context::SoftwareTask(name) => {
+                !app.software_tasks[name].args.shared_resources.is_empty()
+            }
+        }
+    }
+
+    /// Whether this context has local resources
+    pub fn has_local_resources(&self, app: &App) -> bool {
+        match *self {
+            Context::HardwareTask(name) => {
+                !app.hardware_tasks[name].args.local_resources.is_empty()
+            }
+            Context::Idle => !app.idle.as_ref().unwrap().args.local_resources.is_empty(),
+            Context::Init => !app.init.args.local_resources.is_empty(),
+            Context::SoftwareTask(name) => {
+                !app.software_tasks[name].args.local_resources.is_empty()
+            }
+        }
+    }
+}
+
+/// Parser and optimizer configuration
+#[derive(Default)]
+#[non_exhaustive]
+pub struct Settings {
+    /// Whether to accept the `binds` argument in `#[task]` or not
+    pub parse_binds: bool,
+    /// Whether to parse `extern` interrupts (functions) or not
+    pub parse_extern_interrupt: bool,
+    /// Whether to "compress" priorities or not
+    pub optimize_priorities: bool,
+}
+
+/// Parses the input of the `#[app]` attribute
+pub fn parse(
+    args: TokenStream,
+    input: TokenStream,
+    settings: Settings,
+) -> Result<(ast::App, analyze::Analysis), syn::parse::Error> {
+    parse2(args.into(), input.into(), settings)
+}
+
+/// `proc_macro2::TokenStream` version of `parse`
+pub fn parse2(
+    args: TokenStream2,
+    input: TokenStream2,
+    settings: Settings,
+) -> Result<(ast::App, analyze::Analysis), syn::parse::Error> {
+    let mut app = parse::app(args, input, &settings)?;
+    check::app(&app)?;
+    optimize::app(&mut app, &settings);
+
+    match analyze::app(&app) {
+        Err(e) => Err(e),
+        // If no errors, return the app and analysis results
+        Ok(analysis) => Ok((app, analysis)),
+    }
+}
+
+enum Either<A, B> {
+    Left(A),
+    Right(B),
+}

macros/src/syntax/.github/bors.toml

@@ -0,0 +1,3 @@
+block_labels = ["S-blocked"]
+delete_merged_branches = true
+status = ["ci"]

macros/src/syntax/.github/workflows/build.yml

@@ -0,0 +1,213 @@
+name: Build
+on:
+  pull_request:
+  push:
+    branches:
+      - master
+      - staging
+      - trying
+      - bors/staging
+      - bors/trying
+
+env:
+  CARGO_TERM_COLOR: always
+
+jobs:
+  # Run cargo fmt --check
+  style:
+    name: style
+    runs-on: ubuntu-20.04
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v2
+
+      - name: Install Rust
+        uses: actions-rs/toolchain@v1
+        with:
+          profile: minimal
+          toolchain: stable
+          override: true
+          components: rustfmt
+
+      - name: Fail on warnings
+        run: sed -i 's,//deny_warnings_placeholder_for_ci,#![deny(warnings)],' src/lib.rs
+
+      - name: cargo fmt --check
+        uses: actions-rs/cargo@v1
+        with:
+          command: fmt
+          args: --all -- --check
+
+  # Compilation check
+  check:
+    name: check
+    runs-on: ubuntu-20.04
+    strategy:
+      matrix:
+        target:
+          - x86_64-unknown-linux-gnu
+        toolchain:
+          - stable
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v2
+
+      - name: Install Rust ${{ matrix.toolchain }} with target (${{ matrix.target }})
+        uses: actions-rs/toolchain@v1
+        with:
+          toolchain: ${{ matrix.toolchain }}
+          target: ${{ matrix.target }}
+          override: true
+
+      - name: Fail on warnings
+        run: sed -i 's,//deny_warnings_placeholder_for_ci,#![deny(warnings)],' src/lib.rs
+
+      - name: Cache Dependencies
+        uses: Swatinem/rust-cache@v1
+
+      - name: cargo check
+        uses: actions-rs/cargo@v1
+        with:
+          use-cross: false
+          command: check
+          args: --target=${{ matrix.target }}
+
+  # Clippy
+  clippy:
+    name: Cargo clippy
+    runs-on: ubuntu-20.04
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v2
+
+      - name: Install Rust stable
+        uses: actions-rs/toolchain@v1
+        with:
+          toolchain: stable
+          target: x86_64-unknown-linux-gnu
+          override: true
+
+      - name: Fail on warnings
+        run: sed -i 's,//deny_warnings_placeholder_for_ci,#![deny(warnings)],' src/lib.rs
+
+      - name: Cache Dependencies
+        uses: Swatinem/rust-cache@v1
+
+      - name: cargo clippy
+        uses: actions-rs/cargo@v1
+        with:
+          use-cross: false
+          command: clippy
+
+  # Verify all examples
+  testexamples:
+    name: testexamples
+    runs-on: ubuntu-20.04
+    strategy:
+      matrix:
+        target:
+          - x86_64-unknown-linux-gnu
+        toolchain:
+          - stable
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v2
+
+      - name: Install Rust ${{ matrix.toolchain }} with target (${{ matrix.target }})
+        uses: actions-rs/toolchain@v1
+        with:
+          toolchain: ${{ matrix.toolchain }}
+          target: ${{ matrix.target }}
+          override: true
+
+      - name: Cache Dependencies
+        uses: Swatinem/rust-cache@v1
+
+      - name: Fail on warnings
+        run: sed -i 's,//deny_warnings_placeholder_for_ci,#![deny(warnings)],' src/lib.rs
+
+      - uses: actions-rs/cargo@v1
+        with:
+          use-cross: false
+          command: test
+          args: --examples
+
+  # Run test suite for UI
+  testui:
+    name: testui
+    runs-on: ubuntu-20.04
+    strategy:
+      matrix:
+        target:
+          - x86_64-unknown-linux-gnu
+        toolchain:
+          - stable
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v2
+
+      - name: Install Rust ${{ matrix.toolchain }} with target (${{ matrix.target }})
+        uses: actions-rs/toolchain@v1
+        with:
+          toolchain: ${{ matrix.toolchain }}
+          target: ${{ matrix.target }}
+          override: true
+
+      - name: Cache Dependencies
+        uses: Swatinem/rust-cache@v1
+
+      - name: Fail on warnings
+        run: sed -i 's,//deny_warnings_placeholder_for_ci,#![deny(warnings)],' src/lib.rs
+
+
+      - uses: actions-rs/cargo@v1
+        with:
+          use-cross: false
+          command: test
+          args: --test ui
+
+  # Run test suite
+  test:
+    name: test
+    runs-on: ubuntu-20.04
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v2
+
+      - name: Install Rust
+        uses: actions-rs/toolchain@v1
+        with:
+          toolchain: stable
+          target: thumbv7m-none-eabi
+          override: true
+
+      - name: Cache Dependencies
+        uses: Swatinem/rust-cache@v1
+
+      - name: Fail on warnings
+        run: sed -i 's,//deny_warnings_placeholder_for_ci,#![deny(warnings)],' src/lib.rs
+
+      - uses: actions-rs/cargo@v1
+        with:
+          use-cross: false
+          command: test
+          args: --lib
+
+  # Refs: https://github.com/rust-lang/crater/blob/9ab6f9697c901c4a44025cf0a39b73ad5b37d198/.github/workflows/bors.yml#L125-L149
+  #
+  # ALL THE PREVIOUS JOBS NEEDS TO BE ADDED TO THE `needs` SECTION OF THIS JOB!
+
+  ci-success:
+    name: ci
+    if: github.event_name == 'push' && success()
+    needs:
+      - style
+      - check
+      - clippy
+      - testexamples
+      - test
+      - testui
+    runs-on: ubuntu-20.04
+    steps:
+      - name: Mark the job as a success
+        run: exit 0

macros/src/syntax/.github/workflows/changelog.yml

@@ -0,0 +1,28 @@
+# Check that the changelog is updated for all changes.
+#
+# This is only run for PRs.
+
+on:
+  pull_request:
+    # opened, reopened, synchronize are the default types for pull_request.
+    # labeled, unlabeled ensure this check is also run if a label is added or removed.
+    types: [opened, reopened, labeled, unlabeled, synchronize]
+
+name: Changelog
+
+jobs:
+  changelog:
+    name: Changelog
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout sources
+        uses: actions/checkout@v2
+
+      - name: Check that changelog updated
+        uses: dangoslen/changelog-enforcer@v3
+        with:
+          changeLogPath: CHANGELOG.md
+          skipLabels: 'needs-changelog, skip-changelog'
+          missingUpdateErrorMessage: 'Please add a changelog entry in the CHANGELOG.md file.'
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

macros/src/syntax/.github/workflows/properties/build.properties.json

@@ -0,0 +1,6 @@
+{
+    "name": "Build",
+    "description": "RTIC Test Suite",
+    "iconName": "rust",
+    "categories": ["Rust"]
+}

macros/src/syntax/.gitignore

@@ -0,0 +1,4 @@
+**/*.rs.bk
+.#*
+/target/
+Cargo.lock

macros/src/syntax/.travis.yml

@@ -0,0 +1,31 @@
+language: rust
+
+matrix:
+  include:
+      # MSRV
+    - env: TARGET=x86_64-unknown-linux-gnu
+      rust: 1.36.0
+
+    - env: TARGET=x86_64-unknown-linux-gnu
+      rust: stable
+
+before_install: set -e
+
+script:
+  - bash ci/script.sh
+
+after_script: set +e
+
+cache: cargo
+
+before_cache:
+  - chmod -R a+r $HOME/.cargo;
+
+branches:
+  only:
+    - staging
+    - trying
+
+notifications:
+  email:
+    on_success: never

macros/src/syntax/accessors.rs

@@ -0,0 +1,113 @@
+use syn::Ident;
+
+use crate::syntax::{
+    analyze::Priority,
+    ast::{Access, App, Local, TaskLocal},
+};
+
+impl App {
+    pub(crate) fn shared_resource_accesses(
+        &self,
+    ) -> impl Iterator<Item = (Option<Priority>, &Ident, Access)> {
+        self.idle
+            .iter()
+            .flat_map(|idle| {
+                idle.args
+                    .shared_resources
+                    .iter()
+                    .map(move |(name, access)| (Some(0), name, *access))
+            })
+            .chain(self.hardware_tasks.values().flat_map(|task| {
+                task.args
+                    .shared_resources
+                    .iter()
+                    .map(move |(name, access)| (Some(task.args.priority), name, *access))
+            }))
+            .chain(self.software_tasks.values().flat_map(|task| {
+                task.args
+                    .shared_resources
+                    .iter()
+                    .map(move |(name, access)| (Some(task.args.priority), name, *access))
+            }))
+    }
+
+    fn is_external(task_local: &TaskLocal) -> bool {
+        matches!(task_local, TaskLocal::External)
+    }
+
+    pub(crate) fn local_resource_accesses(&self) -> impl Iterator<Item = &Ident> {
+        self.init
+            .args
+            .local_resources
+            .iter()
+            .filter(|(_, task_local)| Self::is_external(task_local)) // Only check the resources declared in `#[local]`
+            .map(move |(name, _)| name)
+            .chain(self.idle.iter().flat_map(|idle| {
+                idle.args
+                    .local_resources
+                    .iter()
+                    .filter(|(_, task_local)| Self::is_external(task_local)) // Only check the resources declared in `#[local]`
+                    .map(move |(name, _)| name)
+            }))
+            .chain(self.hardware_tasks.values().flat_map(|task| {
+                task.args
+                    .local_resources
+                    .iter()
+                    .filter(|(_, task_local)| Self::is_external(task_local)) // Only check the resources declared in `#[local]`
+                    .map(move |(name, _)| name)
+            }))
+            .chain(self.software_tasks.values().flat_map(|task| {
+                task.args
+                    .local_resources
+                    .iter()
+                    .filter(|(_, task_local)| Self::is_external(task_local)) // Only check the resources declared in `#[local]`
+                    .map(move |(name, _)| name)
+            }))
+    }
+
+    fn get_declared_local(tl: &TaskLocal) -> Option<&Local> {
+        match tl {
+            TaskLocal::External => None,
+            TaskLocal::Declared(l) => Some(l),
+        }
+    }
+
+    /// Get all declared local resources, i.e. `local = [NAME: TYPE = EXPR]`.
+    ///
+    /// Returns a vector of (task name, resource name, `Local` struct)
+    pub fn declared_local_resources(&self) -> Vec<(&Ident, &Ident, &Local)> {
+        self.init
+            .args
+            .local_resources
+            .iter()
+            .filter_map(move |(name, tl)| {
+                Self::get_declared_local(tl).map(|l| (&self.init.name, name, l))
+            })
+            .chain(self.idle.iter().flat_map(|idle| {
+                idle.args
+                    .local_resources
+                    .iter()
+                    .filter_map(move |(name, tl)| {
+                        Self::get_declared_local(tl)
+                            .map(|l| (&self.idle.as_ref().unwrap().name, name, l))
+                    })
+            }))
+            .chain(self.hardware_tasks.iter().flat_map(|(task_name, task)| {
+                task.args
+                    .local_resources
+                    .iter()
+                    .filter_map(move |(name, tl)| {
+                        Self::get_declared_local(tl).map(|l| (task_name, name, l))
+                    })
+            }))
+            .chain(self.software_tasks.iter().flat_map(|(task_name, task)| {
+                task.args
+                    .local_resources
+                    .iter()
+                    .filter_map(move |(name, tl)| {
+                        Self::get_declared_local(tl).map(|l| (task_name, name, l))
+                    })
+            }))
+            .collect()
+    }
+}

