From 8065d741aceb96ea06e70afce05408e334a977b5 Mon Sep 17 00:00:00 2001
From: Emil Fresk <emil.fresk@gmail.com>
Date: Tue, 2 Nov 2021 13:41:12 +0100
Subject: [PATCH 1/5] Fixed aliasing issue due to RacyCell implementation

---
 macros/src/codegen.rs                         |  2 +-
 macros/src/codegen/dispatchers.rs             |  8 ++--
 macros/src/codegen/local_resources_struct.rs  |  4 +-
 macros/src/codegen/module.rs                  | 42 +++++++++----------
 macros/src/codegen/post_init.rs               | 12 +++---
 macros/src/codegen/pre_init.rs                |  2 +-
 macros/src/codegen/shared_resources.rs        |  2 +-
 macros/src/codegen/shared_resources_struct.rs |  4 +-
 macros/src/codegen/timer_queue.rs             |  8 ++--
 src/lib.rs                                    | 12 +++---
 10 files changed, 47 insertions(+), 49 deletions(-)

diff --git a/macros/src/codegen.rs b/macros/src/codegen.rs
index 63a4e3cadc..f07326ba47 100644
--- a/macros/src/codegen.rs
+++ b/macros/src/codegen.rs
@@ -135,7 +135,7 @@ pub fn app(app: &App, analysis: &Analysis, extra: &Extra) -> TokenStream2 {
                         rtic::export::interrupt::free(|_| {
                             use rtic::Monotonic as _;
                             use rtic::time::Clock as _;
-                            if let Some(m) = unsafe{ super::super::#ident.get_mut_unchecked() } {
+                            if let Some(m) = unsafe{ &mut *super::super::#ident.get_mut() } {
                                 if let Ok(v) = m.try_now() {
                                     v
                                 } else {
diff --git a/macros/src/codegen/dispatchers.rs b/macros/src/codegen/dispatchers.rs
index 57103acd0b..a90a97c773 100644
--- a/macros/src/codegen/dispatchers.rs
+++ b/macros/src/codegen/dispatchers.rs
@@ -78,12 +78,12 @@ pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStrea
                     #(#cfgs)*
                     #t::#name => {
                         let #tupled =
-                            #inputs
-                            .get_unchecked()
+                            (&*#inputs
+                            .get())
                             .get_unchecked(usize::from(index))
                             .as_ptr()
                             .read();
-                        #fq.get_mut_unchecked().split().0.enqueue_unchecked(index);
+                        (&mut *#fq.get_mut()).split().0.enqueue_unchecked(index);
                         let priority = &rtic::export::Priority::new(PRIORITY);
                         #name(
                             #name::Context::new(priority)
@@ -95,7 +95,7 @@ pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStrea
             .collect::<Vec<_>>();
 
         stmts.push(quote!(
-            while let Some((task, index)) = #rq.get_mut_unchecked().split().1.dequeue() {
+            while let Some((task, index)) = (&mut *#rq.get_mut()).split().1.dequeue() {
                 match task {
                     #(#arms)*
                 }
diff --git a/macros/src/codegen/local_resources_struct.rs b/macros/src/codegen/local_resources_struct.rs
index cdbfcccac9..10bde5fefb 100644
--- a/macros/src/codegen/local_resources_struct.rs
+++ b/macros/src/codegen/local_resources_struct.rs
@@ -57,9 +57,9 @@ pub fn codegen(ctxt: Context, needs_lt: &mut bool, app: &App) -> (TokenStream2,
         let expr = if is_declared {
             // If the local resources is already initialized, we only need to access its value and
             // not go through an `MaybeUninit`
-            quote!(#mangled_name.get_mut_unchecked())
+            quote!(&mut *#mangled_name.get_mut())
         } else {
-            quote!(&mut *#mangled_name.get_mut_unchecked().as_mut_ptr())
+            quote!(&mut *(&mut *#mangled_name.get_mut()).as_mut_ptr())
         };
 
         values.push(quote!(
diff --git a/macros/src/codegen/module.rs b/macros/src/codegen/module.rs
index 5e0827ca9d..c59a814c6e 100644
--- a/macros/src/codegen/module.rs
+++ b/macros/src/codegen/module.rs
@@ -232,15 +232,15 @@ pub fn codegen(
             let input = #tupled;
 
             unsafe {
-                if let Some(index) = rtic::export::interrupt::free(|_| #fq.get_mut_unchecked().dequeue()) {
-                    #inputs
-                        .get_mut_unchecked()
+                if let Some(index) = rtic::export::interrupt::free(|_| (&mut *#fq.get_mut()).dequeue()) {
+                    (&mut *#inputs
+                        .get_mut())
                         .get_unchecked_mut(usize::from(index))
                         .as_mut_ptr()
                         .write(input);
 
                     rtic::export::interrupt::free(|_| {
-                        #rq.get_mut_unchecked().enqueue_unchecked((#t::#name, index));
+                        (&mut *#rq.get_mut()).enqueue_unchecked((#t::#name, index));
                     });
 
                     rtic::pend(#device::#enum_::#interrupt);
@@ -330,16 +330,16 @@ pub fn codegen(
                 impl #internal_spawn_handle_ident {
                     pub fn cancel(self) -> Result<#ty, ()> {
                         rtic::export::interrupt::free(|_| unsafe {
-                            let tq = #tq.get_mut_unchecked();
+                            let tq = &mut *#tq.get_mut();
                             if let Some((_task, index)) = tq.cancel_marker(self.marker) {
                                 // Get the message
-                                let msg = #inputs
-                                    .get_unchecked()
+                                let msg = (&*#inputs
+                                    .get())
                                     .get_unchecked(usize::from(index))
                                     .as_ptr()
                                     .read();
                                 // Return the index to the free queue
-                                #fq.get_mut_unchecked().split().0.enqueue_unchecked(index);
+                                (&mut *#fq.get_mut()).split().0.enqueue_unchecked(index);
 
                                 Ok(msg)
                             } else {
@@ -359,10 +359,10 @@ pub fn codegen(
                     pub fn reschedule_at(self, instant: rtic::time::Instant<#mono_type>) -> Result<Self, ()>
                     {
                         rtic::export::interrupt::free(|_| unsafe {
-                            let marker = *#tq_marker.get_mut_unchecked();
-                            *#tq_marker.get_mut_unchecked() = #tq_marker.get_mut_unchecked().wrapping_add(1);
+                            let marker = #tq_marker.get().read();
+                            #tq_marker.get_mut().write(marker.wrapping_add(1));
 
-                            let tq = #tq.get_mut_unchecked();
+                            let tq = (&mut *#tq.get_mut());
 
                             tq.update_marker(self.marker, marker, instant, || #pend).map(|_| #name::#m::SpawnHandle { marker })
                         })
@@ -383,7 +383,7 @@ pub fn codegen(
                         D::T: Into<<#mono_type as rtic::time::Clock>::T>,
                 {
 
-                    let instant = if rtic::export::interrupt::free(|_| unsafe { #m_ident.get_mut_unchecked().is_none() }) {
+                    let instant = if rtic::export::interrupt::free(|_| unsafe { (&*#m_ident.get()).is_none() }) {
                         rtic::time::Instant::new(0)
                     } else {
                         monotonics::#m::now()
@@ -401,21 +401,21 @@ pub fn codegen(
                 ) -> Result<#name::#m::SpawnHandle, #ty> {
                     unsafe {
                         let input = #tupled;
-                        if let Some(index) = rtic::export::interrupt::free(|_| #fq.get_mut_unchecked().dequeue()) {
-                            #inputs
-                                .get_mut_unchecked()
+                        if let Some(index) = rtic::export::interrupt::free(|_| (&mut *#fq.get_mut()).dequeue()) {
+                            (&mut *#inputs
+                                .get_mut())
                                 .get_unchecked_mut(usize::from(index))
                                 .as_mut_ptr()
                                 .write(input);
 
-                            #instants
-                                .get_mut_unchecked()
+                            (&mut *#instants
+                                .get_mut())
                                 .get_unchecked_mut(usize::from(index))
                                 .as_mut_ptr()
                                 .write(instant);
 
                             rtic::export::interrupt::free(|_| {
-                                let marker = *#tq_marker.get_mut_unchecked();
+                                let marker = #tq_marker.get().read();
                                 let nr = rtic::export::NotReady {
                                     instant,
                                     index,
@@ -423,15 +423,15 @@ pub fn codegen(
                                     marker,
                                 };
 