macros/src/syntax/analyze.rs

@@ -0,0 +1,448 @@
+//! RTIC application analysis
+
+use core::cmp;
+use std::collections::{BTreeMap, BTreeSet, HashMap};
+
+use indexmap::{IndexMap, IndexSet};
+use syn::{Ident, Type};
+
+use crate::syntax::{
+    ast::{App, LocalResources, TaskLocal},
+    Set,
+};
+
+pub(crate) fn app(app: &App) -> Result<Analysis, syn::Error> {
+    // Collect all tasks into a vector
+    type TaskName = String;
+    type Priority = u8;
+
+    // The task list is a Tuple (Name, Shared Resources, Local Resources, Priority, IsAsync)
+    let task_resources_list: Vec<(TaskName, Vec<&Ident>, &LocalResources, Priority, bool)> =
+        Some(&app.init)
+            .iter()
+            .map(|ht| {
+                (
+                    "init".to_string(),
+                    Vec::new(),
+                    &ht.args.local_resources,
+                    0,
+                    false,
+                )
+            })
+            .chain(app.idle.iter().map(|ht| {
+                (
+                    "idle".to_string(),
+                    ht.args
+                        .shared_resources
+                        .iter()
+                        .map(|(v, _)| v)
+                        .collect::<Vec<_>>(),
+                    &ht.args.local_resources,
+                    0,
+                    false,
+                )
+            }))
+            .chain(app.software_tasks.iter().map(|(name, ht)| {
+                (
+                    name.to_string(),
+                    ht.args
+                        .shared_resources
+                        .iter()
+                        .map(|(v, _)| v)
+                        .collect::<Vec<_>>(),
+                    &ht.args.local_resources,
+                    ht.args.priority,
+                    ht.is_async,
+                )
+            }))
+            .chain(app.hardware_tasks.iter().map(|(name, ht)| {
+                (
+                    name.to_string(),
+                    ht.args
+                        .shared_resources
+                        .iter()
+                        .map(|(v, _)| v)
+                        .collect::<Vec<_>>(),
+                    &ht.args.local_resources,
+                    ht.args.priority,
+                    false,
+                )
+            }))
+            .collect();
+
+    let mut error = vec![];
+    let mut lf_res_with_error = vec![];
+    let mut lf_hash = HashMap::new();
+
+    // Collect lock free resources
+    let lock_free: Vec<&Ident> = app
+        .shared_resources
+        .iter()
+        .filter(|(_, r)| r.properties.lock_free)
+        .map(|(i, _)| i)
+        .collect();
+
+    // Check that lock_free resources are correct
+    for lf_res in lock_free.iter() {
+        for (task, tr, _, priority, is_async) in task_resources_list.iter() {
+            for r in tr {
+                // Get all uses of resources annotated lock_free
+                if lf_res == r {
+                    // lock_free resources are not allowed in async tasks
+                    if *is_async {
+                        error.push(syn::Error::new(
+                            r.span(),
+                            format!(
+                                "Lock free shared resource {:?} is used by an async tasks, which is forbidden",
+                                r.to_string(),
+                            ),
+                        ));
+                    }
+
+                    // HashMap returns the previous existing object if old.key == new.key
+                    if let Some(lf_res) = lf_hash.insert(r.to_string(), (task, r, priority)) {
+                        // Check if priority differ, if it does, append to
+                        // list of resources which will be annotated with errors
+                        if priority != lf_res.2 {
+                            lf_res_with_error.push(lf_res.1);
+                            lf_res_with_error.push(r);
+                        }
+                        // If the resource already violates lock free properties
+                        if lf_res_with_error.contains(&r) {
+                            lf_res_with_error.push(lf_res.1);
+                            lf_res_with_error.push(r);
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    // Add error message in the resource struct
+    for r in lock_free {
+        if lf_res_with_error.contains(&&r) {
+            error.push(syn::Error::new(
+                r.span(),
+                format!(
+                    "Lock free shared resource {:?} is used by tasks at different priorities",
+                    r.to_string(),
+                ),
+            ));
+        }
+    }
+
+    // Add error message for each use of the shared resource
+    for resource in lf_res_with_error.clone() {
+        error.push(syn::Error::new(
+            resource.span(),
+            format!(
+                "Shared resource {:?} is declared lock free but used by tasks at different priorities",
+                resource.to_string(),
+            ),
+        ));
+    }
+
+    // Collect local resources
+    let local: Vec<&Ident> = app.local_resources.iter().map(|(i, _)| i).collect();
+
+    let mut lr_with_error = vec![];
+    let mut lr_hash = HashMap::new();
+
+    // Check that local resources are not shared
+    for lr in local {
+        for (task, _, local_resources, _, _) in task_resources_list.iter() {
+            for (name, res) in local_resources.iter() {
+                // Get all uses of resources annotated lock_free
+                if lr == name {
+                    match res {
+                        TaskLocal::External => {
+                            // HashMap returns the previous existing object if old.key == new.key
+                            if let Some(lr) = lr_hash.insert(name.to_string(), (task, name)) {
+                                lr_with_error.push(lr.1);
+                                lr_with_error.push(name);
+                            }
+                        }
+                        // If a declared local has the same name as the `#[local]` struct, it's an
+                        // direct error
+                        TaskLocal::Declared(_) => {
+                            lr_with_error.push(lr);
+                            lr_with_error.push(name);
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    // Add error message for each use of the local resource
+    for resource in lr_with_error.clone() {
+        error.push(syn::Error::new(
+            resource.span(),
+            format!(
+                "Local resource {:?} is used by multiple tasks or collides with multiple definitions",
+                resource.to_string(),
+            ),
+        ));
+    }
+
+    // Check 0-priority async software tasks and idle dependency
+    for (name, task) in &app.software_tasks {
+        if task.args.priority == 0 {
+            // If there is a 0-priority task, there must be no idle
+            if app.idle.is_some() {
+                error.push(syn::Error::new(
+                    name.span(),
+                    format!(
+                        "Software task {:?} has priority 0, but `#[idle]` is defined. 0-priority software tasks are only allowed if there is no `#[idle]`.",
+                        name.to_string(),
+                    )
+                ));
+            }
+
+            // 0-priority tasks must be async
+            if !task.is_async {
+                error.push(syn::Error::new(
+                    name.span(),
+                    format!(
+                        "Software task {:?} has priority 0, but is not `async`. 0-priority software tasks must be `async`.",
+                        name.to_string(),
+                    )
+                ));
+            }
+        }
+    }
+
+    // Collect errors if any and return/halt
+    if !error.is_empty() {
+        let mut err = error.get(0).unwrap().clone();
+        error.iter().for_each(|e| err.combine(e.clone()));
+        return Err(err);
+    }
+
+    // e. Location of resources
+    let mut used_shared_resource = IndexSet::new();
+    let mut ownerships = Ownerships::new();
+    let mut sync_types = SyncTypes::new();
+    for (prio, name, access) in app.shared_resource_accesses() {
+        let res = app.shared_resources.get(name).expect("UNREACHABLE");
+
+        // (e)
+        // This shared resource is used
+        used_shared_resource.insert(name.clone());
+
+        // (c)
+        if let Some(priority) = prio {
+            if let Some(ownership) = ownerships.get_mut(name) {
+                match *ownership {
+                    Ownership::Owned { priority: ceiling }
+                    | Ownership::CoOwned { priority: ceiling }
+                    | Ownership::Contended { ceiling }
+                        if priority != ceiling =>
+                    {
+                        *ownership = Ownership::Contended {
+                            ceiling: cmp::max(ceiling, priority),
+                        };
+
+                        if access.is_shared() {
+                            sync_types.insert(res.ty.clone());
+                        }
+                    }
+
+                    Ownership::Owned { priority: ceil } if ceil == priority => {
+                        *ownership = Ownership::CoOwned { priority };
+                    }
+
+                    _ => {}
+                }
+            } else {
+                ownerships.insert(name.clone(), Ownership::Owned { priority });
+            }
+        }
+    }
+
+    // Create the list of used local resource Idents
+    let mut used_local_resource = IndexSet::new();
+
+    for (_, _, locals, _, _) in task_resources_list {
+        for (local, _) in locals {
+            used_local_resource.insert(local.clone());
+        }
+    }
+
+    // Most shared resources need to be `Send`
+    let mut send_types = SendTypes::new();
+    let owned_by_idle = Ownership::Owned { priority: 0 };
+    for (name, res) in app.shared_resources.iter() {
+        // Handle not owned by idle
+        if ownerships
+            .get(name)
+            .map(|ownership| *ownership != owned_by_idle)
+            .unwrap_or(false)
+        {
+            send_types.insert(res.ty.clone());
+        }
+    }
+
+    // Most local resources need to be `Send` as well
+    for (name, res) in app.local_resources.iter() {
+        if let Some(idle) = &app.idle {
+            // Only Send if not in idle or not at idle prio
+            if idle.args.local_resources.get(name).is_none()
+                && !ownerships
+                    .get(name)
+                    .map(|ownership| *ownership != owned_by_idle)
+                    .unwrap_or(false)
+            {
+                send_types.insert(res.ty.clone());
+            }
+        } else {
+            send_types.insert(res.ty.clone());
+        }
+    }
+
+    let mut channels = Channels::new();
+
+    for (name, spawnee) in &app.software_tasks {
+        let spawnee_prio = spawnee.args.priority;
+
+        let channel = channels.entry(spawnee_prio).or_default();
+        channel.tasks.insert(name.clone());
+
+        if !spawnee.args.only_same_priority_spawn {
+            // Require `Send` if the task can be spawned from other priorities
+            spawnee.inputs.iter().for_each(|input| {
+                send_types.insert(input.ty.clone());
+            });
+        }
+    }
+
+    // No channel should ever be empty
+    debug_assert!(channels.values().all(|channel| !channel.tasks.is_empty()));
+
+    // Compute channel capacities
+    for channel in channels.values_mut() {
+        channel.capacity = channel
+            .tasks
+            .iter()
+            .map(|name| app.software_tasks[name].args.capacity)
+            .sum();
+    }
+
+    Ok(Analysis {
+        channels,
+        shared_resources: used_shared_resource,
+        local_resources: used_local_resource,
+        ownerships,
+        send_types,
+        sync_types,
+    })
+}
+
+/// Priority ceiling
+pub type Ceiling = Option<u8>;
+
+/// Task priority
+pub type Priority = u8;
+
+/// Resource name
+pub type Resource = Ident;
+
+/// Task name
+pub type Task = Ident;
+
+/// The result of analyzing an RTIC application
+pub struct Analysis {
+    /// SPSC message channels
+    pub channels: Channels,
+
+    /// Shared resources
+    ///
+    /// If a resource is not listed here it means that's a "dead" (never
+    /// accessed) resource and the backend should not generate code for it
+    pub shared_resources: UsedSharedResource,
+
+    /// Local resources
+    ///
+    /// If a resource is not listed here it means that's a "dead" (never
+    /// accessed) resource and the backend should not generate code for it
+    pub local_resources: UsedLocalResource,
+
+    /// Resource ownership
+    pub ownerships: Ownerships,
+
+    /// These types must implement the `Send` trait
+    pub send_types: SendTypes,
+
+    /// These types must implement the `Sync` trait
+    pub sync_types: SyncTypes,
+}
+
+/// All channels, keyed by dispatch priority
+pub type Channels = BTreeMap<Priority, Channel>;
+
+/// Location of all *used* shared resources
+pub type UsedSharedResource = IndexSet<Resource>;
+
+/// Location of all *used* local resources
+pub type UsedLocalResource = IndexSet<Resource>;
+
+/// Resource ownership
+pub type Ownerships = IndexMap<Resource, Ownership>;
+
+/// These types must implement the `Send` trait
+pub type SendTypes = Set<Box<Type>>;
+
+/// These types must implement the `Sync` trait
+pub type SyncTypes = Set<Box<Type>>;
+
+/// A channel used to send messages
+#[derive(Debug, Default)]
+pub struct Channel {
+    /// The channel capacity
+    pub capacity: u8,
+
+    /// Tasks that can be spawned on this channel
+    pub tasks: BTreeSet<Task>,
+}
+
+/// Resource ownership
+#[derive(Clone, Copy, Debug, PartialEq)]
+pub enum Ownership {
+    /// Owned by a single task
+    Owned {
+        /// Priority of the task that owns this resource
+        priority: u8,
+    },
+
+    /// "Co-owned" by more than one task; all of them have the same priority
+    CoOwned {
+        /// Priority of the tasks that co-own this resource
+        priority: u8,
+    },
+
+    /// Contended by more than one task; the tasks have different priorities
+    Contended {
+        /// Priority ceiling
+        ceiling: u8,
+    },
+}
+
+impl Ownership {
+    /// Whether this resource needs to a lock at this priority level
+    pub fn needs_lock(&self, priority: u8) -> bool {
+        match self {
+            Ownership::Owned { .. } | Ownership::CoOwned { .. } => false,
+
+            Ownership::Contended { ceiling } => {
+                debug_assert!(*ceiling >= priority);
+
+                priority < *ceiling
+            }
+        }
+    }
+
+    /// Whether this resource is exclusively owned
+    pub fn is_owned(&self) -> bool {
+        matches!(self, Ownership::Owned { .. })
+    }
+}