-                                *#tq_marker.get_mut_unchecked() = #tq_marker.get_mut_unchecked().wrapping_add(1);
+                                #tq_marker.get_mut().write(#tq_marker.get().read().wrapping_add(1));
 
-                                let tq = #tq.get_mut_unchecked();
+                                let tq = &mut *#tq.get_mut();
 
                                 tq.enqueue_unchecked(
                                     nr,
                                     || #enable_interrupt,
                                     || #pend,
-                                    #m_ident.get_mut_unchecked().as_mut());
+                                    (&mut *#m_ident.get_mut()).as_mut());
 
                                 Ok(#name::#m::SpawnHandle { marker })
                             })
diff --git a/macros/src/codegen/post_init.rs b/macros/src/codegen/post_init.rs
index 5624b20a72..b3359ab468 100644
--- a/macros/src/codegen/post_init.rs
+++ b/macros/src/codegen/post_init.rs
@@ -19,10 +19,9 @@ pub fn codegen(app: &App, analysis: &Analysis) -> Vec<TokenStream2> {
                 // We include the cfgs
                 #(#cfgs)*
                 // Resource is a RacyCell<MaybeUninit<T>>
-                // - `get_mut_unchecked` to obtain `MaybeUninit<T>`
-                // - `as_mut_ptr` to obtain a raw pointer to `MaybeUninit<T>`
+                // - `get_mut` to obtain a raw pointer to `MaybeUninit<T>`
                 // - `write` the defined value for the late resource T
-                #mangled_name.get_mut_unchecked().as_mut_ptr().write(shared_resources.#name);
+                (&mut *#mangled_name.get_mut()).as_mut_ptr().write(shared_resources.#name);
             ));
         }
     }
@@ -37,10 +36,9 @@ pub fn codegen(app: &App, analysis: &Analysis) -> Vec<TokenStream2> {
                 // We include the cfgs
                 #(#cfgs)*
                 // Resource is a RacyCell<MaybeUninit<T>>
-                // - `get_mut_unchecked` to obtain `MaybeUninit<T>`
-                // - `as_mut_ptr` to obtain a raw pointer to `MaybeUninit<T>`
+                // - `get_mut` to obtain a raw pointer to `MaybeUninit<T>`
                 // - `write` the defined value for the late resource T
-                #mangled_name.get_mut_unchecked().as_mut_ptr().write(local_resources.#name);
+                (&mut *#mangled_name.get_mut()).as_mut_ptr().write(local_resources.#name);
             ));
         }
     }
@@ -58,7 +56,7 @@ pub fn codegen(app: &App, analysis: &Analysis) -> Vec<TokenStream2> {
 
         // Store the monotonic
         let name = util::monotonic_ident(&monotonic.to_string());
-        stmts.push(quote!(*#name.get_mut_unchecked() = Some(monotonics.#idx);));
+        stmts.push(quote!(#name.get_mut().write(Some(monotonics.#idx));));
     }
 
     // Enable the interrupts -- this completes the `init`-ialization phase
diff --git a/macros/src/codegen/pre_init.rs b/macros/src/codegen/pre_init.rs
index 3017c08e3d..42cc055298 100644
--- a/macros/src/codegen/pre_init.rs
+++ b/macros/src/codegen/pre_init.rs
@@ -19,7 +19,7 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream
         let fq_ident = util::fq_ident(name);
 
         stmts.push(quote!(
-            (0..#cap).for_each(|i| #fq_ident.get_mut_unchecked().enqueue_unchecked(i));
+            (0..#cap).for_each(|i| (&mut *#fq_ident.get_mut()).enqueue_unchecked(i));
         ));
     }
 
diff --git a/macros/src/codegen/shared_resources.rs b/macros/src/codegen/shared_resources.rs
index 07f8c36a23..aa50dccb6e 100644
--- a/macros/src/codegen/shared_resources.rs
+++ b/macros/src/codegen/shared_resources.rs
@@ -69,7 +69,7 @@ pub fn codegen(
 
             let ptr = quote!(
                 #(#cfgs)*
-                #mangled_name.get_mut_unchecked().as_mut_ptr()
+                (&mut *#mangled_name.get_mut()).as_mut_ptr()
             );
 
             let ceiling = match analysis.ownerships.get(name) {
diff --git a/macros/src/codegen/shared_resources_struct.rs b/macros/src/codegen/shared_resources_struct.rs
index 5a805412c1..9983aa4c8d 100644
--- a/macros/src/codegen/shared_resources_struct.rs
+++ b/macros/src/codegen/shared_resources_struct.rs
@@ -75,9 +75,9 @@ pub fn codegen(ctxt: Context, needs_lt: &mut bool, app: &App) -> (TokenStream2,
         }
 
         let expr = if access.is_exclusive() {
-            quote!(&mut *#mangled_name.get_mut_unchecked().as_mut_ptr())
+            quote!(&mut *(&mut *#mangled_name.get_mut()).as_mut_ptr())
         } else {
-            quote!(&*#mangled_name.get_unchecked().as_ptr())
+            quote!(&*(&*#mangled_name.get()).as_ptr())
         };
 
         values.push(quote!(
diff --git a/macros/src/codegen/timer_queue.rs b/macros/src/codegen/timer_queue.rs
index 896b3a83f6..2a344d256b 100644
--- a/macros/src/codegen/timer_queue.rs
+++ b/macros/src/codegen/timer_queue.rs
@@ -117,7 +117,7 @@ pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStrea
                     quote!(
                         #(#cfgs)*
                         #t::#name => {
-                            rtic::export::interrupt::free(|_| #rq.get_mut_unchecked().split().0.enqueue_unchecked((#rqt::#name, index)));
+                            rtic::export::interrupt::free(|_| (&mut *#rq.get_mut()).split().0.enqueue_unchecked((#rqt::#name, index)));
 
                             #pend
                         }
@@ -137,8 +137,8 @@ pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStrea
                 #[allow(non_snake_case)]
                 unsafe fn #bound_interrupt() {
                     while let Some((task, index)) = rtic::export::interrupt::free(|_|
-                        if let Some(mono) = #m_ident.get_mut_unchecked().as_mut() {
-                            #tq.get_mut_unchecked().dequeue(|| #disable_isr, mono)
+                        if let Some(mono) = (&mut *#m_ident.get_mut()).as_mut() {
+                            (&mut *#tq.get_mut()).dequeue(|| #disable_isr, mono)
                         } else {
                             // We can only use the timer queue if `init` has returned, and it
                             // writes the `Some(monotonic)` we are accessing here.
@@ -150,7 +150,7 @@ pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStrea
                         }
                     }
 
-                    rtic::export::interrupt::free(|_| if let Some(mono) = #m_ident.get_mut_unchecked().as_mut() {
+                    rtic::export::interrupt::free(|_| if let Some(mono) = (&mut *#m_ident.get_mut()).as_mut() {
                         mono.on_interrupt();
                     });
                 }
diff --git a/src/lib.rs b/src/lib.rs
index ca52ec1e3e..d5505b03cf 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -69,16 +69,16 @@ impl<T> RacyCell<T> {
         RacyCell(UnsafeCell::new(value))
     }
 
-    /// Get `&mut T`
+    /// Get `*mut T`
     #[inline(always)]
-    pub unsafe fn get_mut_unchecked(&self) -> &mut T {
-        &mut *self.0.get()
+    pub unsafe fn get_mut(&self) -> *mut T {
+        self.0.get()
     }
 
-    /// Get `&T`
+    /// Get `*const T`
     #[inline(always)]
-    pub unsafe fn get_unchecked(&self) -> &T {
-        &*self.0.get()
+    pub unsafe fn get(&self) -> *const T {
+        self.0.get()
     }
 }
 

From 1e2ab78a3fad8f383e5949dd0a11aaaaf03467f1 Mon Sep 17 00:00:00 2001
From: Per Lindgren <per.lindgren@ltu.se>
Date: Tue, 2 Nov 2021 19:47:14 +0100
Subject: [PATCH 2/5] added doc for RacyCell

---
 src/lib.rs | 21 +++++++++++++++++++++
 1 file changed, 21 insertions(+)

diff --git a/src/lib.rs b/src/lib.rs
index d5505b03cf..8463442acf 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -59,6 +59,27 @@ where
 use core::cell::UnsafeCell;
 