macros/src/syntax/ast.rs

@@ -0,0 +1,380 @@
+//! Abstract Syntax Tree
+
+use syn::{Attribute, Expr, Ident, Item, ItemUse, Pat, PatType, Path, Stmt, Type};
+
+use crate::syntax::Map;
+
+/// The `#[app]` attribute
+#[derive(Debug)]
+#[non_exhaustive]
+pub struct App {
+    /// The arguments to the `#[app]` attribute
+    pub args: AppArgs,
+
+    /// The name of the `const` item on which the `#[app]` attribute has been placed
+    pub name: Ident,
+
+    /// The `#[init]` function
+    pub init: Init,
+
+    /// The `#[idle]` function
+    pub idle: Option<Idle>,
+
+    /// Monotonic clocks
+    pub monotonics: Map<Monotonic>,
+
+    /// Resources shared between tasks defined in `#[shared]`
+    pub shared_resources: Map<SharedResource>,
+
+    /// Task local resources defined in `#[local]`
+    pub local_resources: Map<LocalResource>,
+
+    /// User imports
+    pub user_imports: Vec<ItemUse>,
+
+    /// User code
+    pub user_code: Vec<Item>,
+
+    /// Hardware tasks: `#[task(binds = ..)]`s
+    pub hardware_tasks: Map<HardwareTask>,
+
+    /// Software tasks: `#[task]`
+    pub software_tasks: Map<SoftwareTask>,
+}
+
+/// Interrupts used to dispatch software tasks
+pub type Dispatchers = Map<Dispatcher>;
+
+/// Interrupt that could be used to dispatch software tasks
+#[derive(Debug, Clone)]
+#[non_exhaustive]
+pub struct Dispatcher {
+    /// Attributes that will apply to this interrupt handler
+    pub attrs: Vec<Attribute>,
+}
+
+/// The arguments of the `#[app]` attribute
+#[derive(Debug)]
+pub struct AppArgs {
+    /// Device
+    pub device: Path,
+
+    /// Peripherals
+    pub peripherals: bool,
+
+    /// Interrupts used to dispatch software tasks
+    pub dispatchers: Dispatchers,
+}
+
+/// The `init`-ialization function
+#[derive(Debug)]
+#[non_exhaustive]
+pub struct Init {
+    /// `init` context metadata
+    pub args: InitArgs,
+
+    /// Attributes that will apply to this `init` function
+    pub attrs: Vec<Attribute>,
+
+    /// The name of the `#[init]` function
+    pub name: Ident,
+
+    /// The context argument
+    pub context: Box<Pat>,
+
+    /// The statements that make up this `init` function
+    pub stmts: Vec<Stmt>,
+
+    /// The name of the user provided shared resources struct
+    pub user_shared_struct: Ident,
+
+    /// The name of the user provided local resources struct
+    pub user_local_struct: Ident,
+}
+
+/// `init` context metadata
+#[derive(Debug)]
+#[non_exhaustive]
+pub struct InitArgs {
+    /// Local resources that can be accessed from this context
+    pub local_resources: LocalResources,
+}
+
+impl Default for InitArgs {
+    fn default() -> Self {
+        Self {
+            local_resources: LocalResources::new(),
+        }
+    }
+}
+
+/// The `idle` context
+#[derive(Debug)]
+#[non_exhaustive]
+pub struct Idle {
+    /// `idle` context metadata
+    pub args: IdleArgs,
+
+    /// Attributes that will apply to this `idle` function
+    pub attrs: Vec<Attribute>,
+
+    /// The name of the `#[idle]` function
+    pub name: Ident,
+
+    /// The context argument
+    pub context: Box<Pat>,
+
+    /// The statements that make up this `idle` function
+    pub stmts: Vec<Stmt>,
+}
+
+/// `idle` context metadata
+#[derive(Debug)]
+#[non_exhaustive]
+pub struct IdleArgs {
+    /// Local resources that can be accessed from this context
+    pub local_resources: LocalResources,
+
+    /// Shared resources that can be accessed from this context
+    pub shared_resources: SharedResources,
+}
+
+impl Default for IdleArgs {
+    fn default() -> Self {
+        Self {
+            local_resources: LocalResources::new(),
+            shared_resources: SharedResources::new(),
+        }
+    }
+}
+
+/// Shared resource properties
+#[derive(Debug)]
+pub struct SharedResourceProperties {
+    /// A lock free (exclusive resource)
+    pub lock_free: bool,
+}
+
+/// A shared resource, defined in `#[shared]`
+#[derive(Debug)]
+#[non_exhaustive]
+pub struct SharedResource {
+    /// `#[cfg]` attributes like `#[cfg(debug_assertions)]`
+    pub cfgs: Vec<Attribute>,
+
+    /// `#[doc]` attributes like `/// this is a docstring`
+    pub docs: Vec<Attribute>,
+
+    /// Attributes that will apply to this resource
+    pub attrs: Vec<Attribute>,
+
+    /// The type of this resource
+    pub ty: Box<Type>,
+
+    /// Shared resource properties
+    pub properties: SharedResourceProperties,
+}
+
+/// A local resource, defined in `#[local]`
+#[derive(Debug)]
+#[non_exhaustive]
+pub struct LocalResource {
+    /// `#[cfg]` attributes like `#[cfg(debug_assertions)]`
+    pub cfgs: Vec<Attribute>,
+
+    /// `#[doc]` attributes like `/// this is a docstring`
+    pub docs: Vec<Attribute>,
+
+    /// Attributes that will apply to this resource
+    pub attrs: Vec<Attribute>,
+
+    /// The type of this resource
+    pub ty: Box<Type>,
+}
+
+/// Monotonic
+#[derive(Debug)]
+#[non_exhaustive]
+pub struct Monotonic {
+    /// `#[cfg]` attributes like `#[cfg(debug_assertions)]`
+    pub cfgs: Vec<Attribute>,
+
+    /// The identifier of the monotonic
+    pub ident: Ident,
+
+    /// The type of this monotonic
+    pub ty: Box<Type>,
+
+    /// Monotonic args
+    pub args: MonotonicArgs,
+}
+
+/// Monotonic metadata
+#[derive(Debug)]
+#[non_exhaustive]
+pub struct MonotonicArgs {
+    /// The interrupt or exception that this monotonic is bound to
+    pub binds: Ident,
+
+    /// The priority of this monotonic
+    pub priority: Option<u8>,
+
+    /// If this is the default monotonic
+    pub default: bool,
+}
+
+/// A software task
+#[derive(Debug)]
+#[non_exhaustive]
+pub struct SoftwareTask {
+    /// Software task metadata
+    pub args: SoftwareTaskArgs,
+
+    /// `#[cfg]` attributes like `#[cfg(debug_assertions)]`
+    pub cfgs: Vec<Attribute>,
+
+    /// Attributes that will apply to this interrupt handler
+    pub attrs: Vec<Attribute>,
+
+    /// The context argument
+    pub context: Box<Pat>,
+
+    /// The inputs of this software task
+    pub inputs: Vec<PatType>,
+
+    /// The statements that make up the task handler
+    pub stmts: Vec<Stmt>,
+
+    /// The task is declared externally
+    pub is_extern: bool,
+
+    /// If the task is marked as `async`
+    pub is_async: bool,
+}
+
+/// Software task metadata
+#[derive(Debug)]
+#[non_exhaustive]
+pub struct SoftwareTaskArgs {
+    /// The task capacity: the maximum number of pending messages that can be queued
+    pub capacity: u8,
+
+    /// The priority of this task
+    pub priority: u8,
+
+    /// Local resources that can be accessed from this context
+    pub local_resources: LocalResources,
+
+    /// Shared resources that can be accessed from this context
+    pub shared_resources: SharedResources,
+
+    /// Only same priority tasks can spawn this task
+    pub only_same_priority_spawn: bool,
+}
+
+impl Default for SoftwareTaskArgs {
+    fn default() -> Self {
+        Self {
+            capacity: 1,
+            priority: 1,
+            local_resources: LocalResources::new(),
+            shared_resources: SharedResources::new(),
+            only_same_priority_spawn: false,
+        }
+    }
+}
+
+/// A hardware task
+#[derive(Debug)]
+#[non_exhaustive]
+pub struct HardwareTask {
+    /// Hardware task metadata
+    pub args: HardwareTaskArgs,
+
+    /// `#[cfg]` attributes like `#[cfg(debug_assertions)]`
+    pub cfgs: Vec<Attribute>,
+
+    /// Attributes that will apply to this interrupt handler
+    pub attrs: Vec<Attribute>,
+
+    /// The context argument
+    pub context: Box<Pat>,
+
+    /// The statements that make up the task handler
+    pub stmts: Vec<Stmt>,
+
+    /// The task is declared externally
+    pub is_extern: bool,
+}
+
+/// Hardware task metadata
+#[derive(Debug)]
+#[non_exhaustive]
+pub struct HardwareTaskArgs {
+    /// The interrupt or exception that this task is bound to
+    pub binds: Ident,
+
+    /// The priority of this task
+    pub priority: u8,
+
+    /// Local resources that can be accessed from this context
+    pub local_resources: LocalResources,
+
+    /// Shared resources that can be accessed from this context
+    pub shared_resources: SharedResources,
+}
+
+/// A `static mut` variable local to and owned by a context
+#[derive(Debug)]
+#[non_exhaustive]
+pub struct Local {
+    /// Attributes like `#[link_section]`
+    pub attrs: Vec<Attribute>,
+
+    /// `#[cfg]` attributes like `#[cfg(debug_assertions)]`
+    pub cfgs: Vec<Attribute>,
+
+    /// Type
+    pub ty: Box<Type>,
+
+    /// Initial value
+    pub expr: Box<Expr>,
+}
+
+/// A wrapper of the 2 kinds of locals that tasks can have
+#[derive(Debug)]
+#[non_exhaustive]
+pub enum TaskLocal {
+    /// The local is declared externally (i.e. `#[local]` struct)
+    External,
+    /// The local is declared in the task
+    Declared(Local),
+}
+
+/// Resource access
+#[derive(Clone, Copy, Debug, Eq, PartialEq)]
+pub enum Access {
+    /// `[x]`, a mutable resource
+    Exclusive,
+
+    /// `[&x]`, a static non-mutable resource
+    Shared,
+}
+
+impl Access {
+    /// Is this enum in the `Exclusive` variant?
+    pub fn is_exclusive(&self) -> bool {
+        *self == Access::Exclusive
+    }
+
+    /// Is this enum in the `Shared` variant?
+    pub fn is_shared(&self) -> bool {
+        *self == Access::Shared
+    }
+}
+
+/// Shared resource access list in task attribute
+pub type SharedResources = Map<Access>;
+
+/// Local resource access/declaration list in task attribute
+pub type LocalResources = Map<TaskLocal>;

macros/src/syntax/check.rs

@@ -0,0 +1,66 @@
+use std::collections::HashSet;
+
+use syn::parse;
+
+use crate::syntax::ast::App;
+
+pub fn app(app: &App) -> parse::Result<()> {
+    // Check that all referenced resources have been declared
+    // Check that resources are NOT `Exclusive`-ly shared
+    let mut owners = HashSet::new();
+    for (_, name, access) in app.shared_resource_accesses() {
+        if app.shared_resources.get(name).is_none() {
+            return Err(parse::Error::new(
+                name.span(),
+                "this shared resource has NOT been declared",
+            ));
+        }
+
+        if access.is_exclusive() {
+            owners.insert(name);
+        }
+    }
+
+    for name in app.local_resource_accesses() {
+        if app.local_resources.get(name).is_none() {
+            return Err(parse::Error::new(
+                name.span(),
+                "this local resource has NOT been declared",
+            ));
+        }
+    }
+
+    // Check that no resource has both types of access (`Exclusive` & `Shared`)
+    let exclusive_accesses = app
+        .shared_resource_accesses()
+        .filter_map(|(priority, name, access)| {
+            if priority.is_some() && access.is_exclusive() {
+                Some(name)
+            } else {
+                None
+            }
+        })
+        .collect::<HashSet<_>>();
+    for (_, name, access) in app.shared_resource_accesses() {
+        if access.is_shared() && exclusive_accesses.contains(name) {
+            return Err(parse::Error::new(
+                name.span(),
+                "this implementation doesn't support shared (`&-`) - exclusive (`&mut-`) locks; use `x` instead of `&x`",
+            ));
+        }
+    }
+
+    // check that dispatchers are not used as hardware tasks
+    for task in app.hardware_tasks.values() {
+        let binds = &task.args.binds;
+
+        if app.args.dispatchers.contains_key(binds) {
+            return Err(parse::Error::new(
+                binds.span(),
+                "dispatcher interrupts can't be used as hardware tasks",
+            ));
+        }
+    }
+
+    Ok(())
+}

macros/src/syntax/optimize.rs

@@ -0,0 +1,36 @@
+use std::collections::{BTreeSet, HashMap};
+
+use crate::syntax::{ast::App, Settings};
+
+pub fn app(app: &mut App, settings: &Settings) {
+    // "compress" priorities
+    // If the user specified, for example, task priorities of "1, 3, 6",
+    // compress them into "1, 2, 3" as to leave no gaps
+    if settings.optimize_priorities {
+        // all task priorities ordered in ascending order
+        let priorities = app
+            .hardware_tasks
+            .values()
+            .map(|task| Some(task.args.priority))
+            .chain(
+                app.software_tasks
+                    .values()
+                    .map(|task| Some(task.args.priority)),
+            )
+            .collect::<BTreeSet<_>>();
+
+        let map = priorities
+            .iter()
+            .cloned()
+            .zip(1..)
+            .collect::<HashMap<_, _>>();
+
+        for task in app.hardware_tasks.values_mut() {
+            task.args.priority = map[&Some(task.args.priority)];
+        }
+
+        for task in app.software_tasks.values_mut() {
+            task.args.priority = map[&Some(task.args.priority)];
+        }
+    }
+}