 /// Internal replacement for `static mut T`
+///
+/// Used to represent RTIC Resources
+///
+/// Soundness:
+/// 1) Unsafe API for internal use only
+/// 2) get_mut(&self) -> *mut T
+///    returns a raw mutable pointer to the inner T
+///    casting to &mut T is under control of RTIC
+///    RTIC ensures &mut T to be unique under Rust aliasing rules.
+///
+///    Implementation uses the underlying UnsafeCell<T>
+///    self.0.get() -> *mut T
+///
+/// 3) get(&self) -> *const T
+///    returns a raw immutable (const) pointer to the inner T
+///    casting to &T is under control of RTIC
+///    RTIC ensures &T to be shared under Rust aliasing rules.
+///
+///    Implementation uses the underlying UnsafeCell<T>
+///    self.0.get() -> *mut T, demoted to *const T
+///    
 #[repr(transparent)]
 pub struct RacyCell<T>(UnsafeCell<T>);
 

From d3d66c97aef5eeb06ea57dac8200c43f6720e1c1 Mon Sep 17 00:00:00 2001
From: Emil Fresk <emil.fresk@gmail.com>
Date: Wed, 3 Nov 2021 08:26:45 +0100
Subject: [PATCH 3/5] Cleanup of resource initialization, no need to
 dereference

---
 macros/src/codegen/post_init.rs | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/macros/src/codegen/post_init.rs b/macros/src/codegen/post_init.rs
index b3359ab468..07fbd03c9c 100644
--- a/macros/src/codegen/post_init.rs
+++ b/macros/src/codegen/post_init.rs
@@ -21,7 +21,7 @@ pub fn codegen(app: &App, analysis: &Analysis) -> Vec<TokenStream2> {
                 // Resource is a RacyCell<MaybeUninit<T>>
                 // - `get_mut` to obtain a raw pointer to `MaybeUninit<T>`
                 // - `write` the defined value for the late resource T
-                (&mut *#mangled_name.get_mut()).as_mut_ptr().write(shared_resources.#name);
+                #mangled_name.get_mut().write(core::mem::MaybeUninit::new(shared_resources.#name));
             ));
         }
     }
@@ -38,7 +38,7 @@ pub fn codegen(app: &App, analysis: &Analysis) -> Vec<TokenStream2> {
                 // Resource is a RacyCell<MaybeUninit<T>>
                 // - `get_mut` to obtain a raw pointer to `MaybeUninit<T>`
                 // - `write` the defined value for the late resource T
-                (&mut *#mangled_name.get_mut()).as_mut_ptr().write(local_resources.#name);
+                #mangled_name.get_mut().write(core::mem::MaybeUninit::new(local_resources.#name));
             ));
         }
     }

From 50017b96f04ff095e143fd19bb8487e86adae28f Mon Sep 17 00:00:00 2001
From: Emil Fresk <emil.fresk@gmail.com>
Date: Wed, 3 Nov 2021 08:27:05 +0100
Subject: [PATCH 4/5] Fixed aliasing in lock impl

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

diff --git a/macros/src/codegen/shared_resources.rs b/macros/src/codegen/shared_resources.rs
index aa50dccb6e..b27c827c23 100644
--- a/macros/src/codegen/shared_resources.rs
+++ b/macros/src/codegen/shared_resources.rs
@@ -69,7 +69,7 @@ pub fn codegen(
 
             let ptr = quote!(
                 #(#cfgs)*
-                (&mut *#mangled_name.get_mut()).as_mut_ptr()
+                #mangled_name.get_mut() as *mut _
             );
 
             let ceiling = match analysis.ownerships.get(name) {

From 9e24fcbbd90609a25b9d985f9292900b476fe5ea Mon Sep 17 00:00:00 2001
From: Emil Fresk <emil.fresk@gmail.com>
Date: Wed, 3 Nov 2021 08:54:18 +0100
Subject: [PATCH 5/5] Fix CI

---
 examples/cfg-whole-task.rs | 2 --
 1 file changed, 2 deletions(-)

diff --git a/examples/cfg-whole-task.rs b/examples/cfg-whole-task.rs
index 213fe13f92..f41866db47 100644
--- a/examples/cfg-whole-task.rs
+++ b/examples/cfg-whole-task.rs
@@ -15,7 +15,6 @@ mod app {
 
     #[shared]
     struct Shared {
-        #[cfg(debug_assertions)] // <- `true` when using the `dev` profile
         count: u32,
         #[cfg(never)]
         unused: u32,
@@ -31,7 +30,6 @@ mod app {
 
         (
             Shared {
-                #[cfg(debug_assertions)]
                 count: 0,
                 #[cfg(never)]
                 unused: 1,