macros/src/syntax/parse.rs

@@ -0,0 +1,520 @@
+mod app;
+mod hardware_task;
+mod idle;
+mod init;
+mod monotonic;
+mod resource;
+mod software_task;
+mod util;
+
+use proc_macro2::TokenStream as TokenStream2;
+use syn::{
+    braced, parenthesized,
+    parse::{self, Parse, ParseStream, Parser},
+    token::{self, Brace},
+    Ident, Item, LitBool, LitInt, Path, Token,
+};
+
+use crate::syntax::{
+    ast::{
+        App, AppArgs, HardwareTaskArgs, IdleArgs, InitArgs, MonotonicArgs, SoftwareTaskArgs,
+        TaskLocal,
+    },
+    Either, Settings,
+};
+
+// Parse the app, both app arguments and body (input)
+pub fn app(args: TokenStream2, input: TokenStream2, settings: &Settings) -> parse::Result<App> {
+    let args = AppArgs::parse(args)?;
+    let input: Input = syn::parse2(input)?;
+
+    App::parse(args, input, settings)
+}
+
+pub(crate) struct Input {
+    _mod_token: Token![mod],
+    pub ident: Ident,
+    _brace_token: Brace,
+    pub items: Vec<Item>,
+}
+
+impl Parse for Input {
+    fn parse(input: ParseStream<'_>) -> parse::Result<Self> {
+        fn parse_items(input: ParseStream<'_>) -> parse::Result<Vec<Item>> {
+            let mut items = vec![];
+
+            while !input.is_empty() {
+                items.push(input.parse()?);
+            }
+
+            Ok(items)
+        }
+
+        let content;
+
+        let _mod_token = input.parse()?;
+        let ident = input.parse()?;
+        let _brace_token = braced!(content in input);
+        let items = content.call(parse_items)?;
+
+        Ok(Input {
+            _mod_token,
+            ident,
+            _brace_token,
+            items,
+        })
+    }
+}
+
+fn init_args(tokens: TokenStream2) -> parse::Result<InitArgs> {
+    (|input: ParseStream<'_>| -> parse::Result<InitArgs> {
+        if input.is_empty() {
+            return Ok(InitArgs::default());
+        }
+
+        let mut local_resources = None;
+
+        let content;
+        parenthesized!(content in input);
+
+        if !content.is_empty() {
+            loop {
+                // Parse identifier name
+                let ident: Ident = content.parse()?;
+                // Handle equal sign
+                let _: Token![=] = content.parse()?;
+
+                match &*ident.to_string() {
+                    "local" => {
+                        if local_resources.is_some() {
+                            return Err(parse::Error::new(
+                                ident.span(),
+                                "argument appears more than once",
+                            ));
+                        }
+
+                        local_resources = Some(util::parse_local_resources(&content)?);
+                    }
+                    _ => {
+                        return Err(parse::Error::new(ident.span(), "unexpected argument"));
+                    }
+                }
+
+                if content.is_empty() {
+                    break;
+                }
+                // Handle comma: ,
+                let _: Token![,] = content.parse()?;
+            }
+        }
+
+        if let Some(locals) = &local_resources {
+            for (ident, task_local) in locals {
+                if let TaskLocal::External = task_local {
+                    return Err(parse::Error::new(
+                        ident.span(),
+                        "only declared local resources are allowed in init",
+                    ));
+                }
+            }
+        }
+
+        Ok(InitArgs {
+            local_resources: local_resources.unwrap_or_default(),
+        })
+    })
+    .parse2(tokens)
+}
+
+fn idle_args(tokens: TokenStream2) -> parse::Result<IdleArgs> {
+    (|input: ParseStream<'_>| -> parse::Result<IdleArgs> {
+        if input.is_empty() {
+            return Ok(IdleArgs::default());
+        }
+
+        let mut shared_resources = None;
+        let mut local_resources = None;
+
+        let content;
+        parenthesized!(content in input);
+        if !content.is_empty() {
+            loop {
+                // Parse identifier name
+                let ident: Ident = content.parse()?;
+                // Handle equal sign
+                let _: Token![=] = content.parse()?;
+
+                match &*ident.to_string() {
+                    "shared" => {
+                        if shared_resources.is_some() {
+                            return Err(parse::Error::new(
+                                ident.span(),
+                                "argument appears more than once",
+                            ));
+                        }
+
+                        shared_resources = Some(util::parse_shared_resources(&content)?);
+                    }
+
+                    "local" => {
+                        if local_resources.is_some() {
+                            return Err(parse::Error::new(
+                                ident.span(),
+                                "argument appears more than once",
+                            ));
+                        }
+
+                        local_resources = Some(util::parse_local_resources(&content)?);
+                    }
+
+                    _ => {
+                        return Err(parse::Error::new(ident.span(), "unexpected argument"));
+                    }
+                }
+                if content.is_empty() {
+                    break;
+                }
+
+                // Handle comma: ,
+                let _: Token![,] = content.parse()?;
+            }
+        }
+
+        Ok(IdleArgs {
+            shared_resources: shared_resources.unwrap_or_default(),
+            local_resources: local_resources.unwrap_or_default(),
+        })
+    })
+    .parse2(tokens)
+}
+
+fn task_args(
+    tokens: TokenStream2,
+    settings: &Settings,
+) -> parse::Result<Either<HardwareTaskArgs, SoftwareTaskArgs>> {
+    (|input: ParseStream<'_>| -> parse::Result<Either<HardwareTaskArgs, SoftwareTaskArgs>> {
+        if input.is_empty() {
+            return Ok(Either::Right(SoftwareTaskArgs::default()));
+        }
+
+        let mut binds = None;
+        let mut capacity = None;
+        let mut priority = None;
+        let mut shared_resources = None;
+        let mut local_resources = None;
+        let mut prio_span = None;
+        let mut only_same_priority_spawn = false;
+        let mut only_same_prio_span = None;
+
+        let content;
+        parenthesized!(content in input);
+        loop {
+            if content.is_empty() {
+                break;
+            }
+
+            // Parse identifier name
+            let ident: Ident = content.parse()?;
+            let ident_s = ident.to_string();
+
+            if  ident_s ==  "only_same_priority_spawn_please_fix_me" {
+                if only_same_priority_spawn {
+                    return Err(parse::Error::new(
+                        ident.span(),
+                        "argument appears more than once",
+                    ));
+                }
+
+                only_same_priority_spawn = true;
+                only_same_prio_span = Some(ident.span());
+
+                if content.is_empty() {
+                    break;
+                }
+
+                // Handle comma: ,
+                let _: Token![,] = content.parse()?;
+
+                continue;
+            }
+
+            // Handle equal sign
+            let _: Token![=] = content.parse()?;
+
+            match &*ident_s {
+                "binds" if !settings.parse_binds => {
+                    return Err(parse::Error::new(
+                        ident.span(),
+                        "Unexpected bind in task argument. Binds are only parsed if Settings::parse_binds is set.",
+                    ));
+                }
+
+                "binds" if settings.parse_binds => {
+                    if binds.is_some() {
+                        return Err(parse::Error::new(
+                            ident.span(),
+                            "argument appears more than once",
+                        ));
+                    }
+
+                    if capacity.is_some() {
+                        return Err(parse::Error::new(
+                            ident.span(),
+                            "hardware tasks can't use the `capacity` argument",
+                        ));
+                    }
+
+                    // Parse identifier name
+                    let ident = content.parse()?;
+
+                    binds = Some(ident);
+                }
+
+                "capacity" => {
+                    if capacity.is_some() {
+                        return Err(parse::Error::new(
+                            ident.span(),
+                            "argument appears more than once",
+                        ));
+                    }
+
+                    if binds.is_some() {
+                        return Err(parse::Error::new(
+                            ident.span(),
+                            "hardware tasks can't use the `capacity` argument",
+                        ));
+                    }
+
+                    // #lit
+                    let lit: LitInt = content.parse()?;
+
+                    if !lit.suffix().is_empty() {
+                        return Err(parse::Error::new(
+                            lit.span(),
+                            "this literal must be unsuffixed",
+                        ));
+                    }
+
+                    let value = lit.base10_parse::<u8>().ok();
+                    if value.is_none() || value == Some(0) {
+                        return Err(parse::Error::new(
+                            lit.span(),
+                            "this literal must be in the range 1...255",
+                        ));
+                    }
+
+                    capacity = Some(value.unwrap());
+                }
+
+                "priority" => {
+                    if priority.is_some() {
+                        return Err(parse::Error::new(
+                            ident.span(),
+                            "argument appears more than once",
+                        ));
+                    }
+
+                    // #lit
+                    let lit: LitInt = content.parse()?;
+
+                    if !lit.suffix().is_empty() {
+                        return Err(parse::Error::new(
+                            lit.span(),
+                            "this literal must be unsuffixed",
+                        ));
+                    }
+
+                    let value = lit.base10_parse::<u8>().ok();
+                    if value.is_none() {
+                        return Err(parse::Error::new(
+                            lit.span(),
+                            "this literal must be in the range 0...255",
+                        ));
+                    }
+
+                    prio_span = Some(lit.span());
+                    priority = Some(value.unwrap());
+                }
+
+                "shared" => {
+                    if shared_resources.is_some() {
+                        return Err(parse::Error::new(
+                            ident.span(),
+                            "argument appears more than once",
+                        ));
+                    }
+
+                    shared_resources = Some(util::parse_shared_resources(&content)?);
+                }
+
+                "local" => {
+                    if local_resources.is_some() {
+                        return Err(parse::Error::new(
+                            ident.span(),
+                            "argument appears more than once",
+                        ));
+                    }
+
+                    local_resources = Some(util::parse_local_resources(&content)?);
+                }
+
+
+                _ => {
+                    return Err(parse::Error::new(ident.span(), "unexpected argument"));
+                }
+            }
+
+            if content.is_empty() {
+                break;
+            }
+
+            // Handle comma: ,
+            let _: Token![,] = content.parse()?;
+        }
+        let priority = priority.unwrap_or(1);
+        let shared_resources = shared_resources.unwrap_or_default();
+        let local_resources = local_resources.unwrap_or_default();
+
+        Ok(if let Some(binds) = binds {
+            if priority == 0 {
+                return Err(parse::Error::new(
+                    prio_span.unwrap(),
+                    "hardware tasks are not allowed to be at priority 0",
+                ));
+            }
+
+            if only_same_priority_spawn {
+                return Err(parse::Error::new(
+                    only_same_prio_span.unwrap(),
+                    "hardware tasks are not allowed to be spawned, `only_same_priority_spawn_please_fix_me` is only for software tasks",
+                ));
+            }
+
+            Either::Left(HardwareTaskArgs {
+                binds,
+                priority,
+                shared_resources,
+                local_resources,
+            })
+        } else {
+            Either::Right(SoftwareTaskArgs {
+                capacity: capacity.unwrap_or(1),
+                priority,
+                shared_resources,
+                local_resources,
+                only_same_priority_spawn,
+            })
+        })
+    })
+    .parse2(tokens)
+}
+
+fn monotonic_args(path: Path, tokens: TokenStream2) -> parse::Result<MonotonicArgs> {
+    (|input: ParseStream<'_>| -> parse::Result<MonotonicArgs> {
+        let mut binds = None;
+        let mut priority = None;
+        let mut default = None;
+
+        if !input.peek(token::Paren) {
+            return Err(parse::Error::new(
+                path.segments.first().unwrap().ident.span(),
+                "expected opening ( in #[monotonic( ... )]",
+            ));
+        }
+
+        let content;
+        parenthesized!(content in input);
+
+        if !content.is_empty() {
+            loop {
+                // Parse identifier name
+                let ident: Ident = content.parse()?;
+                // Handle equal sign
+                let _: Token![=] = content.parse()?;
+
+                match &*ident.to_string() {
+                    "binds" => {
+                        if binds.is_some() {
+                            return Err(parse::Error::new(
+                                ident.span(),
+                                "argument appears more than once",
+                            ));
+                        }
+                        // Parse identifier name
+                        let ident = content.parse()?;
+
+                        binds = Some(ident);
+                    }
+
+                    "priority" => {
+                        if priority.is_some() {
+                            return Err(parse::Error::new(
+                                ident.span(),
+                                "argument appears more than once",
+                            ));
+                        }
+
+                        // #lit
+                        let lit: LitInt = content.parse()?;
+
+                        if !lit.suffix().is_empty() {
+                            return Err(parse::Error::new(
+                                lit.span(),
+                                "this literal must be unsuffixed",
+                            ));
+                        }
+
+                        let value = lit.base10_parse::<u8>().ok();
+                        if value.is_none() || value == Some(0) {
+                            return Err(parse::Error::new(
+                                lit.span(),
+                                "this literal must be in the range 1...255",
+                            ));
+                        }
+
+                        priority = Some(value.unwrap());
+                    }
+
+                    "default" => {
+                        if default.is_some() {
+                            return Err(parse::Error::new(
+                                ident.span(),
+                                "argument appears more than once",
+                            ));
+                        }
+
+                        let lit: LitBool = content.parse()?;
+                        default = Some(lit.value);
+                    }
+
+                    _ => {
+                        return Err(parse::Error::new(ident.span(), "unexpected argument"));
+                    }
+                }
+                if content.is_empty() {
+                    break;
+                }
+
+                // Handle comma: ,
+                let _: Token![,] = content.parse()?;
+            }
+        }
+
+        let binds = if let Some(r) = binds {
+            r
+        } else {
+            return Err(parse::Error::new(
+                content.span(),
+                "`binds = ...` is missing",
+            ));
+        };
+        let default = default.unwrap_or(false);
+
+        Ok(MonotonicArgs {
+            binds,
+            priority,
+            default,
+        })
+    })
+    .parse2(tokens)
+}

macros/src/syntax/parse/app.rs

@@ -0,0 +1,539 @@
+use std::collections::HashSet;
+
+// use indexmap::map::Entry;
+use proc_macro2::TokenStream as TokenStream2;
+use syn::{
+    parse::{self, ParseStream, Parser},
+    spanned::Spanned,
+    Expr, ExprArray, Fields, ForeignItem, Ident, Item, LitBool, Path, Token, Type, Visibility,
+};
+
+use super::Input;
+use crate::syntax::{
+    ast::{
+        App, AppArgs, Dispatcher, Dispatchers, HardwareTask, Idle, IdleArgs, Init, InitArgs,
+        LocalResource, Monotonic, MonotonicArgs, SharedResource, SoftwareTask,
+    },
+    parse::{self as syntax_parse, util},
+    Either, Map, Set, Settings,
+};
+
+impl AppArgs {
+    pub(crate) fn parse(tokens: TokenStream2) -> parse::Result<Self> {
+        (|input: ParseStream<'_>| -> parse::Result<Self> {
+            let mut custom = Set::new();
+            let mut device = None;
+            let mut peripherals = true;
+            let mut dispatchers = Dispatchers::new();
+
+            loop {
+                if input.is_empty() {
+                    break;
+                }
+
+                // #ident = ..
+                let ident: Ident = input.parse()?;
+                let _eq_token: Token![=] = input.parse()?;
+
+                if custom.contains(&ident) {
+                    return Err(parse::Error::new(
+                        ident.span(),
+                        "argument appears more than once",
+                    ));
+                }
+
+                custom.insert(ident.clone());
+
+                let ks = ident.to_string();
+
+                match &*ks {
+                    "device" => {
+                        if let Ok(p) = input.parse::<Path>() {
+                            device = Some(p);
+                        } else {
+                            return Err(parse::Error::new(
+                                ident.span(),
+                                "unexpected argument value; this should be a path",
+                            ));
+                        }
+                    }
+
+                    "peripherals" => {
+                        if let Ok(p) = input.parse::<LitBool>() {
+                            peripherals = p.value;
+                        } else {
+                            return Err(parse::Error::new(
+                                ident.span(),
+                                "unexpected argument value; this should be a boolean",
+                            ));
+                        }
+                    }
+
+                    "dispatchers" => {
+                        if let Ok(p) = input.parse::<ExprArray>() {
+                            for e in p.elems {
+                                match e {
+                                    Expr::Path(ep) => {
+                                        let path = ep.path;
+                                        let ident = if path.leading_colon.is_some()
+                                            || path.segments.len() != 1
+                                        {
+                                            return Err(parse::Error::new(
+                                                path.span(),
+                                                "interrupt must be an identifier, not a path",
+                                            ));
+                                        } else {
+                                            path.segments[0].ident.clone()
+                                        };
+                                        let span = ident.span();
+                                        if dispatchers.contains_key(&ident) {
+                                            return Err(parse::Error::new(
+                                                span,
+                                                "this extern interrupt is listed more than once",
+                                            ));
+                                        } else {
+                                            dispatchers
+                                                .insert(ident, Dispatcher { attrs: ep.attrs });
+                                        }
+                                    }
+                                    _ => {
+                                        return Err(parse::Error::new(
+                                            e.span(),
+                                            "interrupt must be an identifier",
+                                        ));
+                                    }
+                                }
+                            }
+                        } else {
+                            return Err(parse::Error::new(
+                                ident.span(),
+                                // increasing the length of the error message will break rustfmt
+                                "unexpected argument value; expected an array",
+                            ));
+                        }
+                    }
+                    _ => {
+                        return Err(parse::Error::new(ident.span(), "unexpected argument"));
+                    }
+                }
+
+                if input.is_empty() {
+                    break;
+                }
+
+                // ,
+                let _: Token![,] = input.parse()?;
+            }
+
+            let device = if let Some(device) = device {
+                device
+            } else {
+                return Err(parse::Error::new(input.span(), "missing `device = ...`"));
+            };
+
+            Ok(AppArgs {
+                device,
+                peripherals,
+                dispatchers,
+            })
+        })
+        .parse2(tokens)
+    }
+}
+
+impl App {
+    pub(crate) fn parse(args: AppArgs, input: Input, settings: &Settings) -> parse::Result<Self> {
+        let mut init = None;
+        let mut idle = None;
+
+        let mut shared_resources_ident = None;
+        let mut shared_resources = Map::new();
+        let mut local_resources_ident = None;
+        let mut local_resources = Map::new();
+        let mut monotonics = Map::new();
+        let mut hardware_tasks = Map::new();
+        let mut software_tasks = Map::new();
+        let mut user_imports = vec![];
+        let mut user_code = vec![];
+
+        let mut seen_idents = HashSet::<Ident>::new();
+        let mut bindings = HashSet::<Ident>::new();
+        let mut monotonic_types = HashSet::<Type>::new();
+
+        let mut check_binding = |ident: &Ident| {
+            if bindings.contains(ident) {
+                return Err(parse::Error::new(
+                    ident.span(),
+                    "this interrupt is already bound",
+                ));
+            } else {
+                bindings.insert(ident.clone());
+            }
+
+            Ok(())
+        };
+
+        let mut check_ident = |ident: &Ident| {
+            if seen_idents.contains(ident) {
+                return Err(parse::Error::new(
+                    ident.span(),
+                    "this identifier has already been used",
+                ));
+            } else {
+                seen_idents.insert(ident.clone());
+            }
+
+            Ok(())
+        };
+
+        let mut check_monotonic = |ty: &Type| {
+            if monotonic_types.contains(ty) {
+                return Err(parse::Error::new(
+                    ty.span(),
+                    "this type is already used by another monotonic",
+                ));
+            } else {
+                monotonic_types.insert(ty.clone());
+            }
+
+            Ok(())
+        };
+
+        for mut item in input.items {
+            match item {
+                Item::Fn(mut item) => {
+                    let span = item.sig.ident.span();
+                    if let Some(pos) = item
+                        .attrs
+                        .iter()
+                        .position(|attr| util::attr_eq(attr, "init"))
+                    {
+                        let args = InitArgs::parse(item.attrs.remove(pos).tokens)?;
+
+                        // If an init function already exists, error
+                        if init.is_some() {
+                            return Err(parse::Error::new(
+                                span,
+                                "`#[init]` function must appear at most once",
+                            ));
+                        }
+
+                        check_ident(&item.sig.ident)?;
+
+                        init = Some(Init::parse(args, item)?);
+                    } else if let Some(pos) = item
+                        .attrs
+                        .iter()
+                        .position(|attr| util::attr_eq(attr, "idle"))
+                    {
+                        let args = IdleArgs::parse(item.attrs.remove(pos).tokens)?;
+
+                        // If an idle function already exists, error
+                        if idle.is_some() {
+                            return Err(parse::Error::new(
+                                span,
+                                "`#[idle]` function must appear at most once",
+                            ));
+                        }
+
+                        check_ident(&item.sig.ident)?;
+
+                        idle = Some(Idle::parse(args, item)?);
+                    } else if let Some(pos) = item
+                        .attrs
+                        .iter()
+                        .position(|attr| util::attr_eq(attr, "task"))
+                    {
+                        if hardware_tasks.contains_key(&item.sig.ident)
+                            || software_tasks.contains_key(&item.sig.ident)
+                        {
+                            return Err(parse::Error::new(
+                                span,
+                                "this task is defined multiple times",
+                            ));
+                        }
+
+                        match syntax_parse::task_args(item.attrs.remove(pos).tokens, settings)? {
+                            Either::Left(args) => {
+                                check_binding(&args.binds)?;
+                                check_ident(&item.sig.ident)?;
+
+                                hardware_tasks.insert(
+                                    item.sig.ident.clone(),
+                                    HardwareTask::parse(args, item)?,
+                                );
+                            }
+
+                            Either::Right(args) => {
+                                check_ident(&item.sig.ident)?;
+
+                                software_tasks.insert(
+                                    item.sig.ident.clone(),
+                                    SoftwareTask::parse(args, item)?,
+                                );
+                            }
+                        }
+                    } else {
+                        // Forward normal functions
+                        user_code.push(Item::Fn(item.clone()));
+                    }
+                }
+
+                Item::Struct(ref mut struct_item) => {
+                    // Match structures with the attribute #[shared], name of structure is not
+                    // important
+                    if let Some(_pos) = struct_item
+                        .attrs
+                        .iter()
+                        .position(|attr| util::attr_eq(attr, "shared"))
+                    {
+                        let span = struct_item.ident.span();
+
+                        shared_resources_ident = Some(struct_item.ident.clone());
+
+                        if !shared_resources.is_empty() {
+                            return Err(parse::Error::new(
+                                span,
+                                "`#[shared]` struct must appear at most once",
+                            ));
+                        }
+
+                        if struct_item.vis != Visibility::Inherited {
+                            return Err(parse::Error::new(
+                                struct_item.span(),
+                                "this item must have inherited / private visibility",
+                            ));
+                        }
+
+                        if let Fields::Named(fields) = &mut struct_item.fields {
+                            for field in &mut fields.named {
+                                let ident = field.ident.as_ref().expect("UNREACHABLE");
+
+                                if shared_resources.contains_key(ident) {
+                                    return Err(parse::Error::new(
+                                        ident.span(),
+                                        "this resource is listed more than once",
+                                    ));
+                                }
+
+                                shared_resources.insert(
+                                    ident.clone(),
+                                    SharedResource::parse(field, ident.span())?,
+                                );
+                            }
+                        } else {
+                            return Err(parse::Error::new(
+                                struct_item.span(),
+                                "this `struct` must have named fields",
+                            ));
+                        }
+                    } else if let Some(_pos) = struct_item
+                        .attrs
+                        .iter()
+                        .position(|attr| util::attr_eq(attr, "local"))
+                    {
+                        let span = struct_item.ident.span();
+
+                        local_resources_ident = Some(struct_item.ident.clone());
+
+                        if !local_resources.is_empty() {
+                            return Err(parse::Error::new(
+                                span,
+                                "`#[local]` struct must appear at most once",
+                            ));
+                        }
+
+                        if struct_item.vis != Visibility::Inherited {
+                            return Err(parse::Error::new(
+                                struct_item.span(),
+                                "this item must have inherited / private visibility",
+                            ));
+                        }
+
+                        if let Fields::Named(fields) = &mut struct_item.fields {
+                            for field in &mut fields.named {
+                                let ident = field.ident.as_ref().expect("UNREACHABLE");
+
+                                if local_resources.contains_key(ident) {
+                                    return Err(parse::Error::new(
+                                        ident.span(),
+                                        "this resource is listed more than once",
+                                    ));
+                                }
+
+                                local_resources.insert(
+                                    ident.clone(),
+                                    LocalResource::parse(field, ident.span())?,
+                                );
+                            }
+                        } else {
+                            return Err(parse::Error::new(
+                                struct_item.span(),
+                                "this `struct` must have named fields",
+                            ));
+                        }
+                    } else {
+                        // Structure without the #[resources] attribute should just be passed along
+                        user_code.push(item.clone());
+                    }
+                }
+
+                Item::ForeignMod(mod_) => {
+                    if !util::abi_is_rust(&mod_.abi) {
+                        return Err(parse::Error::new(
+                            mod_.abi.extern_token.span(),
+                            "this `extern` block must use the \"Rust\" ABI",
+                        ));
+                    }
+
+                    for item in mod_.items {
+                        if let ForeignItem::Fn(mut item) = item {
+                            let span = item.sig.ident.span();
+                            if let Some(pos) = item
+                                .attrs
+                                .iter()
+                                .position(|attr| util::attr_eq(attr, "task"))
+                            {
+                                if hardware_tasks.contains_key(&item.sig.ident)
+                                    || software_tasks.contains_key(&item.sig.ident)
+                                {
+                                    return Err(parse::Error::new(
+                                        span,
+                                        "this task is defined multiple times",
+                                    ));
+                                }
+
+                                if item.attrs.len() != 1 {
+                                    return Err(parse::Error::new(
+                                        span,
+                                        "`extern` task required `#[task(..)]` attribute",
+                                    ));
+                                }
+
+                                match syntax_parse::task_args(
+                                    item.attrs.remove(pos).tokens,
+                                    settings,
+                                )? {
+                                    Either::Left(args) => {
+                                        check_binding(&args.binds)?;
+                                        check_ident(&item.sig.ident)?;
+
+                                        hardware_tasks.insert(
+                                            item.sig.ident.clone(),
+                                            HardwareTask::parse_foreign(args, item)?,
+                                        );
+                                    }
+
+                                    Either::Right(args) => {
+                                        check_ident(&item.sig.ident)?;
+
+                                        software_tasks.insert(
+                                            item.sig.ident.clone(),
+                                            SoftwareTask::parse_foreign(args, item)?,
+                                        );
+                                    }
+                                }
+                            } else {
+                                return Err(parse::Error::new(
+                                    span,
+                                    "`extern` task required `#[task(..)]` attribute",
+                                ));
+                            }
+                        } else {
+                            return Err(parse::Error::new(
+                                item.span(),
+                                "this item must live outside the `#[app]` module",
+                            ));
+                        }
+                    }
+                }
+                Item::Use(itemuse_) => {
+                    // Store the user provided use-statements
+                    user_imports.push(itemuse_.clone());
+                }
+                Item::Type(ref mut type_item) => {
+                    // Match types with the attribute #[monotonic]
+                    if let Some(pos) = type_item
+                        .attrs
+                        .iter()
+                        .position(|attr| util::attr_eq(attr, "monotonic"))
+                    {
+                        let span = type_item.ident.span();
+
+                        if monotonics.contains_key(&type_item.ident) {
+                            return Err(parse::Error::new(
+                                span,
+                                "`#[monotonic(...)]` on a specific type must appear at most once",
+                            ));
+                        }
+
+                        if type_item.vis != Visibility::Inherited {
+                            return Err(parse::Error::new(
+                                type_item.span(),
+                                "this item must have inherited / private visibility",
+                            ));
+                        }
+
+                        check_monotonic(&*type_item.ty)?;
+
+                        let m = type_item.attrs.remove(pos);
+                        let args = MonotonicArgs::parse(m)?;
+
+                        check_binding(&args.binds)?;
+
+                        let monotonic = Monotonic::parse(args, type_item, span)?;
+
+                        monotonics.insert(type_item.ident.clone(), monotonic);
+                    }
+
+                    // All types are passed on
+                    user_code.push(item.clone());
+                }
+                _ => {
+                    // Anything else within the module should not make any difference
+                    user_code.push(item.clone());
+                }
+            }
+        }
+
+        let shared_resources_ident =
+            shared_resources_ident.expect("No `#[shared]` resource struct defined");
+        let local_resources_ident =
+            local_resources_ident.expect("No `#[local]` resource struct defined");
+        let init = init.expect("No `#[init]` function defined");
+
+        if shared_resources_ident != init.user_shared_struct {
+            return Err(parse::Error::new(
+                init.user_shared_struct.span(),
+                format!(
+                    "This name and the one defined on `#[shared]` are not the same. Should this be `{}`?",
+                    shared_resources_ident
+                ),
+            ));
+        }
+
+        if local_resources_ident != init.user_local_struct {
+            return Err(parse::Error::new(
+                init.user_local_struct.span(),
+                format!(
+                    "This name and the one defined on `#[local]` are not the same. Should this be `{}`?",
+                    local_resources_ident
+                ),
+            ));
+        }
+
+        Ok(App {
+            args,
+            name: input.ident,
+            init,
+            idle,
+            monotonics,
+            shared_resources,
+            local_resources,
+            user_imports,
+            user_code,
+            hardware_tasks,
+            software_tasks,
+        })
+    }
+}

macros/src/syntax/parse/hardware_task.rs

@@ -0,0 +1,96 @@
+use syn::{parse, ForeignItemFn, ItemFn, Stmt};
+
+use crate::syntax::parse::util::FilterAttrs;
+use crate::syntax::{
+    ast::{HardwareTask, HardwareTaskArgs},
+    parse::util,
+};
+
+impl HardwareTask {
+    pub(crate) fn parse(args: HardwareTaskArgs, item: ItemFn) -> parse::Result<Self> {
+        let span = item.sig.ident.span();
+        let valid_signature = util::check_fn_signature(&item, false)
+            && item.sig.inputs.len() == 1
+            && util::type_is_unit(&item.sig.output);
+
+        let name = item.sig.ident.to_string();
+
+        if name == "init" || name == "idle" {
+            return Err(parse::Error::new(
+                span,
+                "tasks cannot be named `init` or `idle`",
+            ));
+        }
+
+        if valid_signature {
+            if let Some((context, Ok(rest))) = util::parse_inputs(item.sig.inputs, &name) {
+                if rest.is_empty() {
+                    let FilterAttrs { cfgs, attrs, .. } = util::filter_attributes(item.attrs);
+
+                    return Ok(HardwareTask {
+                        args,
+                        cfgs,
+                        attrs,
+                        context,
+                        stmts: item.block.stmts,
+                        is_extern: false,
+                    });
+                }
+            }
+        }
+
+        Err(parse::Error::new(
+            span,
+            &format!(
+                "this task handler must have type signature `fn({}::Context)`",
+                name
+            ),
+        ))
+    }
+}
+
+impl HardwareTask {
+    pub(crate) fn parse_foreign(
+        args: HardwareTaskArgs,
+        item: ForeignItemFn,
+    ) -> parse::Result<Self> {
+        let span = item.sig.ident.span();
+        let valid_signature = util::check_foreign_fn_signature(&item, false)
+            && item.sig.inputs.len() == 1
+            && util::type_is_unit(&item.sig.output);
+
+        let name = item.sig.ident.to_string();
+
+        if name == "init" || name == "idle" {
+            return Err(parse::Error::new(
+                span,
+                "tasks cannot be named `init` or `idle`",
+            ));
+        }
+
+        if valid_signature {
+            if let Some((context, Ok(rest))) = util::parse_inputs(item.sig.inputs, &name) {
+                if rest.is_empty() {
+                    let FilterAttrs { cfgs, attrs, .. } = util::filter_attributes(item.attrs);
+
+                    return Ok(HardwareTask {
+                        args,
+                        cfgs,
+                        attrs,
+                        context,
+                        stmts: Vec::<Stmt>::new(),
+                        is_extern: true,
+                    });
+                }
+            }
+        }
+
+        Err(parse::Error::new(
+            span,
+            &format!(
+                "this task handler must have type signature `fn({}::Context)`",
+                name
+            ),
+        ))
+    }
+}

macros/src/syntax/parse/idle.rs

@@ -0,0 +1,45 @@
+use proc_macro2::TokenStream as TokenStream2;
+use syn::{parse, ItemFn};
+
+use crate::syntax::{
+    ast::{Idle, IdleArgs},
+    parse::util,
+};
+
+impl IdleArgs {
+    pub(crate) fn parse(tokens: TokenStream2) -> parse::Result<Self> {
+        crate::syntax::parse::idle_args(tokens)
+    }
+}
+
+impl Idle {
+    pub(crate) fn parse(args: IdleArgs, item: ItemFn) -> parse::Result<Self> {
+        let valid_signature = util::check_fn_signature(&item, false)
+            && item.sig.inputs.len() == 1
+            && util::type_is_bottom(&item.sig.output);
+
+        let name = item.sig.ident.to_string();
+
+        if valid_signature {
+            if let Some((context, Ok(rest))) = util::parse_inputs(item.sig.inputs, &name) {
+                if rest.is_empty() {
+                    return Ok(Idle {
+                        args,
+                        attrs: item.attrs,
+                        context,
+                        name: item.sig.ident,
+                        stmts: item.block.stmts,
+                    });
+                }
+            }
+        }
+
+        Err(parse::Error::new(
+            item.sig.ident.span(),
+            &format!(
+                "this `#[idle]` function must have signature `fn({}::Context) -> !`",
+                name
+            ),
+        ))
+    }
+}

macros/src/syntax/parse/init.rs

@@ -0,0 +1,52 @@
+use proc_macro2::TokenStream as TokenStream2;
+
+use syn::{parse, ItemFn};
+
+use crate::syntax::{
+    ast::{Init, InitArgs},
+    parse::{self as syntax_parse, util},
+};
+
+impl InitArgs {
+    pub(crate) fn parse(tokens: TokenStream2) -> parse::Result<Self> {
+        syntax_parse::init_args(tokens)
+    }
+}
+
+impl Init {
+    pub(crate) fn parse(args: InitArgs, item: ItemFn) -> parse::Result<Self> {
+        let valid_signature = util::check_fn_signature(&item, false) && item.sig.inputs.len() == 1;
+
+        let span = item.sig.ident.span();
+
+        let name = item.sig.ident.to_string();
+
+        if valid_signature {
+            if let Ok((user_shared_struct, user_local_struct)) =
+                util::type_is_init_return(&item.sig.output, &name)
+            {
+                if let Some((context, Ok(rest))) = util::parse_inputs(item.sig.inputs, &name) {
+                    if rest.is_empty() {
+                        return Ok(Init {
+                            args,
+                            attrs: item.attrs,
+                            context,
+                            name: item.sig.ident,
+                            stmts: item.block.stmts,
+                            user_shared_struct,
+                            user_local_struct,
+                        });
+                    }
+                }
+            }
+        }
+
+        Err(parse::Error::new(
+            span,
+            &format!(
+                "the `#[init]` function must have signature `fn({}::Context) -> (Shared resources struct, Local resources struct, {0}::Monotonics)`",
+                name
+            ),
+        ))
+    }
+}

macros/src/syntax/parse/monotonic.rs

@@ -0,0 +1,42 @@
+use proc_macro2::Span;
+use syn::Attribute;
+use syn::{parse, spanned::Spanned, ItemType, Visibility};
+
+use crate::syntax::parse::util::FilterAttrs;
+use crate::syntax::{
+    ast::{Monotonic, MonotonicArgs},
+    parse::util,
+};
+
+impl MonotonicArgs {
+    pub(crate) fn parse(attr: Attribute) -> parse::Result<Self> {
+        crate::syntax::parse::monotonic_args(attr.path, attr.tokens)
+    }
+}
+
+impl Monotonic {
+    pub(crate) fn parse(args: MonotonicArgs, item: &ItemType, span: Span) -> parse::Result<Self> {
+        if item.vis != Visibility::Inherited {
+            return Err(parse::Error::new(
+                span,
+                "this field must have inherited / private visibility",
+            ));
+        }
+
+        let FilterAttrs { cfgs, attrs, .. } = util::filter_attributes(item.attrs.clone());
+
+        if !attrs.is_empty() {
+            return Err(parse::Error::new(
+                attrs[0].path.span(),
+                "Monotonic does not support attributes other than `#[cfg]`",
+            ));
+        }
+
+        Ok(Monotonic {
+            cfgs,
+            ident: item.ident.clone(),
+            ty: item.ty.clone(),
+            args,
+        })
+    }
+}

macros/src/syntax/parse/resource.rs

@@ -0,0 +1,55 @@
+use proc_macro2::Span;
+use syn::{parse, Field, Visibility};
+
+use crate::syntax::parse::util::FilterAttrs;
+use crate::syntax::{
+    ast::{LocalResource, SharedResource, SharedResourceProperties},
+    parse::util,
+};
+
+impl SharedResource {
+    pub(crate) fn parse(item: &Field, span: Span) -> parse::Result<Self> {
+        if item.vis != Visibility::Inherited {
+            return Err(parse::Error::new(
+                span,
+                "this field must have inherited / private visibility",
+            ));
+        }
+
+        let FilterAttrs {
+            cfgs,
+            mut attrs,
+            docs,
+        } = util::filter_attributes(item.attrs.clone());
+
+        let lock_free = util::extract_lock_free(&mut attrs)?;
+
+        Ok(SharedResource {
+            cfgs,
+            attrs,
+            docs,
+            ty: Box::new(item.ty.clone()),
+            properties: SharedResourceProperties { lock_free },
+        })
+    }
+}
+
+impl LocalResource {
+    pub(crate) fn parse(item: &Field, span: Span) -> parse::Result<Self> {
+        if item.vis != Visibility::Inherited {
+            return Err(parse::Error::new(
+                span,
+                "this field must have inherited / private visibility",
+            ));
+        }
+
+        let FilterAttrs { cfgs, attrs, docs } = util::filter_attributes(item.attrs.clone());
+
+        Ok(LocalResource {
+            cfgs,
+            attrs,
+            docs,
+            ty: Box::new(item.ty.clone()),
+        })
+    }
+}

macros/src/syntax/parse/software_task.rs

@@ -0,0 +1,86 @@
+use syn::{parse, ForeignItemFn, ItemFn, Stmt};
+
+use crate::syntax::parse::util::FilterAttrs;
+use crate::syntax::{
+    ast::{SoftwareTask, SoftwareTaskArgs},
+    parse::util,
+};
+
+impl SoftwareTask {
+    pub(crate) fn parse(args: SoftwareTaskArgs, item: ItemFn) -> parse::Result<Self> {
+        let valid_signature =
+            util::check_fn_signature(&item, true) && util::type_is_unit(&item.sig.output);
+
+        let span = item.sig.ident.span();
+
+        let name = item.sig.ident.to_string();
+
+        let is_async = item.sig.asyncness.is_some();
+
+        if valid_signature {
+            if let Some((context, Ok(inputs))) = util::parse_inputs(item.sig.inputs, &name) {
+                let FilterAttrs { cfgs, attrs, .. } = util::filter_attributes(item.attrs);
+
+                return Ok(SoftwareTask {
+                    args,
+                    attrs,
+                    cfgs,
+                    context,
+                    inputs,
+                    stmts: item.block.stmts,
+                    is_extern: false,
+                    is_async,
+                });
+            }
+        }
+
+        Err(parse::Error::new(
+            span,
+            &format!(
+                "this task handler must have type signature `(async) fn({}::Context, ..)`",
+                name
+            ),
+        ))
+    }
+}
+
+impl SoftwareTask {
+    pub(crate) fn parse_foreign(
+        args: SoftwareTaskArgs,
+        item: ForeignItemFn,
+    ) -> parse::Result<Self> {
+        let valid_signature =
+            util::check_foreign_fn_signature(&item, true) && util::type_is_unit(&item.sig.output);
+
+        let span = item.sig.ident.span();
+
+        let name = item.sig.ident.to_string();
+
+        let is_async = item.sig.asyncness.is_some();
+
+        if valid_signature {
+            if let Some((context, Ok(inputs))) = util::parse_inputs(item.sig.inputs, &name) {
+                let FilterAttrs { cfgs, attrs, .. } = util::filter_attributes(item.attrs);
+
+                return Ok(SoftwareTask {
+                    args,
+                    attrs,
+                    cfgs,
+                    context,
+                    inputs,
+                    stmts: Vec::<Stmt>::new(),
+                    is_extern: true,
+                    is_async,
+                });
+            }
+        }
+
+        Err(parse::Error::new(
+            span,
+            &format!(
+                "this task handler must have type signature `(async) fn({}::Context, ..)`",
+                name
+            ),
+        ))
+    }
+}

macros/src/syntax/parse/util.rs

@@ -0,0 +1,338 @@
+use syn::{
+    bracketed,
+    parse::{self, ParseStream},
+    punctuated::Punctuated,
+    spanned::Spanned,
+    Abi, AttrStyle, Attribute, Expr, FnArg, ForeignItemFn, Ident, ItemFn, Pat, PatType, Path,
+    PathArguments, ReturnType, Token, Type, Visibility,
+};
+
+use crate::syntax::{
+    ast::{Access, Local, LocalResources, SharedResources, TaskLocal},
+    Map,
+};
+
+pub fn abi_is_rust(abi: &Abi) -> bool {
+    match &abi.name {
+        None => true,
+        Some(s) => s.value() == "Rust",
+    }
+}
+
+pub fn attr_eq(attr: &Attribute, name: &str) -> bool {
+    attr.style == AttrStyle::Outer && attr.path.segments.len() == 1 && {
+        let segment = attr.path.segments.first().unwrap();
+        segment.arguments == PathArguments::None && *segment.ident.to_string() == *name
+    }
+}
+
+/// checks that a function signature
+///
+/// - has no bounds (like where clauses)
+/// - is not `async`
+/// - is not `const`
+/// - is not `unsafe`
+/// - is not generic (has no type parameters)
+/// - is not variadic
+/// - uses the Rust ABI (and not e.g. "C")
+pub fn check_fn_signature(item: &ItemFn, allow_async: bool) -> bool {
+    item.vis == Visibility::Inherited
+        && item.sig.constness.is_none()
+        && (item.sig.asyncness.is_none() || allow_async)
+        && item.sig.abi.is_none()
+        && item.sig.unsafety.is_none()
+        && item.sig.generics.params.is_empty()
+        && item.sig.generics.where_clause.is_none()
+        && item.sig.variadic.is_none()
+}
+
+#[allow(dead_code)]
+pub fn check_foreign_fn_signature(item: &ForeignItemFn, allow_async: bool) -> bool {
+    item.vis == Visibility::Inherited
+        && item.sig.constness.is_none()
+        && (item.sig.asyncness.is_none() || allow_async)
+        && item.sig.abi.is_none()
+        && item.sig.unsafety.is_none()
+        && item.sig.generics.params.is_empty()
+        && item.sig.generics.where_clause.is_none()
+        && item.sig.variadic.is_none()
+}
+
+pub struct FilterAttrs {
+    pub cfgs: Vec<Attribute>,
+    pub docs: Vec<Attribute>,
+    pub attrs: Vec<Attribute>,
+}
+
+pub fn filter_attributes(input_attrs: Vec<Attribute>) -> FilterAttrs {
+    let mut cfgs = vec![];
+    let mut docs = vec![];
+    let mut attrs = vec![];
+
+    for attr in input_attrs {
+        if attr_eq(&attr, "cfg") {
+            cfgs.push(attr);
+        } else if attr_eq(&attr, "doc") {
+            docs.push(attr);
+        } else {
+            attrs.push(attr);
+        }
+    }
+
+    FilterAttrs { cfgs, docs, attrs }
+}
+
+pub fn extract_lock_free(attrs: &mut Vec<Attribute>) -> parse::Result<bool> {
+    if let Some(pos) = attrs.iter().position(|attr| attr_eq(attr, "lock_free")) {
+        attrs.remove(pos);
+        Ok(true)
+    } else {
+        Ok(false)
+    }
+}
+
+pub fn parse_shared_resources(content: ParseStream<'_>) -> parse::Result<SharedResources> {
+    let inner;
+    bracketed!(inner in content);
+
+    let mut resources = Map::new();
+    for e in inner.call(Punctuated::<Expr, Token![,]>::parse_terminated)? {
+        let err = Err(parse::Error::new(
+            e.span(),
+            "identifier appears more than once in list",
+        ));
+        let (access, path) = match e {
+            Expr::Path(e) => (Access::Exclusive, e.path),
+
+            Expr::Reference(ref r) if r.mutability.is_none() => match &*r.expr {
+                Expr::Path(e) => (Access::Shared, e.path.clone()),
+
+                _ => return err,
+            },
+
+            _ => return err,
+        };
+
+        let ident = extract_resource_name_ident(path)?;
+
+        if resources.contains_key(&ident) {
+            return Err(parse::Error::new(
+                ident.span(),
+                "resource appears more than once in list",
+            ));
+        }
+
+        resources.insert(ident, access);
+    }
+
+    Ok(resources)
+}
+
+fn extract_resource_name_ident(path: Path) -> parse::Result<Ident> {
+    if path.leading_colon.is_some()
+        || path.segments.len() != 1
+        || path.segments[0].arguments != PathArguments::None
+    {
+        Err(parse::Error::new(
+            path.span(),
+            "resource must be an identifier, not a path",
+        ))
+    } else {
+        Ok(path.segments[0].ident.clone())
+    }
+}
+
+pub fn parse_local_resources(content: ParseStream<'_>) -> parse::Result<LocalResources> {
+    let inner;
+    bracketed!(inner in content);
+
+    let mut resources = Map::new();
+
+    for e in inner.call(Punctuated::<Expr, Token![,]>::parse_terminated)? {
+        let err = Err(parse::Error::new(
+            e.span(),
+            "identifier appears more than once in list",
+        ));
+
+        let (name, local) = match e {
+            // local = [IDENT],
+            Expr::Path(path) => {
+                if !path.attrs.is_empty() {
+                    return Err(parse::Error::new(
+                        path.span(),
+                        "attributes are not supported here",
+                    ));
+                }
+
+                let ident = extract_resource_name_ident(path.path)?;
+                // let (cfgs, attrs) = extract_cfgs(path.attrs);
+
+                (ident, TaskLocal::External)
+            }
+
+            // local = [IDENT: TYPE = EXPR]
+            Expr::Assign(e) => {
+                let (name, ty, cfgs, attrs) = match *e.left {
+                    Expr::Type(t) => {
+                        // Extract name and attributes
+                        let (name, cfgs, attrs) = match *t.expr {
+                            Expr::Path(path) => {
+                                let name = extract_resource_name_ident(path.path)?;
+                                let FilterAttrs { cfgs, attrs, .. } = filter_attributes(path.attrs);
+
+                                (name, cfgs, attrs)
+                            }
+                            _ => return err,
+                        };
+
+                        let ty = t.ty;
+
+                        // Error check
+                        match &*ty {
+                            Type::Array(_) => {}
+                            Type::Path(_) => {}
+                            Type::Ptr(_) => {}
+                            Type::Tuple(_) => {}
+                            _ => return Err(parse::Error::new(
+                                ty.span(),
+                                "unsupported type, must be an array, tuple, pointer or type path",
+                            )),
+                        };
+
+                        (name, ty, cfgs, attrs)
+                    }
+                    e => return Err(parse::Error::new(e.span(), "malformed, expected a type")),
+                };
+
+                let expr = e.right; // Expr
+
+                (
+                    name,
+                    TaskLocal::Declared(Local {
+                        attrs,
+                        cfgs,
+                        ty,
+                        expr,
+                    }),
+                )
+            }
+
+            expr => {
+                return Err(parse::Error::new(
+                    expr.span(),
+                    "malformed, expected 'IDENT: TYPE = EXPR'",
+                ))
+            }
+        };
+
+        resources.insert(name, local);
+    }
+
+    Ok(resources)
+}
+
+type ParseInputResult = Option<(Box<Pat>, Result<Vec<PatType>, FnArg>)>;
+
+pub fn parse_inputs(inputs: Punctuated<FnArg, Token![,]>, name: &str) -> ParseInputResult {
+    let mut inputs = inputs.into_iter();
+
+    match inputs.next() {
+        Some(FnArg::Typed(first)) => {
+            if type_is_path(&first.ty, &[name, "Context"]) {
+                let rest = inputs
+                    .map(|arg| match arg {
+                        FnArg::Typed(arg) => Ok(arg),
+                        _ => Err(arg),
+                    })
+                    .collect::<Result<Vec<_>, _>>();
+
+                Some((first.pat, rest))
+            } else {
+                None
+            }
+        }
+
+        _ => None,
+    }
+}
+
+pub fn type_is_bottom(ty: &ReturnType) -> bool {
+    if let ReturnType::Type(_, ty) = ty {
+        matches!(**ty, Type::Never(_))
+    } else {
+        false
+    }
+}
+
+fn extract_init_resource_name_ident(ty: Type) -> Result<Ident, ()> {
+    match ty {
+        Type::Path(path) => {
+            let path = path.path;
+
+            if path.leading_colon.is_some()
+                || path.segments.len() != 1
+                || path.segments[0].arguments != PathArguments::None
+            {
+                Err(())
+            } else {
+                Ok(path.segments[0].ident.clone())
+            }
+        }
+        _ => Err(()),
+    }
+}
+
+/// Checks Init's return type, return the user provided types for analysis
+pub fn type_is_init_return(ty: &ReturnType, name: &str) -> Result<(Ident, Ident), ()> {
+    match ty {
+        ReturnType::Default => Err(()),
+
+        ReturnType::Type(_, ty) => match &**ty {
+            Type::Tuple(t) => {
+                // return should be:
+                // fn -> (User's #[shared] struct, User's #[local] struct, {name}::Monotonics)
+                //
+                // We check the length and the last one here, analysis checks that the user
+                // provided structs are correct.
+                if t.elems.len() == 3 && type_is_path(&t.elems[2], &[name, "Monotonics"]) {
+                    return Ok((
+                        extract_init_resource_name_ident(t.elems[0].clone())?,
+                        extract_init_resource_name_ident(t.elems[1].clone())?,
+                    ));
+                }
+
+                Err(())
+            }
+
+            _ => Err(()),
+        },
+    }
+}
+
+pub fn type_is_path(ty: &Type, segments: &[&str]) -> bool {
+    match ty {
+        Type::Path(tpath) if tpath.qself.is_none() => {
+            tpath.path.segments.len() == segments.len()
+                && tpath
+                    .path
+                    .segments
+                    .iter()
+                    .zip(segments)
+                    .all(|(lhs, rhs)| lhs.ident == **rhs)
+        }
+
+        _ => false,
+    }
+}
+
+pub fn type_is_unit(ty: &ReturnType) -> bool {
+    if let ReturnType::Type(_, ty) = ty {
+        if let Type::Tuple(ref tuple) = **ty {
+            tuple.elems.is_empty()
+        } else {
+            false
+        }
+    } else {
+        true
+    }
+}

macros/tests/ui.rs

@@ -0,0 +1,7 @@
+use trybuild::TestCases;
+
+#[test]
+fn ui() {
+    let t = TestCases::new();
+    t.compile_fail("ui/*.rs");
+}

macros/ui/async-local-resouces.rs

@@ -0,0 +1,28 @@
+#![no_main]
+
+#[rtic_macros::mock_app(device = mock)]
+mod app {
+    #[shared]
+    struct Shared {
+        #[lock_free]
+        e: u32,
+    }
+
+    #[local]
+    struct Local {}
+
+    #[init]
+    fn init(_: init::Context) -> (Shared, Local, init::Monotonics) {}
+
+    // e ok
+    #[task(priority = 1, shared = [e])]
+    fn uart0(cx: uart0::Context) {}
+
+    // e ok
+    #[task(priority = 1, shared = [e])]
+    fn uart1(cx: uart1::Context) {}
+
+    // e not ok
+    #[task(priority = 1, shared = [e])]
+    async fn async_task(cx: async_task::Context) {}
+}

macros/ui/async-local-resouces.stderr

@@ -0,0 +1,5 @@
+error: Lock free shared resource "e" is used by an async tasks, which is forbidden
+  --> ui/async-local-resouces.rs:26:36
+   |
+26 |     #[task(priority = 1, shared = [e])]
+   |                                    ^

macros/ui/async-zero-prio-tasks.rs

@@ -0,0 +1,19 @@
+#![no_main]
+
+#[rtic_macros::mock_app(device = mock)]
+mod app {
+    #[shared]
+    struct Shared {}
+
+    #[local]
+    struct Local {}
+
+    #[init]
+    fn init(_: init::Context) -> (Shared, Local, init::Monotonics) {}
+
+    #[task(priority = 0)]
+    fn foo(_: foo::Context) {}
+
+    #[idle]
+    fn idle(_: idle::Context) -> ! {}
+}

macros/ui/async-zero-prio-tasks.stderr

@@ -0,0 +1,11 @@
+error: Software task "foo" has priority 0, but `#[idle]` is defined. 0-priority software tasks are only allowed if there is no `#[idle]`.
+  --> ui/async-zero-prio-tasks.rs:15:8
+   |
+15 |     fn foo(_: foo::Context) {}
+   |        ^^^
+
+error: Software task "foo" has priority 0, but is not `async`. 0-priority software tasks must be `async`.
+  --> ui/async-zero-prio-tasks.rs:15:8
+   |
+15 |     fn foo(_: foo::Context) {}
+   |        ^^^

macros/ui/extern-interrupt-used.rs

@@ -0,0 +1,16 @@
+#![no_main]
+
+#[rtic_macros::mock_app(parse_extern_interrupt, parse_binds, device = mock, dispatchers = [EXTI0])]
+mod app {
+    #[shared]
+    struct Shared {}
+
+    #[local]
+    struct Local {}
+
+    #[init]
+    fn init(_: init::Context) -> (Shared, Local, init::Monotonics) {}
+
+    #[task(binds = EXTI0)]
+    fn foo(_: foo::Context) {}
+}

macros/ui/extern-interrupt-used.stderr

@@ -0,0 +1,5 @@
+error: dispatcher interrupts can't be used as hardware tasks
+  --> $DIR/extern-interrupt-used.rs:14:20
+   |
+14 |     #[task(binds = EXTI0)]
+   |                    ^^^^^

macros/ui/idle-double-local.rs

@@ -0,0 +1,9 @@
+#![no_main]
+
+#[rtic_macros::mock_app(device = mock)]
+mod app {
+    #[idle(local = [A], local = [B])]
+    fn idle(_: idle::Context) -> ! {
+        loop {}
+    }
+}

macros/ui/idle-double-local.stderr

@@ -0,0 +1,5 @@
+error: argument appears more than once
+ --> $DIR/idle-double-local.rs:5:25
+  |
+5 |     #[idle(local = [A], local = [B])]
+  |                         ^^^^^

macros/ui/idle-double-shared.rs

@@ -0,0 +1,9 @@
+#![no_main]
+
+#[rtic_macros::mock_app(device = mock)]
+mod app {
+    #[idle(shared = [A], shared = [B])]
+    fn idle(_: idle::Context) -> ! {
+        loop {}
+    }
+}

macros/ui/idle-double-shared.stderr

@@ -0,0 +1,5 @@
+error: argument appears more than once
+ --> $DIR/idle-double-shared.rs:5:26
+  |
+5 |     #[idle(shared = [A], shared = [B])]
+  |                          ^^^^^^

macros/ui/idle-input.rs

@@ -0,0 +1,9 @@
+#![no_main]
+
+#[rtic_macros::mock_app(device = mock)]
+mod app {
+    #[idle]
+    fn idle(_: idle::Context, _undef: u32) -> ! {
+        loop {}
+    }
+}

macros/ui/idle-input.stderr

@@ -0,0 +1,5 @@
+error: this `#[idle]` function must have signature `fn(idle::Context) -> !`
+ --> ui/idle-input.rs:6:8
+  |
+6 |     fn idle(_: idle::Context, _undef: u32) -> ! {
+  |        ^^^^

macros/ui/idle-no-context.rs

@@ -0,0 +1,9 @@
+#![no_main]
+
+#[rtic_macros::mock_app(device = mock)]
+mod app {
+    #[idle]
+    fn idle() -> ! {
+        loop {}
+    }
+}

macros/ui/idle-no-context.stderr

@@ -0,0 +1,5 @@
+error: this `#[idle]` function must have signature `fn(idle::Context) -> !`
+ --> ui/idle-no-context.rs:6:8
+  |
+6 |     fn idle() -> ! {
+  |        ^^^^

macros/ui/idle-not-divergent.rs

@@ -0,0 +1,7 @@
+#![no_main]
+
+#[rtic_macros::mock_app(device = mock)]
+mod app {
+    #[idle]
+    fn idle(_: idle::Context) {}
+}

macros/ui/idle-not-divergent.stderr

@@ -0,0 +1,5 @@
+error: this `#[idle]` function must have signature `fn(idle::Context) -> !`
+ --> ui/idle-not-divergent.rs:6:8
+  |
+6 |     fn idle(_: idle::Context) {}
+  |        ^^^^

macros/ui/idle-output.rs

@@ -0,0 +1,9 @@
+#![no_main]
+
+#[rtic_macros::mock_app(device = mock)]
+mod app {
+    #[idle]
+    fn idle(_: idle::Context) -> u32 {
+        0
+    }
+}

macros/ui/idle-output.stderr

@@ -0,0 +1,5 @@
+error: this `#[idle]` function must have signature `fn(idle::Context) -> !`
+ --> ui/idle-output.rs:6:8
+  |
+6 |     fn idle(_: idle::Context) -> u32 {
+  |        ^^^^

macros/ui/idle-pub.rs

@@ -0,0 +1,9 @@
+#![no_main]
+
+#[rtic_macros::mock_app(device = mock)]
+mod app {
+    #[idle]
+    pub fn idle(_: idle::Context) -> ! {
+        loop {}
+    }
+}

macros/ui/idle-pub.stderr

@@ -0,0 +1,5 @@
+error: this `#[idle]` function must have signature `fn(idle::Context) -> !`
+ --> ui/idle-pub.rs:6:12
+  |
+6 |     pub fn idle(_: idle::Context) -> ! {
+  |            ^^^^

macros/ui/idle-unsafe.rs

@@ -0,0 +1,9 @@
+#![no_main]
+
+#[rtic_macros::mock_app(device = mock)]
+mod app {
+    #[idle]
+    unsafe fn idle(_: idle::Context) -> ! {
+        loop {}
+    }
+}

macros/ui/idle-unsafe.stderr

@@ -0,0 +1,5 @@
+error: this `#[idle]` function must have signature `fn(idle::Context) -> !`
+ --> ui/idle-unsafe.rs:6:15
+  |
+6 |     unsafe fn idle(_: idle::Context) -> ! {
+  |               ^^^^

macros/ui/init-divergent.rs

@@ -0,0 +1,13 @@
+#![no_main]
+
+#[rtic_macros::mock_app(device = mock)]
+mod app {
+    #[shared]
+    struct Shared {}
+
+    #[local]
+    struct Local {}
+
+    #[init]
+    fn init(_: init::Context) -> ! {}
+}

macros/ui/init-divergent.stderr

@@ -0,0 +1,5 @@
+error: the `#[init]` function must have signature `fn(init::Context) -> (Shared resources struct, Local resources struct, init::Monotonics)`
+  --> $DIR/init-divergent.rs:12:8
+   |
+12 |     fn init(_: init::Context) -> ! {}
+   |        ^^^^

macros/ui/init-double-local.rs

@@ -0,0 +1,7 @@
+#![no_main]
+
+#[rtic_macros::mock_app(device = mock)]
+mod app {
+    #[init(local = [A], local = [B])]
+    fn init(_: init::Context) {}
+}

macros/ui/init-double-local.stderr

@@ -0,0 +1,5 @@
+error: argument appears more than once
+ --> $DIR/init-double-local.rs:5:25
+  |
+5 |     #[init(local = [A], local = [B])]
+  |                         ^^^^^

macros/ui/init-double-shared.rs

@@ -0,0 +1,7 @@
+#![no_main]
+
+#[rtic_macros::mock_app(device = mock)]
+mod app {
+    #[init(shared = [A], shared = [B])]
+    fn init(_: init::Context) {}
+}

macros/ui/init-double-shared.stderr

@@ -0,0 +1,5 @@
+error: unexpected argument
+ --> $DIR/init-double-shared.rs:5:12
+  |
+5 |     #[init(shared = [A], shared = [B])]
+  |            ^^^^^^

macros/ui/init-input.rs

@@ -0,0 +1,13 @@
+#![no_main]
+
+#[rtic_macros::mock_app(device = mock)]
+mod app {
+    #[shared]
+    struct Shared {}
+
+    #[local]
+    struct Local {}
+
+    #[init]
+    fn init(_: init::Context, _undef: u32) -> (Shared, Local, init::Monotonics) {}
+}

macros/ui/init-input.stderr

@@ -0,0 +1,5 @@
+error: the `#[init]` function must have signature `fn(init::Context) -> (Shared resources struct, Local resources struct, init::Monotonics)`
+  --> $DIR/init-input.rs:12:8
+   |
+12 |     fn init(_: init::Context, _undef: u32) -> (Shared, Local, init::Monotonics) {}
+   |        ^^^^

macros/ui/init-no-context.rs

@@ -0,0 +1,13 @@
+#![no_main]
+
+#[rtic_macros::mock_app(device = mock)]
+mod app {
+    #[shared]
+    struct Shared {}
+
+    #[local]
+    struct Local {}
+
+    #[init]
+    fn init() -> (Shared, Local, init::Monotonics) {}
+}

macros/ui/init-no-context.stderr

@@ -0,0 +1,5 @@
+error: the `#[init]` function must have signature `fn(init::Context) -> (Shared resources struct, Local resources struct, init::Monotonics)`
+  --> $DIR/init-no-context.rs:12:8
+   |
+12 |     fn init() -> (Shared, Local, init::Monotonics) {}
+   |        ^^^^

macros/ui/init-output.rs

@@ -0,0 +1,9 @@
+#![no_main]
+
+#[rtic_macros::mock_app(device = mock)]
+mod app {
+    #[init]
+    fn init(_: init::Context) -> u32 {
+        0
+    }
+}

macros/ui/init-output.stderr

@@ -0,0 +1,5 @@
+error: the `#[init]` function must have signature `fn(init::Context) -> (Shared resources struct, Local resources struct, init::Monotonics)`
+ --> $DIR/init-output.rs:6:8
+  |
+6 |     fn init(_: init::Context) -> u32 {
+  |        ^^^^

macros/ui/init-pub.rs

@@ -0,0 +1,13 @@
+#![no_main]
+
+#[rtic_macros::mock_app(device = mock)]
+mod app {
+    #[shared]
+    struct Shared {}
+
+    #[local]
+    struct Local {}
+
+    #[init]
+    pub fn init(_: init::Context) -> (Shared, Local, init::Monotonics) {}
+}

macros/ui/init-pub.stderr

@@ -0,0 +1,5 @@
+error: the `#[init]` function must have signature `fn(init::Context) -> (Shared resources struct, Local resources struct, init::Monotonics)`
+  --> $DIR/init-pub.rs:12:12
+   |
+12 |     pub fn init(_: init::Context) -> (Shared, Local, init::Monotonics) {}
+   |            ^^^^

macros/ui/init-unsafe.rs

@@ -0,0 +1,7 @@
+#![no_main]
+
+#[rtic_macros::mock_app(device = mock)]
+mod app {
+    #[init]
+    unsafe fn init(_: init::Context) -> (Shared, Local, init::Monotonics) {}
+}

macros/ui/init-unsafe.stderr

@@ -0,0 +1,5 @@
+error: the `#[init]` function must have signature `fn(init::Context) -> (Shared resources struct, Local resources struct, init::Monotonics)`
+ --> $DIR/init-unsafe.rs:6:15
+  |
+6 |     unsafe fn init(_: init::Context) -> (Shared, Local, init::Monotonics) {}
+  |               ^^^^

macros/ui/interrupt-double.rs

@@ -0,0 +1,10 @@
+#![no_main]
+
+#[rtic_macros::mock_app(parse_binds, device = mock)]
+mod app {
+    #[task(binds = UART0)]
+    fn foo(_: foo::Context) {}
+
+    #[task(binds = UART0)]
+    fn bar(_: bar::Context) {}
+}

macros/ui/interrupt-double.stderr

@@ -0,0 +1,5 @@
+error: this interrupt is already bound
+ --> $DIR/interrupt-double.rs:8:20
+  |
+8 |     #[task(binds = UART0)]
+  |                    ^^^^^

macros/ui/local-collision-2.rs

@@ -0,0 +1,21 @@
+#![no_main]
+
+#[rtic_macros::mock_app(device = mock)]
+mod app {
+    #[shared]
+    struct Shared {}
+
+    #[local]
+    struct Local {
+        a: u32,
+    }
+
+    fn bar(_: bar::Context) {}
+
+    #[task(local = [a: u8 = 3])]
+    fn bar(_: bar::Context) {}
+
+    #[init(local = [a: u16 = 2])]
+    fn init(_: init::Context) -> (Shared, Local, init::Monotonics) {}
+}
+

macros/ui/local-collision-2.stderr

@@ -0,0 +1,17 @@
+error: Local resource "a" is used by multiple tasks or collides with multiple definitions
+  --> $DIR/local-collision-2.rs:10:9
+   |
+10 |         a: u32,
+   |         ^
+
+error: Local resource "a" is used by multiple tasks or collides with multiple definitions
+  --> $DIR/local-collision-2.rs:18:21
+   |
+18 |     #[init(local = [a: u16 = 2])]
+   |                     ^
+
+error: Local resource "a" is used by multiple tasks or collides with multiple definitions
+  --> $DIR/local-collision-2.rs:15:21
+   |
+15 |     #[task(local = [a: u8 = 3])]
+   |                     ^

macros/ui/local-collision.rs

@@ -0,0 +1,21 @@
+#![no_main]
+
+#[rtic_macros::mock_app(device = mock)]
+mod app {
+    #[shared]
+    struct Shared {}
+
+    #[local]
+    struct Local {
+        a: u32,
+    }
+
+    #[task(local = [a])]
+    fn foo(_: foo::Context) {}
+
+    #[task(local = [a: u8 = 3])]
+    fn bar(_: bar::Context) {}
+
+    #[init]
+    fn init(_: init::Context) -> (Shared, Local, init::Monotonics) {}
+}

macros/ui/local-collision.stderr

@@ -0,0 +1,11 @@
+error: Local resource "a" is used by multiple tasks or collides with multiple definitions
+  --> $DIR/local-collision.rs:10:9
+   |
+10 |         a: u32,
+   |         ^
+
+error: Local resource "a" is used by multiple tasks or collides with multiple definitions
+  --> $DIR/local-collision.rs:16:21
+   |
+16 |     #[task(local = [a: u8 = 3])]
+   |                     ^

macros/ui/local-malformed-1.rs

@@ -0,0 +1,16 @@
+#![no_main]
+
+#[rtic_macros::mock_app(device = mock)]
+mod app {
+    #[shared]
+    struct Shared {}
+
+    #[local]
+    struct Local {}
+
+    #[task(local = [a:])]
+    fn foo(_: foo::Context) {}
+
+    #[init]
+    fn init(_: init::Context) -> (Shared, Local, init::Monotonics) {}
+}

macros/ui/local-malformed-1.stderr

@@ -0,0 +1,5 @@
+error: unexpected end of input, expected one of: `for`, parentheses, `fn`, `unsafe`, `extern`, identifier, `::`, `<`, square brackets, `*`, `&`, `!`, `impl`, `_`, lifetime
+  --> ui/local-malformed-1.rs:11:23
+   |
+11 |     #[task(local = [a:])]
+   |                       ^

macros/ui/local-malformed-2.rs

@@ -0,0 +1,16 @@
+#![no_main]
+
+#[rtic_macros::mock_app(device = mock)]
+mod app {
+    #[shared]
+    struct Shared {}
+
+    #[local]
+    struct Local {}
+
+    #[task(local = [a: u32])]
+    fn foo(_: foo::Context) {}
+
+    #[init]
+    fn init(_: init::Context) -> (Shared, Local, init::Monotonics) {}
+}

macros/ui/local-malformed-2.stderr

@@ -0,0 +1,5 @@
+error: malformed, expected 'IDENT: TYPE = EXPR'
+  --> ui/local-malformed-2.rs:11:21
+   |
+11 |     #[task(local = [a: u32])]
+   |                     ^

macros/ui/local-malformed-3.rs

@@ -0,0 +1,16 @@
+#![no_main]
+
+#[rtic_macros::mock_app(device = mock)]
+mod app {
+    #[shared]
+    struct Shared {}
+
+    #[local]
+    struct Local {}
+
+    #[task(local = [a: u32 =])]
+    fn foo(_: foo::Context) {}
+
+    #[init]
+    fn init(_: init::Context) -> (Shared, Local, init::Monotonics) {}
+}

macros/ui/local-malformed-3.stderr

@@ -0,0 +1,5 @@
+error: unexpected end of input, expected expression
+  --> ui/local-malformed-3.rs:11:29
+   |
+11 |     #[task(local = [a: u32 =])]
+   |                             ^

macros/ui/local-malformed-4.rs

@@ -0,0 +1,16 @@
+#![no_main]
+
+#[rtic_macros::mock_app(device = mock)]
+mod app {
+    #[shared]
+    struct Shared {}
+
+    #[local]
+    struct Local {}
+
+    #[task(local = [a = u32])]
+    fn foo(_: foo::Context) {}
+
+    #[init]
+    fn init(_: init::Context) -> (Shared, Local, init::Monotonics) {}
+}

macros/ui/local-malformed-4.stderr

@@ -0,0 +1,5 @@
+error: malformed, expected a type
+  --> ui/local-malformed-4.rs:11:21
+   |
+11 |     #[task(local = [a = u32])]
+   |                     ^

macros/ui/local-not-declared.rs

@@ -0,0 +1,16 @@
+#![no_main]
+
+#[rtic_macros::mock_app(device = mock)]
+mod app {
+    #[shared]
+    struct Shared {}
+
+    #[local]
+    struct Local {}
+
+    #[task(local = [A])]
+    fn foo(_: foo::Context) {}
+
+    #[init]
+    fn init(_: init::Context) -> (Shared, Local, init::Monotonics) {}
+}

macros/ui/local-not-declared.stderr

@@ -0,0 +1,5 @@
+error: this local resource has NOT been declared
+  --> $DIR/local-not-declared.rs:11:21
+   |
+11 |     #[task(local = [A])]
+   |                     ^